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Rename mj_stackAlloc to mj_stackAllocNum.

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PiperOrigin-RevId: 561040193
Change-Id: I49ea21ffb5b596471d2aacefb1961c11c5c905d0
This commit is contained in:
Saran Tunyasuvunakool
2023-08-29 08:42:05 -07:00
committed by Copybara-Service
parent ea5e00cad8
commit b979a26b10
31 changed files with 187 additions and 185 deletions
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src/engine/engine_core_constraint.c
+15 -15
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@@ -433,14 +433,14 @@ void mj_instantiateEquality(const mjModel* m, mjData* d) {
}
// allocate space
jac[0] = mj_stackAlloc(d, 6*nv);
jac[1] = mj_stackAlloc(d, 6*nv);
jacdif = mj_stackAlloc(d, 6*nv);
jac[0] = mj_stackAllocNum(d, 6*nv);
jac[1] = mj_stackAllocNum(d, 6*nv);
jacdif = mj_stackAllocNum(d, 6*nv);
if (issparse) {
chain = mj_stackAllocInt(d, nv);
chain2 = mj_stackAllocInt(d, nv);
buf_ind = mj_stackAllocInt(d, nv);
sparse_buf = mj_stackAlloc(d, nv);
sparse_buf = mj_stackAllocNum(d, nv);
}
// find active equality constraints
@@ -641,7 +641,7 @@ void mj_instantiateFriction(const mjModel* m, mjData* d) {
}
// allocate Jacobian
jac = mj_stackAlloc(d, nv);
jac = mj_stackAllocNum(d, nv);
// find frictional dofs
for (int i=0; i < nv; i++) {
@@ -702,7 +702,7 @@ void mj_instantiateLimit(const mjModel* m, mjData* d) {
}
// allocate Jacobian
jac = mj_stackAlloc(d, nv);
jac = mj_stackAllocNum(d, nv);
// find joint limits
for (int i=0; i < m->njnt; i++) {
@@ -847,13 +847,13 @@ void mj_instantiateContact(const mjModel* m, mjData* d) {
}
// allocate Jacobian
jac = mj_stackAlloc(d, 6*NV);
jacdifp = mj_stackAlloc(d, 3*NV);
jacdifr = mj_stackAlloc(d, 3*NV);
jac1p = mj_stackAlloc(d, 3*NV);
jac2p = mj_stackAlloc(d, 3*NV);
jac1r = mj_stackAlloc(d, 3*NV);
jac2r = mj_stackAlloc(d, 3*NV);
jac = mj_stackAllocNum(d, 6*NV);
jacdifp = mj_stackAllocNum(d, 3*NV);
jacdifr = mj_stackAllocNum(d, 3*NV);
jac1p = mj_stackAllocNum(d, 3*NV);
jac2p = mj_stackAllocNum(d, 3*NV);
jac1r = mj_stackAllocNum(d, 3*NV);
jac2r = mj_stackAllocNum(d, 3*NV);
if (issparse) {
chain = mj_stackAllocInt(d, NV);
}
@@ -1755,8 +1755,8 @@ void mj_projectConstraint(const mjModel* m, mjData* d) {
}
// space for backsubM2(J')' and its traspose
mjtNum* JM2 = mj_stackAlloc(d, nefc*nv);
mjtNum* JM2T = mj_stackAlloc(d, nv*nefc);
mjtNum* JM2 = mj_stackAllocNum(d, nefc*nv);
mjtNum* JM2T = mj_stackAllocNum(d, nv*nefc);
// sparse
if (mj_isSparse(m)) {