Struct Midpoint 

pub struct Midpoint;

Explicit midpoint (Runge-Kutta 2) integrator.

k1_v = a_n,  k1_q = v_n
k2_v = a_n,  k2_q = v_n + k1_v * dt/2
v_{n+1} = v_n + k2_v * dt
q_{n+1} = q_n + k2_q * dt

For constant forces this gives the same result as the explicit Euler update for velocity but uses the midpoint velocity for position.

Trait Implementations

impl Integrator for Midpoint

fn integrate( &self, q: &mut [Real], v: &mut [Real], f: &[Real], inv_mass: &[Real], dt: Real, )

Advance state q (positions) and v (velocities) by dt given forces f.