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How can I improve cable simulation performance?

Hi

I'm making a cable using small cylinders and universal joints (like the model in this example https://bitbucket.org/osrf/gazebomodels/src/de9abaab0588d76bc0e940dbdf0078b4bfe7b78a/firehose_long/?at=default). The problem is when the number of links is bigger than 20~30 links the real time ratio get very low. I need it to be at least greater than 0.7. How can I improve performance?

The cable must collide with other objects but it doesen't need to collide with itself.

Is there any way to optimize/simplify this model? Any small hacks to improve performance?

How can I improve cable simulation performance?

Hi

I'm making a cable using small cylinders and universal joints (like the model in this example https://bitbucket.org/osrf/gazebomodels/src/de9abaab0588d76bc0e940dbdf0078b4bfe7b78a/firehose_long/?at=default). The problem is when the number of links is bigger than 20~30 links the real time ratio get very low. I need it to be at least greater than 0.7. How can I improve performance?

The cable must collide with other objects but it doesen't need to collide with itself.itself. I'm currently using a cylinder primitive as collider.

Is there any way to optimize/simplify this model? Any small hacks to improve performance?