Saran Tunyasuvunakool
58fd72f53d
- 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
74 lines
2.3 KiB
C++
74 lines
2.3 KiB
C++
// Copyright 2022 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef MUJOCO_PYTHON_SERIALIZATION_H_
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#define MUJOCO_PYTHON_SERIALIZATION_H_
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#include <iostream>
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#include <mujoco/mjtnum.h>
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namespace mujoco::python::_impl {
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// For now, the serialization format is architecture- and version-dependent:
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// It assumes that the writer and the reader have the same endianess, same
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// numeric value sizes and same struct definitions.
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// It is not safe to load serialized data from another version of MuJoCo or from
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// a machine with a different architecture.
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static_assert(sizeof(char) == 1);
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static_assert(sizeof(int) == 4);
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static_assert(sizeof(mjtNum) == 8);
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inline void WriteChar(std::ostream& output, char c) {
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output.write(&c, 1);
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}
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inline char ReadChar(std::istream& input) {
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char c = '\0';
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input.read(&c, 1);
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return c;
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}
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inline void WriteInt(std::ostream& output, std::size_t i) {
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output.write(reinterpret_cast<char*>(&i), sizeof(std::size_t));
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}
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inline std::size_t ReadInt(std::istream& input) {
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std::size_t i = 0;
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input.read(reinterpret_cast<char*>(&i), sizeof(std::size_t));
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return i;
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}
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inline void WriteBytes(std::ostream& output, const void* src,
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std::size_t nbytes) {
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// Start by writing nbytes itself, so it can be validated at the time of
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// reading.
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WriteInt(output, nbytes);
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output.write(reinterpret_cast<const char*>(src), nbytes);
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}
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inline void ReadBytes(std::istream& input, void* dest, std::size_t nbytes) {
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std::size_t actual_nbytes = ReadInt(input);
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if (actual_nbytes != nbytes) {
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input.setstate(input.rdstate() | std::ios_base::failbit);
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return;
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}
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input.read(reinterpret_cast<char*>(dest), nbytes);
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}
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} // namespace mujoco::python::_impl
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#endif // MUJOCO_PYTHON_SERIALIZATION_H_
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