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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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test/engine/engine_thread_test.cc
+3 -8
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@@ -22,10 +22,9 @@
#include <gmock/gmock.h>
#include <gtest/gtest.h>
#include <mujoco/mjmodel.h>
#include <mujoco/mjthread.h>
#include <mujoco/mjxmacro.h>
#include <mujoco/mujoco.h>
#include "src/thread/thread_pool.h"
#include "src/engine/engine_thread.h"
#include "test/fixture.h"
namespace mujoco {
@@ -61,8 +60,7 @@ TEST_F(ThreadTest, SingleAndMultiThreadedMatch) {
mj_setState(model_threaded, data_threaded, initial_state.data(), spec);
// bind a threadpool to the data_threaded
mjThreadPool* threadpool = mju_threadPoolCreate(10);
mju_bindThreadPool(data_threaded, threadpool);
mju_threadpool(data_threaded, 10);
for (int i = 0; i < 10; ++i) {
mj_step(model, data);
@@ -83,7 +81,6 @@ TEST_F(ThreadTest, SingleAndMultiThreadedMatch) {
mj_deleteModel(model);
mj_deleteData(data_threaded);
mj_deleteModel(model_threaded);
mju_threadPoolDestroy(threadpool);
}
TEST_F(ThreadTest, IslandSingleAndMultiThreadedMatch) {
@@ -116,8 +113,7 @@ TEST_F(ThreadTest, IslandSingleAndMultiThreadedMatch) {
mj_setState(model_threaded, data_threaded, initial_state.data(), spec);
// bind a threadpool to the data_threaded
mjThreadPool* threadpool = mju_threadPoolCreate(10);
mju_bindThreadPool(data_threaded, threadpool);
mju_threadpool(data_threaded, 10);
for (int i = 0; i < 10; ++i) {
mj_step(model, data);
@@ -138,7 +134,6 @@ TEST_F(ThreadTest, IslandSingleAndMultiThreadedMatch) {
mj_deleteModel(model);
mj_deleteData(data_threaded);
mj_deleteModel(model_threaded);
mju_threadPoolDestroy(threadpool);
}
} // namespace