ODE - dsSimulationLoop

I''m adding the ODE physics package to my engine. I''ve been looking at the example and compiling them, and I''m wondering about dsSimulationLoop. This function that the examples call aparently handles some drawing stuff (ds), but it does more than that in the background. My question is what physics steps this function executes, and where can i find an example that doesnt use drawStuff? Thank you.

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