> In the debugger I find that with 40 bodies, dWorldStep() is taking > 256K of memory (which I've switched to using dStack) to get down to > dInternalStepIsland_x2(). That means about 6k per body. memory required in the solver is O(nbodies) + O(njoints^2). see the docs for details. russ. -- Russell Smith http://www.q12.org