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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_derivative.c
+16 -16
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@@ -400,11 +400,11 @@ void mjd_rne_vel_dense(const mjModel* m, mjData* d) {
mjtNum mat[36], mat1[36], mat2[36], dmul[36], tmp[6];
mjMARKSTACK;
mjtNum* Dcvel = mj_stackAlloc(d, nbody*6*nv);
mjtNum* Dcdofdot = mj_stackAlloc(d, nv*6*nv);
mjtNum* Dcacc = mj_stackAlloc(d, nbody*6*nv);
mjtNum* Dcfrcbody = mj_stackAlloc(d, nbody*6*nv);
mjtNum* row = mj_stackAlloc(d, nv);
mjtNum* Dcvel = mj_stackAllocNum(d, nbody*6*nv);
mjtNum* Dcdofdot = mj_stackAllocNum(d, nv*6*nv);
mjtNum* Dcacc = mj_stackAllocNum(d, nbody*6*nv);
mjtNum* Dcfrcbody = mj_stackAllocNum(d, nbody*6*nv);
mjtNum* row = mj_stackAllocNum(d, nv);
// compute Dcvel and Dcdofdot
mjd_comVel_vel_dense(m, d, Dcvel, Dcdofdot);
@@ -615,11 +615,11 @@ static void mjd_rne_vel(const mjModel* m, mjData* d) {
mjtNum mat[36], mat1[36], mat2[36], dmul[36], tmp[6];
mjMARKSTACK;
mjtNum* Dcdofdot = mj_stackAlloc(d, 6*m->nD);
mjtNum* Dcvel = mj_stackAlloc(d, 6*m->nB);
mjtNum* Dcacc = mj_stackAlloc(d, 6*m->nB);
mjtNum* Dcfrcbody = mj_stackAlloc(d, 6*m->nB);
mjtNum* row = mj_stackAlloc(d, nv);
mjtNum* Dcdofdot = mj_stackAllocNum(d, 6*m->nD);
mjtNum* Dcvel = mj_stackAllocNum(d, 6*m->nB);
mjtNum* Dcacc = mj_stackAllocNum(d, 6*m->nB);
mjtNum* Dcfrcbody = mj_stackAllocNum(d, 6*m->nB);
mjtNum* row = mj_stackAllocNum(d, nv);
// clear
mju_zero(Dcdofdot, 6*m->nD);
@@ -735,7 +735,7 @@ static void addJTBJ(const mjModel* m, mjData* d, const mjtNum* J, const mjtNum*
// allocate dense row
mjMARKSTACK;
mjtNum* row = mj_stackAlloc(d, nv);
mjtNum* row = mj_stackAllocNum(d, nv);
// process non-zero elements of B
for (int i=0; i < n; i++) {
@@ -774,7 +774,7 @@ static void addJTBJSparse(
// allocate row
mjMARKSTACK;
mjtNum* row = mj_stackAlloc(d, nv);
mjtNum* row = mj_stackAllocNum(d, nv);
// compute qDeriv(k,p) += sum_{i,j} ( J(i,k)*B(i,j)*J(j,p) )
for (int i = 0; i < n; i++) {
@@ -1231,8 +1231,8 @@ void mjd_ellipsoidFluid(const mjModel* m, mjData* d, int bodyid) {
int nv = m->nv;
int nnz = nv;
int rownnz[6], rowadr[6];
mjtNum* J = mj_stackAlloc(d, 6*nv);
mjtNum* tmp = mj_stackAlloc(d, 3*nv);
mjtNum* J = mj_stackAllocNum(d, 6*nv);
mjtNum* tmp = mj_stackAllocNum(d, 3*nv);
int* colind = mj_stackAllocInt(d, 6*nv);
int* colind_compressed = mj_stackAllocInt(d, 6*nv);
@@ -1342,8 +1342,8 @@ void mjd_inertiaBoxFluid(const mjModel* m, mjData* d, int i)
int nv = m->nv;
int rownnz[6], rowadr[6];
mjtNum* J = mj_stackAlloc(d, 6*nv);
mjtNum* tmp = mj_stackAlloc(d, 3*nv);
mjtNum* J = mj_stackAllocNum(d, 6*nv);
mjtNum* tmp = mj_stackAllocNum(d, 3*nv);
int* colind = mj_stackAllocInt(d, 6*nv);
mjtNum lvel[6], wind[6], lwind[6], box[3], B;