Some further performance improvements to the PointInPlaneWithStiction constraint. I added new utility methods to ConstraintImpl that perform combined location, velocity, and acceleration operations to avoid duplicate work. Then I used these in the methods of PointInPlaneWithStiction that affect PGS.
Some further performance improvements to the PointInPlaneWithStiction constraint. I added new utility methods to ConstraintImpl that perform combined location, velocity, and acceleration operations to avoid duplicate work. Then I used these in the methods of PointInPlaneWithStiction that affect PGS.

Gjacquenot/simbody,robojukie/simbody,chrisdembia/simbody,elkingtonmcb/simbody,robojukie/simbody,chrisdembia/simbody,elkingtonmcb/simbody,scamille/simbody,simbody/simbody,simbody/simbody,Gjacquenot/simbody,scamille/simbody,elkingtonmcb/simbody,scamille/simbody,Gjacquenot/simbody,robojukie/simbody,chrisdembia/simbody