perf: switch back to caching the 3D constraint jacobians + fix sleep issues - #975
Merged
Conversation
me-it-is
added a commit
to ChainLynxRobotics/Lynx_sim
that referenced
this pull request
Aug 4, 2026
me-it-is
added a commit
to ChainLynxRobotics/Lynx_sim
that referenced
this pull request
Aug 4, 2026
…e bodies with the debug-renderer
…raint matrix is almost-singular
sebcrozet
force-pushed
the
rev-jac-cache
branch
from
August 6, 2026 20:00
a0482d9 to
e506013
Compare
sebcrozet
changed the title
sebcrozet
force-pushed
the
rev-jac-cache
branch
3 times, most recently
from
August 7, 2026 09:11
e83cbff to
078b74d
Compare
sebcrozet
force-pushed
the
rev-jac-cache
branch
from
August 7, 2026 09:11
078b74d to
800ef1a
Compare
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
1 participant
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
The overhead of the recalculations appears to be measurable on smaller scenes, while the benefit of larger scenes is negligible.
This also fixes the python bindings CI failures that were ignored in #973
This also fixes issues that cause some visually-still stacks to not fall asleep.