Why does the GHOST SDK complain that the servo loop takes too long with my gstTriPolyMeshHaptic object?
Collision detection between the PHANTOM endpoint and an arbitrary triangle is somewhat “expensive” from a computational point of view. Rather than perform collision detection on every iteration of the servo loop between all of the triangles and the PHANTOM endpoint, a spatial partition is created such that only “nearby” triangles are analyzed for collision detection. The benefits of spatial partitioning, however, are dependent upon many factors, such as the location of the PHANTOM endpoint relative to certain portions of your polymesh, the relative sizes of the triangles, etc.
