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Add threading support to PGS

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PiperOrigin-RevId: 936252614
Change-Id: I6762245cc2dbdb95568f0a927c26b575dc494b51
This commit is contained in:
Yuval Tassa
2026-06-22 14:28:39 -07:00
committed by Copybara-Service
parent 5700829122
commit afccd36dd4
1 changed files with 4 additions and 4 deletions
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src/engine/engine_forward.c
+4 -4
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@@ -866,8 +866,10 @@ static void warmstart(const mjModel* m, mjData* d) {
static void solveIslandTask(const mjModel* m, mjData* d, void* arg, int thread_id, int island) {
if (m->opt.solver == mjSOL_NEWTON) {
mj_solNewton_island(m, d, island, m->opt.iterations);
} else {
} else if (m->opt.solver == mjSOL_CG) {
mj_solCG_island(m, d, island, m->opt.iterations);
} else {
mj_solPGS_island(m, d, island, m->opt.iterations);
}
}
@@ -908,9 +910,7 @@ void mj_fwdConstraint(const mjModel* m, mjData* d) {
if (islands_supported) {
switch ((mjtSolver) m->opt.solver) {
case mjSOL_PGS:
for (int island=0; island < nisland; island++) {
mj_solPGS_island(m, d, island, m->opt.iterations);
}
mju_dispatch(m, d, solveIslandTask, NULL, nisland);
break;
case mjSOL_CG: