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Analyze performance drop in Physics system #319

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diegoferigo opened this issue Mar 31, 2021 · 1 comment
Open

Analyze performance drop in Physics system #319

diegoferigo opened this issue Mar 31, 2021 · 1 comment
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complexity::hard component::scenario::plugins issue::type::regression

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@diegoferigo
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diegoferigo commented Mar 31, 2021 •
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While working on #318, I noticed that cherry picking gazebosim/gz-sim#690 in our vendored Physics system results in a significant drop of performance (rtf from ~50% to ~10). It can be seen from the manipulation example.

I still didn't investigate a lot. If upstream is not affected, the source could be our custom support to read the normal direction and the force of contacts. For the time being, #318 will not include the problematic PR.
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