driverheader.h File Reference

Stable C ABI for constructing, configuring, stepping, and querying JSim worlds. More...

#include <stdint.h>

Go to the source code of this file.

Functions
void	c_doThing (void)
	No-op sanity probe for link/load validation.
uint64_t	c_rsCreateWorld (double fixed_dt_s, int enable_gravity)
	Creates a new physics world and returns its opaque handle.
void	c_rsDestroyWorld (uint64_t world_handle)
	Destroys a previously created world and releases all associated resources.
int	c_rsCreateBody (uint64_t world_handle, double mass_kg)
	Creates a new rigid body in a world.
int	c_rsCreateGamepiece (uint64_t world_handle, double radius_m, double mass_kg, double restitution)
	Creates a new generic gamepiece using sphere hitbox parameters.
int	c_rsCreateGamepieceWithType (uint64_t world_handle, int type, double radius_m, double mass_kg, double restitution)
	Creates a new generic gamepiece with an explicit type tag.
int	c_rsCreateGamepieceWithTypeName (uint64_t world_handle, const char *type_name, double radius_m, double mass_kg, double restitution)
	Creates a new generic gamepiece with a human-readable type name.
const char *	c_rsGetGamepieceTypeName (uint64_t world_handle, int gamepiece_index)
	Reads the registered type name for a gamepiece.
int	c_rsPickGamepiece (uint64_t world_handle, int gamepiece_index, double intake_x, double intake_y, double intake_z, double capture_radius, double carry_offset_x, double carry_offset_y, double carry_offset_z)
	Request pickup of a gamepiece into a carrier.
int	c_rsPlaceGamepiece (uint64_t world_handle, int gamepiece_index, double x_m, double y_m, double z_m)
	Place a gamepiece at a world position and mark grounded.
int	c_rsOuttakeGamepiece (uint64_t world_handle, int gamepiece_index, double px, double py, double pz, double vx, double vy, double vz)
	Outtake a gamepiece from a muzzle pose with velocity (launch).
int	c_rsSetBodyPosition (uint64_t world_handle, int body_index, double x_m, double y_m, double z_m)
	Sets a body's world-space position.
int	c_rsSetBodyLinearVelocity (uint64_t world_handle, int body_index, double vx_mps, double vy_mps, double vz_mps)
	Sets a body's world-space linear velocity.
int	c_rsSetBodyOrientation (uint64_t world_handle, int body_index, double qw, double qx, double qy, double qz)
	Set a rigid body's orientation.
int	c_rsGetBodyOrientation (uint64_t world_handle, int body_index, double *out_qw, double *out_qx, double *out_qy, double *out_qz)
	Read a rigid body's orientation quaternion.
int	c_rsSetBodyGravityEnabled (uint64_t world_handle, int body_index, int enabled)
	Enables or disables gravity for a single body.
int	c_rsSetBodyMaterial (uint64_t world_handle, int body_index, double restitution, double friction_kinetic, double friction_static, double collision_damping)
	Sets per-body material coefficients used in contact response.
int	c_rsSetBodyMaterialId (uint64_t world_handle, int body_index, int32_t material_id)
	Assigns a numeric material id to a body.
int	c_rsSetBodyCollisionFilter (uint64_t world_handle, int body_index, uint32_t collision_layer_bits, uint32_t collision_mask_bits)
	Sets broad-phase collision filtering for a body.
int	c_rsSetBodyAerodynamicSphere (uint64_t world_handle, int body_index, double radius_m, double drag_coefficient)
	Configures spherical aerodynamic metadata for a body.
int	c_rsSetBodyAerodynamicBox (uint64_t world_handle, int body_index, double x_m, double y_m, double z_m, double drag_coefficient)
	Configures box aerodynamic metadata for a body.
int	c_rsSetGamepiecePosition (uint64_t world_handle, int gamepiece_index, double x_m, double y_m, double z_m)
	Sets a gamepiece's world-space position.
int	c_rsSetGamepieceLinearVelocity (uint64_t world_handle, int gamepiece_index, double vx_mps, double vy_mps, double vz_mps)
	Sets a gamepiece's world-space linear velocity.
int	c_rsGetGamepiecePosition (uint64_t world_handle, int gamepiece_index, double *x_m, double *y_m, double *z_m)
	Reads a gamepiece's world-space position.
int	c_rsGetGamepieceLinearVelocity (uint64_t world_handle, int gamepiece_index, double *vx_mps, double *vy_mps, double *vz_mps)
	Reads a gamepiece's world-space linear velocity.
int	c_rsSetWorldAerodynamics (uint64_t world_handle, int enabled, double air_density_kgpm3, double linear_drag_coefficient_n_per_mps, double magnus_coefficient, double default_drag_coefficient, double default_drag_reference_area_m2)
	Configures world-level aerodynamic constants and feature toggle.
int	c_rsSetMaterialInteraction (uint64_t world_handle, int32_t material_a_id, int32_t material_b_id, double restitution, double friction, int enabled)
	Adds or updates a material-pair interaction override.
int	c_rsStepWorld (uint64_t world_handle, int steps)
	Advances the world by steps fixed timesteps.
int	c_rsSetWorldGravity (uint64_t world_handle, double gx_mps2, double gy_mps2, double gz_mps2)
	Sets world gravity acceleration vector.
int	c_rsGetBodyPosition (uint64_t world_handle, int body_index, double *x_m, double *y_m, double *z_m)
	Reads a body's world-space position.
int	c_rsGetBodyLinearVelocity (uint64_t world_handle, int body_index, double *vx_mps, double *vy_mps, double *vz_mps)
	Reads a body's world-space linear velocity.
int	c_rsGetBodyPose7Array (uint64_t world_handle, double *out_pose7, int max_bodies)
	Exports body poses as a tightly packed 7-tuple array.
int	c_rsGetBodyVelocity6Array (uint64_t world_handle, double *out_velocity6, int max_bodies)
	Exports body velocities as a tightly packed 6-tuple array.
int	c_rsGetBodyState13Array (uint64_t world_handle, double *out_state13, int max_bodies)
	Exports full body state as a tightly packed 13-tuple array.
int	c_rsCreateAssembly (uint64_t world_handle)
	Creates and registers a rigid assembly container.

