Skip some camera updates to reach a higher RTF #43
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Thanks for the improvement! I will make some minor changes before this goes into the main branch. Should be out by end of today in PyFlyt 0.22.0. :) |
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Based on the discussions in issue #42, here is a minor improvement.
The camera update consumes a significant amount of time (~16ms) and has become a bottleneck, causing the simulation RTF (real-time factor) to always be below 0.5. We observed that every control step (120Hz) calls a camera update, taking up 1920ms of CPU time (ideally, it should be under 1000ms). To address this, we decided to skip some camera steps (the default value was set to 4), which helps ensure an RTF close to 1.