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Never use more threads than meshes for multi-threaded compile.

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PiperOrigin-RevId: 651728817
Change-Id: Ib607d528c25a10e2cdb8c2b0b0da2189683d2691
This commit is contained in:
Yuval Tassa
2024-07-12 04:17:29 -07:00
committed by Copybara-Service
parent 9c9faa02d5
commit f1aa52aa9b
1 changed files with 4 additions and 3 deletions
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src/user/user_model.cc
+4 -3
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@@ -3322,8 +3322,9 @@ void CompileMesh(mjCMesh* mesh, const mjVFS* vfs, std::exception_ptr& exception,
void mjCModel::CompileMeshes(const mjVFS* vfs) { void mjCModel::CompileMeshes(const mjVFS* vfs) {
std::vector<std::thread> threads; std::vector<std::thread> threads;
int nmesh = meshes_.size(); int nmesh = meshes_.size();
int hardware_threads = std::thread::hardware_concurrency(); int hardware_threads = std::thread::hardware_concurrency() / 2;
int nthread = std::max(1, std::min(kMaxCompilerThreads, hardware_threads / 2)); int maxthread = std::min(nmesh, std::min(kMaxCompilerThreads, hardware_threads));
int nthread = std::max(1, maxthread);
threads.reserve(nthread); threads.reserve(nthread);
@@ -3445,7 +3446,7 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
SetNuser(); SetNuser();
// compile meshes (needed for geom compilation) // compile meshes (needed for geom compilation)
if (usethread) { if (usethread && meshes_.size() > 1) {
// multi-threaded mesh compile // multi-threaded mesh compile
CompileMeshes(vfs); CompileMeshes(vfs);
} else { } else {