MultiBody + RigidBody

[joxoby]

Hi,

I'm building a robotic application in which I have a robotic arm (several links + joints) and a pile (hundreds) of simple objects (cubes, for example).

I have two options for representation:
1- Use btMultiBody for all the models.
2- Use btMultiBody for just the arm, and btRigidBody for the simple objects.

The question is: Would option (2) be superior to option (1) in terms of performance?

I'm not very familiar with Bullet's pipeline, but maybe option (2) might be able to take advantage of maximal coordinates for simulating the simple objects.