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1/*************************************************************************
2 * *
3 * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. *
4 * All rights reserved. Email: russ@q12.org Web: www.q12.org *
5 * *
6 * This library is free software; you can redistribute it and/or *
7 * modify it under the terms of EITHER: *
8 * (1) The GNU Lesser General Public License as published by the Free *
9 * Software Foundation; either version 2.1 of the License, or (at *
10 * your option) any later version. The text of the GNU Lesser *
11 * General Public License is included with this library in the *
12 * file LICENSE.TXT. *
13 * (2) The BSD-style license that is included with this library in *
14 * the file LICENSE-BSD.TXT. *
15 * *
16 * This library is distributed in the hope that it will be useful, *
17 * but WITHOUT ANY WARRANTY; without even the implied warranty of *
18 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files *
19 * LICENSE.TXT and LICENSE-BSD.TXT for more details. *
20 * *
21 *************************************************************************/
22
23#ifndef _ODE_UTIL_H_
24#define _ODE_UTIL_H_
25
26#include "objects.h"
27
28
29void dInternalHandleAutoDisabling (dxWorld *world, dReal stepsize);
30void dxStepBody (dxBody *b, dReal h);
31
32typedef void (*dstepper_fn_t) (dxWorld *world, dxBody * const *body, int nb,
33 dxJoint * const *_joint, int nj, dReal stepsize);
34
35void dxProcessIslands (dxWorld *world, dReal stepsize, dstepper_fn_t stepper);
36
37
38#endif