Constraint solver has been optimized with a second path. Avoiding cross products during the iterations and gathering rigid body information into contiguous memory are the main changes. No huge benefits yet, but a good step in the right direction.
It can be disabled by removing 'SOLVER_CACHE_FRIENDLY' from
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solver->setSolverMode(SOLVER_RANDMIZE_ORDER | SOLVER_CACHE_FRIENDLY)
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gJitterVelocityDampingFactor = 0.f;
Enjoy,
Erwin