54 lines
2.3 KiB
C++
54 lines
2.3 KiB
C++
/****************************************************************************
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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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