net.java.dev.joode.stepper
Class EulerStepper

java.lang.Object
  net.java.dev.joode.stepper.EulerStepper

All Implemented Interfaces:

StepperFunction

public class EulerStepper
extends java.lang.Object
implements StepperFunction

Performs a step using Euler intergration. Not very accurate. Eulers method:- x(t+h) = x(t) + h*x'()

Author:

Tom Larkworthy

Field Summary

static boolean	DIRECT_CHOLESKY indicates CHOLESKY factorisation should be used instead of LCP
static EulerStepper	INSTANCE
static boolean	JAMA_CHOLESKY only consulted if DIRECT_CHOLESKY = true uses JAMA functionality instead of the manual factoriazation (which I think doesn't work)
static Joint.Info2	Jinfo
static boolean	OLD_LCP only consulted if !DIRECT_CHOLESKY if OLD_LCP the ODE-LCP algorithm is used (LCPDriver) else BaraffLCP is used
static boolean	REPORT_ERROR
static Matrix3	tmp

Fields inherited from interface net.java.dev.joode.stepper.StepperFunction

EULER, RK4

Method Summary

void	step(World world, Body[] body, int nb, Joint[] joint, int nj, float stepsize)

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

DIRECT_CHOLESKY

public static final boolean DIRECT_CHOLESKY

indicates CHOLESKY factorisation should be used instead of LCP

See Also:

Constant Field Values

JAMA_CHOLESKY

public static final boolean JAMA_CHOLESKY

only consulted if DIRECT_CHOLESKY = true uses JAMA functionality instead of the manual factoriazation (which I think doesn't work)

See Also:

Constant Field Values

OLD_LCP

public static final boolean OLD_LCP

only consulted if !DIRECT_CHOLESKY if OLD_LCP the ODE-LCP algorithm is used (LCPDriver) else BaraffLCP is used

See Also:

Constant Field Values

REPORT_ERROR

public static final boolean REPORT_ERROR

See Also:

Constant Field Values

INSTANCE

public static final EulerStepper INSTANCE

tmp

public static final Matrix3 tmp

Jinfo

public static final Joint.Info2 Jinfo

Method Detail

step

public void step(World world,
                 Body[] body,
                 int nb,
                 Joint[] joint,
                 int nj,
                 float stepsize)

Specified by:

step in interface StepperFunction