[ODE] constraints

[Adam Rotaru]

--- Russ Smith <russ@q12.org> wrote:
> the key thing is that featherstone is O(n) for speed
> while 
> cartesian methods are O(n^3) for speed. so anything
> like a 
> long-chain system will go MUCH faster with
> featherstone. 

Wow, such posting show that you are a real expert in
these methods!
Here's a question I have (maybe naive).

Assume you have N=20 instances of chains (or bodies)
composed
of M=10 elements.  Two chains are not connected by
joints nor by 
constraints (not touching).
Featherstone would be O(N*M).
How about ODE:  O(N*(M^3)) or O((N*M)^3) ?
N does make a difference here.

cheers,
  Adam





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