[ODE] More speed???

[Anselm Hook]

That sounds great!

 -a

On Tue, 4 Nov 2003, Nguyen Binh wrote:

> Hi list,
>
>    I'm deep in optimizing ODE (mostly for speed). Here are some of my
>    observations:
>    + There are many places to optimize in ODE
>    + After just removing some dSetZero() calls and making use of
>    dSetZeroSSE(), I found that original Step rountine is no longer too
>    slow compare to Stepfast
>
>    Most obvious ways to optimize:
>    a) Original Step code path:
>       The two most expensive functions are dSolveL1() and
>       dSolveL1T() (each of them take roughly 20% programs's CPU power).
>       These two function's purpose is to solve linear problem A.x = b
>       This result surprise me much.
>            -These two function can be SIMDize
>             easily. I have not tried it yet but I'd bet it will make
>             original Step() much faster.
>            - Or we can solve them using "iterative" method
>              (Refer to ftp://ftp.netlib.org/templates/templates.ps
>              it's a great source)
>
>    b) Stepfast code path:
>       Stepfast use "iterated/relaxation" method to solve for
>       constaints. But it used LCP routine specialized for "big
>       matrix". Actually, all matrix passed to LCP have small dimension
>       (<6??).So one way to optimize is using specialized LCP for small matrix
>
>    FYI,luckily, I have chanced to use Havok2 in my work, my impression
>    is ODE is not too bad compare to Havok2 :).
>
>    Happy coding!
>
> --
> Best regards,
>
> ---------------------------------------------------------------------
>    Nguyen Binh
>    Software Engineer
>    Glass Egg Digital Media
>
>    E.Town Building
>    7th Floor, 364 CongHoa Street
>    Tan Binh District,
>    HoChiMinh City,
>    VietNam,
>
>    Phone : +84 8 8109018
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>
>      www.glassegg.com
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