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
@@ -15,14 +15,13 @@
 #ifndef MUJOCO_SRC_THREAD_THREAD_TASK_H_
 #define MUJOCO_SRC_THREAD_THREAD_TASK_H_

-#include <atomic>
-#include <new>
-#include <type_traits>
-
 #include <mujoco/mjexport.h>
 #include <mujoco/mjthread.h>

 #ifdef __cplusplus
+#include <atomic>
+#include <new>
+#include <type_traits>
 namespace mujoco {
 extern "C" {
 #endif