[ODE] optimizing ode

[pia dalusong]

My friend developed a robot simulator in ode using a
1.4GHz p4.  The problem is, am just using 550 MHz
computer with winxp and everything is so slow.  What
can I do to make the program faster?

can i use all the primitive shapes to create a robot
and the collision detection will still work fine or do
i have to take note of the capped cylinder?

thanx


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