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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/simulation.rst
+3 -4
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@@ -562,10 +562,9 @@ external force computed by inverse dynamics.
Multi-threading
~~~~~~~~~~~~~~~
MuJoCo has experimental support for within-step multi-threading. When a :ref:`mjThreadPool` is assigned to
``mjData.threadpool``, parts of the simulation pipeline — such as collision detection and constraint solving across
:ref:`islands<siSleep>` — can be distributed across worker threads. Note that within-step threading currently has
significant memory overhead and is still a work in progress.
MuJoCo has support for within-step multi-threading. When a thread pool is initialized via
``mju_threadpool``, parts of the simulation pipeline — such as collision detection and constraint solving across
:ref:`islands<siSleep>` — can be distributed across worker threads.
The more common and well-supported use of multi-threading is to speed up sampling operations that are
common in more advanced applications. Simulation is inherently serial over time (the output of one mj_step is the