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Add internal utility for zeroing int vectors.

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PiperOrigin-RevId: 562608956
Change-Id: I25ff1bbf9abf8fe2a636ed1d728d10ae862e04c9
This commit is contained in:
Yuval Tassa
2023-09-04 14:26:19 -07:00
committed by Copybara-Service
parent 1aa375ef9a
commit 9308e1d383
7 changed files with 27 additions and 12 deletions
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src/engine/engine_island.c
+6 -5
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@@ -27,6 +27,7 @@
#include "engine/engine_io.h"
#include "engine/engine_support.h"
#include "engine/engine_util_errmem.h"
#include "engine/engine_util_misc.h"
#ifdef MEMORY_SANITIZER
#include <sanitizer/msan_interface.h>
@@ -355,7 +356,7 @@ static int findEdges(const mjModel* m, const mjData* d, int* treenedge, int* edg
int efc_id = -1;
// clear treenedge
memset(treenedge, 0, m->ntree*sizeof(int));
mju_zeroInt(treenedge, m->ntree);
int nedge = 0;
for (int i=0; i < nefc; i++) {
@@ -456,7 +457,7 @@ void mj_island(const mjModel* m, mjData* d) {
// compute dof_island, island_dofnum
int num_dof_unc = 0; // number of unconstrained dofs
memset(d->island_dofnum, 0, nisland*sizeof(int));
mju_zeroInt(d->island_dofnum, nisland);
for (int i=0; i < nv; i++) {
// dof_island
int island = tree_island[m->dof_treeid[i]];
@@ -477,7 +478,7 @@ void mj_island(const mjModel* m, mjData* d) {
}
// reset island_dofnum
memset(d->island_dofnum, 0, nisland*sizeof(int));
mju_zeroInt(d->island_dofnum, nisland);
// compute dof_islandind, island_dofind
int num_dof_island = 0;
@@ -503,7 +504,7 @@ void mj_island(const mjModel* m, mjData* d) {
}
// compute efc_island, island_efcnum
memset(d->island_efcnum, 0, nisland*sizeof(int));
mju_zeroInt(d->island_efcnum, nisland);
for (int i=0; i < nefc; i++) {
int tree[2];
treeFirst(m, d, tree, i);
@@ -519,7 +520,7 @@ void mj_island(const mjModel* m, mjData* d) {
}
// reset island_efcnum
memset(d->island_efcnum, 0, nisland*sizeof(int));
mju_zeroInt(d->island_efcnum, nisland);
// compute efc_islandind
for (int i=0; i < nefc; i++) {