git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@201 92aac97c-a6ce-11dd-a772-7fcde58d38e6
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chappuis.daniel
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e60be368b7
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8a465f3868
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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 "Euler.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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Euler::Euler() {
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}
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// Copy-constructor
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Euler::Euler(const Euler& euler) {
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}
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// Destructor
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Euler::~Euler() {
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}
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// Integrate a body state over time. This method use the Euler integration algorithm
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void Euler::integrate(BodyState& bodyState, const Time& time, const Time& timeStep) {
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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() + bodyState.getLinearVelocity() * dt);
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bodyState.setLinearMomentum(bodyState.getLinearMomentum() + bodyState.computeForce(time) * dt);
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bodyState.setOrientation(bodyState.getOrientation() + bodyState.getSpin() * dt);
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bodyState.setAngularMomentum(bodyState.getAngularMomentum() + bodyState.computeTorque(time) * 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 EULER_H
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#define EULER_H
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// Libraries
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#include "IntegrationAlgorithm.h"
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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 Euler :
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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 class implements
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the Euler algorithm. It's important to undersand that Euler
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algorithm should be used only for testing purpose because the
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Euler algorithm is not a good one.
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-------------------------------------------------------------------
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*/
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class Euler : public IntegrationAlgorithm {
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private :
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public :
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Euler(); // Constructor
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Euler(const Euler& euler); // Copy-constructor
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virtual ~Euler(); // 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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/****************************************************************************
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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 "IntegrationAlgorithm.h"
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// Namespace
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using namespace reactphysics3d;
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// Constructor
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IntegrationAlgorithm::IntegrationAlgorithm() {
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}
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// Destructor
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IntegrationAlgorithm::~IntegrationAlgorithm() {
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}
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@ -1,42 +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 INTEGRATIONALGORITHM_H
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#define INTEGRATIONALGORITHM_H
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// Libraries
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#include "../body/BodyState.h"
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#include "../physics/physics.h"
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// ReactPhysics3D namespace
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namespace reactphysics3d {
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class IntegrationAlgorithm {
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private :
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public :
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IntegrationAlgorithm(); // Constructor
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virtual ~IntegrationAlgorithm(); // Destructor
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virtual void integrate(BodyState& bodyState, const Time& t, const Time& dt)=0; // Integrate a body state over time
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};
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} // End of the ReactPhysics3D namespace
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#endif
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