git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@149 92aac97c-a6ce-11dd-a772-7fcde58d38e6
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chappuis.daniel
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sources/reactphysics3d/engine
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/****************************************************************************
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* Copyright (C) 2009 Daniel Chappuis *
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****************************************************************************
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* This file is part of ReactPhysics3D. *
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* *
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* ReactPhysics3D is free software: you can redistribute it and/or modify *
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* it under the terms of the GNU Lesser General Public License as published *
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* by the Free Software Foundation, either version 3 of the License, or *
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* (at your option) any later version. *
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* *
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* ReactPhysics3D is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
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* GNU Lesser General Public License for more details. *
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* *
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* You should have received a copy of the GNU Lesser General Public License *
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* along with ReactPhysics3D. If not, see <http://www.gnu.org/licenses/>. *
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***************************************************************************/
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// Libraries
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#include "NumericalIntegrator.h"
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// We want to use the ReactPhysics3D namespace
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using namespace reactphysics3d;
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// Constructor
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NumericalIntegrator::NumericalIntegrator() {
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}
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// Copy-constructor
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NumericalIntegrator::NumericalIntegrator(const NumericalIntegrator& integrator) {
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}
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// Destructor
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NumericalIntegrator::~NumericalIntegrator() {
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}
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// Compute a derivative body state at time t
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DerivativeBodyState NumericalIntegrator::evaluate(const BodyState& bodyState, const Time& time) {
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// Compute the derivaties values at time t
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Vector3D linearVelocity = bodyState.getLinearVelocity();
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Vector3D force = bodyState.computeForce(time);
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Vector3D torque = bodyState.computeTorque(time);
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Quaternion spin = bodyState.getSpin();
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// Return the derivative body state at time t
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return DerivativeBodyState(linearVelocity, force, torque, spin);
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}
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// Compute a derivative body state at time t + dt according to the last derivative body state
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DerivativeBodyState NumericalIntegrator::evaluate(BodyState& bodyState, const Time& time, const Time& timeStep,
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const DerivativeBodyState& lastDerivativeBodyState) {
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// Compute the bodyState at time t + dt
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bodyState.computeAtTime(timeStep, lastDerivativeBodyState);
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// Compute the derivaties values at time t
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Vector3D linearVelocity = bodyState.getLinearVelocity();
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Vector3D force = bodyState.computeForce(time + timeStep);
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Vector3D torque = bodyState.computeTorque(time + timeStep);
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Quaternion spin = bodyState.getSpin();
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// Return the derivative body state at time t
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return DerivativeBodyState(linearVelocity, force, torque, spin);
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}
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// Integrate a body state over time. This method use the RK4 integration algorithm
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void NumericalIntegrator::integrate(BodyState& bodyState, const Time& time, const Time& timeStep) {
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// Compute the 4 derivatives body states at different time values.
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DerivativeBodyState a = evaluate(bodyState, time);
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DerivativeBodyState b = evaluate(bodyState, time, timeStep*0.5, a);
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DerivativeBodyState c = evaluate(bodyState, time, timeStep*0.5, b);
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DerivativeBodyState d = evaluate(bodyState, time, timeStep, c);
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double dt = timeStep.getValue(); // Timestep
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// Compute the integrated body state
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bodyState.setPosition(bodyState.getPosition() + (a.getLinearVelocity() + (b.getLinearVelocity() + c.getLinearVelocity()) * 2.0 +
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d.getLinearVelocity()) * (1.0/6.0) * dt);
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bodyState.setLinearMomentum(bodyState.getLinearMomentum() + (a.getForce() + (b.getForce() + c.getForce())*2.0 + d.getForce()) * (1.0/6.0) * dt);
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bodyState.setOrientation(bodyState.getOrientation() + (a.getSpin() + (b.getSpin() + c.getSpin())*2.0 + d.getSpin()) * (1.0/6.0) * dt);
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bodyState.setAngularMomentum(bodyState.getAngularMomentum() + (a.getTorque() + (b.getTorque() + c.getTorque())*2.0 + d.getTorque()) * (1.0/6.0) * dt);
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// Recalculate the secondary values of the body state
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bodyState.recalculate();
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}
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@ -1,53 +0,0 @@
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/****************************************************************************
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* Copyright (C) 2009 Daniel Chappuis *
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****************************************************************************
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* This file is part of ReactPhysics3D. *
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* *
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* ReactPhysics3D is free software: you can redistribute it and/or modify *
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* it under the terms of the GNU Lesser General Public License as published *
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* by the Free Software Foundation, either version 3 of the License, or *
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* (at your option) any later version. *
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* *
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* ReactPhysics3D is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
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* GNU Lesser General Public License for more details. *
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* *
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* You should have received a copy of the GNU Lesser General Public License *
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* along with ReactPhysics3D. If not, see <http://www.gnu.org/licenses/>. *
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***************************************************************************/
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#ifndef NUMERICALINTEGRATOR_H
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#define NUMERICALINTEGRATOR_H
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// Libraries
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#include "../body/BodyState.h"
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#include "../body/DerivativeBodyState.h"
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// Namespace ReactPhysics3D
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namespace reactphysics3d {
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/* -------------------------------------------------------------------
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Class NumericalIntegrator :
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This class will be used to solve the differential equation of
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movement by integrating a body state. This integrator implements
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the RK4 integrator.
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-------------------------------------------------------------------
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*/
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class NumericalIntegrator {
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private :
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DerivativeBodyState evaluate(const BodyState& bodyState, const Time& time); // Compute a derivative body state
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DerivativeBodyState evaluate(BodyState& bodyState, const Time& time,
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const Time& timeStep, const DerivativeBodyState& lastDerivativeBodyState); // Compute a derivative body state
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public :
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NumericalIntegrator(); // Constructor
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NumericalIntegrator(const NumericalIntegrator& integrator); // Copy-constructor
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virtual ~NumericalIntegrator(); // Destructor
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void integrate(BodyState& bodyState, const Time& t, const Time& dt); // Integrate a body state over time
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};
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}
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#endif
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