From 18ebb399aecf6d044b0f01eae93344058ad33a8e Mon Sep 17 00:00:00 2001
From: Yang Zhou <yangzhou.info@gmail.com>
Date: Tue, 12 Nov 2024 18:33:47 -0500
Subject: [PATCH] add max_render_threads config to thread num for render_depth
 (#17)

---
 config/quad.yaml | 2 ++
 src/config.rs    | 2 ++
 src/main.rs      | 6 ++++++
 3 files changed, 10 insertions(+)

diff --git a/config/quad.yaml b/config/quad.yaml
index 68fb3820..4f517ff6 100644
--- a/config/quad.yaml
+++ b/config/quad.yaml
@@ -4,6 +4,8 @@ use_multithreading_depth_rendering: true # Enable multithreading for depth rende
 use_rk4_for_dynamics_update: false # Enable Runge-Kutta 4th order integration for dynamics, otherwise Euler integration is used
 use_rk4_for_dynamics_control: false # Enable Runge-Kutta 4th order integration for dynamics, otherwise Euler integration is used
 
+max_render_threads: 8 # Maximum number of threads for rendering
+
 rerun_blueprint: "config/peng_default_blueprint.rbl"
 
 simulation:
diff --git a/src/config.rs b/src/config.rs
index 2422c872..683be381 100644
--- a/src/config.rs
+++ b/src/config.rs
@@ -24,6 +24,8 @@ pub struct Config {
     pub planner_schedule: Vec<PlannerStep>,
     /// Rerun blueprint path
     pub rerun_blueprint: String,
+    /// Maximum number of threads for rendering
+    pub max_render_threads: Option<usize>,
     /// Use rerun.io for recording
     pub use_rerun: bool,
     /// Render depth
diff --git a/src/main.rs b/src/main.rs
index 7f3ea4d8..91731f9b 100644
--- a/src/main.rs
+++ b/src/main.rs
@@ -58,6 +58,12 @@ fn main() -> Result<(), SimulationError> {
         config.camera.near,
         config.camera.far,
     );
+    if let Some(thread_count) = config.max_render_threads {
+        rayon::ThreadPoolBuilder::new()
+            .num_threads(thread_count)
+            .build_global()
+            .unwrap();
+    }
     let mut planner_manager = PlannerManager::new(Vector3::zeros(), 0.0);
     let mut trajectory = Trajectory::new(Vector3::new(0.0, 0.0, 0.0));
     let mut previous_thrust = 0.0;