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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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sample/testspeed.cc
+15 -3
View File
@@ -119,12 +119,12 @@ void simulate(int id, int nstep, mjtNum* ctrl) {
int main(int argc, char** argv) {
// print help if arguments are missing
if (argc < 2 || argc > 6) {
return finish("\n Usage: testspeed modelfile [nstep nthread ctrlnoise profile]\n");
if (argc < 2 || argc > 7) {
return finish("\n Usage: testspeed modelfile [nstep nthread ctrlnoise profile npoolthread]\n");
}
// read arguments
int nstep = 10000, nthread = 0, profile = 1;
int nstep = 10000, nthread = 0, profile = 1, npoolthread = 0;
// inject small noise by default, to avoid fixed contact state
mjtNum ctrlnoise = 0.01;
if (argc > 2 && (std::sscanf(argv[2], "%d", &nstep) != 1 || nstep <= 0)) {
@@ -139,12 +139,16 @@ int main(int argc, char** argv) {
if (argc > 5 && std::sscanf(argv[5], "%d", &profile) != 1) {
return finish("Invalid profile argument");
}
if (argc > 6 && std::sscanf(argv[6], "%d", &npoolthread) != 1) {
return finish("Invalid npoolthread argument");
}
// clamp ctrlnoise to [0.0, 1.0]
ctrlnoise = mjMAX(0.0, mjMIN(ctrlnoise, 1.0));
// clamp nthread to [1, maxthread]
nthread = mjMAX(1, mjMIN(maxthread, nthread));
npoolthread = mjMAX(0, mjMIN(maxthread, npoolthread));
// get filename, determine file type
std::string filename(argv[1]);
@@ -169,6 +173,10 @@ int main(int argc, char** argv) {
return finish("Could not allocate mjData", m);
}
if (npoolthread > 0) {
mjThreadPool* threadpool = mju_threadPoolCreate(npoolthread);
mju_bindThreadPool(d[id], threadpool);
}
// init to keyframe "test" if present
if (testkey>=0) {
mju_copy(d[id]->qpos, m->key_qpos + testkey*m->nq, m->nq);
@@ -254,7 +262,11 @@ int main(int argc, char** argv) {
// free per-thread data
for (int id=0; id<nthread; id++) {
mjThreadPool* threadpool = (mjThreadPool*) d[id]->threadpool;
mj_deleteData(d[id]);
if (threadpool) {
mju_threadPoolDestroy(threadpool);
}
}
// finalize