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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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19
examples/SharedMemory/PhysicsServerExample.cpp
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@@ -277,7 +277,7 @@ struct MotionThreadLocalStorage
float clampedDeltaTime = 0.2;
float sleepTimeThreshold = 8./1000.;
extern int gMaxNumCmdPer1ms;
void MotionThreadFunc(void* userPtr,void* lsMemory)
@@ -289,6 +289,7 @@ void MotionThreadFunc(void* userPtr,void* lsMemory)
//int workLeft = true;
b3Clock clock;
clock.reset();
b3Clock sleepClock;
bool init = true;
if (init)
{
@@ -299,6 +300,8 @@ void MotionThreadFunc(void* userPtr,void* lsMemory)
double deltaTimeInSeconds = 0;
int numCmdSinceSleep1ms = 0;
do
{
BT_PROFILE("loop");
@@ -307,6 +310,19 @@ void MotionThreadFunc(void* userPtr,void* lsMemory)
BT_PROFILE("usleep(0)");
b3Clock::usleep(0);
}
if (numCmdSinceSleep1ms>gMaxNumCmdPer1ms)
{
BT_PROFILE("usleep(1000)");
b3Clock::usleep(1000);
numCmdSinceSleep1ms = 0;
sleepClock.reset();
}
if (sleepClock.getTimeMilliseconds()>1)
{
sleepClock.reset();
numCmdSinceSleep1ms = 0;
}
double dt = double(clock.getTimeMicroseconds())/1000000.;
clock.reset();
deltaTimeInSeconds+= dt;
@@ -434,6 +450,7 @@ void MotionThreadFunc(void* userPtr,void* lsMemory)
{
BT_PROFILE("processClientCommands");
args->m_physicsServerPtr->processClientCommands();
numCmdSinceSleep1ms++;
}
} while (args->m_cs->getSharedParam(0)!=eRequestTerminateMotion);