Please correct me if I am wrong, but looking at the code in ccdQuatRotVec I believe it can only handle unit quaternions. In this case a more efficient implementation is possible like the one included in this PR. As the function is called quite often from support functions I noticed some performance gain after applying the change when using libccd in ODE.
Hi,
Please correct me if I am wrong, but looking at the code in ccdQuatRotVec I believe it can only handle unit quaternions. In this case a more efficient implementation is possible like the one included in this PR. As the function is called quite often from support functions I noticed some performance gain after applying the change when using libccd in ODE.
Regards, Piotr