/*
 * Copyright (C) 2015 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
#ifndef _GAZEBO_ODE_STEP_BULLET_LEMKE_WRAPPER_H_
#define _GAZEBO_ODE_STEP_BULLET_LEMKE_WRAPPER_H_

#ifdef HAVE_BULLET
#include <gazebo/ode/common.h>
void dSolveLCP_bullet_lemke(int _m, dReal *_A, dReal *_x, dReal *_b,
  dReal *_lo, dReal *_hi);
#endif
#endif

