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2016-03-24 17:05:31 -0500 asked a question How can I use my own physics engine?

Let's suppose I have my own physics engine, how can I make it interact with gazebo?

I can't find any description on how the simulation loop works or when all the physic routines are called.

Looking at the API I can see there is a section "Physics" and how the other engines reimplement these classes and methods, what I want to know is how can I modify the physical behavior of the various simulation element at various level and moment?

thanks in advance for any answer