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How to configure Bullet engine for speed, not for physics accuracy? For example, is it possible to increase friction, so that objects become stationary more quickly?
Currently, I am able to do only following speed-optimziation:
btContactSolverInfo& info = dynamicsWorld->getSolverInfo();
info.m_numIterations = 4;
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Re: Speed up simulation to faster than real-time An easy way is to have your dt (timeStep) be changed (dt*. 5 for slowing down by 50%, dt*2 for 100% faster,etc) and maxSubSteps be the maximum dt divided by your step (fixedTimeStep) size (plus a bit for safety).
Open the Bullet Physics Library site , click Download in the top left, and you will be taken to the site where the Bullet source is stored. Once there, click Source code (zip) or Source code (tar. gz) to download the compressed file in either format and extract it in a suitable location.
PyBullet Gymperium is an open-source implementation of the OpenAI Gym MuJoCo environments for use with the OpenAI Gym Reinforcement Learning Research Platform in support of open research.
aside from changing number of iterations in the solver you can:
Use a larger step time. 1/100 is two times faster (computationally) than 1/200 and you will get lesser accuracy. you should be careful about stability though.
Use simpler collision shapes. You may use a box shape instead of convex shapes.(Or divide convex shapes into simpler objects) Even you can use AABBs or cylinders(in z direction only) for collision shapes(this is what games was doing 10 years ago i guess)
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