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Rename mj_stackAlloc to mj_stackAllocByte.

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PiperOrigin-RevId: 566351365
Change-Id: I91541168e83b05a730113661cc9f07985ac9ff0c
This commit is contained in:
Yuval Tassa
2023-09-18 10:52:46 -07:00
committed by Copybara-Service
parent 812e617fe9
commit 9902b73502
18 changed files with 54 additions and 54 deletions
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doc/APIreference/functions.rst
+4 -4
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@@ -1251,12 +1251,12 @@ mj_freeStack
Free the current :ref:`mjData` stack frame. All pointers returned by mj_stackAlloc since the last call
to mj_markStack must no longer be used afterwards.
.. _mj_stackAlloc:
.. _mj_stackAllocByte:
mj_stackAlloc
~~~~~~~~~~~~~
mj_stackAllocByte
~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_stackAlloc
.. mujoco-include:: mj_stackAllocByte
Allocate a number of bytes on :ref:`mjData` stack at a specific alignment.
Call mju_error on stack overflow.
doc/changelog.rst
+3 -3
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@@ -43,10 +43,10 @@ General
:ref:`mj_freeStack`. These functions manage the :ref:`mjData stack<siStack>` in a fully encapsulated way (i.e.,
without introducing a local variable at the call site).
5. Changed the function :ref:`mj_stackAlloc` to allocate an arbitrary number of bytes, rather than in multiples of
``sizeof(mjtNum)``, and added an additional argument for specifying the alignment of the returned pointer.
5. Renamed ``mj_stackAlloc`` to :ref:`mj_stackAllocNum`. The new function :ref:`mj_stackAllocByte` allocates an
arbitrary number of bytes and has an additional argument for specifying the alignment of the returned pointer.
**Migration:** The functionality for allocating ``mjtNum`` arrays is available via :ref:`mj_stackAllocNum`.
**Migration:** The functionality for allocating ``mjtNum`` arrays is now available via :ref:`mj_stackAllocNum`.
6. Renamed the ``nstack`` field in :ref:`mjModel` and :ref:`mjData` to ``narena``. Changed ``narena``, ``pstack``,
and ``maxuse_stack`` to count number of bytes rather than number of :ref:`mjtNum` |-| s.
doc/includes/references.h
+1 -1
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@@ -2233,7 +2233,7 @@ void mj_resetDataDebug(const mjModel* m, mjData* d, unsigned char debug_value);
void mj_resetDataKeyframe(const mjModel* m, mjData* d, int key);
void mj_markStack(mjData* d);
void mj_freeStack(mjData* d);
void* mj_stackAlloc(mjData* d, size_t bytes, size_t alignment);
void* mj_stackAllocByte(mjData* d, size_t bytes, size_t alignment);
mjtNum* mj_stackAllocNum(mjData* d, int size);
int* mj_stackAllocInt(mjData* d, int size);
void mj_deleteData(mjData* d);
doc/programming/simulation.rst
+1 -1
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@@ -721,7 +721,7 @@ The function :ref:`mj_stackAllocNum` checks if there is enough space, and if so
otherwise it triggers an error. It also keeps track of the maximum stack allocation;
see :ref:`diagnostics <siDiagnostics>` below. Note that :ref:`mj_stackAllocNum` is only used for allocating
``mjtNum`` arrays, the most common type of array. :ref:`mj_stackAllocInt` is provided for integer array allocation,
and :ref:`mj_stackAlloc` is provided for allocation of arbitrary number of bytes and alignment.
and :ref:`mj_stackAllocByte` is provided for allocation of arbitrary number of bytes and alignment.
.. _siError:
include/mujoco/mujoco.h
+1 -1
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@@ -194,7 +194,7 @@ MJAPI void mj_freeStack(mjData* d);
// Allocate a number of bytes on mjData stack at a specific alignment.
// Call mju_error on stack overflow.
MJAPI void* mj_stackAlloc(mjData* d, size_t bytes, size_t alignment);
MJAPI void* mj_stackAllocByte(mjData* d, size_t bytes, size_t alignment);
// Allocate array of mjtNums on mjData stack. Call mju_error on stack overflow.
