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git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@196 92aac97c-a6ce-11dd-a772-7fcde58d38e6

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chappuis.daniel 2009-09-06 17:10:13 +00:00
parent bf096063bd
commit b184152773
2 changed files with 4 additions and 2 deletions
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4
sources/reactphysics3d/engine/RK4.cpp
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@ -19,6 +19,7 @@
// Libraries // Libraries
#include "RK4.h" #include "RK4.h"
#include <cassert>
// We want to use the ReactPhysics3D namespace // We want to use the ReactPhysics3D namespace
using namespace reactphysics3d; using namespace reactphysics3d;
@ -52,7 +53,7 @@ DerivativeBodyState RK4::evaluate(const BodyState& bodyState, const Time& time)
} }
// Compute a derivative body state at time t + dt according to the last derivative body state // Compute a derivative body state at time t + dt according to the last derivative body state
DerivativeBodyState RK4::evaluate(BodyState& bodyState, const Time& time, const Time& timeStep, DerivativeBodyState RK4::evaluate(BodyState bodyState, const Time& time, const Time& timeStep,
const DerivativeBodyState& lastDerivativeBodyState) { const DerivativeBodyState& lastDerivativeBodyState) {
// Compute the bodyState at time t + dt // Compute the bodyState at time t + dt
bodyState.computeAtTime(timeStep, lastDerivativeBodyState); bodyState.computeAtTime(timeStep, lastDerivativeBodyState);
@ -69,6 +70,7 @@ DerivativeBodyState RK4::evaluate(BodyState& bodyState, const Time& time, const
// Integrate a body state over time. This method use the RK4 integration algorithm // Integrate a body state over time. This method use the RK4 integration algorithm
void RK4::integrate(BodyState& bodyState, const Time& time, const Time& timeStep) { void RK4::integrate(BodyState& bodyState, const Time& time, const Time& timeStep) {
// Compute the 4 derivatives body states at different time values. // Compute the 4 derivatives body states at different time values.
DerivativeBodyState a = evaluate(bodyState, time); DerivativeBodyState a = evaluate(bodyState, time);
DerivativeBodyState b = evaluate(bodyState, time, timeStep*0.5, a); DerivativeBodyState b = evaluate(bodyState, time, timeStep*0.5, a);

2
sources/reactphysics3d/engine/RK4.h
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@ -38,7 +38,7 @@ namespace reactphysics3d {
class RK4 : public IntegrationAlgorithm { class RK4 : public IntegrationAlgorithm {
private : private :
DerivativeBodyState evaluate(const BodyState& bodyState, const Time& time); // Compute a derivative body state DerivativeBodyState evaluate(const BodyState& bodyState, const Time& time); // Compute a derivative body state
DerivativeBodyState evaluate(BodyState& bodyState, const Time& time, DerivativeBodyState evaluate(BodyState bodyState, const Time& time,
const Time& timeStep, const DerivativeBodyState& lastDerivativeBodyState); // Compute a derivative body state const Time& timeStep, const DerivativeBodyState& lastDerivativeBodyState); // Compute a derivative body state
public : public :