This uses a "big matrix" method that takes time on the order of m^3
and memory on the order of m^2, where m is the total number of constraint
rows. For large systems this will use a lot of memory and can be very slow,
but this is currently the most accurate method.
Failure result status means that the memory allocation has failed for operation.
In such a case all the objects remain in unchanged state and simulation can be
retried as soon as more memory is available.
@param w The world to be stepped
@param stepsize The number of seconds that the simulation has to advance.
@returns 1 for success and 0 for failure
@brief Step the world.
This uses a "big matrix" method that takes time on the order of m^3 and memory on the order of m^2, where m is the total number of constraint rows. For large systems this will use a lot of memory and can be very slow, but this is currently the most accurate method.
Failure result status means that the memory allocation has failed for operation. In such a case all the objects remain in unchanged state and simulation can be retried as soon as more memory is available.
@param w The world to be stepped @param stepsize The number of seconds that the simulation has to advance. @returns 1 for success and 0 for failure
@ingroup world