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andreadelprete / consim

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Avoid for loops for vector operations #7

Closed andreadelprete closed 4 years ago

andreadelprete commented 4 years ago

I just noticed that often vector operations are performed through for loops. See for instance here. This is in general inefficient because vector operations can exploit custom CPU instructions, so we should try to fix that.

andreadelprete commented 4 years ago

This looks good to me!

On Apr 9, 2020, at 01:23, Bilal Hammoud notifications@github.com wrote:

the way I could think of this is by computing normal and tangent dx to the contact surface, n is the surface normal direction

dx = x - x_start normal = (n.T dx) n tangent = dx - normal

for the velocity, v in global frame

normal_vel = (n.T dx) n tangent_vel = v - normal_vel

is my geometry correct ? is there more I have to look to in terms of exploiting cpu instructions ?

I will look into other cases as I come across them

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hammoudbilal commented 4 years ago

this was resolved, I will close it for the time being