New measurements of direct single and double ionization of helium by hydrogen, helium, carbon, nitrogen, and oxygen ions are presented for projectile charge states ranging from 0 to 3+. These data are combined with previously published values to provide a detailed description of direct double ionization of helium for a wide range of experimental parameters, i.e., projectile ions include protons through oxygen, impact energies from 25 to 5000 keV/u, and projectile charge states ranging from neutral to fully stripped. The charge-state and impact-velocity dependencies of the measured cross sections are compared with the dependencies predicted by an independent electron multiple-ionization model. It is found that a multistep mechanism (i.e., the independent ionization of both target electrons) is the dominant direct double-ionization mechanism for charged-particle impact energies above 100 keV/u. This mechanism dominates until some maximum impact velocity, which depends on the projectile charge, is reached. For higher velocities a single-step ionization mechanism becomes important. The limited neutral-particle impact data indicate that the single-step mechanism becomes dominant at much lower impact velocities and there is no evidence of the multistep mechanism in the neutral-particle impact energy range investigated.