Delete the integration folder
git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@364 92aac97c-a6ce-11dd-a772-7fcde58d38e6
This commit is contained in:
chappuis.daniel
parent
7f4c6833cb
commit
b22ed95c83
|
|
@ -1,53 +0,0 @@
|
|||
/****************************************************************************
|
||||
* Copyright (C) 2009 Daniel Chappuis *
|
||||
****************************************************************************
|
||||
* This file is part of ReactPhysics3D. *
|
||||
* *
|
||||
* ReactPhysics3D is free software: you can redistribute it and/or modify *
|
||||
* it under the terms of the GNU Lesser General Public License as published *
|
||||
* by the Free Software Foundation, either version 3 of the License, or *
|
||||
* (at your option) any later version. *
|
||||
* *
|
||||
* ReactPhysics3D is distributed in the hope that it will be useful, *
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
|
||||
* GNU Lesser General Public License for more details. *
|
||||
* *
|
||||
* You should have received a copy of the GNU Lesser General Public License *
|
||||
* along with ReactPhysics3D. If not, see <http://www.gnu.org/licenses/>. *
|
||||
***************************************************************************/
|
||||
|
||||
// Libraries
|
||||
#include "Euler.h"
|
||||
|
||||
// We want to use the ReactPhysics3D namespace
|
||||
using namespace reactphysics3d;
|
||||
|
||||
// Constructor
|
||||
Euler::Euler() {
|
||||
|
||||
}
|
||||
|
||||
// Copy-constructor
|
||||
Euler::Euler(const Euler& euler) {
|
||||
|
||||
}
|
||||
|
||||
// Destructor
|
||||
Euler::~Euler() {
|
||||
|
||||
}
|
||||
|
||||
// Integrate a body state over time. This method use the Euler integration algorithm
|
||||
void Euler::integrate(BodyState& bodyState, const Time& time, const Time& timeStep) {
|
||||
double dt = timeStep.getValue(); // Timestep
|
||||
|
||||
// Compute the integrated body state
|
||||
bodyState.setPosition(bodyState.getPosition() + bodyState.getLinearVelocity() * dt);
|
||||
bodyState.setLinearMomentum(bodyState.getLinearMomentum() + bodyState.computeForce(time) * dt);
|
||||
bodyState.setOrientation(bodyState.getOrientation() + bodyState.getSpin() * dt);
|
||||
bodyState.setAngularMomentum(bodyState.getAngularMomentum() + bodyState.computeTorque(time) * dt);
|
||||
|
||||
// Recalculate the secondary values of the body state
|
||||
bodyState.recalculate();
|
||||
}
|
||||
|
|
@ -1,53 +0,0 @@
|
|||
/****************************************************************************
|
||||
* Copyright (C) 2009 Daniel Chappuis *
|
||||
****************************************************************************
|
||||
* This file is part of ReactPhysics3D. *
|
||||
* *
|
||||
* ReactPhysics3D is free software: you can redistribute it and/or modify *
|
||||
* it under the terms of the GNU Lesser General Public License as published *
|
||||
* by the Free Software Foundation, either version 3 of the License, or *
|
||||
* (at your option) any later version. *
|
||||
* *
|
||||
* ReactPhysics3D is distributed in the hope that it will be useful, *
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
|
||||
* GNU Lesser General Public License for more details. *
|
||||
* *
|
||||
* You should have received a copy of the GNU Lesser General Public License *
|
||||
* along with ReactPhysics3D. If not, see <http://www.gnu.org/licenses/>. *
|
||||
***************************************************************************/
|
||||
|
||||
#ifndef EULER_H
|
||||
#define EULER_H
|
||||
|
||||
// Libraries
|
||||
#include "IntegrationAlgorithm.h"
|
||||
#include "../body/BodyState.h"
|
||||
#include "../body/DerivativeBodyState.h"
|
||||
|
||||
// Namespace ReactPhysics3D
|
||||
namespace reactphysics3d {
|
||||
|
||||
/* -------------------------------------------------------------------
|
||||
Class Euler :
|
||||
This class will be used to solve the differential equation of
|
||||
movement by integrating a body state. This class implements
|
||||
the Euler algorithm. It's important to undersand that Euler
|
||||
algorithm should be used only for testing purpose because the
|
||||
Euler algorithm is not a good one.
