--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ode/inc/util.h	Tue Feb 02 01:00:49 2010 +0200
@@ -0,0 +1,38 @@
+/*************************************************************************
+ *                                                                       *
+ * 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