MJAPI mjtNum* mj_stackAllocNum(mjData* d, int size);
introspect/functions.py
+2 -2
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@@ -705,9 +705,9 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
),
doc='Free the current mjData stack frame. All pointers returned by mj_stackAlloc since the last call to mj_markStack must no longer be used afterwards.', # pylint: disable=line-too-long
)),
('mj_stackAlloc',
('mj_stackAllocByte',
FunctionDecl(
name='mj_stackAlloc',
name='mj_stackAllocByte',
return_type=PointerType(
inner_type=ValueType(name='void'),
),
python/mujoco/functions.cc
+8 -8
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@@ -126,7 +126,7 @@ PYBIND11_MODULE(_functions, pymodule) {
Def<traits::mj_resetData>(pymodule);
Def<traits::mj_resetDataDebug>(pymodule);
Def<traits::mj_resetDataKeyframe>(pymodule);
// Skipped: mj_stackAlloc (doesn't make sense in Python)
// Skipped: mj_stackAllocByte (doesn't make sense in Python)
// Skipped: mj_deleteData (have MjData.__del__)
Def<traits::mj_resetCallbacks>(pymodule);
Def<traits::mj_setConst>(pymodule);
@@ -1356,7 +1356,7 @@ PYBIND11_MODULE(_functions, pymodule) {
data->ncon = ncon;
data->nefc = nefc;
data->contact =
static_cast<raw::MjContact*>(InterceptMjErrors(::mj_arenaAlloc)(
static_cast<raw::MjContact*>(InterceptMjErrors(::mj_arenaAllocByte)(
data, ncon * sizeof(raw::MjContact), alignof(raw::MjContact)));
if (!data->contact) {
cleanup(data);
@@ -1367,12 +1367,12 @@ PYBIND11_MODULE(_functions, pymodule) {
#define MJ_M(x) d.metadata().x
#undef MJ_D
#define MJ_D(x) data->x
#define X(type, name, nr, nc) \
data->name = static_cast<type*>(InterceptMjErrors(::mj_arenaAlloc)( \
data, sizeof(type) * (nr) * (nc), alignof(type))); \
if (!data->name) { \
cleanup(data); \
throw FatalError("insufficient arena memory available"); \
#define X(type, name, nr, nc) \
data->name = static_cast<type*>(InterceptMjErrors(::mj_arenaAllocByte)( \
data, sizeof(type) * (nr) * (nc), alignof(type))); \
if (!data->name) { \
cleanup(data); \
throw FatalError("insufficient arena memory available"); \
}
MJDATA_ARENA_POINTERS_PRIMAL
python/mujoco/private.h
+1 -1
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@@ -22,7 +22,7 @@
// They should be regarded as part of MuJoCo's internal implementation detail.
extern "C" {
MJAPI void _mjPRIVATE__set_tls_error_fn(void (*h)(const char*));
MJAPI void* mj_arenaAlloc(mjData* d, int bytes, int alignment);
MJAPI void* mj_arenaAllocByte(mjData* d, int bytes, int alignment);
}
#endif // MUJOCO_PYTHON_PRIVATE_H_
python/mujoco/structs.cc
+5 -5
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@@ -820,11 +820,11 @@ MjDataWrapper MjDataWrapper::Deserialize(std::istream& input) {
#define MJ_M(x) m.x
#undef MJ_D
#define MJ_D(x) d->x
#define X(type, name, nr, nc) \
if ((nr) * (nc)) { \
d->name = static_cast<decltype(d->name)>( \
mj_arenaAlloc(d, sizeof(type) * (nr) * (nc), alignof(type))); \
ReadBytes(input, d->name, sizeof(type) * (nr) * (nc)); \
#define X(type, name, nr, nc) \
if ((nr) * (nc)) { \
d->name = static_cast<decltype(d->name)>( \
mj_arenaAllocByte(d, sizeof(type) * (nr) * (nc), alignof(type))); \
ReadBytes(input, d->name, sizeof(type) * (nr) * (nc)); \
}
MJDATA_ARENA_POINTERS_CONTACT
src/engine/engine_collision_driver.c
+4 -4
