Rename nstack to narena, change it and pstack to count bytes.

PiperOrigin-RevId: 561066311
Change-Id: I4d0e645e6c254dd906bfc42159e0e99149a7c6c8

include/mujoco/mjdata.h

@@ -151,8 +151,8 @@ typedef struct mjSolverStat_ mjSolverStat;
 
 struct mjData_ {
   // constant sizes
-  int     nstack;            // number of mjtNums that can fit in the arena+stack space
-  int     nbuffer;           // size of main buffer in bytes
+  size_t  narena;            // size of the arena in bytes (inclusive of the stack)
+  size_t  nbuffer;           // size of main buffer in bytes
   int     nplugin;           // number of plugin instances
 
   // stack pointer
@@ -162,7 +162,7 @@ struct mjData_ {
   size_t  parena;            // first available byte in arena
 
   // memory utilization stats
-  int     maxuse_stack;      // maximum stack allocation
+  size_t  maxuse_stack;      // maximum stack allocation
   size_t  maxuse_arena;      // maximum arena allocation
   int     maxuse_con;        // maximum number of contacts
   int     maxuse_efc;        // maximum number of scalar constraints

include/mujoco/mjmacro.h

@@ -54,7 +54,7 @@
     d->pstack = _mark;                                           \
     ASAN_POISON_MEMORY_REGION(                                   \
         (char*)d->arena + d->parena,                             \
-        (d->nstack - d->pstack) * sizeof(mjtNum) - d->parena );  \
+        d->narena - d->pstack - d->parena);                      \
   }
 #endif
 

include/mujoco/mjmodel.h

@@ -15,6 +15,8 @@
 #ifndef MUJOCO_MJMODEL_H_
 #define MUJOCO_MJMODEL_H_
 
+#include <stddef.h>
+
 #include <mujoco/mjtnum.h>
 
 // global constants
@@ -623,12 +625,12 @@ struct mjModel_ {
   int nemax;                      // number of potential equality-constraint rows
   int njmax;                      // number of available rows in constraint Jacobian
   int nconmax;                    // number of potential contacts in contact list
-  int nstack;                     // number of fields in mjData stack
   int nuserdata;                  // number of extra fields in mjData
   int nsensordata;                // number of fields in sensor data vector
   int npluginstate;               // number of fields in plugin state vector
 
-  int nbuffer;                    // number of bytes in buffer
+  size_t narena;                  // number of bytes in the mjData arena (inclusive of stack)
+  size_t nbuffer;                 // number of bytes in buffer
 
   // ------------------------------- options and statistics
 

include/mujoco/mjxmacro.h

@@ -125,10 +125,10 @@
     X   ( njmax )              \
     X   ( nconmax )            \
     XMJV( ntree )              \
-    X   ( nstack )             \
     X   ( nuserdata )          \
     XMJV( nsensordata )        \
     X   ( npluginstate )       \
+    X   ( narena )             \
     X   ( nbuffer )
 
 
@@ -620,13 +620,13 @@
 
 // scalar fields of mjData
 #define MJDATA_SCALAR                  \
-    X( int,       nstack             ) \
-    X( int,       nbuffer            ) \
+    X( size_t,    narena             ) \
+    X( size_t,    nbuffer            ) \
     X( int,       nplugin            ) \
-    X( int,       pstack             ) \
-    X( int,       parena             ) \
-    X( int,       maxuse_stack       ) \
-    X( int,       maxuse_arena       ) \
+    X( size_t,    pstack             ) \
+    X( size_t,    parena             ) \
+    X( size_t,    maxuse_stack       ) \
+    X( size_t,    maxuse_arena       ) \
     X( int,       maxuse_con         ) \
     X( int,       maxuse_efc         ) \
     X( int,       solver_iter        ) \