Move sanitizer instrumentation to a separate header file. Fixes #2049.

PiperOrigin-RevId: 672986547
Change-Id: I42522f4925237a73168e965364a2dd65c0f067cb

src/engine/engine_collision_driver.c

@@ -21,6 +21,7 @@
 #include <mujoco/mjdata.h>
 #include <mujoco/mjmacro.h>
 #include <mujoco/mjmodel.h>
+#include <mujoco/mjsan.h>  // IWYU pragma: keep
 #include "engine/engine_callback.h"
 #include "engine/engine_collision_convex.h"
 #include "engine/engine_collision_primitive.h"

src/engine/engine_collision_sdf.c

@@ -19,6 +19,7 @@
 
 #include <mujoco/mjdata.h>
 #include <mujoco/mjmodel.h>
+#include <mujoco/mjsan.h>  // IWYU pragma: keep
 #include <mujoco/mjtnum.h>
 #include "engine/engine_collision_primitive.h"
 #include "engine/engine_io.h"

src/engine/engine_core_constraint.c

@@ -20,6 +20,7 @@
 #include <mujoco/mjdata.h>
 #include <mujoco/mjmacro.h>
 #include <mujoco/mjmodel.h>
+#include <mujoco/mjsan.h>  // IWYU pragma: keep
 #include <mujoco/mjxmacro.h>
 #include "engine/engine_core_smooth.h"
 #include "engine/engine_io.h"

src/engine/engine_core_smooth.c

@@ -20,6 +20,7 @@
 #include <mujoco/mjdata.h>
 #include <mujoco/mjmacro.h>
 #include <mujoco/mjmodel.h>
+#include <mujoco/mjsan.h>  // IWYU pragma: keep
 #include "engine/engine_core_constraint.h"
 #include "engine/engine_crossplatform.h"
 #include "engine/engine_io.h"

src/engine/engine_derivative.c

@@ -16,6 +16,7 @@
 
 #include <mujoco/mjdata.h>
 #include <mujoco/mjmodel.h>
+#include <mujoco/mjsan.h>  // IWYU pragma: keep
 #include "engine/engine_core_constraint.h"
 #include "engine/engine_crossplatform.h"
 #include "engine/engine_io.h"

src/engine/engine_derivative_fd.c

@@ -20,6 +20,7 @@
 #include <mujoco/mjdata.h>
 #include <mujoco/mjmacro.h>
 #include <mujoco/mjmodel.h>
+#include <mujoco/mjsan.h>  // IWYU pragma: keep
 #include "engine/engine_forward.h"
 #include "engine/engine_io.h"
 #include "engine/engine_inverse.h"

src/engine/engine_forward.c

@@ -20,6 +20,7 @@
 #include <mujoco/mjdata.h>
 #include <mujoco/mjmacro.h>
 #include <mujoco/mjmodel.h>
+#include <mujoco/mjsan.h>  // IWYU pragma: keep
 #include <mujoco/mjplugin.h>
 #include "engine/engine_callback.h"
 #include "engine/engine_collision_driver.h"

src/engine/engine_inverse.c

@@ -19,6 +19,7 @@
 #include <mujoco/mjdata.h>
 #include <mujoco/mjmacro.h>
 #include <mujoco/mjmodel.h>
+#include <mujoco/mjsan.h>  // IWYU pragma: keep
 #include "engine/engine_collision_driver.h"
 #include "engine/engine_core_constraint.h"
 #include "engine/engine_core_smooth.h"

src/engine/engine_io.c

@@ -25,6 +25,7 @@
 #include <mujoco/mjmodel.h>
 #include <mujoco/mjmacro.h>
 #include <mujoco/mjplugin.h>
+#include <mujoco/mjsan.h>  // IWYU pragma: keep
 #include <mujoco/mjxmacro.h>
 #include "engine/engine_crossplatform.h"
 #include "engine/engine_macro.h"

src/engine/engine_island.c

@@ -19,6 +19,7 @@
 
 #include <mujoco/mjdata.h>
 #include <mujoco/mjmodel.h>
+#include <mujoco/mjsan.h>  // IWYU pragma: keep
 #include <mujoco/mjxmacro.h>
 #include "engine/engine_core_constraint.h"
 #include "engine/engine_io.h"