Detailed Description

Stable C ABI for constructing, configuring, stepping, and querying JSim worlds.

This header is intentionally C-compatible so it can be consumed from JNI, Python/ctypes, C#, Rust FFI, and other foreign-function interfaces without requiring C++ name mangling support.

General conventions:

• All distances are meters.
• All velocities are meters per second.
• All angular quantities are radians or radians/second.
• All masses are kilograms.
• All time values are seconds.
• A world handle value of 0 is invalid.
• Functions returning int use 0 for success and non-zero for failure.
• Indices are zero-based and must reference an existing body.
• Pointer out-parameters must be non-null unless explicitly documented as optional.

Error model:

• Invalid handle, invalid body index, invalid pointer, or invalid numeric input results in a non-zero error code.
• APIs are best-effort deterministic and do not throw C++ exceptions across this ABI.

Threading model:

• World mutation functions are not re-entrant for the same world handle.
• Callers should serialize writes and step operations per world.
• Query-only calls should not race with mutating calls unless external locking is used.

Function Documentation

c_doThing()

void c_doThing

(

void

)

No-op sanity probe for link/load validation.

This function exists primarily as a simple symbol to validate library load paths in integration tests and downstream wrappers.

c_rsCreateAssembly()

int c_rsCreateAssembly

(

uint64_t

world_handle

)

Creates and registers a rigid assembly container.

Parameters

world_handle

Target world handle.

Returns

Non-negative assembly index on success; negative on failure.

c_rsCreateBody()

int c_rsCreateBody	(	uint64_t	world_handle,
		double	mass_kg )

Creates a new rigid body in a world.

Parameters

world_handle	Target world handle.
mass_kg	Body mass in kilograms.

Returns

Non-negative body index on success; negative value on failure.

c_rsCreateGamepiece()

int c_rsCreateGamepiece	(	uint64_t	world_handle,
		double	radius_m,
		double	mass_kg,
		double	restitution )

Creates a new generic gamepiece using sphere hitbox parameters.

Parameters

world_handle	Target world handle.
radius_m	Sphere hitbox radius in meters.
mass_kg	Gamepiece mass in kilograms.
restitution	Coefficient of restitution in [0, 1].

Returns

Non-negative gamepiece index on success; negative value on failure.

c_rsCreateGamepieceWithType()

int c_rsCreateGamepieceWithType	(	uint64_t	world_handle,
		int	type,
		double	radius_m,
		double	mass_kg,
		double	restitution )

Creates a new generic gamepiece with an explicit type tag.

