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