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Optimize ccdQuatRotVec #14

Merged
merged 1 commit into from
Jan 13, 2016
Merged

Optimize ccdQuatRotVec #14

merged 1 commit into from
Jan 13, 2016

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ppiastucki
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Hi,

Please correct me if I am wrong, but looking at the code in ccdQuatRotVec I believe it can only handle unit quaternions. In this case a more efficient implementation is possible like the one included in this PR. As the function is called quite often from support functions I noticed some performance gain after applying the change when using libccd in ODE.

Regards,
Piotr

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2 participants