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

PiperOrigin-RevId: 517672195 Change-Id: Ie14e6c9c99e8b9e1c5d3686b77631f2df0651c67
2023-03-18 13:03:11 -07:00
parent fae5e822c0
commit 8696247f9d
17 changed files with 103 additions and 48 deletions
@@ -984,7 +984,7 @@ void mj_copyM2DSparse(const mjModel* m, mjData* d, mjtNum* dst, const mjtNum* sr
  mjMARKSTACK;

  // init remaining
-  int* remaining = (int*)mj_stackAlloc(d, nv);
+  int* remaining = mj_stackAllocInt(d, nv);
  memcpy(remaining, d->D_rownnz, nv * sizeof(int));

  // copy data