Analyze performance drop in Physics system
diegoferigo opened this issue · comments
While working on #318, I noticed that cherry picking gazebosim/gz-sim#690 in our vendored Physics system results in a significant drop of performance (rtf from ~50% to ~10). It can be seen from the manipulation example.
I still didn't investigate a lot. If upstream is not affected, the source could be our custom support to read the normal direction and the force of contacts. For the time being, #318 will not include the problematic PR.
Could be related to gazebosim/gz-physics#267 (comment).