chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Extract memory allocation functions and core utilities

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
src/engine/engine_io.h
-51
View File
@@ -35,9 +35,6 @@ extern "C" {
// Set default options for length range computation.
MJAPI void mj_defaultLROpt(mjLROpt* opt);
// set default solver parameters
MJAPI void mj_defaultSolRefImp(mjtNum* solref, mjtNum* solimp);
// set options to default values
MJAPI void mj_defaultOption(mjOption* opt);
@@ -130,60 +127,12 @@ MJAPI void mj_resetDataDebug(const mjModel* m, mjData* d, unsigned char debug_va
// Reset data. If 0 <= key < nkey, set fields from specified keyframe.
MJAPI void mj_resetDataKeyframe(const mjModel* m, mjData* d, int key);
// mjData arena allocate
MJAPI void* mj_arenaAllocByte(mjData* d, size_t bytes, size_t alignment);
// init plugins
MJAPI void mj_initPlugin(const mjModel* m, mjData* d);
#ifndef ADDRESS_SANITIZER
// mjData mark stack frame
MJAPI void mj_markStack(mjData* d);
// mjData free stack frame
MJAPI void mj_freeStack(mjData* d);
#else
void mj__markStack(mjData* d) __attribute__((noinline));
void mj__freeStack(mjData* d) __attribute__((noinline));
#endif // ADDRESS_SANITIZER
// returns the number of bytes available on the stack
MJAPI size_t mj_stackBytesAvailable(mjData* d);
// allocate bytes on the stack
MJAPI void* mj_stackAllocByte(mjData* d, size_t bytes, size_t alignment);
// allocate bytes on the stack, with added caller information
MJAPI void* mj_stackAllocInfo(mjData* d, size_t bytes, size_t alignment,
const char* caller, int line);
// macro to allocate a stack array of given type, adds caller information
#define mjSTACKALLOC(d, num, type) \
(type*) mj_stackAllocInfo(d, (num) * sizeof(type), _Alignof(type), __func__, __LINE__)
// mjData stack allocate for array of mjtNums
MJAPI mjtNum* mj_stackAllocNum(mjData* d, size_t size);
// mjData stack allocate for array of ints
MJAPI int* mj_stackAllocInt(mjData* d, size_t size);
// deallocate data
MJAPI void mj_deleteData(mjData* d);
// clear arena pointers in mjData
static inline void mj_clearEfc(mjData* d) {
#define X(type, name, nr, nc) d->name = NULL;
MJDATA_ARENA_POINTERS
#undef X
d->nefc = 0;
d->nisland = 0;
d->contact = (mjContact*) d->arena;
}
#ifdef __cplusplus
}
#endif