w4

dart/constraint/BoxedLcpConstraintSolver.cpp

@@ -561,62 +561,6 @@ void BoxedLcpConstraintSolver::solveConstrainedGroups()
   }
 
   // Solve problems
-  // for (auto i = 0u; i < numGroups; ++i) {
-  //   solveBoxedLcp(mProblems[i], mConstrainedGroups[i]);
-  // }
-
-  // Solve problems in multi-thread using std::thread
-  // std::vector<std::thread> threads;
-  // threads.reserve(numGroups);
-
-  // for (auto i = 0u; i < numGroups; ++i) {
-  //   // Capture `i` by value to ensure each thread uses the correct index
-  //   threads.emplace_back(
-  //       [this, i]() { solveBoxedLcp(mProblems[i], mConstrainedGroups[i]); });
-  // }
-
-  // // Join threads
-  // for (auto& thread : threads) {
-  //   if (thread.joinable()) {
-  //     thread.join();
-  //   }
-  // }
-
-  // {
-  //   DART_PROFILE_SCOPED;
-
-  // // Determine the number of available cores
-  // // const unsigned int numThreads = std::thread::hardware_concurrency();
-  // const unsigned int numThreads = 16;
-
-  // // Use futures and async to manage the tasks
-  // std::vector<std::future<void>> futures;
-
-  // for (auto i = 0u; i < numGroups; ++i) {
-  //   // Check if we've reached the concurrency limit
-  //   if (futures.size() >= numThreads) {
-  //     // Wait for one of the futures to finish
-  //     for (auto& fut : futures) {
-  //       if (fut.wait_for(std::chrono::seconds(0))
-  //           == std::future_status::ready) {
-  //         fut.get(); // Clear the completed future
-  //         break;     // Break the loop to add a new task
-  //       }
-  //     }
-  //   }
-
-  //   // Launch a new task
-  //   futures.push_back(std::async(std::launch::async, [this, i]() {
-  //     solveBoxedLcp(mProblems[i], mConstrainedGroups[i]);
-  //   }));
-  // }
-
-  // // Ensure all tasks are completed
-  // for (auto& fut : futures) {
-  //   fut.get();
-  // }
-  // }
-
   {
     DART_PROFILE_SCOPED_N("Solve problems");
     mTaskflow.for_each_index(0, numGroups, 1, [&](int i) {