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OctreeODEEngine.cpp

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//
// C++ Implementation: OctreeODEEngine
//
// Description: 
//
//
// Author: François Faure <>, (C) 2004
//
// Copyright: See COPYING file that comes with this distribution
//
//
#include "OctreeODEEngine.h"
#include "ConstrainedVertex.h"


namespace animal {

namespace octree {

OctreeODEEngine::OctreeODEEngine(Vec3d bboxMin, Vec3d bboxMax, MFVec3f *points, MFVec3f normals, unsigned int nMaxPointsPerCell)
 : OctreeEngine(bboxMin, bboxMax, points, normals, nMaxPointsPerCell)
{
}


OctreeODEEngine::~OctreeODEEngine()
{
}

void OctreeODEEngine::integrate_VVerlet( FloatingPointType h )
/*  Sta& s,
    Real h,
    Der& d)*/
{
    int a= ConstrainedVertex::ACC;
    
    // get accelerations for this time step
    compute_accelerations(ConstrainedVertex::ACC, ConstrainedVertex::POS, ConstrainedVertex::VEL);

    // velocity at half timestep is...
    v_eq_a_plus_alpha_b(ConstrainedVertex::VELHALF, ConstrainedVertex::VEL, h/2, ConstrainedVertex::ACC);

    // the updated position at time t+Delta_t is...
    v_eq_a_plus_alpha_b(ConstrainedVertex::POS, ConstrainedVertex::POS, h, ConstrainedVertex::VELHALF );

    // acceleration at time t+Delta_t based on updated positions is...
    // note: we are using halfstep velocities to predict acceleration at update time here
    compute_accelerations(ConstrainedVertex::ACC, ConstrainedVertex::POS, ConstrainedVertex::VELHALF);

    // and finally, the velocity at time t+Delta_t is...
    v_eq_a_plus_alpha_b(ConstrainedVertex::VEL, ConstrainedVertex::VELHALF, h/2, ConstrainedVertex::ACC);

}

};

};

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