Implement threading for island constraint solving.

Humanoids22 No threads: Benchmark Execution Time: 9.475905812s Humanoids22 with 10 Threads: Benchmark Execution Time: 4.871352s PiperOrigin-RevId: 571214307 Change-Id: I1f4f2c761b4ae6bc8fac1f28c6c695f6c499f339
2023-10-05 21:04:39 -07:00
parent 06670155c4
commit 071af3b015
20 changed files with 3667 additions and 30 deletions
@@ -3446,6 +3446,15 @@ mju_threadPoolCreate

 Create a thread pool with the specified number of threads running.

+.. _mju_bindThreadPool:
+
+mju_bindThreadPool
+~~~~~~~~~~~~~~~~~~
+
+.. mujoco-include:: mju_bindThreadPool
+
+Adds a thread pool to :ref:`mjData` and configures it for multi-threaded use.
+
 .. _mju_threadPoolEnqueue:

 mju_threadPoolEnqueue