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 "object.h"

    27 

    28 

    29 void dInternalHandleAutoDisabling (dxWorld *world, dReal stepsize);

    30 void dxStepBody (dxBody *b, dReal h);

    31 

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

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

    34 

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

    36 

    37 

    38 #endif