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Multithread parallelizable operations in mj_fwdPosition

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PiperOrigin-RevId: 572576240
Change-Id: I70eb518385366a0027c5dad44ac15e3904d1b4a3
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Matthew Bennice
2023-10-11 08:00:57 -07:00
committed by Copybara-Service
parent ba03ebdadd
commit 2842245ca9
6 changed files with 207 additions and 60 deletions
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doc/changelog.rst
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@@ -31,6 +31,12 @@ New features
3. Added :ref:`mjThreadPool` and :ref:`mjTask` which allow for multi-threaded operations within the MuJoCo engine
pipeline.
If engine-level threading is enabled, the following operations will be multi-threaded:
- Island constraint resolution, if island discovery is :ref:`enable flag<option-flag-island>` and the :ref:`CG<option-solver>` is selected.
- Inertia-related computations and collision detection will happen in parallel.
.. youtube:: ra2bTiZHGlw
:align: right
:width: 240px