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git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@208 92aac97c-a6ce-11dd-a772-7fcde58d38e6

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chappuis.daniel 2009-11-07 16:24:49 +00:00
parent 3667a9b291
commit dd2ca4e5d0
2 changed files with 20 additions and 18 deletions
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16
sources/reactphysics3d/integration/ExplicitEuler.cpp
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@ -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();

22
sources/reactphysics3d/integration/ExplicitEuler.h
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@ -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
};