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Extract memory allocation functions and core utilities

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PiperOrigin-RevId: 801745499
Change-Id: Iaf05c3430769d3115743d8ab020d13148cb2eb59
This commit is contained in:
Yuval Tassa
2025-09-01 03:37:16 -07:00
committed by Copybara-Service
parent 5d598a49a2
commit b9900db00e
35 changed files with 1652 additions and 1445 deletions
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src/engine/engine_core_constraint.c
+3 -25
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@@ -22,9 +22,9 @@
#include <mujoco/mjmodel.h>
#include <mujoco/mjsan.h> // IWYU pragma: keep
#include <mujoco/mjxmacro.h>
#include "engine/engine_core_util.h"
#include "engine/engine_core_smooth.h"
#include "engine/engine_io.h"
#include "engine/engine_support.h"
#include "engine/engine_memory.h"
#include "engine/engine_util_blas.h"
#include "engine/engine_util_errmem.h"
#include "engine/engine_util_misc.h"
@@ -84,29 +84,6 @@ static int arenaAllocEfc(const mjModel* m, mjData* d) {
// determine type of friction cone
int mj_isPyramidal(const mjModel* m) {
if (m->opt.cone == mjCONE_PYRAMIDAL) {
return 1;
} else {
return 0;
}
}
// determine type of constraint Jacobian
int mj_isSparse(const mjModel* m) {
if (m->opt.jacobian == mjJAC_SPARSE ||
(m->opt.jacobian == mjJAC_AUTO && m->nv >= 60)) {
return 1;
} else {
return 0;
}
}
// determine type of solver
int mj_isDual(const mjModel* m) {
if (m->opt.solver == mjSOL_PGS || m->opt.noslip_iterations > 0) {
@@ -133,6 +110,7 @@ void mj_assignFriction(const mjModel* m, mjtNum* target, const mjtNum* source) {
// assign/override contact reference parameters
void mj_assignRef(const mjModel* m, mjtNum* target, const mjtNum* source) {
if (mjENABLED(mjENBL_OVERRIDE)) {