Performance Tuning

If the computational speed of the simulation is slow or the behavior seems to be unstable, it is a good idea to make adjustments referring to the following.

Improve computation time performance

  • Reduce the number of objects (rigid bodies, joints)
  • Use primitive shapes (Box, Sphere, Cylinder, etc)
  • Avoid to use the triangle mesh shape (collision detection tends to slow)
  • Increase time step
  • Increase the number of threads
  • When direct solver is selected in friction model, increase surface Viscosity
  • Use Contact Warmstarting
  • Use AMOR

Improve stability of collision response

  • Set mass properties appropriately
  • Avoid to use extremely small size shape
  • Use primitive shapes (Box, Sphere, Cylinder, etc)
  • Avoid to use the triangle mesh shape

Improve stability of controlling (feedback controll)

  • Set mass properties appropriately
  • Position control and velocity controll are more stable than torque control in the physics engine
  • The physics engine absorbs the integration error and suppresses divergence