Yuval Tassa
259e6c4dc6
PiperOrigin-RevId: 951656966 Change-Id: I51294e6a95c39f4037e8feb2aee45e69cb51beb0
90 lines
2.6 KiB
C
90 lines
2.6 KiB
C
// Copyright 2025 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_MEMORY_H_
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#define MUJOCO_SRC_ENGINE_ENGINE_MEMORY_H_
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#include <mujoco/mjdata.h>
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#include <mujoco/mjexport.h>
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#include <mujoco/mjsan.h> // IWYU pragma: keep
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#include <mujoco/mjtype.h>
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#include <mujoco/mjxmacro.h>
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#ifdef __cplusplus
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#include <cstddef>
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extern "C" {
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#else
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#include <stddef.h>
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#endif
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// internal hash map size factor (2 corresponds to a load factor of 0.5)
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#define mjLOAD_MULTIPLE 2
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// mjData arena allocate
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MJAPI void* mj_arenaAllocByte(mjData* d, size_t bytes, size_t alignment);
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#ifndef mjUSEASAN
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// mjData mark stack frame
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MJAPI void mj_markStack(mjData* d);
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// mjData free stack frame
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MJAPI void mj_freeStack(mjData* d);
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#else
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void mj__markStack(mjData* d) __attribute__((noinline));
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void mj__freeStack(mjData* d) __attribute__((noinline));
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#endif // ADDRESS_SANITIZER
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// allocate bytes on the stack
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MJAPI void* mj_stackAllocByte(mjData* d, size_t bytes, size_t alignment);
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// allocate bytes on the stack, with added caller information
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MJAPI void* mj_stackAllocInfo(mjData* d, size_t bytes, size_t alignment,
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const char* caller, int line);
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// macro to allocate a stack array of given type, adds caller information
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#define mjSTACKALLOC(d, num, type) \
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(type*) mj_stackAllocInfo(d, (num) * sizeof(type), _Alignof(type), __func__, __LINE__)
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// mjData stack allocate for array of mjtNums
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MJAPI mjtNum* mj_stackAllocNum(mjData* d, size_t size);
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// mjData stack allocate for array of ints
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MJAPI int* mj_stackAllocInt(mjData* d, size_t size);
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// clear arena pointers in mjData
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static inline void mj_clearEfc(mjData* d) {
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#define X(type, name, nr, nc) d->name = NULL;
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MJDATA_ARENA_POINTERS
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#undef X
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d->nefc = 0;
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d->nisland = 0;
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d->nJ = d->nY = d->nA = 0;
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d->contact = (mjContact*) d->arena;
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// if any contacts are allocated, clear their efc_address
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for (int i=0; i < d->ncon; i++) {
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d->contact[i].efc_address = -1;
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}
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}
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#ifdef __cplusplus
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}
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#endif
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#endif // MUJOCO_SRC_ENGINE_ENGINE_MEMORY_H_
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