Parameters

world_handle	Target world handle.
type	Integer type tag (application-defined). For Java usage, map from GamePieceType.ordinal().
radius_m	Sphere hitbox radius in meters (ignored for non-spherical types currently).
mass_kg	Gamepiece mass in kilograms.
restitution	Coefficient of restitution in [0, 1].

Returns

Non-negative gamepiece index on success; negative value on failure.

c_rsCreateGamepieceWithTypeName()

int c_rsCreateGamepieceWithTypeName	(	uint64_t	world_handle,
		const char *	type_name,
		double	radius_m,
		double	mass_kg,
		double	restitution )

Creates a new generic gamepiece with a human-readable type name.

This API lets callers register/import named gamepiece types (for example "generic_sphere", "generic_cube", "fuel_rebuilt_2026"). The driver will store the provided name for use by higher-level tooling; core physics will continue to use spherical defaults until specific type implementations are available.

Parameters

world_handle	Target world handle.
type_name	Null-terminated UTF-8 name for the gamepiece type. May be NULL to indicate unnamed/default.
radius_m	Sphere hitbox radius in meters (ignored for non-spherical types currently).
mass_kg	Gamepiece mass in kilograms.
restitution	Coefficient of restitution in [0, 1].

Returns

Non-negative gamepiece index on success; negative value on failure.

c_rsCreateWorld()

uint64_t c_rsCreateWorld	(	double	fixed_dt_s,
		int	enable_gravity )

Creates a new physics world and returns its opaque handle.

Parameters

fixed_dt_s	Fixed simulation timestep in seconds. Typical FRC values are 0.005-0.02.
enable_gravity	Non-zero enables gravity by default; zero disables it.

Returns

Opaque non-zero world handle on success; 0 on failure.

c_rsDestroyWorld()

void c_rsDestroyWorld

(

uint64_t

world_handle

)

Destroys a previously created world and releases all associated resources.

Parameters

world_handle

Opaque world handle returned by c_rsCreateWorld().

Safe behavior:

• Passing an invalid handle is ignored or treated as an error internally, but callers should not rely on double-destroy semantics.
• After destruction, all body indices and references from that world are invalid.

c_rsGetBodyLinearVelocity()

int c_rsGetBodyLinearVelocity	(	uint64_t	world_handle,
		int	body_index,
		double *	vx_mps,
		double *	vy_mps,
		double *	vz_mps )

Reads a body's world-space linear velocity.

Parameters

world_handle	Target world handle.
body_index	Zero-based body index.
vx_mps	Output pointer for x velocity in meters/second.
vy_mps	Output pointer for y velocity in meters/second.
vz_mps	Output pointer for z velocity in meters/second.

Returns

0 on success, non-zero on failure.

c_rsGetBodyOrientation()

int c_rsGetBodyOrientation	(	uint64_t	world_handle,
		int	body_index,
		double *	out_qw,
		double *	out_qx,
		double *	out_qy,
		double *	out_qz )

Read a rigid body's orientation quaternion.

Returns

0 on success, non-zero on error.

c_rsGetBodyPose7Array()

int c_rsGetBodyPose7Array	(	uint64_t	world_handle,
		double *	out_pose7,
		int	max_bodies )

Exports body poses as a tightly packed 7-tuple array.

Parameters

world_handle	Target world handle.
out_pose7	Output buffer of length at least (7 * max_bodies).
max_bodies	Maximum number of bodies to write.

Returns

Number of bodies written on success (>= 0), negative on failure.

Layout per body i:

• out_pose7[i * 7 + 0] = x (m)
• out_pose7[i * 7 + 1] = y (m)
• out_pose7[i * 7 + 2] = z (m)
• out_pose7[i * 7 + 3] = qw
• out_pose7[i * 7 + 4] = qx
• out_pose7[i * 7 + 5] = qy
• out_pose7[i * 7 + 6] = qz

c_rsGetBodyPosition()

int c_rsGetBodyPosition	(	uint64_t	world_handle,
		int	body_index,
		double *	x_m,
		double *	y_m,
		double *	z_m )

Reads a body's world-space position.

Parameters

world_handle	Target world handle.
body_index	Zero-based body index.
x_m	Output pointer for x position in meters.
y_m	Output pointer for y position in meters.
z_m	Output pointer for z position in meters.

