Add per-island PGS solver dispatch.

Total testspeed runtime for `2humanoids100.xml` reduced by 27.6% (63.4 -> 49.5s) due to early termination on small islands PiperOrigin-RevId: 906910915 Change-Id: If55ad468c3680ef44eda7000455a77f8003b3122
2026-04-28 05:13:22 -07:00
parent 00fff8c780
commit 647af382c1
7 changed files with 146 additions and 57 deletions
@@ -2,6 +2,11 @@
 Changelog
 =========

+Upcoming version (not yet released)
+-----------------------------------
+
+- Added island support for the :ref:`PGS solver<soAlgorithms>`.
+
 Version 3.8.0 (April 24, 2026)
 ------------------------------

@@ -1424,12 +1424,6 @@ While islanding is not free (see implementation in `engine_island.c
 - Unconstrained DOFs are completely untouched by the solver, which otherwise needs to discover that they are unaffected.
 - Solving separate islands can be multi-threaded.

-.. admonition:: Known issues
-   :class: note
-
-   Islanding is not yet supported by the PGS solver.
-
-
 .. _soParameters:

 Parameters