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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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simulate/simulate.cc
+21 -13
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@@ -1642,33 +1642,36 @@ void UiEvent(mjuiState* state) {
// simulation section
else if (it && it->sectionid==SECT_SIMULATION) {
switch (it->itemid) {
case 1: // Reset
case 1: // Threadpool
sim->pending_.update_threadpool = true;
break;
case 2: // Reset
sim->pending_.reset = true;
break;
case 2: // Reload
case 3: // Reload
sim->uiloadrequest.fetch_add(1);
break;
case 3: // Align
case 4: // Align
sim->pending_.align = true;
break;
case 4: // Copy key
case 5: // Copy key
sim->pending_.copy_key = true;
sim->pending_.copy_key_full_precision = sim->platform_ui->IsShiftKeyPressed();
break;
case 5: // Adjust key
case 6: // Load key
case 6: // Adjust key
case 7: // Load key
sim->pending_.load_key = true;
break;
case 7: // Save key
case 8: // Save key
sim->pending_.save_key = true;
break;
case 11: // History scrubber
case 12: // History scrubber
sim->run = 0;
sim->pending_.load_from_history = true;
mjui0_update_section(sim, SECT_SIMULATION);
@@ -2174,6 +2177,11 @@ void Simulate::Sync(bool state_only) {
pending_.print_data = std::nullopt;
}
if (pending_.update_threadpool) {
mju_threadpool(d_, nthread);
pending_.update_threadpool = false;
}
if (pending_.reset) {
mj_resetData(m_, d_);
mj_forward(m_, d_);
@@ -2561,13 +2569,13 @@ void Simulate::LoadOnRenderThread() {
}
// set keyframe range and divisions
this->ui0.sect[SECT_SIMULATION].item[5].slider.range[0] = 0;
this->ui0.sect[SECT_SIMULATION].item[5].slider.range[1] = mjMAX(0, this->m_->nkey - 1);
this->ui0.sect[SECT_SIMULATION].item[5].slider.divisions = mjMAX(1, this->m_->nkey - 1);
this->ui0.sect[SECT_SIMULATION].item[6].slider.range[0] = 0;
this->ui0.sect[SECT_SIMULATION].item[6].slider.range[1] = mjMAX(0, this->m_->nkey - 1);
this->ui0.sect[SECT_SIMULATION].item[6].slider.divisions = mjMAX(1, this->m_->nkey - 1);
// set scrubber range and divisions
this->ui0.sect[SECT_SIMULATION].item[11].slider.range[0] = 1 - nhistory_;
this->ui0.sect[SECT_SIMULATION].item[11].slider.divisions = nhistory_;
this->ui0.sect[SECT_SIMULATION].item[12].slider.range[0] = 1 - nhistory_;
this->ui0.sect[SECT_SIMULATION].item[12].slider.divisions = nhistory_;
// detect image sensors for visualization
DetectImageSensors(this, this->m_);