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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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src/engine/engine_solver.h
+9
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@@ -35,10 +35,19 @@ void mj_solNewton(const mjModel* m, mjData* d, int maxiter);
//------------------------------ per-island solvers ------------------------------------------------
// PGS solver (one island, no dualFinish — caller handles it)
void mj_solPGS_island(const mjModel* m, mjData* d, int island, int maxiter);
// NoSlip solver (one island, no dualFinish — caller handles it)
void mj_solNoSlip_island(const mjModel* m, mjData* d, int island, int maxiter);
// CG solver
void mj_solCG_island(const mjModel* m, mjData* d, int island, int maxiter);
// Newton entry point
void mj_solNewton_island(const mjModel* m, mjData* d, int island, int maxiter);
// map efc_force to joint space (used after dual island dispatch)
void mj_dualFinish(const mjModel* m, mjData* d);
#endif // MUJOCO_SRC_ENGINE_ENGINE_SOLVER_H_