Extract memory allocation functions and core utilities

PiperOrigin-RevId: 801745499
Change-Id: Iaf05c3430769d3115743d8ab020d13148cb2eb59

test/engine/engine_core_constraint_test.cc

@@ -24,6 +24,7 @@
 #include <mujoco/mjmodel.h>
 #include <mujoco/mujoco.h>
 #include "src/engine/engine_core_constraint.h"
+#include "src/engine/engine_core_util.h"
 #include "src/engine/engine_support.h"
 #include "src/engine/engine_util_misc.h"
 #include "test/fixture.h"
@@ -197,7 +198,9 @@ TEST_F(CoreConstraintTest, RestPenetration) {
       // simulate for 50 seconds
       mj_resetData(model, data);
       while (data->time < 50) {
+        mjtNum time = data->time;
         mj_step(model, data);
+        ASSERT_GT(data->time, time) << "Divergence detected";
       }
 
       mjtNum depth = -data->contact[0].dist;
@@ -263,7 +266,9 @@ TEST_F(CoreConstraintTest, EqualityBodySite) {
 
   // simulate, get diag(A)
   while (data->time < 0.1) {
+    mjtNum time = data->time;
     mj_step(model, data);
+    ASSERT_GT(data->time, time) << "Divergence detected";
   }
   int nefc_site = data->nefc;
   std::vector<mjtNum> dA = AsVector(data->efc_diagApprox, nefc_site);
@@ -276,7 +281,9 @@ TEST_F(CoreConstraintTest, EqualityBodySite) {
 
   // simulate again, get diag(A)
   while (data->time < 0.1) {
+    mjtNum time = data->time;
     mj_step(model, data);
+    ASSERT_GT(data->time, time) << "Divergence detected";
   }
 
   // compare
@@ -310,8 +317,12 @@ TEST_F(CoreConstraintTest, ConstraintUpdateImpl) {
       mj_resetData(model, d1);
       mj_resetData(model, d2);
       while (d1->time < 0.2) {
+        mjtNum time1 = d1->time;
+        mjtNum time2 = d2->time;
         mj_step(model, d1);
+        ASSERT_GT(d1->time, time1) << "Divergence detected";
         mj_step(model, d2);
+        ASSERT_GT(d2->time, time2) << "Divergence detected";
       }
       mj_forward(model, d1);
       mj_forward(model, d2);

test/engine/engine_core_smooth_test.cc

@@ -187,7 +187,9 @@ TEST_F(CoreSmoothTest, TendonJdot) {
       } else {
         mj_resetData(m, d);
         while (d->time < 1) {
+          mjtNum time = d->time;
           mj_step(m, d);
+          ASSERT_GT(d->time, time) << "Divergence detected";
         }
       }
 
@@ -307,7 +309,9 @@ TEST_F(CoreSmoothTest, TendonArmatureConservesEnergy) {
 
       double eps = std::max(energy_0, 1.0) * 1e-5;
       while (d->time < 1) {
+        mjtNum time = d->time;
         mj_step(m, d);
+        ASSERT_GT(d->time, time) << "Divergence detected";
         double energy_t = d->energy[0] + d->energy[1];
         EXPECT_THAT(energy_t, DoubleNear(energy_0, eps));
       }
@@ -336,7 +340,9 @@ TEST_F(CoreSmoothTest, TendonArmatureConservesMomentum) {
 
     double eps = 1e-5;
     while (d->time < 1) {
+      mjtNum time = d->time;
       mj_step(m, d);
+      ASSERT_GT(d->time, time) << "Divergence detected";
       vector<mjtNum> sdata_t = AsVector(d->sensordata, m->nsensordata);
       EXPECT_THAT(sdata_t, Pointwise(DoubleNear(eps), sdata_0));
     }
@@ -380,10 +386,14 @@ TEST_F(CoreSmoothTest, TendonInertiaEquivalent) {
     double eps = lpath == kTen_i0 ? 1e-6 : 1e-3;
 
     while (d->time < 1) {
+      mjtNum time = d->time;
       mj_step(m, d);
+      ASSERT_GT(d->time, time) << "Divergence detected";
       vector<mjtNum> xpos = AsVector(d->geom_xpos + 3*gid, 3);
 
+      time = d_e->time;
       mj_step(m_e, d_e);
+      ASSERT_GT(d_e->time, time) << "Divergence detected";
       vector<mjtNum> xpos_e = AsVector(d_e->geom_xpos + 3*gid_e, 3);
 
       EXPECT_THAT(xpos, Pointwise(DoubleNear(eps), xpos_e));
@@ -560,7 +570,9 @@ TEST_F(CoreSmoothTest, EqualityBodySite) {
 
   // simulate again, get sensordata
   while (data->time < 0.1) {
+    mjtNum time = data->time;
     mj_step(model, data);
+    ASSERT_GT(data->time, time) << "Divergence detected";
   }
 
   // compare
@@ -589,7 +601,9 @@ TEST_F(CoreSmoothTest, RefsiteBringsToPose) {
 
   // step for 5 seconds
   while (data->time < 10) {
+    mjtNum time = data->time;
     mj_step(model, data);
+    ASSERT_GT(data->time, time) << "Divergence detected";
   }
 
   // get site IDs
@@ -628,7 +642,9 @@ TEST_F(CoreSmoothTest, RefsiteConservesMomentum) {
   // simulate, assert that momentum is conserved
   mjtNum eps = 1e-9;
   while (data->time < 1) {
+    mjtNum time = data->time;
     mj_step(model, data);
+    ASSERT_GT(data->time, time) << "Divergence detected";
     for (int i=0; i < 6; i++) {
       EXPECT_LT(mju_abs(data->sensordata[i]), eps);
     }

test/engine/engine_io_test.cc

@@ -12,15 +12,16 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-// Tests for engine/engine_io.c.
+// Tests for engine/{engine_io.c and engine_memory.c}.
 
 #include "src/engine/engine_io.h"
+#include "src/engine/engine_memory.h"
 
 #include <array>
 #include <cstdint>
 #include <cstdio>
 #include <cstring>
-#include <filesystem>
+#include <filesystem>  // NOLINT
 #include <string>
 #include <vector>
 

test/engine/engine_support_test.cc

@@ -12,8 +12,9 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-// Tests for engine/engine_support.c.
+// Tests for engine/{engine_support.c and engine_core_util.c}
 
+#include "src/engine/engine_core_util.h"
 #include "src/engine/engine_support.h"
 
 #include <limits>