Returns

0 on success, non-zero on failure.

c_rsGetBodyState13Array()

int c_rsGetBodyState13Array	(	uint64_t	world_handle,
		double *	out_state13,
		int	max_bodies )

Exports full body state as a tightly packed 13-tuple array.

Parameters

world_handle	Target world handle.
out_state13	Output buffer of length at least (13 * max_bodies).
max_bodies	Maximum number of bodies to write.

Returns

Number of bodies written on success (>= 0), negative on failure.

Layout per body i:

• out_state13[i * 13 + 0] = x (m)
• out_state13[i * 13 + 1] = y (m)
• out_state13[i * 13 + 2] = z (m)
• out_state13[i * 13 + 3] = qw
• out_state13[i * 13 + 4] = qx
• out_state13[i * 13 + 5] = qy
• out_state13[i * 13 + 6] = qz
• out_state13[i * 13 + 7] = vx (m/s)
• out_state13[i * 13 + 8] = vy (m/s)
• out_state13[i * 13 + 9] = vz (m/s)
• out_state13[i * 13 + 10] = wx (rad/s)
• out_state13[i * 13 + 11] = wy (rad/s)
• out_state13[i * 13 + 12] = wz (rad/s)

c_rsGetBodyVelocity6Array()

int c_rsGetBodyVelocity6Array	(	uint64_t	world_handle,
		double *	out_velocity6,
		int	max_bodies )

Exports body velocities as a tightly packed 6-tuple array.

Parameters

world_handle	Target world handle.
out_velocity6	Output buffer of length at least (6 * max_bodies).
max_bodies	Maximum number of bodies to write.

Returns

Number of bodies written on success (>= 0), negative on failure.

Layout per body i:

• out_velocity6[i * 6 + 0] = vx (m/s)
• out_velocity6[i * 6 + 1] = vy (m/s)
• out_velocity6[i * 6 + 2] = vz (m/s)
• out_velocity6[i * 6 + 3] = wx (rad/s)
• out_velocity6[i * 6 + 4] = wy (rad/s)
• out_velocity6[i * 6 + 5] = wz (rad/s)

c_rsGetGamepieceLinearVelocity()

int c_rsGetGamepieceLinearVelocity	(	uint64_t	world_handle,
		int	gamepiece_index,
		double *	vx_mps,
		double *	vy_mps,
		double *	vz_mps )

Reads a gamepiece's world-space linear velocity.

Parameters

world_handle	Target world handle.
gamepiece_index	Zero-based gamepiece index.
vx_mps	Output pointer for x velocity in meters/second.
vy_mps	Output pointer for y velocity in meters/second.
vz_mps	Output pointer for z velocity in meters/second.

Returns

0 on success, non-zero on failure.

c_rsGetGamepiecePosition()

int c_rsGetGamepiecePosition	(	uint64_t	world_handle,
		int	gamepiece_index,
		double *	x_m,
		double *	y_m,
		double *	z_m )

Reads a gamepiece's world-space position.

Parameters

world_handle	Target world handle.
gamepiece_index	Zero-based gamepiece index.
x_m	Output pointer for x position in meters.
y_m	Output pointer for y position in meters.
z_m	Output pointer for z position in meters.

Returns

0 on success, non-zero on failure.

c_rsGetGamepieceTypeName()

const char * c_rsGetGamepieceTypeName	(	uint64_t	world_handle,
		int	gamepiece_index )

Reads the registered type name for a gamepiece.

Parameters

world_handle	Target world handle.
gamepiece_index	Zero-based gamepiece index.

Returns

Null-terminated UTF-8 type name on success, or NULL on failure.

c_rsOuttakeGamepiece()

int c_rsOuttakeGamepiece	(	uint64_t	world_handle,
		int	gamepiece_index,
		double	px,
		double	py,
		double	pz,
		double	vx,
		double	vy,
		double	vz )

Outtake a gamepiece from a muzzle pose with velocity (launch).

c_rsPickGamepiece()

int c_rsPickGamepiece	(	uint64_t	world_handle,
		int	gamepiece_index,
		double	intake_x,
		double	intake_y,
		double	intake_z,
		double	capture_radius,
		double	carry_offset_x,
		double	carry_offset_y,
		double	carry_offset_z )

Request pickup of a gamepiece into a carrier.

