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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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include/mujoco/mujoco.h
+2 -18
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@@ -31,7 +31,6 @@
#include <mujoco/mjrender.h>
#include <mujoco/mjsan.h>
#include <mujoco/mjspec.h>
#include <mujoco/mjthread.h>
#include <mujoco/mjtype.h>
#include <mujoco/mjui.h>
#include <mujoco/mjvisualize.h>
@@ -1593,23 +1592,8 @@ MJAPI mjSpec* mju_decodeResource(mjResource* resource, const char* content_type,
//---------------------------------- Threads -------------------------------------------------------
// Create a thread pool with the specified number of threads running.
MJAPI mjThreadPool* mju_threadPoolCreate(size_t number_of_threads);
// Adds a thread pool to mjData and configures it for multi-threaded use.
MJAPI void mju_bindThreadPool(mjData* d, void* thread_pool);
// Enqueue a task in a thread pool.
MJAPI void mju_threadPoolEnqueue(mjThreadPool* thread_pool, mjTask* task);
// Destroy a thread pool.
MJAPI void mju_threadPoolDestroy(mjThreadPool* thread_pool);
// Initialize an mjTask.
MJAPI void mju_defaultTask(mjTask* task);
// Wait for a task to complete.
MJAPI void mju_taskJoin(mjTask* task);
// Create a thread pool with nthread worker threads.
MJAPI void mju_threadpool(mjData* d, int nthread);
//---------------------------------- Attachment ----------------------------------------------------