[ODE] performance problems when bodies lean on each other

[Jon Watte (ODE)]

First, you should use the debugger to figure out why you get 180 calls 
to nearCallback 15 contacts between two bodies. Are those the only two 
bodies, or are there other bodies, too? Are you using trimeshes? 
Trimesh:trimesh collisions? (The latter is not well supported)

Second, you could look into using the collide and category bits for 
geoms, if you're getting geoms tested against each other that shouldn't 
be (say, two stationary trees collide against each other).

Third, you could try turning on auto-disable, which will sleep bodies 
that haven't been moving for a little bit; this will make the solver run 
faster.

Last, what do you mean by "slow"? In release mode, have you actually 
timed the scene? What kind of performance are you getting? And does 
dWorldStepFast() help?

Cheers,

			/ h+


Hampus Soderstrom wrote:
> Hi,
> 
> I'm experiencing slowdown of my application when two or more bodies  
> rest on top of each other creating constant collisions?
> 
> Every frame i get about 180 calls to nearCallback and 15 of those  
> result in a contact point. I'm using HashSpace, dSpaceCollide and  
> dWorldStep.
> 
> Should this be slow or can I tweak my engine to handle bodies leaning  
> on each other better?
> 
> cheers
> 
> Hampa
> 
> 
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