[ODE] More speed???

[Martin C. Martin]

Nguyen Binh wrote:

> Hi Martin,
> 
>      More on your comments, I don't mean ONE factoring take less time than
>      ONE solving.The function dFactorLDLT() may take more time than one
>      dSolveL1T() but called much lesser.

Ah, I didn't realize that.  Thanks for pointing that out.

>       Argg... I forgot to mention. We need another way to deal with
>       joints in StepFast.I think we should classified joint by number
>       of DOF it remove and use specialized code to solve for each
>       class.

Yes, then we'd only have 6 cases.  And the 2x2 case is trivial and the 
3x3 case is pretty easy.  For the others, just unrolling loops would help.

Keep up the good work Nguyen!

- Martin



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