From dd2ca4e5d075705e96e6cbd2b687383b1421e02a Mon Sep 17 00:00:00 2001
From: "chappuis.daniel" <chappuis.daniel@92aac97c-a6ce-11dd-a772-7fcde58d38e6>
Date: Sat, 7 Nov 2009 16:24:49 +0000
Subject: [PATCH] git-svn-id:
 https://reactphysics3d.googlecode.com/svn/trunk@208
 92aac97c-a6ce-11dd-a772-7fcde58d38e6

---
 .../integration/ExplicitEuler.cpp             | 16 +++++++-------
 .../integration/ExplicitEuler.h               | 22 ++++++++++---------
 2 files changed, 20 insertions(+), 18 deletions(-)

diff --git a/sources/reactphysics3d/integration/ExplicitEuler.cpp b/sources/reactphysics3d/integration/ExplicitEuler.cpp
index 38614711..f2d1430a 100644
--- a/sources/reactphysics3d/integration/ExplicitEuler.cpp
+++ b/sources/reactphysics3d/integration/ExplicitEuler.cpp
@@ -18,35 +18,35 @@
  ***************************************************************************/
 
 // Libraries
-#include "Euler.h"
+#include "ExplicitEuler.h"
 
 // We want to use the ReactPhysics3D namespace
 using namespace reactphysics3d;
 
 // Constructor
-Euler::Euler() {
+ExplicitEuler::ExplicitEuler() {
 
 }
 
 // Copy-constructor
-Euler::Euler(const Euler& euler) {
+ExplicitEuler::ExplicitEuler(const ExplicitEuler& euler) {
 
 }
 
 // Destructor
-Euler::~Euler() {
+ExplicitEuler::~ExplicitEuler() {
 
 }
 
-// Integrate a body state over time. This method use the Euler integration algorithm
-void Euler::integrate(BodyState& bodyState, const Time& time, const Time& timeStep) {
+// 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.computeForce(time) * dt);
+    bodyState.setLinearMomentum(bodyState.getLinearMomentum() + bodyState.getForce() * dt);
     bodyState.setOrientation(bodyState.getOrientation() + bodyState.getSpin() * dt);
-    bodyState.setAngularMomentum(bodyState.getAngularMomentum() + bodyState.computeTorque(time) * dt);
+    bodyState.setAngularMomentum(bodyState.getAngularMomentum() + bodyState.getTorque() * dt);
 
     // Recalculate the secondary values of the body state
     bodyState.recalculate();
diff --git a/sources/reactphysics3d/integration/ExplicitEuler.h b/sources/reactphysics3d/integration/ExplicitEuler.h
index 71edade4..ffd00aa6 100644
--- a/sources/reactphysics3d/integration/ExplicitEuler.h
+++ b/sources/reactphysics3d/integration/ExplicitEuler.h
@@ -17,33 +17,35 @@
 * along with ReactPhysics3D. If not, see <http://www.gnu.org/licenses/>.   *
 ***************************************************************************/
 
-#ifndef EULER_H
-#define EULER_H
+#ifndef EXPLICITEULER_H
+#define EXPLICITEULER_H
 
 // Libraries
 #include "IntegrationAlgorithm.h"
 #include "../body/BodyState.h"
-#include "../body/DerivativeBodyState.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 Euler :
+    Class ExplicitEuler :
         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
+        the explicit Euler algorithm. It's important to undersand that this
         algorithm should be used only for testing purpose because the
-        Euler algorithm is not a good one.
+        explicit Euler algorithm can be unstable.
     -------------------------------------------------------------------
 */
-class Euler : public IntegrationAlgorithm {
+class ExplicitEuler : public IntegrationAlgorithm {
     private :
 
     public :
-        Euler();                                        // Constructor
-        Euler(const Euler& euler);                      // Copy-constructor
-        virtual ~Euler();                               // Destructor
+        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
 };