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Add threading primitives.

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PiperOrigin-RevId: 562649644
Change-Id: I9c35b270e4b3b50cc7eb5a152f24d71def8e2fcd
This commit is contained in:
Matthew Bennice
2023-09-04 20:08:39 -07:00
committed by Copybara-Service
parent 94a8705ad0
commit 6225186964
28 changed files with 1046 additions and 3 deletions
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unity/Runtime/Bindings/MjBindings.cs
+21
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@@ -56,6 +56,7 @@ public const bool mjEXTERNC = true;
public const bool THIRD_PARTY_MUJOCO_MJRENDER_H_ = true;
public const int mjNAUX = 10;
public const int mjMAXTEXTURE = 1000;
public const bool THIRD_PARTY_MUJOCO_INCLUDE_MJTHREAD_H_ = true;
public const bool THIRD_PARTY_MUJOCO_INCLUDE_MJTNUM_H_ = true;
public const bool mjUSEDOUBLE = true;
public const double mjMINVAL = 1e-15;
@@ -1736,6 +1737,7 @@ public unsafe struct mjData_ {
public double* efc_b;
public double* efc_force;
public int* efc_state;
public UIntPtr threadpool;
}
[StructLayout(LayoutKind.Sequential)]
@@ -2354,6 +2356,16 @@ public unsafe struct mjrContext_ {
public int readPixelFormat;
}
[StructLayout(LayoutKind.Sequential)]
public unsafe struct mjTask_ {
public fixed sbyte buffer[48];
}
[StructLayout(LayoutKind.Sequential)]
public unsafe struct mjThreadPool_ {
public fixed sbyte buffer[6208];
}
[StructLayout(LayoutKind.Sequential)]
public unsafe struct mjuiState_ {
public int nrect;
@@ -3930,5 +3942,14 @@ public static unsafe extern void mjd_subQuat(double* qa, double* qb, double* Da,
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern void mjd_quatIntegrate(double* vel, double scale, double* Dquat, double* Dvel, double* Dscale);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern mjThreadPool_* mju_threadPoolCreate(UIntPtr number_of_threads);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern void mju_taskJoin(mjTask_* task);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern void mju_threadPoolDestroy(mjThreadPool_* thread_pool);
}
}