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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/includes/references.h
+5 -25
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@@ -89,9 +89,12 @@ struct mjData_ {
// arena pointer
size_t parena; // first available byte in arena
// threading
uintptr_t threadpool; // thread pool pointer
mjtBool threadlock; // disable stack freeing during threaded execution
// memory utilization statistics
mjtSize maxuse_stack; // maximum stack allocation in bytes (mutable)
mjtSize maxuse_threadstack[mjMAXTHREAD]; // maximum stack allocation per thread in bytes
mjtSize maxuse_arena; // maximum arena allocation in bytes
int maxuse_con; // maximum number of contacts
int maxuse_efc; // maximum number of scalar constraints
@@ -394,9 +397,6 @@ struct mjData_ {
mjtNum* efc_force; // constraint force in constraint space (nefc x 1)
mjtNum* ifrc_constraint; // constraint force (nidof x 1)
// thread pool pointer
uintptr_t threadpool;
// compilation signature
uint64_t signature; // also held by the mjSpec that compiled the model
};
@@ -2146,21 +2146,6 @@ typedef struct mjsDefault_ { // default specification
mjsTendon* tendon; // tendon defaults
mjsActuator* actuator; // actuator defaults
} mjsDefault;
typedef enum mjtTaskStatus_ { // status values for mjTask
mjTASK_NEW = 0, // newly created
mjTASK_QUEUED, // enqueued in a thread pool
mjTASK_COMPLETED // completed execution
} mjtTaskStatus;
struct mjThreadPool_ {
int nworker; // number of workers in the pool
};
typedef struct mjThreadPool_ mjThreadPool;
struct mjTask_ { // a task that can be executed by a thread pool.
mjfTask func; // pointer to the function that implements the task
void* args; // arguments to func
volatile int status; // status of the task
};
typedef struct mjTask_ mjTask;
typedef enum mjtDisableBit_ { // disable default feature bitflags
mjDSBL_CONSTRAINT = 1<<0, // entire constraint solver
mjDSBL_EQUALITY = 1<<1, // equality constraints
@@ -3658,12 +3643,7 @@ void mju_getResourceDir(mjResource* resource, const char** dir, int* ndir);
int mju_isModifiedResource(const mjResource* resource, const char* timestamp);
mjSpec* mju_decodeResource(mjResource* resource, const char* content_type,
const mjVFS* vfs);
mjThreadPool* mju_threadPoolCreate(size_t number_of_threads);
void mju_bindThreadPool(mjData* d, void* thread_pool);
void mju_threadPoolEnqueue(mjThreadPool* thread_pool, mjTask* task);
void mju_threadPoolDestroy(mjThreadPool* thread_pool);
void mju_defaultTask(mjTask* task);
void mju_taskJoin(mjTask* task);
void mju_threadpool(mjData* d, int nthread);
mjsElement* mjs_attach(mjsElement* parent, const mjsElement* child,
const char* prefix, const char* suffix);
mjsBody* mjs_addBody(mjsBody* body, const mjsDefault* def);