for the GraphicsServer, expose a sync transform interval: only synchronize the transform once the stepSimulation exceeds this time interval.

(for example, run the simulation at 1kHz but sync the graphics transforms to remove graphics server at 30Hz)

examples/SharedMemory/PhysicsClientC_API.cpp

@@ -5501,6 +5501,19 @@ B3_SHARED_API void b3ConfigureOpenGLVisualizerSetShadowMapWorldSize(b3SharedMemo
 }
 
 
+B3_SHARED_API void b3ConfigureOpenGLVisualizerSetRemoteSyncTransformInterval(b3SharedMemoryCommandHandle commandHandle, double remoteSyncTransformInterval)
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
+	b3Assert(command);
+	b3Assert(command->m_type == CMD_CONFIGURE_OPENGL_VISUALIZER);
+	if (command->m_type == CMD_CONFIGURE_OPENGL_VISUALIZER)
+	{
+		command->m_updateFlags |= COV_SET_REMOTE_SYNC_TRANSFORM_INTERVAL;
+		command->m_configureOpenGLVisualizerArguments.m_remoteSyncTransformInterval = remoteSyncTransformInterval;
+	}
+}
+
+
 B3_SHARED_API void b3ConfigureOpenGLVisualizerSetViewMatrix(b3SharedMemoryCommandHandle commandHandle, float cameraDistance, float cameraPitch, float cameraYaw, const float cameraTargetPosition[3])
 {
 	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;

examples/SharedMemory/PhysicsClientC_API.h

@@ -210,6 +210,7 @@ extern "C"
 	B3_SHARED_API void b3ConfigureOpenGLVisualizerSetLightPosition(b3SharedMemoryCommandHandle commandHandle, const float lightPosition[3]);
 	B3_SHARED_API void b3ConfigureOpenGLVisualizerSetShadowMapResolution(b3SharedMemoryCommandHandle commandHandle, int shadowMapResolution);
 	B3_SHARED_API void b3ConfigureOpenGLVisualizerSetShadowMapWorldSize(b3SharedMemoryCommandHandle commandHandle, int shadowMapWorldSize);
+	B3_SHARED_API void b3ConfigureOpenGLVisualizerSetRemoteSyncTransformInterval(b3SharedMemoryCommandHandle commandHandle, double remoteSyncTransformInterval);
 	
 	B3_SHARED_API void b3ConfigureOpenGLVisualizerSetViewMatrix(b3SharedMemoryCommandHandle commandHandle, float cameraDistance, float cameraPitch, float cameraYaw, const float cameraTargetPosition[/*3*/]);
 

examples/SharedMemory/PhysicsServerCommandProcessor.cpp

@@ -1672,6 +1672,9 @@ struct PhysicsServerCommandProcessorInternalData
 	b3ThreadPool* m_threadPool;
 	btScalar m_defaultCollisionMargin;
 
+	double m_remoteSyncTransformTime;
+	double m_remoteSyncTransformInterval;
+
 	PhysicsServerCommandProcessorInternalData(PhysicsCommandProcessorInterface* proc)
 		: m_pluginManager(proc),
 		  m_useRealTimeSimulation(false),
@@ -1705,7 +1708,9 @@ struct PhysicsServerCommandProcessorInternalData
 		  m_collisionFilterPlugin(-1),
 		  m_grpcPlugin(-1),
 		  m_threadPool(0),
-		  m_defaultCollisionMargin(0.001)
+		  m_defaultCollisionMargin(0.001),
+		  m_remoteSyncTransformTime(1. / 30.),
+		m_remoteSyncTransformInterval(1. / 30.)
 	{
 		{
 			//register static plugins:
@@ -1769,8 +1774,6 @@ struct PhysicsServerCommandProcessorInternalData
 		}
 #endif
 
-
-
 		m_vrControllerEvents.init();
 
 		m_bodyHandles.exitHandles();
@@ -1868,7 +1871,6 @@ struct PhysicsServerCommandProcessorInternalData
 		int dof = 7;
 		int veldof = 7;
 
-
 		for (int l = 0; l < multiBody->getNumLinks(); l++)
 		{
 			switch (multiBody->getLink(l).m_jointType)
@@ -7763,7 +7765,13 @@ bool PhysicsServerCommandProcessor::processForwardDynamicsCommand(const struct S
 	}
 	serverCmd.m_type = CMD_STEP_FORWARD_SIMULATION_COMPLETED;
 
