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
@@ -402,6 +402,9 @@ struct mjData_ {
  mjtNum* efc_b;            // linear cost term: J*qacc_smooth - aref            (nefc x 1)
  mjtNum* efc_force;        // constraint force in constraint space              (nefc x 1)
  int*    efc_state;        // constraint state (mjtConstraintState)             (nefc x 1)
+
+  // ThreadPool for multithreaded operations
+  uintptr_t threadpool;
 };
 typedef struct mjData_ mjData;