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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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unity/Runtime/Bindings/MjBindings.cs
+3
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@@ -2833,6 +2833,9 @@ public static unsafe extern void mj_resetDataKeyframe(mjModel_* m, mjData_* d, i
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern double* mj_stackAlloc(mjData_* d, int size);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern int* mj_stackAllocInt(mjData_* d, int size);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern void mj_deleteData(mjData_* d);