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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/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: