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