Add ASAN and MSAN instrumentation for arena and mjData stack.

PiperOrigin-RevId: 535635490
Change-Id: Ia1e58771bae25bf72c861f57452fb8faa2b918fb

src/engine/engine_macro.h

@@ -17,22 +17,11 @@
 
 #include <stdint.h>
 
+#include <mujoco/mjmacro.h>
 #include "engine/engine_callback.h"  // IWYU pragma: export
 
 //-------------------------------- utility macros --------------------------------------------------
 
-// mark and free stack
-#define mjMARKSTACK int _mark = d->pstack;
-#define mjFREESTACK d->pstack = _mark;
-
-// check bitflag
-#define mjDISABLED(x) (m->opt.disableflags & (x))
-#define mjENABLED(x)  (m->opt.enableflags & (x))
-
-// max and min macros
-#define mjMAX(a, b)    (((a) > (b)) ? (a) : (b))
-#define mjMIN(a, b)    (((a) < (b)) ? (a) : (b))
-
 // thread local macro
 #ifdef _MSC_VER
 #define mjTHREADLOCAL __declspec(thread)
@@ -49,21 +38,7 @@
 #define TM_START1 mjtNum _tm1 = (mjcb_time ? mjcb_time() : 0);
 #define TM_END1(i) {d->timer[i].duration += ((mjcb_time ? mjcb_time() : 0) - _tm1); d->timer[i].number++;}
 
-//-------------------------- sanitizer macros ------------------------------------------------------
-
-#ifdef ADDRESS_SANITIZER
-  #include <sanitizer/asan_interface.h>
-#elif defined(_MSC_VER)
-  #define ASAN_POISON_MEMORY_REGION(addr, size)
-  #define ASAN_UNPOISON_MEMORY_REGION(addr, size)
-#else
-  #define ASAN_POISON_MEMORY_REGION(addr, size) ((void)(addr), (void)(size))
-  #define ASAN_UNPOISON_MEMORY_REGION(addr, size) ((void)(addr), (void)(size))
-#endif
-
-#ifdef MEMORY_SANITIZER
-  #include <sanitizer/msan_interface.h>
-#endif
+//-------------------------- compiler builtin ------------------------------------------------------
 
 #ifndef __has_builtin
 #define __has_builtin(x) 0