22 #ifndef __ND_WORLD_DYNAMICS_UPDATE_SOA_H__
23 #define __ND_WORLD_DYNAMICS_UPDATE_SOA_H__
25 #include "ndNewtonStdafx.h"
26 #include "ndDynamicsUpdate.h"
63 ndVector m_lowerBoundFrictionCoefficent;
64 ndVector m_upperBoundFrictionCoefficent;
75 virtual const char* GetStringId()
const;
78 virtual void Update();
87 void CalculateForces();
88 void IntegrateBodies();
89 void UpdateSkeletons();
90 void InitJacobianMatrix();
91 void UpdateForceFeedback();
92 void CalculateJointsForce();
93 void IntegrateBodiesVelocity();
94 void CalculateJointsAcceleration();
95 void IntegrateUnconstrainedBodies();
97 void DetermineSleepStates();
106 } D_GCC_NEWTON_ALIGN_32;