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gazebo-forks / dart

Dynamic Animation and Robotics Toolkit
http://dartsim.github.io/
BSD 2-Clause "Simplified" License
6 stars 5 forks source link

Use the getRawSkeleton() function for better performance #2

Open mxgrey opened 5 years ago

mxgrey commented 5 years ago

On dart's speed_test example application, this improved performance by ~12% on my machine.

azeey commented 5 years ago

I tested this with one of the SubT practice tunnel circuits. Unfortunately I didn't see a noticeable performance improvement. This is probably because the time spent in step() is dominated by collision checking for this particular world.

azeey commented 5 years ago

Seems like there was some improvemen. Here is a plot from Remotery showing time spent in World::step.

step_time_filtered

I added category bits and ODE collision space hierarchies here, which seem to significantly improve the performance of dSpaceCollide.