+	m_data->m_remoteSyncTransformTime += deltaTimeScaled;
+	if (m_data->m_remoteSyncTransformTime >= m_data->m_remoteSyncTransformInterval)
+	{
+		m_data->m_remoteSyncTransformTime = 0;
 		syncPhysicsToGraphics2();
+	}
+
 	return hasStatus;
 }
 
@@ -9074,6 +9082,13 @@ bool PhysicsServerCommandProcessor::processConfigureOpenGLVisualizerCommand(cons
 			m_data->m_guiHelper->getRenderInterface()->setShadowMapWorldSize(worldSize);
 		}
 	}
+
+	if (clientCmd.m_updateFlags & COV_SET_REMOTE_SYNC_TRANSFORM_INTERVAL)
+	{
+		m_data->m_remoteSyncTransformInterval = clientCmd.m_configureOpenGLVisualizerArguments.m_remoteSyncTransformInterval;
+	}
+
+	
 	return hasStatus;
 }
 
@@ -12047,6 +12062,7 @@ void PhysicsServerCommandProcessor::addTransformChangedNotifications()
 void PhysicsServerCommandProcessor::resetSimulation()
 {
 	//clean up all data
+	m_data->m_remoteSyncTransformTime = m_data->m_remoteSyncTransformInterval;
 	
 	m_data->m_simulationTimestamp = 0;
         m_data->m_cachedVUrdfisualShapes.clear();

examples/SharedMemory/SharedMemoryCommands.h

@@ -908,6 +908,7 @@ enum InternalOpenGLVisualizerUpdateFlags
 	COV_SET_LIGHT_POSITION = 4,
 	COV_SET_SHADOWMAP_RESOLUTION = 8,
 	COV_SET_SHADOWMAP_WORLD_SIZE = 16,
+	COV_SET_REMOTE_SYNC_TRANSFORM_INTERVAL = 32,
 };
 
 struct ConfigureOpenGLVisualizerRequest
@@ -919,6 +920,7 @@ struct ConfigureOpenGLVisualizerRequest
 	double m_lightPosition[3];
 	int m_shadowMapResolution;
 	int m_shadowMapWorldSize;
+	double m_remoteSyncTransformInterval;
 	int m_setFlag;
 	int m_setEnabled;
 };

examples/pybullet/examples/configureDebugVisualizer.py

@@ -12,6 +12,7 @@ radius=5
 t = 0
 p.configureDebugVisualizer(shadowMapWorldSize=5)
 p.configureDebugVisualizer(shadowMapResolution=8192)
+
 while (1):
   t+=dt
   p.configureDebugVisualizer(lightPosition=[radius*math.sin(t),radius*math.cos(t),3])

examples/pybullet/pybullet.c

@@ -5874,12 +5874,13 @@ static PyObject* pybullet_configureDebugVisualizer(PyObject* self, PyObject* arg
 	int shadowMapResolution = -1;
 	int shadowMapWorldSize = -1;
 	int physicsClientId = 0;
+	double remoteSyncTransformInterval = -1;
 	PyObject* pyLightPosition = 0;
 	b3PhysicsClientHandle sm = 0;
-	static char* kwlist[] = {"flag", "enable", "lightPosition", "shadowMapResolution", "shadowMapWorldSize", "physicsClientId", NULL};
+	static char* kwlist[] = {"flag", "enable", "lightPosition", "shadowMapResolution", "shadowMapWorldSize", "remoteSyncTransformInterval", "physicsClientId", NULL};
 
-	if (!PyArg_ParseTupleAndKeywords(args, keywds, "|iiOiii", kwlist,
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "|iiOiidi", kwlist,
-									 &flag, &enable, &pyLightPosition, &shadowMapResolution, &shadowMapWorldSize, &physicsClientId))
+									 &flag, &enable, &pyLightPosition, &shadowMapResolution, &shadowMapWorldSize, &remoteSyncTransformInterval, &physicsClientId))
 		return NULL;
 
 	sm = getPhysicsClient(physicsClientId);
@@ -5911,6 +5912,10 @@ static PyObject* pybullet_configureDebugVisualizer(PyObject* self, PyObject* arg
 		{
 			b3ConfigureOpenGLVisualizerSetShadowMapWorldSize(commandHandle, shadowMapWorldSize);
 		}
+		if (remoteSyncTransformInterval >= 0)
+		{
+			b3ConfigureOpenGLVisualizerSetRemoteSyncTransformInterval(commandHandle, remoteSyncTransformInterval);
+		}
 
 		b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
 	}