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Multithread parallelizable operations in mj_fwdPosition

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PiperOrigin-RevId: 572576240
Change-Id: I70eb518385366a0027c5dad44ac15e3904d1b4a3
This commit is contained in:
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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test/engine/engine_island_test.cc
-56
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@@ -387,61 +387,5 @@ TEST_F(IslandTest, IslandEfcElliptic) {
mj_deleteModel(model);
}
TEST_F(IslandTest, IslandSingleAndMultiThreadedMatch) {
auto model_path = GetTestDataFilePath("benchmark/testdata/22_humanoids.xml");
std::array<char, 1024> error;
mjModel* model =
mj_loadXML(model_path.c_str(), nullptr, error.data(), error.size());
model->opt.solver = mjSOL_CG; // use CG solver
model->opt.enableflags |= mjENBL_ISLAND; // enable islands
mjModel* model_threaded =
mj_loadXML(model_path.c_str(), nullptr, error.data(), error.size());
model_threaded->opt.solver = mjSOL_CG; // use CG solver
model_threaded->opt.enableflags |= mjENBL_ISLAND; // enable islands
mjData* data = mj_makeData(model);
mjData* data_threaded = mj_makeData(model_threaded);
// warm-up rollout to get a steady state
static constexpr int kNumWarmupSteps = 100;
for (int i = 0; i < kNumWarmupSteps; i++) {
mj_step(model, data);
}
// sync the models and data
int spec = mjSTATE_INTEGRATION;
int size = mj_stateSize(model, spec);
std::vector<mjtNum> initial_state(size);
mj_getState(model, data, initial_state.data(), spec);
mj_setState(model_threaded, data_threaded, initial_state.data(), spec);
// bind a threadpool to the data_threaded
mjThreadPool* threadpool = mju_threadPoolCreate(10);
mju_bindThreadPool(data_threaded, threadpool);
for (int i = 0; i < 10; ++i) {
mj_step(model, data);
mj_step(model_threaded, data_threaded);
}
// compare the mjData's.
{
MJDATA_POINTERS_PREAMBLE((model))
#define X(type, name, nr, nc) \
EXPECT_EQ(std::memcmp(data->name, data_threaded->name, \
sizeof(type)*(model->nr)*(nc)), \
0) << "mjData::" #name " differs";
MJDATA_POINTERS
#undef X
}
mj_deleteData(data);
mj_deleteModel(model);
mj_deleteData(data_threaded);
mj_deleteModel(model_threaded);
mju_threadPoolDestroy(threadpool);
}
} // namespace
} // namespace mujoco