[ODE] I´m totally unhappy with ODE ... Please Help me

[Lode Vanacken]

Andreas Fredriksson wrote:

>On 12/18/06, Pavel Antokolsky aka Zigmar <zigmar at gmail.com> wrote:
>
>  
>
>>Considering the following code that calls 29 times (!) to
>>trigonometric functions to construct one single matrix, I'm  surprised
>>it moves at all. You really should re-consider your implementation if
>>you want to make your game run at reasonable speed.
>>    
>>
>
>A decent optimizer should replace these variations with a few
>calculations through common subexpression elimination. That said, I
>would use the more optimizer-friendly floating point versions of the
>cos and sin functions (sinf and cosf) and move the calculations
>outside to get a speedup in debug builds as well.
>  
>

Wouldn't it be easier to go from 3 euler angles to a quaternion which is 
also functionality
available in ODE.

Lode