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Randomize PGS constraint visitation order.

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Total testspeed runtime for `2humanoids100.xml` reduced by 19.6% (49.5 -> 39.8s).

PiperOrigin-RevId: 910608140
Change-Id: Ided0ae5bdb8e4e8196f84e08354a9ae8cfa5b626
This commit is contained in:
Yuval Tassa
2026-05-05 05:08:19 -07:00
committed by Copybara-Service
parent 88bff84cbb
commit 4ed69b5ce7
3 changed files with 65 additions and 9 deletions
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doc/changelog.rst
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@@ -8,6 +8,8 @@ Upcoming version (not yet released)
General
^^^^^^^
- Added island support for the :ref:`PGS solver<soAlgorithms>`.
- The :ref:`PGS solver<soAlgorithms>` now iterates over constraints in pseudo-random order, improving performance by
~20%.
- Added support for :ref:`elastic2d<body-flexcomp-elastic2d>` for trilinear and quadratic flex
:ref:`dofs<body-flexcomp-dof>`.
- :ref:`Midpoint integration<geMidpoint>` is now restricted to the ``implicitfast``