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Re: [simspark-devel] SimSpark boosting project
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From: Hedayat V. <hed...@gm...> - 2011-02-18 21:09:05
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Hi Sander,<br>
Thanks for the report. :)<br>
I'll post the real reply soon (with some details about what should
be done for RoboCup 2011 in MC). <br>
Just something about ODE islands: I might be wrong but IIRC if two
agents collide with each other, they'll become one island until they
are completely separated again. As I said, I'm in doubt but it'll
probably need some consideration if I'm right.<br>
<br>
Good luck,<br>
Hedayat<br>
<br>
<span>
<style type="text/css">blockquote {color: navy !important; background-color: RGB(245,245,245) !important; padding: 0 15 10 15 !important; margin: 15 0 0 0; border-left: #1010ff 2px solid;} blockquote blockquote {color: maroon !important; background-color: RGB(235,235,235) !important; border-left-color:maroon !important} blockquote blockquote blockquote {color: green !important; background-color: RGB(225,225,225) !important; border-left-color:teal !important} blockquote blockquote blockquote blockquote {color: purple !important; background-color: RGB(215,215,215) !important; border-left-color: purple !important} blockquote blockquote blockquote blockquote blockquote {color: teal !important; background-color: RGB(205,205,205) !important; border-left-color: green !important}</style><i><b>Sander
van Dijk <a class="moz-txt-link-rfc2396E" href="mailto:sgv...@gm..."><sgv...@gm...></a></b></i> wrote on
02/18/2011 11:53:24 PM +0350:</span><br>
<blockquote style="color: navy; background-color: rgb(245, 245,
245); padding-left: 15px; border-left: 2px solid rgb(16, 16,
255);"
cite="mid:AAN...@ma..."
type="cite">Hello MC,<br>
<br>
As you may know, the RC federation put out a call for proposals
for projects, among others to work on the competition
infrastructure. I sent in a proposal together with Ubbo Visser,
which got accepted. So now I am with Ubbo to work on simspark for
2 months, and I would like to keep you up to date with what we're
doing.<br>
<br>
The main aim of our project is to make the simulator usable for
bulk training. One part of that means debugging the simulator and
make it faster and more stable, the other part is to make some
external tools. On the second point we are still working out the
details, but on the first part I did some work:<br>
<br>
* Did a lot of profiling, which a.o. showed that the server spent
more than 10% of the time on dynamic casting alone. This was
mostly because of continuous searches for nodes in the scene tree.
I have put in some caching here to alleviate it, reducing the time
spent casting to 1%. This extra 10% has now gone to ODE. I still
have to create some performance tests to see if this made stuff
faster.<br>
<br>
* Multi threading mode is fixed (but see below). Although at first
I was doubtful of whether the current way it is done would help,
it should, because now the second and third most costly things,
gathering perception data (20%) and gathering monitor data (8%)
can now be done in parallel. However, while running a 6vs6 game
there is not a real noticeable speed-up. But again, I still have
to do proper performance tests to see what it does.<br>
<br>
However, the biggest opportunity to optimise is ODE, which now
eats up 67-70% of all computation time. There was a project at CMU
in 2007 to parallelize ODE [1], where they made the collision
detection parallel. Profiling shows however that this will not
help: collision detection takes up 0.45% in rcssserver3d. What is
expensive for us, is stepping the physics. Luckily, ODE already
splits this work into different parts, updating 'islands'
seperately, where in our case each island is one agent. I am now
working on parallelising this, and if that works we can in theory
cut up the 67% CPU time into 12/18 parts (4vs6/9vs9) that can be
run in parallel, hopefully making having 8 cores actually useful.<br>
<br>
So far about what I am doing. Now, I would also like something
from you guys ;-) First of all, give the new stuff I committed a
good test. Behaviour of the simulator should still be the same,
but it could be that I missed something and that timing of
messages is slightly different, breaking agents. Also, give the
multi threaded mode a good test, see if you can make it crash.
And, finally, I will be working full time on the simulator for 1
1/2 months more, if you think there is anything that I may be able
to squeeze in there, do let me know!<br>
<br>
Cheers,<br>
Sander<br>
<br>
[1] <a moz-do-not-send="true"
href="http://www.cs.cmu.edu/%7Empa/ode/">http://www.cs.cmu.edu/~mpa/ode/</a><br>
<br>
-- <br>
Adaptive Systems Research Group<br>
Department of Computer Science<br>
University of Hertfordshire<br>
United Kingdom<br>
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