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Document compiler/usethread fix.

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PiperOrigin-RevId: 855735924
Change-Id: I5b638ccf2a74194b363cf7c6436f78c1c3d9b0e1
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Yuval Tassa
2026-01-13 08:20:56 -08:00
committed by Copybara-Service
parent a49576e469
commit 7e21f18fd3
2 changed files with 4 additions and 1 deletions
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doc/XMLreference.rst
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@@ -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"` :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 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: .. _compiler-fusestatic:
doc/changelog.rst
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@@ -65,6 +65,9 @@ Documentation
Bug fixes Bug fixes
^^^^^^^^^ ^^^^^^^^^
- Multi threaded mesh processing, enabled by the :ref:`usethread<compiler-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 - The ``vertid`` argument of :ref:`mju_rayFlex` and :ref:`mju_raySkin` was marked as nullable but was not; it is now
nullable. nullable.