Program Listing for File TimeIntegration.h

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#ifndef TIMEINTEGRATION_H
#define TIMEINTEGRATION_H

#include "Common/Common.h"

// ------------------------------------------------------------------------------------
namespace PBD
{
    class TimeIntegration
    {
    public:
        static void semiImplicitEuler(
            const Real h,
            const Real mass,
            Vector3r &position,
            Vector3r &velocity,
            const Vector3r &acceleration);

        // -------------- semi-implicit Euler (symplectic Euler) for rotational part of a rigid body -----------------
        static void semiImplicitEulerRotation(
            const Real h,
            const Real mass,
            const Matrix3r& invertiaW,
            const Matrix3r &invInertiaW,
            Quaternionr &rotation,
            Vector3r &angularVelocity,
            const Vector3r &torque);


        // -------------- velocity update (first order) -----------------------------------------------------
        static void velocityUpdateFirstOrder(
            const Real h,
            const Real mass,
            const Vector3r &position,               // position after constraint projection at time t+h
            const Vector3r &oldPosition,                // position before constraint projection at time t
            Vector3r &velocity);

        // -------------- angular velocity update (first order)  ------------------------------------------------
        static void angularVelocityUpdateFirstOrder(
            const Real h,
            const Real mass,
            const Quaternionr &rotation,                // rotation after constraint projection at time t+h
            const Quaternionr &oldRotation,         // rotation before constraint projection at time t
            Vector3r &angularVelocity);


        // -------------- velocity update (second order) -----------------------------------------------------
        static void velocityUpdateSecondOrder(
            const Real h,
            const Real mass,
            const Vector3r &position,               // position after constraint projection at time t+h
            const Vector3r &oldPosition,                // position before constraint projection at time t
            const Vector3r &positionOfLastStep,     // position of last simulation step at time t-h
            Vector3r &velocity);

        // -------------- angular velocity update (second order)  ------------------------------------------------
        static void angularVelocityUpdateSecondOrder(
            const Real h,
            const Real mass,
            const Quaternionr &rotation,                // rotation after constraint projection at time t+h
            const Quaternionr &oldRotation,         // rotation before constraint projection at time t
            const Quaternionr &rotationOfLastStep,  // rotation of last simulation step at time t-h
            Vector3r &angularVelocity);

    };
}

#endif