integrators.hpp

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#ifndef INTEGRATORS_HPP
#define INTEGRATORS_HPP
#include "mecacell/utilities/utils.hpp"
namespace MecaCell {
struct Verlet {
    template <typename C> static void updatePosition(C &c, const double &dt) {
        // position
        auto oldVel = c.getVelocity();
        c.setVelocity(c.getVelocity() + c.getForce() * dt / c.getMass());
        c.setPrevposition(c.getPosition());
        c.setPosition(c.getPosition() + (c.getVelocity() + oldVel) * dt * 0.5);
    }
    template <typename C>
    static void updateOrientation(C &c, double momentOfInertia, const double &dt) {
        // orientation
        auto oldVel = c.getAngularVelocity();
        c.setAngularVelocity(c.getAngularVelocity() + c.getTorque() * dt / momentOfInertia);
        c.setOrientationRotation(c.getOrientationRotation() +
                                 (c.getAngularVelocity() + oldVel) * dt * 0.5);
        c.updateCurrentOrientation();
    }
};
 
struct Euler {
    template <typename C> static void updatePosition(C &c, const double &dt) {
        // position
        c.setVelocity(c.getVelocity() + c.getForce() * dt / c.getMass());
        c.setPrevposition(c.getPosition());
        c.setPosition(c.getPosition() + c.getVelocity() * dt);
    }
 
    template <typename C>
    static void updateOrientation(C &c, double momentOfInertia, const double &dt) {
        // orientation
        c.setAngularVelocity(c.getAngularVelocity() + c.getTorque() * dt / momentOfInertia);
        c.setOrientationRotation(c.getOrientationRotation() + c.getAngularVelocity() * dt);
        c.updateCurrentOrientation();
    }
};
}
#endif