performance of btSparseSdf<3>::GarbageCollect()

[gjaegy]

Hi,

I did a profiling session on our software (using VS2010 included performance analysis tool - sampling method).

As expected, physic simulation take some time, which is normal.

However, what surprised me was the huge amount of time used by GarbageCollect() call, more or less 1/3 of the total time (2/3 being spent in stepSimulation() call).

Could someone explain to me what this function is actually doing, and how I could optimize it (changing the default value for int lifetime=256) ?

thanks !

sampling.png