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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/programming/samples.rst
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@@ -60,7 +60,7 @@ Where the command line arguments are
keyframe named "test" is present in the model, it is used as the initial state.
- The ``ctrlnoise`` argument prevents models from settling into a static state where, due to warmstarts, one can
measure artificially faster simulation.
- When ``npoolthread > 1`` is specified, an engine-internal :ref:`mjThreadPool` is created with the specified number of
- When ``npoolthread > 1`` is specified, an engine-internal thread pool is created with the specified number of
threads, to speed up simulation of large scenes. Note that while it is possible to use both ``nthread`` and
``npoolthread``, the scenarios for which one would want these different types of multithreading are usually mutually
exclusive.