|
||||
-------------------------------------------------------------------
|
||||
*/
|
||||
class Euler : public IntegrationAlgorithm {
|
||||
private :
|
||||
|
||||
public :
|
||||
Euler(); // Constructor
|
||||
Euler(const Euler& euler); // Copy-constructor
|
||||
virtual ~Euler(); // Destructor
|
||||
|
||||
void integrate(BodyState& bodyState, const Time& t, const Time& dt); // Integrate a body state over time
|
||||
};
|
||||
|
||||
}
|
||||
|
||||
#endif
|
||||
|
|
@ -1,53 +0,0 @@
|
|||
/****************************************************************************
|
||||
* Copyright (C) 2009 Daniel Chappuis *
|
||||
****************************************************************************
|
||||
* This file is part of ReactPhysics3D. *
|
||||
* *
|
||||
* ReactPhysics3D is free software: you can redistribute it and/or modify *
|
||||
* it under the terms of the GNU Lesser General Public License as published *
|
||||
* by the Free Software Foundation, either version 3 of the License, or *
|
||||
* (at your option) any later version. *
|
||||
* *
|
||||
* ReactPhysics3D is distributed in the hope that it will be useful, *
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
|
||||
* GNU Lesser General Public License for more details. *
|
||||
* *
|
||||
* You should have received a copy of the GNU Lesser General Public License *
|
||||
* along with ReactPhysics3D. If not, see <http://www.gnu.org/licenses/>. *
|
||||
***************************************************************************/
|
||||
|
||||
// Libraries
|
||||
#include "ExplicitEuler.h"
|
||||
|
||||
// We want to use the ReactPhysics3D namespace
|
||||
using namespace reactphysics3d;
|
||||
|
||||
// Constructor
|
||||
ExplicitEuler::ExplicitEuler() {
|
||||
|
||||
}
|
||||
|
||||
// Copy-constructor
|
||||
ExplicitEuler::ExplicitEuler(const ExplicitEuler& euler) {
|
||||
|
||||
}
|
||||
|
||||
// Destructor
|
||||
ExplicitEuler::~ExplicitEuler() {
|
||||
|
||||
}
|
||||
|
||||
// Integrate a body state over time. This method use the explicit Euler integration algorithm
|
||||
void ExplicitEuler::integrate(BodyState& bodyState, const Time& time, const Time& timeStep) {
|
||||
double dt = timeStep.getValue(); // Timestep
|
||||
|
||||
// Compute the integrated body state
|
||||
bodyState.setPosition(bodyState.getPosition() + bodyState.getLinearVelocity() * dt);
|
||||
bodyState.setLinearMomentum(bodyState.getLinearMomentum() + bodyState.getExternalForce() * dt);
|
||||
bodyState.setOrientation(bodyState.getOrientation() + bodyState.getSpin() * dt);
|
||||
bodyState.setAngularMomentum(bodyState.getAngularMomentum() + bodyState.getExternalTorque() * dt);
|
||||
|
||||
// Recalculate the secondary values of the body state
|
||||
bodyState.recalculate();
|
||||
}
|
||||
|
|
@ -1,55 +0,0 @@
|
|||
/****************************************************************************
|
||||
* Copyright (C) 2009 Daniel Chappuis *
|
||||
****************************************************************************
|
||||
* This file is part of ReactPhysics3D. *
|
||||
* *
|
||||
* ReactPhysics3D is free software: you can redistribute it and/or modify *
|
||||
* it under the terms of the GNU Lesser General Public License as published *
|
||||
* by the Free Software Foundation, either version 3 of the License, or *
|
||||
* (at your option) any later version. *
|
||||
* *
|
||||
* ReactPhysics3D is distributed in the hope that it will be useful, *
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
|
||||
* GNU Lesser General Public License for more details. *
|
||||
* *
|
||||
* You should have received a copy of the GNU Lesser General Public License *
|
||||
* along with ReactPhysics3D. If not, see <http://www.gnu.org/licenses/>. *
|
||||
***************************************************************************/
|
||||
|
||||
#ifndef EXPLICITEULER_H
|
||||
#define EXPLICITEULER_H
|
||||
|
||||
// Libraries
|
||||
#include "IntegrationAlgorithm.h"
|
||||
#include "../body/BodyState.h"
|
||||
|
||||
// TODO : Test explicit-Euler integrator (change has been made : computeForce(time) and computeTorque(time)
|
||||
// replaced by getForce() and getTorque().
