Unless the number of iterations is quite high, maxImpulse increases to the angular motor don't seem to work at all, regardless of max_impulse (tried a million times higher than needed). Thinking my code was off a bit, I double checked using the dynamic control in 2.80 (and motor demo in 2.81, looks like identical code with a name change).
The modifications done were:
- Change the 0 mass spawn to 20 mass
- Add values for m_numIterations and simulation rate
- Lower number of legs to 4 (keeps stability)
Changing the simulation to 1/120 from 1/60, the 20mass one no longer had issues. Lowering the max impulse to 0.4 resulted in nearly the same result as for the m_numIterations trials.
For the dynamic control, anything between 10 iterations and 100 iterations were for the most part identical, and completely irrelevant to the motor strength, but the simulation rate directly affected the overall motor strength.
Aside from that issue, it also seems that high gravity (ten times normal) requires either high simulation rate or high iterations to match the same results as lower gravity (with increased servo strength normalized to simulation rate). Is one of those two better than the other (1/500 dt or 100 iterations)? Or is it best to use a balance (say 1/250 dt and 50 iterations)?
I am currently not hitting any CPU limits at either extreme (under 2ms) even running in debug mode, so it's mostly from a perspective of stability rather than performance.