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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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src/thread/thread_pool.h
+1 -1
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@@ -54,7 +54,7 @@ MJAPI mjThreadPool* mju_threadPoolCreate(size_t number_of_threads);
mjStackInfo* mju_getStackInfoForThread(mjData* d, size_t thread_id);
// Adds a thread pool to mjData and configures it for multi-threaded use.
MJAPI void mju_bindThreadPool(mjData* d, mjThreadPool* thread_pool);
MJAPI void mju_bindThreadPool(mjData* d, void* thread_pool);
// Gets the number of running threads in the thread pool.
MJAPI size_t mju_threadPoolNumberOfThreads(mjThreadPool* thread_pool);