#58 Optimization of contactGetInfo2

[Remi Ricard]

Hi,

This patch do some simple optimization of the function
contactGetInfo2.

• Unroll for loops and delete the indexing variable
• Remove unneeded initialization
• Do a check only when needed. ( move the "if (j->the_m

  = 3)" inside the "if (j->the_m >= 2)"

This is a patch against the latest trunk code (revision
1017).

The patch was produced with:
diff -b -c3 joint.cpp my_new_joint.cpp >
joint-trunk-1017.patch

Remi

[Remi Ricard]

Patch for the Optimization of contactGetInfo2