|
||||
|
||||
// Namespace ReactPhysics3D
|
||||
namespace reactphysics3d {
|
||||
|
||||
/* -------------------------------------------------------------------
|
||||
Class ExplicitEuler :
|
||||
This class will be used to solve the differential equation of
|
||||
movement by integrating a body state. This class implements
|
||||
the explicit Euler algorithm. It's important to undersand that this
|
||||
algorithm should be used only for testing purpose because the
|
||||
explicit Euler algorithm can be unstable.
|
||||
-------------------------------------------------------------------
|
||||
*/
|
||||
class ExplicitEuler : public IntegrationAlgorithm {
|
||||
private :
|
||||
|
||||
public :
|
||||
ExplicitEuler(); // Constructor
|
||||
ExplicitEuler(const ExplicitEuler& euler); // Copy-constructor
|
||||
virtual ~ExplicitEuler(); // Destructor
|
||||
|
||||
void integrate(BodyState& bodyState, const Time& t, const Time& dt); // Integrate a body state over time
|
||||
};
|
||||
|
||||
}
|
||||
|
||||
#endif
|
||||
|
|
@ -1,34 +0,0 @@
|
|||
/****************************************************************************
|
||||
* Copyright (C) 2009 Daniel Chappuis *
|
||||
****************************************************************************
|
||||
* This file is part of ReactPhysics3D. *
|
||||
* *
|
||||
* ReactPhysics3D is free software: you can redistribute it and/or modify *
|
||||
* it under the terms of the GNU Lesser General Public License as published *
|
||||
* by the Free Software Foundation, either version 3 of the License, or *
|
||||
* (at your option) any later version. *
|
||||
* *
|
||||
* ReactPhysics3D is distributed in the hope that it will be useful, *
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
|
||||
* GNU Lesser General Public License for more details. *
|
||||
* *
|
||||
* You should have received a copy of the GNU Lesser General Public License *
|
||||
* along with ReactPhysics3D. If not, see <http://www.gnu.org/licenses/>. *
|
||||
***************************************************************************/
|
||||
|
||||
// Libraries
|
||||
#include "IntegrationAlgorithm.h"
|
||||
|
||||
// Namespace
|
||||
using namespace reactphysics3d;
|
||||
|
||||
// Constructor
|
||||
IntegrationAlgorithm::IntegrationAlgorithm() {
|
||||
|
||||
}
|
||||
|
||||
// Destructor
|
||||
IntegrationAlgorithm::~IntegrationAlgorithm() {
|
||||
|
||||
}
|
||||
|
|
@ -1,42 +0,0 @@
|
|||
/****************************************************************************
|
||||
* Copyright (C) 2009 Daniel Chappuis *
|
||||
****************************************************************************
|
||||
* This file is part of ReactPhysics3D. *
|
||||
* *
|
||||
* ReactPhysics3D is free software: you can redistribute it and/or modify *
|
||||
* it under the terms of the GNU Lesser General Public License as published *
|
||||
* by the Free Software Foundation, either version 3 of the License, or *
|
||||
* (at your option) any later version. *
|
||||
* *
|
||||
* ReactPhysics3D is distributed in the hope that it will be useful, *
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
|
||||
* GNU Lesser General Public License for more details. *
|
||||
* *
|
||||
* You should have received a copy of the GNU Lesser General Public License *
|
||||
* along with ReactPhysics3D. If not, see <http://www.gnu.org/licenses/>. *
|
||||
***************************************************************************/
|
||||
|
||||
#ifndef INTEGRATIONALGORITHM_H
|
||||
#define INTEGRATIONALGORITHM_H
|
||||
|
||||
// Libraries
|
||||
#include "../body/BodyState.h"
|
||||
#include "../physics/physics.h"
|
||||
