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Rk4Solver

phyz

Struct Rk4Solver 

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pub struct Rk4Solver;
Expand description

4th-order Runge-Kutta integrator.

Much better energy conservation than semi-implicit Euler for systems with configuration-dependent mass matrices (e.g., double pendulum).

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impl Solver for Rk4Solver

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fn step(&self, model: &Model, state: &mut State)

Advance state by dt. Reads from state and writes the result back.
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fn step_with_jacobians(&self, model: &Model, state: &mut State) -> StepJacobians

Advance state by dt and return step Jacobians.

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