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@@ -223,7 +223,7 @@ int mj_collideOBB(const mjtNum aabb1[6], const mjtNum aabb2[6],
}
static mjCollisionTree* mj_stackAllocTree(mjData* d, int max_stack) {
return (mjCollisionTree*) mj_stackAlloc(
return (mjCollisionTree*) mj_stackAllocByte(
d, max_stack * sizeof(mjCollisionTree), _Alignof(mjCollisionTree));
}
@@ -770,9 +770,9 @@ int mj_broadphase(const mjModel* m, mjData* d, int* pair, int maxpair) {
}
// allocate sort buffer
sortbuf = (mjtBroadphase*) mj_stackAlloc(
sortbuf = (mjtBroadphase*) mj_stackAllocByte(
d, 2 * bufcnt * sizeof(mjtBroadphase), _Alignof(mjtBroadphase));
activebuf = (mjtBroadphase*) mj_stackAlloc(
activebuf = (mjtBroadphase*) mj_stackAllocByte(
d, 2 * bufcnt * sizeof(mjtBroadphase), _Alignof(mjtBroadphase));
// init sortbuf with axis0
@@ -955,7 +955,7 @@ static void collideGeoms(const mjModel* m, mjData* d,
// allocate mjContact[mjMAXCONPAIR] on the arena
mjContact* con =
(mjContact*) mj_arenaAlloc(d, sizeof(mjContact) * mjMAXCONPAIR, _Alignof(mjContact));
(mjContact*) mj_arenaAllocByte(d, sizeof(mjContact) * mjMAXCONPAIR, _Alignof(mjContact));
if (!con) {
mj_warning(d, mjWARN_CONTACTFULL, d->ncon);
return;
src/engine/engine_collision_sdf.c
+1 -1
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@@ -459,7 +459,7 @@ static void collideBVH(const mjModel* m, mjData* d, int g,
int node;
};
typedef struct CollideTreeArgs_ CollideTreeArgs;
CollideTreeArgs* stack = (CollideTreeArgs*) mj_stackAlloc(
CollideTreeArgs* stack = (CollideTreeArgs*) mj_stackAllocByte(
d, max_stack * sizeof(CollideTreeArgs), _Alignof(CollideTreeArgs));
int nstack = 0;
src/engine/engine_core_constraint.c
+8 -8
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@@ -61,13 +61,13 @@ static int arenaAllocEfc(const mjModel* m, mjData* d) {
(char*)d->arena + d->parena, d->narena - d->pstack - d->parena);
#endif
#define X(type, name, nr, nc) \
d->name = mj_arenaAlloc(d, sizeof(type) * (nr) * (nc), _Alignof(type)); \
if (!d->name) { \
mj_warning(d, mjWARN_CNSTRFULL, d->narena); \
mj_clearEfc(d); \
d->parena = d->ncon * sizeof(mjContact); \
return 0; \
#define X(type, name, nr, nc) \
d->name = mj_arenaAllocByte(d, sizeof(type) * (nr) * (nc), _Alignof(type)); \
if (!d->name) { \
mj_warning(d, mjWARN_CNSTRFULL, d->narena); \
mj_clearEfc(d); \
d->parena = d->ncon * sizeof(mjContact); \
return 0; \
}
MJDATA_ARENA_POINTERS_PRIMAL
@@ -171,7 +171,7 @@ int mj_addContact(const mjModel* m, mjData* d, const mjContact* con) {
mj_clearEfc(d);
// copy contact
mjContact* dst = mj_arenaAlloc(d, sizeof(mjContact), _Alignof(mjContact));
mjContact* dst = mj_arenaAllocByte(d, sizeof(mjContact), _Alignof(mjContact));
if (!dst) {
mj_warning(d, mjWARN_CONTACTFULL, d->ncon);
return 1;
src/engine/engine_io.c
+2 -2
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@@ -1217,7 +1217,7 @@ mjData* mj_copyData(mjData* dest, const mjModel* m, const mjData* src) {
// allocate memory from the mjData arena
void* mj_arenaAlloc(mjData* d, size_t bytes, size_t alignment) {
void* mj_arenaAllocByte(mjData* d, size_t bytes, size_t alignment) {
size_t misalignment = fastmod(d->parena, alignment);
size_t padding = misalignment ? alignment - misalignment : 0;
@@ -1374,7 +1374,7 @@ void mj_freeStack(mjData* d) {
#endif
}
void* mj_stackAlloc(mjData* d, size_t bytes, size_t alignment) {
