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Add mj_stackAllocInt to get correct size for allocating ints on mjData stack. Reducing stack memory usage by 10% - 15%.

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PiperOrigin-RevId: 517672195
Change-Id: Ie14e6c9c99e8b9e1c5d3686b77631f2df0651c67
This commit is contained in:
Kyle Bayes
2023-03-18 13:03:11 -07:00
committed by Copybara-Service
parent fae5e822c0
commit 8696247f9d
17 changed files with 103 additions and 48 deletions
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src/engine/engine_solver.c
+6 -6
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@@ -309,7 +309,7 @@ void mj_solPGS(const mjModel* m, mjData* d, int maxiter) {
mjContact* con;
mjMARKSTACK;
mjtNum* ARinv = mj_stackAlloc(d, nefc);
int* oldstate = (int*)mj_stackAlloc(d, nefc);
int* oldstate = mj_stackAllocInt(d, nefc);
// precompute inverse diagonal of AR
ARdiaginv(m, d, ARinv, 0);
@@ -511,7 +511,7 @@ void mj_solNoSlip(const mjModel* m, mjData* d, int maxiter) {
mjContact* con;
mjMARKSTACK;
mjtNum* ARinv = mj_stackAlloc(d, nefc);
int* oldstate = (int*)mj_stackAlloc(d, nefc);
int* oldstate = mj_stackAllocInt(d, nefc);
// precompute inverse diagonal of A
ARdiaginv(m, d, ARinv, 1);
@@ -768,9 +768,9 @@ static void CGallocate(const mjModel* m, mjData* d,
if (flg_Newton) {
ctx->H = mj_stackAlloc(d, nv*nv);
ctx->Hcone = mj_stackAlloc(d, nv*nv);
ctx->rownnz = (int*)mj_stackAlloc(d, nv);
ctx->rowadr = (int*)mj_stackAlloc(d, nv);
ctx->colind = (int*)mj_stackAlloc(d, nv*nv);
ctx->rownnz = mj_stackAllocInt(d, nv);
ctx->rowadr = mj_stackAllocInt(d, nv);
ctx->colind = mj_stackAllocInt(d, nv*nv);
}
}
@@ -1507,7 +1507,7 @@ static void mj_solCGNewton(const mjModel* m, mjData* d, int maxiter, int flg_New
Mgradold = mj_stackAlloc(d, nv);
Mgraddif = mj_stackAlloc(d, nv);
}
int* oldstate = (int*)mj_stackAlloc(d, nefc);
int* oldstate = mj_stackAllocInt(d, nefc);
// initialize matrix-vector products
mj_mulM(m, d, ctx.Ma, d->qacc);