[ODE] dWorldStep&dWorldQuickStep

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I am a student and want to know some implementation detail about the different 
between the procedures dWorldStep() and dWorldFastStep().

In the userguide I only find the performance issue about the diff, and how to use them.
But I also want to known that how do they work and how are they implemented.

Is there any doucument about these?
Or anyone who could help me?

Thanks! 
 				

¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡chenlu
¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡chenlu at cad.zju.edu.cn
¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡2005-07-31