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[Bruno Chareyre <bruno.chareyre@xxxxxxxxxxx>]

> 
> Hmm... As me seems, prevVelocities is specific for leapfrog method.
> For another integrator may be another implementation (Gear predictor-corrector as example...)
> 

Given that the kinematics (pos,vel) at time t depends on previous 
kinematics. I don't see how an integrator could compute the motion 
without previous velocity (the result would be independant on e.g. 
initial velocities!).
Yes, different schemes could need vel(t-2dt) instead of vel(t-dt) (or 
both of them), but you always need a "previous" velocity.

Bruno

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