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waitUntil vs (while + sleep) performance cost

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I was wondering which one of these two commands has a bigger effect on performance:

waitUntil { !cond };


while {cond} do 
sleep 0.5;

Also, does the amount of sleep time matter?

What about the condition? For example, if we have to check a series of conditions (e.g {alive _x} foreach Allunits) which one is better?

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