Performance issue

[AlanEvo]

When the simulation is set to a step of 0.001 there is a massive spike in cpu ms, anything up to 20x slower. Possible cause could be the garbage collection with the objects being created in the FixedUpdate. So far I have only noticed this issue with the LinkLock objects.

[AlanEvo]

This is 90% resolved by nesting the Matrix related initialization objects in the loop into the class itself, without doing this it simply runs too slow. It is still slower than the original c++ engine but that might have something to do with the matrix array even though it's a struct being created and used on the Heap.

[AlanEvo]

Currently on hold due to performance issues. It runs anything up to 6-8 times slower than the original c++ version, this is due to the mono build, no in lining etc. So important demo examples can't be done and large scale simulations would be impossible in Unity.