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Add new mju_threadpool API function, and delete old threading API.

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PiperOrigin-RevId: 922838541
Change-Id: Id9f7e0fb298ffde61fcc49a802dc78971858ce51
This commit is contained in:
Kyle Bayes
2026-05-28 10:09:07 -07:00
committed by Copybara-Service
parent a22fc2423a
commit b935d4153c
47 changed files with 576 additions and 1755 deletions
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doc/APIreference/APIglobals.rst
-4
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@@ -452,10 +452,6 @@ indicated otherwise.
* - ``mjMINAWAKE``
- 10
- The minimum number of timesteps that must pass after a tree is awoken, before it is allowed to go back to sleep.
* - ``mjMAXTHREAD``
- 128
- Maximum number of OS threads that can be used in a thread pool.
Defined in `mjthread.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjthread.h>`_.
.. _glNumericSizes:
doc/APIreference/APItypes.rst
-30
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@@ -1013,36 +1013,6 @@ Asset cache used by the compiler to avoid repeated slow recompilation. See :ref:
.. mujoco-include:: mjCache
.. _mjtTaskStatus:
mjtTaskStatus
~~~~~~~~~~~~~
Status values for :ref:`mjTask`.
.. mujoco-include:: mjtTaskStatus
.. _mjTask:
mjTask
~~~~~~
This is a representation of a task to be run asynchronously inside of an :ref:`mjThreadPool` . It is created in the
:ref:`mju_threadPoolEnqueue` method of the :ref:`mjThreadPool` and is used to join the task at completion.
The ``status`` field uses values from :ref:`mjtTaskStatus`.
.. mujoco-include:: mjTask
.. _mjThreadPool:
mjThreadPool
~~~~~~~~~~~~
This is the data structure of the threadpool. It can only be constructed programmatically, and does not
have an analog in MJCF. In order to enable multi-threaded calculations, a pointer to an existing :ref:`mjThreadPool`
should be assigned to the ``mjData.threadpool``.
.. mujoco-include:: mjThreadPool
.. _tyStatStructure:
doc/APIreference/functions.rst
+5 -50
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@@ -3375,59 +3375,14 @@ If no match, return NULL.
Threads
^^^^^^^
.. _mju_threadPoolCreate:
.. _mju_threadpool:
`mju_threadPoolCreate <#mju_threadPoolCreate>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
`mju_threadpool <#mju_threadpool>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mju_threadPoolCreate
.. mujoco-include:: mju_threadpool
Create a thread pool with the specified number of threads running.
.. _mju_bindThreadPool:
`mju_bindThreadPool <#mju_bindThreadPool>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mju_bindThreadPool
Adds a thread pool to mjData and configures it for multi-threaded use.
.. _mju_threadPoolEnqueue:
`mju_threadPoolEnqueue <#mju_threadPoolEnqueue>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mju_threadPoolEnqueue
Enqueue a task in a thread pool.
.. _mju_threadPoolDestroy:
`mju_threadPoolDestroy <#mju_threadPoolDestroy>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mju_threadPoolDestroy
Destroy a thread pool.
.. _mju_defaultTask:
`mju_defaultTask <#mju_defaultTask>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mju_defaultTask
Initialize an mjTask.
.. _mju_taskJoin:
`mju_taskJoin <#mju_taskJoin>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mju_taskJoin
Wait for a task to complete.
Create a thread pool with nthread worker threads.
.. _Standardmath: