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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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simulate/simulate.cc
+1 -1
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@@ -349,7 +349,7 @@ void UpdateProfiler(mj::Simulate* sim, const mjModel* m, const mjData* d) {
sim->figcost.linepnt[start + 2] = 0;
}
for (int i=0; i<sim->figcost.linepnt[0]; i++) {
for (int i=0; i<npoints; i++) {
// x
sim->figcost.linedata[start + 0][2*i] = i;
sim->figcost.linedata[start + 1][2*i] = i;