I would post my code, but its not worth showing yet its all comments still, I've gone through 3 more revisions now to get it as tight as it is, I could post the method steps, but not the actual code yet. Its a stick insect walking on a flat plane, would you believe.
U wonder what I'm up to.
Thats why I was talking about pong before, its similar, its just a little game the same, and I need to run it as many times as I can in a second.
Its taking me a while because I haven't even got the new rotation instructions down pat yet, I'm not using matrix multiplies, I'm doing the rotate with additions instead.
Heres a video of my old version running on the GPU. (this new one is going to be way better!!)
To get that to happen again (10 million times better) I need an ALU with these steps in it->
// 1. integrate rigid body, hinge rotations and the reverse reaction.
// 2. generate the points. (this can be low depth!)
// 3. get the lowest point below the floor level.
// 4. binary hone this one point to find the intersection point.
// 5. recompute the tipping axis, and the reverse reaction point/hinges.
// 6. integrate rigid body, hinge rotations and the reverse reaction.
(I think I can do that in 1000 adds, but i have to see for sure..)
and that runs one frame of the physics simulation... then i just need to keep spamming it as fast as I can to get it to move along.