src/engine/engine_print.c

@@ -22,6 +22,7 @@
 #include <mujoco/mjdata.h>
 #include <mujoco/mjmacro.h>
 #include <mujoco/mjmodel.h>
+#include <mujoco/mjsan.h>  // IWYU pragma: keep
 #include <mujoco/mjxmacro.h>
 #include "engine/engine_core_constraint.h"
 #include "engine/engine_io.h"

src/engine/engine_ray.c

@@ -21,6 +21,7 @@
 #include <mujoco/mjdata.h>
 #include <mujoco/mjmacro.h>
 #include <mujoco/mjmodel.h>
+#include <mujoco/mjsan.h>  // IWYU pragma: keep
 #include <mujoco/mjvisualize.h>
 #include "engine/engine_io.h"
 #include "engine/engine_plugin.h"

src/engine/engine_sensor.c

@@ -19,6 +19,7 @@
 #include <mujoco/mjdata.h>
 #include <mujoco/mjmodel.h>
 #include <mujoco/mjplugin.h>
+#include <mujoco/mjsan.h>  // IWYU pragma: keep
 #include "engine/engine_callback.h"
 #include "engine/engine_core_smooth.h"
 #include "engine/engine_crossplatform.h"

src/engine/engine_setconst.c

@@ -20,6 +20,7 @@
 #include <mujoco/mjdata.h>
 #include <mujoco/mjmacro.h>
 #include <mujoco/mjmodel.h>
+#include <mujoco/mjsan.h>  // IWYU pragma: keep
 #include "engine/engine_core_constraint.h"
 #include "engine/engine_core_smooth.h"
 #include "engine/engine_forward.h"

src/engine/engine_solver.c

@@ -20,6 +20,7 @@
 #include <mujoco/mjdata.h>
 #include <mujoco/mjmacro.h>
 #include <mujoco/mjmodel.h>
+#include <mujoco/mjsan.h>  // IWYU pragma: keep
 #include "engine/engine_core_constraint.h"
 #include "engine/engine_core_smooth.h"
 #include "engine/engine_io.h"

src/engine/engine_support.c

@@ -19,6 +19,7 @@
 
 #include <mujoco/mjdata.h>
 #include <mujoco/mjmodel.h>
+#include <mujoco/mjsan.h>  // IWYU pragma: keep
 #include "engine/engine_collision_driver.h"
 #include "engine/engine_core_constraint.h"
 #include "engine/engine_crossplatform.h"

src/engine/engine_util_solve.c

@@ -19,6 +19,7 @@
 
 #include <mujoco/mjdata.h>
 #include <mujoco/mjmacro.h>
+#include <mujoco/mjsan.h>  // IWYU pragma: keep
 #include "engine/engine_io.h"
 #include "engine/engine_util_blas.h"
 #include "engine/engine_util_errmem.h"

src/engine/engine_util_sparse.c

@@ -18,6 +18,7 @@
 #include <string.h>
 
 #include <mujoco/mjdata.h>
+#include <mujoco/mjsan.h>  // IWYU pragma: keep
 #include <mujoco/mjtnum.h>
 #include "engine/engine_io.h"
 #include "engine/engine_util_blas.h"

src/engine/engine_vis_interact.c

@@ -20,6 +20,7 @@
 #include <mujoco/mjdata.h>
 #include <mujoco/mjexport.h>
 #include <mujoco/mjmodel.h>
+#include <mujoco/mjsan.h>  // IWYU pragma: keep
 #include <mujoco/mjvisualize.h>
 #include "engine/engine_core_smooth.h"
 #include "engine/engine_io.h"

src/engine/engine_vis_visualize.c

@@ -20,6 +20,7 @@
 #include <mujoco/mjdata.h>
 #include <mujoco/mjmacro.h>
 #include <mujoco/mjmodel.h>
+#include <mujoco/mjsan.h>  // IWYU pragma: keep
 #include <mujoco/mjvisualize.h>
 #include "engine/engine_array_safety.h"
 #include "engine/engine_io.h"