Cache link poses to improve performance #669
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@@ Coverage Diff @@
## ign-gazebo4 #669 +/- ##
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+ Coverage 64.96% 65.01% +0.04%
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Files 232 232
Lines 16640 16645 +5
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+ Hits 10811 10822 +11
+ Misses 5829 5823 -6
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Signed-off-by: Ashton Larkin <[email protected]>
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Signed-off-by: Ashton Larkin [email protected]
🦟 Bug fix
Related to gazebosim/gz-physics#219.
Summary
This PR is motivated by #656 and gazebosim/gz-physics#219.
gazebosim/gz-physics#219 points out that the
UpdateSimmethod in the physics system goes over all links since the physics system doesn't know which links changed. For links that belong to non-static models, we are always performing pose updates, even if the pose hasn't changed. I'm proposing that we cache each non-static link's pose from the previous iteration and only perform a pose update if the link's pose is different from the previous iteration.Testing this change by profiling a world as done in #656 (3000 non-static simple shapes, unbounded RTF, headless, and TPE for the physics engine) seems to result in a noticeable performance improvement.
Before link caching,
UpdateSimtakes around8.25ms.Local pose, which contains the pose updates, takes around5.2ms, which is more than half of theUpdateSimtime:After link caching,
UpdateSimtakes around5.7ms, andLocal posenow takes around2.4ms:Taking a look at the some of the other code in
UpdateSim, I am wondering if we can do something similar for non-static link velocities and accelerations. @chapulina what do you think about this?Checklist
codecheckpassed (See contributing)Note to maintainers: Remember to use Squash-Merge