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void InitializeHavok() {
    InitMemory();
    InitPhysicalWorld();
    if (g_bVdbEnabled)
        InitVDB();
}

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void InitMemory() {

    #if defined(HK_COMPILER_HAS_INTRINSICS_IA32) && 

                       HK_CONFIG_SIMD ==  HK_CONFIG_SIMD_ENABLED
    // Flush all denormal/subnormal numbers to zero.
    // Operations on denormals are very slow, 

    // up to 100 times slower than normal numbers.
    _MM_SET_FLUSH_ZERO_MODE(_MM_FLUSH_ZERO_ON);

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void OnError(const char* msg, void* userArgGivenToInit) {
    std::cerr < < "Report: " < < msg < < std::endl;
}

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 int totalNumThreadsUsed;

    // Get the number of physical threads available on the system
    hkHardwareInfo hwInfo;
    hkGetHardwareInfo(hwInfo);
    totalNumThreadsUsed = hwInfo.m_numThreads;

    // We use one less than this for our thread pool, because we must also use this thread for our simulation
    hkCpuJobThreadPoolCinfo threadPoolCinfo;
    threadPoolCinfo.m_numThreads = totalNumThreadsUsed - 1;

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    hkJobQueueCinfo info;
    info.m_jobQueueHwSetup.m_numCpuThreads = totalNumThreadsUsed;
    g_pJobQueue = new hkJobQueue(info);

    hkMonitorStream::getInstance().resize(200000);

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void InitPhysicalWorld() {
    g_pWorldInfo.m_simulationType = hkpWorldCinfo::SIMULATION_TYPE_MULTITHREADED;
    g_pWorldInfo.m_broadPhaseBorderBehaviour = hkpWorldCinfo::BROADPHASE_BORDER_REMOVE_ENTITY;
    g_pWorld = new hkpWorld(g_pWorldInfo);
    g_pWorld->m_wantDeactivation = false;
    g_pWorld->markForWrite();
    hkpAgentRegisterUtil::registerAllAgents( g_pWorld->getCollisionDispatcher() );
    g_pWorld->registerWithJobQueue( g_pJobQueue );
}

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void InitVDB() {
    hkArray contexts;
    {
        g_pContext = new hkpPhysicsContext();
        hkpPhysicsContext::registerAllPhysicsProcesses();
        g_pContext->addWorld(g_pWorld); 
        contexts.pushBack(g_pContext);
        g_pWorld->unmarkForWrite();
    }

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void StepHavok() {
    g_pWorld->stepMultithreaded( g_pJobQueue, g_pThreadPool, timeStep);

    if(g_bVdbEnabled)
        StepVDB();

    hkMonitorStream::getInstance().reset();
    g_pThreadPool->clearTimerData();
}

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void StepVDB() {
    g_pContext->syncTimers(g_pThreadPool);
    g_pVdb->step(timeStep);
}

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void ShutdownHavok() { 
    g_pWorld->markForWrite();
    g_pWorld->removeReference();

    delete g_pJobQueue;

    // Clean up the thread pool
    g_pThreadPool->removeReference();

    if (g_bVdbEnabled)