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expose some sleep timeout pybullet.setPhysicsEngineParameter(maxNumCmdPer1ms=100) or b3PhysicsParamSetMaxNumCommandsPer1ms,

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if more commands than those are processed per millisecond, a 1ms sleep will follow, to avoid other threads being stalled.
This commit is contained in:
Erwin Coumans
2017-03-01 13:48:57 -08:00
parent ac28f50fa5
commit 2f3ba49357
7 changed files with 50 additions and 9 deletions
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6
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -48,6 +48,7 @@ bool gResetSimulation = 0;
int gVRTrackingObjectUniqueId = -1;
btTransform gVRTrackingObjectTr = btTransform::getIdentity();
int gMaxNumCmdPer1ms = 100;//experiment: add some delay to avoid threads starving other threads
int gCreateObjectSimVR = -1;
int gEnableKukaControl = 0;
btVector3 gVRTeleportPos1(0,0,0);
@@ -3161,6 +3162,11 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
{
gContactBreakingThreshold = clientCmd.m_physSimParamArgs.m_contactBreakingThreshold;
}
if (clientCmd.m_updateFlags&SIM_PARAM_MAX_CMD_PER_1MS)
{
gMaxNumCmdPer1ms = clientCmd.m_physSimParamArgs.m_maxNumCmdPer1ms;
}
if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_COLLISION_FILTER_MODE)
{
m_data->m_broadphaseCollisionFilterCallback->m_filterMode = clientCmd.m_physSimParamArgs.m_collisionFilterMode;