Struct ImplicitEuler 

pub struct ImplicitEuler;

Implicit (backward) Euler integrator — unconditionally stable.

For linear systems F = k * x the implicit update solves:

v_{n+1} = v_n + a_{n+1} * dt   (where a_{n+1} uses new position)
q_{n+1} = q_n + v_{n+1} * dt

In the absence of position-dependent forces this reduces to the semi-implicit Euler integrator.

Trait Implementations

impl Integrator for ImplicitEuler

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.