ode/src/util.h

   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
  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