I have a scene with only many boxes. When I use the SI solver, all works fine ( less than 1ms processing time ). However, if I use the mlcp solver (with Dantzig), the processing time go up to 130 ms or more.... Is this ok?, I know that the mlcp solver is more expensive than SI solver, but 130ms is too much I think D=
The profiling tell that "processIsland" is consuming all the processing time, is this ok?
Some tip or advice is welcome ( I need the mlcp solver because I need to work with large mass ratios ).
Thanks!
Regards!
PS: Part of profiling
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Profiling: Root (total running time: 137.437 ms) ---
0 -- debugDrawWorld (0.00 %) :: 0.001 ms / frame (1 calls)
1 -- stepSimulation (100.00 %) :: 137.434 ms / frame (1 calls)
Unaccounted: (0.001 %) :: 0.002 ms
...----------------------------------
...Profiling: stepSimulation (total running time: 137.434 ms) ---
...0 -- synchronizeMotionStates (0.12 %) :: 0.171 ms / frame (4 calls)
...1 -- internalSingleStepSimulation (99.87 %) :: 137.259 ms / frame (4 calls)
...Unaccounted: (0.003 %) :: 0.004 ms
......----------------------------------
......Profiling: internalSingleStepSimulation (total running time: 137.259 ms) ---
......0 -- updateActivationState (0.01 %) :: 0.010 ms / frame (4 calls)
......1 -- updateActions (0.00 %) :: 0.000 ms / frame (4 calls)
......2 -- integrateTransforms (0.06 %) :: 0.083 ms / frame (4 calls)
......3 -- solveConstraints (98.12 %) :: 134.684 ms / frame (4 calls)
......4 -- calculateSimulationIslands (0.01 %) :: 0.018 ms / frame (4 calls)
......5 -- performDiscreteCollisionDetection (1.53 %) :: 2.094 ms / frame (4 calls)
......6 -- createPredictiveContacts (0.03 %) :: 0.039 ms / frame (4 calls)
......7 -- predictUnconstraintMotion (0.07 %) :: 0.097 ms / frame (4 calls)
......Unaccounted: (0.170 %) :: 0.234 ms
.........----------------------------------
.........Profiling: solveConstraints (total running time: 134.684 ms) ---
.........0 -- solveGroup (1.65 %) :: 2.229 ms / frame (4 calls)
.........1 -- processIslands (98.32 %) :: 132.417 ms / frame (4 calls)
.........2 -- islandUnionFindAndQuickSort (0.02 %) :: 0.030 ms / frame (4 calls)
.........Unaccounted: (0.006 %) :: 0.008 ms
............----------------------------------