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Move ntree to mjModel allocator sizes

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PiperOrigin-RevId: 795855203
Change-Id: Idab185294d53dced9ebf073b782969dc5643b95a
This commit is contained in:
Yuval Tassa
2025-08-16 09:15:52 -07:00
committed by Copybara-Service
parent 1447711037
commit c0096b51a4
9 changed files with 48 additions and 20 deletions
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src/engine/engine_io.c
+5 -4
View File
@@ -463,7 +463,7 @@ static void freeModelBuffers(mjModel* m) {
// allocate and initialize mjModel structure
void mj_makeModel(mjModel** dest,
int nq, int nv, int nu, int na, int nbody, int nbvh,
int nbvhstatic, int nbvhdynamic, int noct, int njnt,
int nbvhstatic, int nbvhdynamic, int noct, int njnt, int ntree,
int nM, int nB, int nC, int nD, int ngeom, int nsite, int ncam,
int nlight, int nflex, int nflexnode, int nflexvert, int nflexedge, int nflexelem,
int nflexelemdata, int nflexelemedge, int nflexshelldata, int nflexevpair, int nflextexcoord,
@@ -505,6 +505,7 @@ void mj_makeModel(mjModel** dest,
m->nbvhdynamic = nbvhdynamic;
m->noct = noct;
m->njnt = njnt;
m->ntree = ntree;
m->nM = nM;
m->nB = nB;
m->nC = nC;
@@ -648,8 +649,8 @@ mjModel* mj_copyModel(mjModel* dest, const mjModel* src) {
if (!dest) {
mj_makeModel(
&dest, src->nq, src->nv, src->nu, src->na, src->nbody, src->nbvh,
src->nbvhstatic, src->nbvhdynamic, src->noct, src->njnt, src->nM,
src->nB, src->nC, src->nD, src->ngeom, src->nsite, src->ncam,
src->nbvhstatic, src->nbvhdynamic, src->noct, src->njnt, src->ntree,
src->nM, src->nB, src->nC, src->nD, src->ngeom, src->nsite, src->ncam,
src->nlight, src->nflex, src->nflexnode, src->nflexvert, src->nflexedge,
src->nflexelem, src->nflexelemdata, src->nflexelemedge,
src->nflexshelldata, src->nflexevpair, src->nflextexcoord, src->nmesh,
@@ -845,7 +846,7 @@ mjModel* mj_loadModelBuffer(const void* buffer, int buffer_sz) {
ints[49], ints[50], ints[51], ints[52], ints[53], ints[54], ints[55],
ints[56], ints[57], ints[58], ints[59], ints[60], ints[61], ints[62],
ints[63], ints[64], ints[65], ints[66], ints[67], ints[68], ints[69],
ints[70], ints[71], ints[72], ints[73]);
ints[70], ints[71], ints[72], ints[73], ints[74]);
// read mjModel mjtSize fields
mjtSize sizes[8];
src/engine/engine_io.h
+2 -2
View File
@@ -53,8 +53,8 @@ void mj_defaultStatistic(mjStatistic* stat);
// allocate mjModel
void mj_makeModel(mjModel** dest,
int nq, int nv, int nu, int na, int nbody, int nbvh, int nbvhstatic, int nbvhdynamic, int noct,
int njnt, int nM, int nB, int nC, int nD, int ngeom, int nsite, int ncam, int nlight, int nflex,
int nflexnode, int nflexvert, int nflexedge, int nflexelem, int nflexelemdata,
int njnt, int ntree, int nM, int nB, int nC, int nD, int ngeom, int nsite, int ncam, int nlight,
int nflex, int nflexnode, int nflexvert, int nflexedge, int nflexelem, int nflexelemdata,
int nflexelemedge, int nflexshelldata, int nflexevpair, int nflextexcoord, int nmesh,
int nmeshvert, int nmeshnormal, int nmeshtexcoord, int nmeshface, int nmeshgraph, int nmeshpoly,
int nmeshpolyvert, int nmeshpolymap, int nskin, int nskinvert, int nskintexvert, int nskinface,