Rename mj_stackAlloc to mj_stackAllocNum.

PiperOrigin-RevId: 561040193
Change-Id: I49ea21ffb5b596471d2aacefb1961c11c5c905d0

doc/APIreference/APIfunctions.rst

@@ -53,12 +53,12 @@ mjMARKSTACK
    #define mjMARKSTACK int _mark = d->pstack;
 
 This macro is helpful when using the MuJoCo stack in custom computations. It works together with the next macro and the
-:ref:`mj_stackAlloc` function, and assumes that mjData\* d is defined. The use pattern is this:
+:ref:`mj_stackAlloc` family of functions, and assumes that mjData\* d is defined. The use pattern is this:
 
 .. code-block:: C
 
    mjMARKSTACK;
-   mjtNum* temp = mj_stackAlloc(d, 100);
+   mjtNum* temp = mj_stackAllocNum(d, 100);
    // ... use temp as needed
    mjFREESTACK;
 

doc/APIreference/functions.rst

@@ -1232,12 +1232,12 @@ mj_resetDataKeyframe
 
 Reset data, set fields from specified keyframe.
 
-.. _mj_stackAlloc:
+.. _mj_stackAllocNum:
 
-mj_stackAlloc
-~~~~~~~~~~~~~
+mj_stackAllocNum
+~~~~~~~~~~~~~~~~
 
-.. mujoco-include:: mj_stackAlloc
+.. mujoco-include:: mj_stackAllocNum
 
 Allocate array of mjtNums on :ref:`mjData` stack. Call mju_error on stack overflow.
 

doc/changelog.rst

@@ -38,17 +38,18 @@ General
    Euler integrator. See the :ref:`Numerical Integration<geIntegration>` section for more details.
 #. Added the flag :ref:`invdiscrete<option-flag-invdiscrete>`, which enables discrete-time inverse dynamics for all
    :ref:`integrators<option-integrator>` other than ``RK4``. See the flag documentation for more details.
+#. Renamed the function ``mj_stackAlloc`` to ``mj_stackAllocNum``.
 
 Python bindings
 ^^^^^^^^^^^^^^^
 
-8. Fixed `#870 <https://github.com/deepmind/mujoco/issues/870>`__ where calling ``update_scene`` with an invalid
+9. Fixed `#870 <https://github.com/deepmind/mujoco/issues/870>`__ where calling ``update_scene`` with an invalid
    camera name used the default camera.
 
 Bug fixes
 ^^^^^^^^^
 
-9. Fixed a bug that was causing the geom margins to be ignored during the midphase.
+10. Fixed a bug that was causing the geom margins to be ignored during the midphase.
 
 
 Version 2.3.7 (July 20, 2023)

doc/includes/references.h

@@ -2212,7 +2212,7 @@ mjData* mj_copyData(mjData* dest, const mjModel* m, const mjData* src);
 void mj_resetData(const mjModel* m, mjData* d);
 void mj_resetDataDebug(const mjModel* m, mjData* d, unsigned char debug_value);
 void mj_resetDataKeyframe(const mjModel* m, mjData* d, int key);
-mjtNum* mj_stackAlloc(mjData* d, int size);
+mjtNum* mj_stackAllocNum(mjData* d, int size);
 int* mj_stackAllocInt(mjData* d, int size);
 void mj_deleteData(mjData* d);
 void mj_resetCallbacks(void);

doc/programming/simulation.rst

@@ -713,16 +713,17 @@ the scope. If not, saving and restoring the stack pointer should be done manuall
    mjMARKSTACK;
 
    // allocate space
-   mjtNum* myqpos = mj_stackAlloc(d, m->nq);
-   mjtNum* myqvel = mj_stackAlloc(d, m->nv);
+   mjtNum* myqpos = mj_stackAllocNum(d, m->nq);
+   mjtNum* myqvel = mj_stackAllocNum(d, m->nv);
 
    // restore stack from _mark
    mjFREESTACK;
 
-The function :ref:`mj_stackAlloc` checks if there is enough space, and if so it advances the stack pointer, otherwise it
-triggers an error. It also keeps track of the maximum stack allocation; see :ref:`diagnostics <siDiagnostics>` below.
-Note that :ref:`mj_stackAlloc` is only used for allocating ``mjtNum`` arrays, the most common type of array.
-:ref:`mj_stackAllocInt` is provided for integer array allocation. Allocators for other types are also possible, as in
+The function :ref:`mj_stackAllocNum` checks if there is enough space, and if so it advances the stack pointer,
+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.
+Allocators for other types are also possible, as in
 `engine_collision_driver.c <https://github.com/deepmind/mujoco/blob/main/src/engine/engine_collision_driver.c>`__.
 
 .. _siError: