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