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Implement threading for island constraint solving.

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Humanoids22 No threads:
 Benchmark Execution Time: 9.475905812s

Humanoids22 with 10 Threads:
 Benchmark Execution Time: 4.871352s

PiperOrigin-RevId: 571214307
Change-Id: I1f4f2c761b4ae6bc8fac1f28c6c695f6c499f339
This commit is contained in:
Matthew Bennice
2023-10-05 21:04:39 -07:00
committed by Copybara-Service
parent 06670155c4
commit 071af3b015
20 changed files with 3667 additions and 30 deletions
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doc/changelog.rst
+7 -5
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@@ -122,11 +122,13 @@ General
attributes are specified. See the following
`example model <https://github.com/deepmind/mujoco/blob/main/test/engine/testdata/vis_visualize/frustum.xml>`__.
- Note that these attributes only take effect for offline rendering and do not affect interactive visualisation.
22. Added multi-threaded constraint solving via :ref:`mj_island` and :ref:`mjThreadPool` to :ref:`testspeed<saTestspeed>`
exposed via npoolthread flag. The `22 humanoids <https://github.com/deepmind/mujoco/blob/main/model/humanoid/22_humanoids.xml>`__
model shows a 3x speedup compared to the single threaded simulation.
Python bindings
^^^^^^^^^^^^^^^
22. Fixed `#870 <https://github.com/google-deepmind/mujoco/issues/870>`__ where calling ``update_scene`` with an invalid
23. Fixed `#870 <https://github.com/google-deepmind/mujoco/issues/870>`__ where calling ``update_scene`` with an invalid
camera name used the default camera.
Simulate
@@ -136,18 +138,18 @@ Simulate
:align: right
:width: 240px
23. Added **state history** mechanism to :ref:`simulate<saSimulate>` and the managed
24. Added **state history** mechanism to :ref:`simulate<saSimulate>` and the managed
:ref:`Python viewer<PyViewerManaged>`. State history can be viewed by scrubbing the History slider and (more
precisely) with the left and right arrow keys. See screen capture:
24. The ``LOADING...`` label is now shown correctly.
25. The ``LOADING...`` label is now shown correctly.
`Contribution <https://github.com/google-deepmind/mujoco/pull/1070>`__ by
`Levi Burner <https://github.com/aftersomemath>`__.
Bug fixes
^^^^^^^^^
25. Fixed a bug that was causing :ref:`geom margin<body-geom-margin>` to be ignored during the construction of
26. Fixed a bug that was causing :ref:`geom margin<body-geom-margin>` to be ignored during the construction of
midphase collision trees.
Version 2.3.7 (July 20, 2023)