|
||||
// ReactPhysics3D namespace
|
||||
namespace reactphysics3d {
|
||||
|
||||
class IntegrationAlgorithm {
|
||||
private :
|
||||
|
||||
public :
|
||||
IntegrationAlgorithm(); // Constructor
|
||||
virtual ~IntegrationAlgorithm(); // Destructor
|
||||
|
||||
virtual void integrate(BodyState& bodyState, const Time& t, const Time& dt)=0; // Integrate a body state over time
|
||||
};
|
||||
|
||||
} // End of the ReactPhysics3D namespace
|
||||
|
||||
#endif
|
||||
|
|
@ -1,91 +0,0 @@
|
|||
/****************************************************************************
|
||||
* Copyright (C) 2009 Daniel Chappuis *
|
||||
****************************************************************************
|
||||
* This file is part of ReactPhysics3D. *
|
||||
* *
|
||||
* ReactPhysics3D is free software: you can redistribute it and/or modify *
|
||||
* it under the terms of the GNU Lesser General Public License as published *
|
||||
* by the Free Software Foundation, either version 3 of the License, or *
|
||||
* (at your option) any later version. *
|
||||
* *
|
||||
* ReactPhysics3D is distributed in the hope that it will be useful, *
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
|
||||
* GNU Lesser General Public License for more details. *
|
||||
* *
|
||||
* You should have received a copy of the GNU Lesser General Public License *
|
||||
* along with ReactPhysics3D. If not, see <http://www.gnu.org/licenses/>. *
|
||||
***************************************************************************/
|
||||
|
||||
// Libraries
|
||||
#include "RungeKutta4.h"
|
||||
#include <cassert>
|
||||
|
||||
// We want to use the ReactPhysics3D namespace
|
||||
using namespace reactphysics3d;
|
||||
|
||||
// Constructor
|
||||
RungeKutta4::RungeKutta4() {
|
||||
|
||||
}
|
||||
|
||||
// Copy-constructor
|
||||
RungeKutta4::RungeKutta4(const RungeKutta4& rk4) {
|
||||
|
||||
}
|
||||
|
||||
// Destructor
|
||||
RungeKutta4::~RungeKutta4() {
|
||||
|
||||
}
|
||||
|
||||
// Compute a derivative body state at time t
|
||||
DerivativeBodyState RungeKutta4::evaluate(const BodyState& bodyState, const Time& time) {
|
||||
|
||||
// Compute the derivaties values at time t
|
||||
Vector3D linearVelocity = bodyState.getLinearVelocity();
|
||||
Vector3D force = bodyState.computeForce(time);
|
||||
Vector3D torque = bodyState.computeTorque(time);
|
||||
Quaternion spin = bodyState.getSpin();
|
||||
|
||||
// Return the derivative body state at time t
|
||||
return DerivativeBodyState(linearVelocity, force, torque, spin);
|
||||
}
|
||||
|
||||
// Compute a derivative body state at time t + dt according to the last derivative body state
|
||||
DerivativeBodyState RungeKutta4::evaluate(BodyState bodyState, const Time& time, const Time& timeStep,
|
||||
const DerivativeBodyState& lastDerivativeBodyState) {
|
||||
// Compute the bodyState at time t + dt
|
||||
bodyState.computeAtTime(timeStep, lastDerivativeBodyState);
|
||||
|
||||
// Compute the derivaties values at time t
|
||||
Vector3D linearVelocity = bodyState.getLinearVelocity();
|
||||
Vector3D force = bodyState.computeForce(time + timeStep);
|
||||
Vector3D torque = bodyState.computeTorque(time + timeStep);
|
||||
Quaternion spin = bodyState.getSpin();
|
||||
|
||||
// Return the derivative body state at time t
|
||||
return DerivativeBodyState(linearVelocity, force, torque, spin);
|
||||
}
|
||||
|
||||
// Integrate a body state over time. This method use the RK4 integration algorithm
|
||||
void RungeKutta4::integrate(BodyState& bodyState, const Time& time, const Time& timeStep) {
|
||||
|
||||
// Compute the 4 derivatives body states at different time values.
