Function dInternalStepIsland

3rd_party/Src/ode/ode/src/step.cpp:984–1013

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

void dInternalStepIsland (dxWorld *world, dxBody * const *body, int nb,
			  dxJoint **joint, int nj, dReal stepsize)
{
# ifndef COMPARE_METHODS
  dInternalStepIsland_x2 (world,body,nb,joint,nj,stepsize);
# endif

# ifdef COMPARE_METHODS
  int i;

  // save body state
  dxBody *state = (dxBody*) ALLOCA (nb*sizeof(dxBody));
  for (i=0; i<nb; i++) memcpy (state+i,body[i],sizeof(dxBody));

  // take slow step
  comparator.reset();
  dInternalStepIsland_x1 (world,body,nb,joint,nj,stepsize);
  comparator.end();

  // restore state
  for (i=0; i<nb; i++) memcpy (body[i],state+i,sizeof(dxBody));

  // take fast step
  dInternalStepIsland_x2 (world,body,nb,joint,nj,stepsize);
  comparator.end();

  //comparator.dump();
  //_exit (1);
# endif
}