The use of `np.empty` triggers an msan use-of-uninitialized-value error when upgraded.
PiperOrigin-RevId: 503975799
Change-Id: I337c8227c8c1e3bd415d7a798fc5e764c88c0875
- Also change signatures of `mju_fill` and `mju_symmetrize` to conform to standard.
PiperOrigin-RevId: 485613824
Change-Id: I8dd618bac92ef40aa6c76380fa73302e81968687
- 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
List all valid names in the error message.
Fix an off-by-one error when accessing elements by numeric index (rather than name).
PiperOrigin-RevId: 457702283
Change-Id: I6e4f1518b4ecd9ca91ac9b0bf6b0963fc0a9bd18
Indiscriminate memset into d->buffer and m->buffer previously caused msan to not detect uninitialized reads.
Also fix tests with uninitialized read bugs that are detected by msan after this change.
PiperOrigin-RevId: 451508224
Change-Id: I1f4b080a8ef765c34ba7a0adc2c686419f6e5516
NumPy arrays with an empty shape cannot be assigned via the usual syntax.
Fixes: #238.
Related: #237.
PiperOrigin-RevId: 441265437
Change-Id: Ib0de22c83f9babe9a97682dc5a32660c198ad68c
This commit requires a new binary build, and therefore breaks compatibility with version 2.1.3.
Fixes#217.
Change-Id: I1e08b6fd2c468e3845e2166a1e4cc9d265de64de
This is useful when writing or modifying collision functions, when the actual direction of the x and y axes of a contact can be important.
PiperOrigin-RevId: 437256700
Change-Id: I5eab737fc98018399e151552778c6109088bf614
Kyle Bayes