|
||||
DerivativeBodyState a = evaluate(bodyState, time);
|
||||
DerivativeBodyState b = evaluate(bodyState, time, timeStep*0.5, a);
|
||||
DerivativeBodyState c = evaluate(bodyState, time, timeStep*0.5, b);
|
||||
DerivativeBodyState d = evaluate(bodyState, time, timeStep, c);
|
||||
|
||||
double dt = timeStep.getValue(); // Timestep
|
||||
|
||||
// Compute the integrated body state
|
||||
bodyState.setPosition(bodyState.getPosition() + (a.getLinearVelocity() + (b.getLinearVelocity() + c.getLinearVelocity()) * 2.0 +
|
||||
d.getLinearVelocity()) * (1.0/6.0) * dt);
|
||||
bodyState.setLinearMomentum(bodyState.getLinearMomentum() + (a.getForce() + (b.getForce() + c.getForce())*2.0 + d.getForce()) * (1.0/6.0) * dt);
|
||||
bodyState.setOrientation(bodyState.getOrientation() + (a.getSpin() + (b.getSpin() + c.getSpin())*2.0 + d.getSpin()) * (1.0/6.0) * dt);
|
||||
bodyState.setAngularMomentum(bodyState.getAngularMomentum() + (a.getTorque() + (b.getTorque() + c.getTorque())*2.0 + d.getTorque()) * (1.0/6.0) * dt);
|
||||
|
||||
// Recalculate the secondary values of the body state
|
||||
bodyState.recalculate();
|
||||
}
|
||||
|
|
@ -1,58 +0,0 @@
|
|||
/****************************************************************************
|
||||
* Copyright (C) 2009 Daniel Chappuis *
|
||||
****************************************************************************
|
||||
* This file is part of ReactPhysics3D. *
|
||||
* *
|
||||
* ReactPhysics3D is free software: you can redistribute it and/or modify *
|
||||
* it under the terms of the GNU Lesser General Public License as published *
|
||||
* by the Free Software Foundation, either version 3 of the License, or *
|
||||
* (at your option) any later version. *
|
||||
* *
|
||||
* ReactPhysics3D is distributed in the hope that it will be useful, *
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
|
||||
* GNU Lesser General Public License for more details. *
|
||||
* *
|
||||
* You should have received a copy of the GNU Lesser General Public License *
|
||||
* along with ReactPhysics3D. If not, see <http://www.gnu.org/licenses/>. *
|
||||
***************************************************************************/
|
||||
|
||||
#ifndef RUNGEKUTTA4_H
|
||||
#define RUNGEKUTTA4_H
|
||||
|
||||
// Libraries
|
||||
#include "IntegrationAlgorithm.h"
|
||||
#include "../body/BodyState.h"
|
||||
#include "../body/DerivativeBodyState.h"
|
||||
|
||||
// Namespace ReactPhysics3D
|
||||
namespace reactphysics3d {
|
||||
|
||||
/* -------------------------------------------------------------------
|
||||
Class RungeKutta4 :
|
||||
This class will be used to solve the differential equation of
|
||||
movement by integrating a body state. This class implements
|
||||
the Runge-Kutta 4 (RK4) integrator. Notice that that this
|
||||
integrator use an evaluation of the body state at a future time.
|
||||
Therefore this integrator cannot be used for collision engine
|
||||
for now. Because if collisions can occur, it difficult to
|
||||
predict the state of the body at a future time.
|
||||
-------------------------------------------------------------------
|
||||
*/
|
||||
class RungeKutta4 : public IntegrationAlgorithm {
|
||||
private :
|
||||
DerivativeBodyState evaluate(const BodyState& bodyState, const Time& time); // Compute a derivative body state
|
||||
DerivativeBodyState evaluate(BodyState bodyState, const Time& time,
|
||||
const Time& timeStep, const DerivativeBodyState& lastDerivativeBodyState); // Compute a derivative body state
|
||||
|
||||
public :
|
||||
RungeKutta4(); // Constructor
|
||||
RungeKutta4(const RungeKutta4& rk4); // Copy-constructor
|
||||
virtual ~RungeKutta4(); // Destructor
|
||||
|
||||
void integrate(BodyState& bodyState, const Time& t, const Time& dt); // Integrate a body state over time
|
||||
};
|
||||
|
||||
}
|
||||
|
||||
#endif
|
||||
|
|
@ -1,56 +0,0 @@
|
|||
/****************************************************************************
|
||||
* Copyright (C) 2009 Daniel Chappuis *
|
||||
****************************************************************************
|
||||
* This file is part of ReactPhysics3D. *
|
||||
* *
|
||||
* ReactPhysics3D is free software: you can redistribute it and/or modify *
|
||||
* it under the terms of the GNU Lesser General Public License as published *
