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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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unity/Runtime/Bindings/MjBindings.cs
+3
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@@ -7088,5 +7088,8 @@ public static unsafe extern void mjd_subQuat(double* qa, double* qb, double* Da,
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern void mjd_quatIntegrate(double* vel, double scale, double* Dquat, double* Dvel, double* Dscale);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern void mju_bindThreadPool(mjData_* d, void* thread_pool);
}
}