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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
Download Patch File Download Diff File Expand all files Collapse all files
src/engine/engine_collision_driver.c
+4 -4
View File
@@ -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
View File
@@ -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
View File
@@ -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
View File
@@ -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
View File
@@ -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
View File
@@ -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
View File
@@ -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;
}