Performance Tuning

If simulation execution speed is slow or behavior is unstable, try adjusting with the following references.

Improving Calculation Time

• Reduce the number of objects (rigid bodies, joints)

• Use primitive shapes (Box, Sphere, Cylinder, etc)

• Avoid using triangle meshes as much as possible (collision detection becomes slow due to brute-force checking)

• Increase time step

• Increase number of threads

• When using direct solver in friction model, increase surfaceViscosity

• Use Contact Warmstarting

• Use AMOR

Improving Collision Response Stability

• Set mass parameters appropriately

• Avoid using extremely small shapes

• Use primitive shapes (Box, Sphere, Cylinder, etc)

• Avoid using triangle meshes as much as possible (collision response tends to be unstable)

Improving Control Stability

• Set mass parameters appropriately

• Joints are less likely to oscillate with velocity or position/angle specification than torque specification (physics engine absorbs integration errors)