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Optimizing skeletal animation system

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I just put together my first skeletal animation system, and IT WORKS!!! Which was exciting to see. However I've noticed the performance is abysmal. After profiling I found that for the skinned mesh I'm am using to test it takes between 3 to 4.5ms to fully update all of the bones in the armature…0_0. So I feel like I'm doing something wrong as that seems like an awfully long time. Is there anything within my logic below that could be optimized to get this time down? Really curious now how engines like unreal can manage …


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