22 #ifndef __D_WORLD_DYNAMICS_UPDATE_OPENCL_H__
23 #define __D_WORLD_DYNAMICS_UPDATE_OPENCL_H__
25 #include "ndNewtonStdafx.h"
26 #include "ndDynamicsUpdate.h"
36 virtual const char* GetStringId()
const;
39 virtual void Update();
48 void CalculateForces();
49 void IntegrateBodies();
50 void UpdateSkeletons();
51 void FinishGpuUpdate();
52 void InitJacobianMatrix();
53 void UpdateForceFeedback();
54 void CalculateJointsForce();
55 void IntegrateBodiesVelocity();
56 void CalculateJointsAcceleration();
57 void IntegrateUnconstrainedBodies();
59 void DetermineSleepStates();