From 7e21f18fd3079695d15ba29763d8f148ca2a5ffe Mon Sep 17 00:00:00 2001 From: Yuval Tassa Date: Tue, 13 Jan 2026 08:20:56 -0800 Subject: [PATCH] Document `compiler/usethread` fix. PiperOrigin-RevId: 855735924 Change-Id: I5b638ccf2a74194b363cf7c6436f78c1c3d9b0e1 --- doc/XMLreference.rst | 2 +- doc/changelog.rst | 3 +++ 2 files changed, 4 insertions(+), 1 deletion(-) diff --git a/doc/XMLreference.rst b/doc/XMLreference.rst index ff7971f1..bca349cc 100644 --- a/doc/XMLreference.rst +++ b/doc/XMLreference.rst @@ -828,7 +828,7 @@ has any effect. The settings here are global and apply to the entire model. :at:`usethread`: :at-val:`[false, true], "true"` If this attribute is "true", the model compiler will run in multi-threaded mode. Currently multi-threading is used - for computing the length ranges of actuators and for parallel loading of meshes. + for computing the length ranges of actuators and for parallel loading and processing of meshes. .. _compiler-fusestatic: diff --git a/doc/changelog.rst b/doc/changelog.rst index 49548684..1e666d13 100644 --- a/doc/changelog.rst +++ b/doc/changelog.rst @@ -65,6 +65,9 @@ Documentation Bug fixes ^^^^^^^^^ +- Multi threaded mesh processing, enabled by the :ref:`usethread` compiler flag (on by default), was + in fact disabled by the flag. Fixing this bug speeds up compilation of mesh-heavy models by (up to) the number of + available cores. - The ``vertid`` argument of :ref:`mju_rayFlex` and :ref:`mju_raySkin` was marked as nullable but was not; it is now nullable.