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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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test/benchmark/CMakeLists.txt
+8
View File
@@ -48,6 +48,14 @@ target_link_libraries(
benchmark::benchmark
)
mujoco_benchmark_test(thread_performance_test)
target_link_libraries(
thread_performance_test
fixture
gmock
benchmark::benchmark
)
mujoco_benchmark_test(parse_benchmark_test)
target_link_libraries(
parse_benchmark_test