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Is ODE threadsafe?

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I've tried looking through the docs and with google, but I can't find anything about it. Specifically, can I have the whole physics simulation running in one thread while in another thread I add and delete objects and forces and grab body orientations and positions and stuff? It seems to me that if anything isn't threadsafe it'd be the collision functions and the step functions. I guess I could put mutex's around those parts, but since that's pretty much everything in that thread it'd defeat the purpose of multithreading.

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