Dramatic loss of efficiency after version 0.6g

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What steps will reproduce the problem?
1. Run any simulation scenario
2. Watch the execution speed

What is the expected output? What do you see instead?

Instead of a fluid execution, the simulator is periodically pausing.

The pauses appear when the CPU usage is on the highest point. This means
that we have a "leak" because of some threads or too much computation (very
possible in the physics and physics related simulators).
We have to analyze the physics simulator (together with collision,
perceptions and all the other physical stuffs). My feeling is that the
physics simulator is slow in some moments because of too much computations. 

However, the visualization routines are also slow for some reasons. The CPU
time without visualization is about 40% less than with visualization. 

Original issue reported on code.google.com by gwagner57@googlemail.com on 28 May 2009 at 4:14

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Original comment by jens.wer...@gmail.com on 11 Jun 2009 at 12:37

• Changed state: Fixed

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I do not agree that this issue has been fixed.
We still have the pausing and slow execution speed. 
We need further analysis.

Original comment by gwagner57@googlemail.com on 11 Jun 2009 at 12:53

• Changed state: Started