Add threading primitives.

PiperOrigin-RevId: 562649644 Change-Id: I9c35b270e4b3b50cc7eb5a152f24d71def8e2fcd
2023-09-04 20:08:39 -07:00
parent 94a8705ad0
commit 6225186964
28 changed files with 1046 additions and 3 deletions
@@ -3433,3 +3433,43 @@ mjp_getResourceProviderAtSlot
 Look up a resource provider by slot number returned by mjp_registerResourceProvider.
 If invalid slot number, return NULL.

+.. _Thread:
+
+Thread
+^^^^^^
+.. _mju_threadPoolCreate:
+
+mju_threadPoolCreate
+~~~~~~~~~~~~~~~~~~~~
+
+.. mujoco-include:: mju_threadPoolCreate
+
+Creates a thread pool with the specified number of threads running.
+
+.. _mju_threadPoolEnqueue:
+
+mju_threadPoolEnqueue
+~~~~~~~~~~~~~~~~~~~~~
+
+.. mujoco-include:: mju_threadPoolEnqueue
+
+Enqueues a task in a thread pool.
+
+.. _mju_taskJoin:
+
+mju_taskJoin
+~~~~~~~~~~~~
+
+.. mujoco-include:: mju_taskJoin
+
+Waits for a task to complete.
+
+.. _mju_threadPoolDestroy:
+
+mju_threadPoolDestroy
+~~~~~~~~~~~~~~~~~~~~~
+
+.. mujoco-include:: mju_threadPoolDestroy
+
+Destroys a thread pool.
+