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Add per-island PGS solver dispatch.

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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
This commit is contained in:
Yuval Tassa
2026-04-28 05:13:22 -07:00
committed by Copybara-Service
parent 00fff8c780
commit 647af382c1
7 changed files with 146 additions and 57 deletions
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doc/computation/index.rst
-6
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@@ -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