#include <OpenSim/OpenSim.h>

#include "LocomotorPrimitivesManager.h"

bool LocomotorPrimitivesManager::doIntegration(SimTK::State &s, int step, double dtFirst)
{
	// TODO possibly additional calculations
	//std::cout << "==> doIntegration" << std::endl;
	return OpenSim::Manager::doIntegration(s, step, dtFirst);
}

bool LocomotorPrimitivesManager::integrate(SimTK::State &s, double dtFirst)
{
	int step = 0;

	//std::cout << "==> integrate" << std::endl;

	s.setTime(getInitialTime());

	return doIntegration(s, step, dtFirst);
}