void simLoop(int pause)

/**
 * @brief Determines which pairs of geoms in a space may potentially intersect,
 * and calls the callback function for each candidate pair.
 *
 * @param space The space to test.
 *
 * @param data Passed from dSpaceCollide directly to the callback
 * function. Its meaning is user defined. The o1 and o2 arguments are the
 * geoms that may be near each other.
 *
 * @param callback A callback function is of type @ref dNearCallback.
 *
 * @remarks Other spaces that are contained within the colliding space are
 * not treated specially, i.e. they are not recursed into. The callback
 * function may be passed these contained spaces as one or both geom
 * arguments.
 *
 * @remarks dSpaceCollide() is guaranteed to pass all intersecting geom
 * pairs to the callback function, but may also pass close but
 * non-intersecting pairs. The number of these calls depends on the
 * internal algorithms used by the space. Thus you should not expect
 * that dCollide will return contacts for every pair passed to the
 * callback.
 *
 * @sa dSpaceCollide2
 * @ingroup collide
 */
ODE_API void dSpaceCollide (dSpaceID space, void *data, dNearCallback *callback);

/**
 * @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
 */
ODE_API int dWorldStep (dWorldID w, dReal stepsize);

/**
 * @brief Empty a joint group.
 * @ingroup joints
 *
 * All joints in the joint group will be destroyed,
 * but the joint group itself will not be destroyed.
 */
ODE_API void dJointGroupEmpty (dJointGroupID);