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
77 lines
2.7 KiB
C
77 lines
2.7 KiB
C
// Copyright 2021 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_SRC_ENGINE_ENGINE_MACRO_H_
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#define MUJOCO_SRC_ENGINE_ENGINE_MACRO_H_
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#include <stdint.h>
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#include "engine/engine_callback.h" // IWYU pragma: export
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//-------------------------------- utility macros --------------------------------------------------
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// mark and free stack
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#define mjMARKSTACK int _mark = d->pstack;
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#define mjFREESTACK d->pstack = _mark;
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// check bitflag
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#define mjDISABLED(x) (m->opt.disableflags & (x))
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#define mjENABLED(x) (m->opt.enableflags & (x))
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// max and min macros
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#define mjMAX(a, b) (((a) > (b)) ? (a) : (b))
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#define mjMIN(a, b) (((a) < (b)) ? (a) : (b))
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//-------------------------- timer macros ----------------------------------------------------------
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#define TM_START mjtNum _tm = (mjcb_time ? mjcb_time() : 0);
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#define TM_RESTART _tm = (mjcb_time ? mjcb_time() : 0);
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#define TM_END(i) {d->timer[i].duration += ((mjcb_time ? mjcb_time() : 0) - _tm); d->timer[i].number++;}
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#define TM_START1 mjtNum _tm1 = (mjcb_time ? mjcb_time() : 0);
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#define TM_END1(i) {d->timer[i].duration += ((mjcb_time ? mjcb_time() : 0) - _tm1); d->timer[i].number++;}
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//-------------------------- sanitizer macros ------------------------------------------------------
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#ifdef ADDRESS_SANITIZER
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#include <sanitizer/asan_interface.h>
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#elif defined(_MSC_VER)
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#define ASAN_POISON_MEMORY_REGION(addr, size)
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#define ASAN_UNPOISON_MEMORY_REGION(addr, size)
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#else
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#define ASAN_POISON_MEMORY_REGION(addr, size) ((void)(addr), (void)(size))
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#define ASAN_UNPOISON_MEMORY_REGION(addr, size) ((void)(addr), (void)(size))
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#endif
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#ifdef MEMORY_SANITIZER
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#include <sanitizer/msan_interface.h>
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#endif
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#ifndef __has_builtin
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#define __has_builtin(x) 0
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#endif
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//-------------------------- pointer arithmetic ----------------------------------------------------
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#define PTRDIFF(x, y) ((char*)(x) - (char*)(y))
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// number of bytes to be skipped to achieve 64-byte alignment
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static inline unsigned int SKIP(intptr_t offset) {
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const unsigned int align = 64;
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// compute skipped bytes
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return (align - (offset % align)) % align;
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}
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#endif // MUJOCO_SRC_ENGINE_ENGINE_MACRO_H_
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