void* mj_stackAllocByte(mjData* d, size_t bytes, size_t alignment) {
return stackalloc(d, bytes, alignment);
}
src/engine/engine_io.h
+2 -2
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@@ -104,7 +104,7 @@ MJAPI void mj_resetDataDebug(const mjModel* m, mjData* d, unsigned char debug_va
MJAPI void mj_resetDataKeyframe(const mjModel* m, mjData* d, int key);
// mjData arena allocate
MJAPI void* mj_arenaAlloc(mjData* d, size_t bytes, size_t alignment);
MJAPI void* mj_arenaAllocByte(mjData* d, size_t bytes, size_t alignment);
// mjData mark stack frame
MJAPI void mj_markStack(mjData* d);
@@ -113,7 +113,7 @@ MJAPI void mj_markStack(mjData* d);
MJAPI void mj_freeStack(mjData* d);
// mjData stack allocate
MJAPI void* mj_stackAlloc(mjData* d, size_t bytes, size_t alignment);
MJAPI void* mj_stackAllocByte(mjData* d, size_t bytes, size_t alignment);
// mjData stack allocate for array of mjtNums
MJAPI mjtNum* mj_stackAllocNum(mjData* d, int size);
src/engine/engine_island.c
+6 -6
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@@ -113,12 +113,12 @@ static int arenaAllocIsland(const mjModel* m, mjData* d) {
size_t parena_old = d->parena;
#define X(type, name, nr, nc) \
d->name = mj_arenaAlloc(d, sizeof(type) * (nr) * (nc), _Alignof(type)); \
if (!d->name) { \
mj_warning(d, mjWARN_CNSTRFULL, d->narena); \
clearIsland(d, parena_old); \
return 0; \
#define X(type, name, nr, nc) \
d->name = mj_arenaAllocByte(d, sizeof(type) * (nr) * (nc), _Alignof(type)); \
if (!d->name) { \
mj_warning(d, mjWARN_CNSTRFULL, d->narena); \
clearIsland(d, parena_old); \
return 0; \
}
MJDATA_ARENA_POINTERS_ISLAND
src/engine/engine_util_container.c
+2 -2
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@@ -24,7 +24,7 @@
// stack allocate and initialize new mjArrayList
mjArrayList* mju_arrayListCreate(mjData* d, size_t element_size, size_t initial_capacity) {
mjArrayList* array_list = (mjArrayList*) mj_stackAlloc(
mjArrayList* array_list = (mjArrayList*) mj_stackAllocByte(
d, sizeof(mjArrayList), _Alignof(mjArrayList));
initial_capacity = mjMAX(1, initial_capacity);
array_list->d = d;
@@ -34,7 +34,7 @@ mjArrayList* mju_arrayListCreate(mjData* d, size_t element_size, size_t initial_
array_list->next_segment = NULL;
// allocate array list buffer
array_list->buffer = (void*) mj_stackAlloc(
array_list->buffer = (void*) mj_stackAllocByte(
d, element_size * initial_capacity, _Alignof(mjtMaxAlign));
return array_list;
}
test/engine/engine_io_test.cc
+2 -2
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@@ -830,8 +830,8 @@ TEST_F(EngineIoTest, RedZoneAlignmentTest) {
ASSERT_THAT(data, NotNull());
mj_markStack(data);
mj_stackAlloc(data, 1, 1);
mj_stackAlloc(data, 1, 1);
mj_stackAllocByte(data, 1, 1);
mj_stackAllocByte(data, 1, 1);
mj_freeStack(data);
mj_deleteData(data);
unity/Runtime/Bindings/MjBindings.cs
+1 -1
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@@ -6110,7 +6110,7 @@ public static unsafe extern void mj_markStack(mjData_* d);
public static unsafe extern void mj_freeStack(mjData_* d);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern void* mj_stackAlloc(mjData_* d, UIntPtr bytes, UIntPtr alignment);
public static unsafe extern void* mj_stackAllocByte(mjData_* d, UIntPtr bytes, UIntPtr alignment);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern double* mj_stackAllocNum(mjData_* d, int size);