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Add engine internal error macro mjERROR to prepend calling function to error function.

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PiperOrigin-RevId: 541584847
Change-Id: I57447e64375413ee07aa96372a402e1ced59ff4a
This commit is contained in:
Kyle Bayes
2023-06-19 03:28:44 -07:00
committed by Copybara-Service
parent c9e9cd8b35
commit ac1f41160d
28 changed files with 218 additions and 162 deletions
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src/engine/engine_ray.c
+11 -9
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@@ -452,7 +452,7 @@ mjtNum mj_rayHfield(const mjModel* m, const mjData* d, int id,
const mjtNum* pnt, const mjtNum* vec) {
// check geom type
if (m->geom_type[id] != mjGEOM_HFIELD) {
mju_error("mj_rayHfield: geom with hfield type expected");
mjERROR("geom with hfield type expected");
}
// hfield id and dimensions
@@ -632,7 +632,7 @@ mjtNum mju_rayTree(const mjModel* m, const mjData* d, int id, const mjtNum* pnt,
const int* child = m->bvh_child + 2*bvhadr;
if (meshid == -1) {
mju_error("mju_rayTree: mesh id of geom %d is -1", meshid); // SHOULD NOT OCCUR
mjERROR("mesh id of geom %d is -1", meshid); // SHOULD NOT OCCUR
}
// initialize stack
@@ -709,7 +709,9 @@ mjtNum mju_rayTree(const mjModel* m, const mjData* d, int id, const mjtNum* pnt,
// add children to the stack
for (int i=0; i < 2; i++) {
if (child[2*node+i] != -1) {
if (nstack >= mjMAXTREEDEPTH) mju_error("BVH stack depth exceeded in geom %d.", id);
if (nstack >= mjMAXTREEDEPTH) {
mjERROR("BVH stack depth exceeded in geom %d.", id);
}
stack[nstack] = child[2*node+i];
nstack++;
}
@@ -724,7 +726,7 @@ mjtNum mj_rayMesh(const mjModel* m, const mjData* d, int id,
const mjtNum* pnt, const mjtNum* vec) {
// check geom type
if (m->geom_type[id] != mjGEOM_MESH) {
mju_error("mj_rayMesh: geom with mesh type expected");
mjERROR("geom with mesh type expected");
}
// bounding box test
@@ -760,7 +762,7 @@ mjtNum mju_rayGeom(const mjtNum* pos, const mjtNum* mat, const mjtNum* size,
return ray_box(pos, mat, size, pnt, vec, NULL);
default:
mju_error("mju_rayGeom: unexpected geom type %d", geomtype);
mjERROR("unexpected geom type %d", geomtype);
return -1;
}
}
@@ -894,7 +896,7 @@ mjtNum mj_ray(const mjModel* m, const mjData* d, const mjtNum* pnt, const mjtNum
// check vector length
if (mju_norm3(vec) < mjMINVAL) {
mju_error("mj_ray: vector length is too small");
mjERROR("vector length is too small");
}
// clear result
@@ -934,7 +936,7 @@ void mju_multiRayPrepare(const mjModel* m, const mjData* d, const mjtNum pnt[3],
const mjtNum* ray_xmat, const mjtByte* geomgroup, mjtByte flg_static,
int bodyexclude, mjtNum cutoff, mjtNum* geom_ba, int* geom_eliminate) {
if (ray_xmat) {
mju_error("ray_xmat is currently unused, should be NULL");
mjERROR("ray_xmat is currently unused, should be NULL");
}
// compute eliminate flag for all geoms
@@ -1005,7 +1007,7 @@ void mju_multiRayPrepare(const mjModel* m, const mjData* d, const mjtNum pnt[3],
}
if (AABB[3]-AABB[1] > mjPI) { // SHOULD NOT OCCUR
mju_error("mj_ray: discontinuity in azimuth angle");
mjERROR("discontinuity in azimuth angle");
}
mju_copy(geom_ba+4*g, AABB, 4);
@@ -1021,7 +1023,7 @@ static mjtNum mju_singleRay(const mjModel* m, mjData* d, const mjtNum pnt[3], co
// check vector length
if (mju_norm3(vec) < mjMINVAL) {
mju_error("mj_ray: vector length is too small");
mjERROR("vector length is too small");
}
// clear result