|
||||
* by the Free Software Foundation, either version 3 of the License, or *
|
||||
* (at your option) any later version. *
|
||||
* *
|
||||
* ReactPhysics3D is distributed in the hope that it will be useful, *
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
|
||||
* GNU Lesser General Public License for more details. *
|
||||
* *
|
||||
* You should have received a copy of the GNU Lesser General Public License *
|
||||
* along with ReactPhysics3D. If not, see <http://www.gnu.org/licenses/>. *
|
||||
***************************************************************************/
|
||||
|
||||
// Libraries
|
||||
#include "SemiImplicitEuler.h"
|
||||
|
||||
// We want to use the ReactPhysics3D namespace
|
||||
using namespace reactphysics3d;
|
||||
|
||||
// Constructor
|
||||
SemiImplicitEuler::SemiImplicitEuler() {
|
||||
|
||||
}
|
||||
|
||||
// Copy-constructor
|
||||
SemiImplicitEuler::SemiImplicitEuler(const SemiImplicitEuler& euler) {
|
||||
|
||||
}
|
||||
|
||||
// Destructor
|
||||
SemiImplicitEuler::~SemiImplicitEuler() {
|
||||
|
||||
}
|
||||
|
||||
// Integrate a body state over time. This method use the semi-implicit Euler integration algorithm
|
||||
void SemiImplicitEuler::integrate(BodyState& bodyState, const Time& time, const Time& timeStep) {
|
||||
double dt = timeStep.getValue(); // Timestep
|
||||
|
||||
// Compute the integrated body state
|
||||
bodyState.setLinearMomentum(bodyState.getLinearMomentum() + bodyState.getExternalForce() * dt);
|
||||
bodyState.setAngularMomentum(bodyState.getAngularMomentum() + bodyState.getExternalTorque() * dt);
|
||||
|
||||
// Recalculate the secondary values of the body state
|
||||
bodyState.recalculate();
|
||||
|
||||
// Compute the integrated position and orientation
|
||||
bodyState.setPosition(bodyState.getPosition() + bodyState.getLinearVelocity() * dt);
|
||||
bodyState.setOrientation(bodyState.getOrientation() + bodyState.getSpin() * dt);
|
||||
}
|
||||
|
||||
|
|
@ -1,54 +0,0 @@
|
|||
/****************************************************************************
|
||||
* Copyright (C) 2009 Daniel Chappuis *
|
||||
****************************************************************************
|
||||
* This file is part of ReactPhysics3D. *
|
||||
* *
|
||||
* ReactPhysics3D is free software: you can redistribute it and/or modify *
|
||||
* it under the terms of the GNU Lesser General Public License as published *
|
||||
* by the Free Software Foundation, either version 3 of the License, or *
|
||||
* (at your option) any later version. *
|
||||
* *
|
||||
* ReactPhysics3D is distributed in the hope that it will be useful, *
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
|
||||
* GNU Lesser General Public License for more details. *
|
||||
* *
|
||||
* You should have received a copy of the GNU Lesser General Public License *
|
||||
* along with ReactPhysics3D. If not, see <http://www.gnu.org/licenses/>. *
|
||||
***************************************************************************/
|
||||
|
||||
#ifndef SEMIIMPLICITEULER_H
|
||||
#define SEMIIMPLICITEULER_H
|
||||
|
||||
// Libraries
|
||||
#include "IntegrationAlgorithm.h"
|
||||
#include "../body/BodyState.h"
|
||||
|
||||
// Namespace ReactPhysics3D
|
||||
namespace reactphysics3d {
|
||||
|
||||
// TODO : Test the semi-implicit Euler
|
||||
|
||||
/* -------------------------------------------------------------------
|
||||
Class SemiImplicitEuler :
|
||||
This class will be used to solve the differential equation of
|
||||
movement by integrating a body state. This class implements
|
||||
the semi-implicit Euler algorithm. It's a first order integrator
|
||||
algorithm and it's always stable.
|
||||
-------------------------------------------------------------------
|
||||
*/
|
||||
class SemiImplicitEuler : public IntegrationAlgorithm {
|
||||
private :
|
||||
|
||||
public :
|
||||
SemiImplicitEuler(); // Constructor
|
||||
SemiImplicitEuler(const SemiImplicitEuler& euler); // Copy-constructor
|
||||
virtual ~SemiImplicitEuler(); // Destructor
|
||||
|
||||
void integrate(BodyState& bodyState, const Time& t, const Time& dt); // Integrate a body state over time
|
||||
};
|
||||
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
Loading…
Reference in New Issue
Block a user