When built and run under address sanitizer (asan), `mj_markStack` and `mj_freeStack` are instrumented to detect leakage of mjData stack frames. When the compiler inlines several callees that call into mark/free in the same function, this instrumentation requires that the compiler retains separate mark/free calls for each original callee.
This change adds necessary optimization barriers to ensure that this is the case.
PiperOrigin-RevId: 609373993
Change-Id: I30dfd998fb66530735348e9715d92ee713f28210
Also add asan instrumentation to detect stack frame leakages (i.e. `mj_markStack` without a corresponding `mj_freeStack` in the same caller function).
PiperOrigin-RevId: 562625645
Change-Id: I4e3ff66ca0b9d08ed0a95cef45393db8e3053e22
This results in approximately 4-5% speedup in collision detection for particle.xml.
PiperOrigin-RevId: 562526634
Change-Id: Ia6487b1908618064d858bac484fe6861ed37a402
This implementation explicitly avoids calling division instructions (which are generally expensive) even when link-time optimization is not active or if the alloc functions aren't inlined for some reason.
Also make mj_stackAlloc cheaper for external callers who may be linking against MuJoCo dynamically (and therefore cannot benefit from inlining).
PiperOrigin-RevId: 561299565
Change-Id: Iea4be5bf6d351ddf0c9d1fd8bd89a0c207b39309
- Add private function `mj_arenaAlloc`. This is used internally to allocate memory from the arena.
- Add private function `mj_nefc` to count constraints. This function returns a tight upper bound on `d->nefc`. The number of counted constraints can be slightly bigger than exact `d->nefc` in the case of constraints with empty Jacobian, as when placing a frictional tendon between two world sites.
- Add new `memory` attribute to the `size` XML element for specification of arena memory size. This attribute is mutually exclusive with `nstack` and `njmax` specifications, which are now deprecated (but left around for the time being for legacy compatibility).
- Move `d->stack` to the end of the new arena space. The stack now grows in reverse from the end.
PiperOrigin-RevId: 479341539
Change-Id: Ie019c202e0908577ffc6f833a37920858116f667
Alessio Quaglino