/*************************************************************************

 *                                                                       *

 * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *

 * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *

 *                                                                       *

 * This library is free software; you can redistribute it and/or         *

 * modify it under the terms of EITHER:                                  *

 *   (1) The GNU Lesser General Public License as published by the Free  *

 *       Software Foundation; either version 2.1 of the License, or (at  *

 *       your option) any later version. The text of the GNU Lesser      *

 *       General Public License is included with this library in the     *

 *       file LICENSE.TXT.                                               *

 *   (2) The BSD-style license that is included with this library in     *

 *       the file LICENSE-BSD.TXT.                                       *

 *                                                                       *

 * This library is distributed in the hope that it will be useful,       *

 * but WITHOUT ANY WARRANTY; without even the implied warranty of        *

 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *

 * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *

 *                                                                       *

 *************************************************************************/

#ifndef _ODE_UTIL_H_

#define _ODE_UTIL_H_

#include "object.h"

void dInternalHandleAutoDisabling (dxWorld *world, dReal stepsize);

void dxStepBody (dxBody *b, dReal h);

typedef void (*dstepper_fn_t) (dxWorld *world, dxBody * const *body, int nb,

        dxJoint * const *_joint, int nj, dReal stepsize);

void dxProcessIslands (dxWorld *world, dReal stepsize, dstepper_fn_t stepper);

#endif