Parameters

world_handle	Target world handle.
gamepiece_index	Zero-based gamepiece index returned by c_rsCreateGamepiece().
intake_x	Intake world x position.
intake_y	Intake world y position.
intake_z	Intake world z position.
capture_radius	Capture radius in meters.
carry_offset_x	Carry offset x in meters.
carry_offset_y	Carry offset y in meters.
carry_offset_z	Carry offset z in meters.

Returns

0 on success (picked), non-zero on failure.

c_rsPlaceGamepiece()

int c_rsPlaceGamepiece	(	uint64_t	world_handle,
		int	gamepiece_index,
		double	x_m,
		double	y_m,
		double	z_m )

Place a gamepiece at a world position and mark grounded.

c_rsSetBodyAerodynamicBox()

int c_rsSetBodyAerodynamicBox	(	uint64_t	world_handle,
		int	body_index,
		double	x_m,
		double	y_m,
		double	z_m,
		double	drag_coefficient )

Configures box aerodynamic metadata for a body.

Parameters

world_handle	Target world handle.
body_index	Zero-based body index.
x_m	Box size along body-local x in meters.
y_m	Box size along body-local y in meters.
z_m	Box size along body-local z in meters.
drag_coefficient	Dimensionless drag coefficient (Cd).

Returns

0 on success, non-zero on failure.

c_rsSetBodyAerodynamicSphere()

int c_rsSetBodyAerodynamicSphere	(	uint64_t	world_handle,
		int	body_index,
		double	radius_m,
		double	drag_coefficient )

Configures spherical aerodynamic metadata for a body.

Parameters

world_handle	Target world handle.
body_index	Zero-based body index.
radius_m	Sphere radius in meters.
drag_coefficient	Dimensionless drag coefficient (Cd).

Returns

0 on success, non-zero on failure.

c_rsSetBodyCollisionFilter()

int c_rsSetBodyCollisionFilter	(	uint64_t	world_handle,
		int	body_index,
		uint32_t	collision_layer_bits,
		uint32_t	collision_mask_bits )

Sets broad-phase collision filtering for a body.

Parameters

world_handle	Target world handle.
body_index	Zero-based body index.
collision_layer_bits	Bitmask describing layers this body belongs to.
collision_mask_bits	Bitmask describing layers this body can interact with.

Returns

0 on success, non-zero on failure.

A pair (A, B) is considered eligible only if both expressions are non-zero:

• (A.layer_bits & B.mask_bits)
• (B.layer_bits & A.mask_bits)

c_rsSetBodyGravityEnabled()

int c_rsSetBodyGravityEnabled	(	uint64_t	world_handle,
		int	body_index,
		int	enabled )

Enables or disables gravity for a single body.

Parameters

world_handle	Target world handle.
body_index	Zero-based body index.
enabled	Non-zero to enable gravity for this body, zero to disable.

Returns

0 on success, non-zero on failure.

c_rsSetBodyLinearVelocity()

int c_rsSetBodyLinearVelocity	(	uint64_t	world_handle,
		int	body_index,
		double	vx_mps,
		double	vy_mps,
		double	vz_mps )

Sets a body's world-space linear velocity.

Parameters

world_handle	Target world handle.
body_index	Zero-based body index.
vx_mps	Velocity x component in meters/second.
vy_mps	Velocity y component in meters/second.
vz_mps	Velocity z component in meters/second.

Returns

0 on success, non-zero on failure.

c_rsSetBodyMaterial()

int c_rsSetBodyMaterial	(	uint64_t	world_handle,
		int	body_index,
		double	restitution,
		double	friction_kinetic,
		double	friction_static,
		double	collision_damping )

Sets per-body material coefficients used in contact response.

Parameters

world_handle	Target world handle.
body_index	Zero-based body index.
restitution	Coefficient of restitution, generally in [0, 1].
friction_kinetic	Kinetic friction coefficient, typically >= 0.
friction_static	Static friction coefficient, typically >= 0.
collision_damping	Additional collision damping term, typically >= 0.

Returns

0 on success, non-zero on failure.

c_rsSetBodyMaterialId()

int c_rsSetBodyMaterialId	(	uint64_t	world_handle,
		int	body_index,
		int32_t	material_id )

Assigns a numeric material id to a body.

Parameters

world_handle	Target world handle.
body_index	Zero-based body index.
material_id	Application-defined material identifier.

Returns

0 on success, non-zero on failure.

The material id is used by world-level material interaction tables to override restitution/friction for specific material pairs.

c_rsSetBodyOrientation()

int c_rsSetBodyOrientation	(	uint64_t	world_handle,
		int	body_index,
		double	qw,
		double	qx,
		double	qy,
		double	qz )

Set a rigid body's orientation.

Returns

0 on success, non-zero on error.

c_rsSetBodyPosition()

int c_rsSetBodyPosition	(	uint64_t	world_handle,
		int	body_index,
		double	x_m,
		double	y_m,
		double	z_m )

Sets a body's world-space position.

Parameters

world_handle	Target world handle.
body_index	Zero-based body index returned by c_rsCreateBody().
x_m	Position x in meters.
y_m	Position y in meters.
z_m	Position z in meters.

Returns

0 on success, non-zero on failure.

c_rsSetGamepieceLinearVelocity()

int c_rsSetGamepieceLinearVelocity	(	uint64_t	world_handle,
		int	gamepiece_index,
		double	vx_mps,
		double	vy_mps,
		double	vz_mps )

Sets a gamepiece's world-space linear velocity.

Parameters

world_handle	Target world handle.
gamepiece_index	Zero-based gamepiece index.
vx_mps	Velocity x component in meters/second.
vy_mps	Velocity y component in meters/second.
vz_mps	Velocity z component in meters/second.

Returns

0 on success, non-zero on failure.

c_rsSetGamepiecePosition()

int c_rsSetGamepiecePosition	(	uint64_t	world_handle,
		int	gamepiece_index,
		double	x_m,
		double	y_m,
		double	z_m )

Sets a gamepiece's world-space position.

Parameters

world_handle	Target world handle.
gamepiece_index	Zero-based gamepiece index.
x_m	Position x in meters.
y_m	Position y in meters.
z_m	Position z in meters.

Returns

0 on success, non-zero on failure.

c_rsSetMaterialInteraction()

int c_rsSetMaterialInteraction	(	uint64_t	world_handle,
		int32_t	material_a_id,
		int32_t	material_b_id,
		double	restitution,
		double	friction,
		int	enabled )

Adds or updates a material-pair interaction override.

Parameters

world_handle	Target world handle.
material_a_id	First material id in the pair.
material_b_id	Second material id in the pair.
restitution	Pair-specific restitution coefficient.
friction	Pair-specific friction coefficient.
enabled	Non-zero enables this interaction entry; zero disables it.

Returns

0 on success, non-zero on failure.

Pair lookup is symmetric: (A, B) and (B, A) resolve to the same entry.

c_rsSetWorldAerodynamics()

int c_rsSetWorldAerodynamics	(	uint64_t	world_handle,
		int	enabled,
		double	air_density_kgpm3,
		double	linear_drag_coefficient_n_per_mps,
		double	magnus_coefficient,
		double	default_drag_coefficient,
		double	default_drag_reference_area_m2 )

Configures world-level aerodynamic constants and feature toggle.

Parameters

world_handle	Target world handle.
enabled	Non-zero enables aerodynamic forces; zero disables them.
air_density_kgpm3	Air density in kg/m^3.
linear_drag_coefficient_n_per_mps	Linear drag coefficient in N/(m/s).
magnus_coefficient	Magnus lift scale factor.
default_drag_coefficient	Default dimensionless Cd when body value is unset.
default_drag_reference_area_m2	Default area in m^2 when body geometry is unset.

Returns

0 on success, non-zero on failure.

c_rsSetWorldGravity()

int c_rsSetWorldGravity	(	uint64_t	world_handle,
		double	gx_mps2,
		double	gy_mps2,
		double	gz_mps2 )

Sets world gravity acceleration vector.

Parameters

world_handle	Target world handle.
gx_mps2	Gravity x component in m/s^2.
gy_mps2	Gravity y component in m/s^2.
gz_mps2	Gravity z component in m/s^2.

Returns

0 on success, non-zero on failure.

c_rsStepWorld()

int c_rsStepWorld	(	uint64_t	world_handle,
		int	steps )

Advances the world by steps fixed timesteps.

Parameters

world_handle	Target world handle.
steps	Number of fixed-dt integration steps; must be >= 0.

Returns

0 on success, non-zero on failure.