From 1bbf6581b4cb33214967490079fd7070d1320ca7 Mon Sep 17 00:00:00 2001
From: Felix Winterhalter <Felix@audiofair.de>
Date: Tue, 11 Jul 2017 13:58:10 +0200
Subject: [PATCH] Revert Leapfrog
---
src/pe/cr/DEM.cpp | 16 ++++++++--------
1 file changed, 8 insertions(+), 8 deletions(-)
diff --git a/src/pe/cr/DEM.cpp b/src/pe/cr/DEM.cpp
index e4915c75..c6aebbc2 100644
--- a/src/pe/cr/DEM.cpp
+++ b/src/pe/cr/DEM.cpp
@@ -245,23 +245,23 @@ void DEM::move( BodyID id, real_t dt )
// R * Iinv * R^T * torque
const Vec3 wdot( id->getInvInertia() * id->getTorque() );
+ // Updating the linear velocity
+ id->setLinearVel(id->getLinearVel() + vdot * dt);
+
+ // Updating the angular velocity
+ id->setAngularVel( id->getAngularVel() + wdot * dt );
+
// Calculating the translational displacement
- id->setPosition( id->getPosition() + id->getLinearVel() * dt + 0.5 * vdot * dt * dt );
+ id->setPosition( id->getPosition() + id->getLinearVel() * dt );
// Calculating the rotation angle
- const Vec3 phi( id->getAngularVel() * dt + 0.5 * wdot * dt * dt);
+ const Vec3 phi( id->getAngularVel() * dt );
// Calculating the new orientation
if (!floatIsEqual(phi.length(), 0))
id->rotate( Quat( phi, phi.length() ) );
WALBERLA_ASSERT_FLOAT_EQUAL( id->getRotation().getDeterminant(), real_c(1 ), "Corrupted rotation matrix determinant" );
- // Updating the linear velocity
- id->setLinearVel(id->getLinearVel() + vdot * dt);
-
- // Updating the angular velocity
- id->setAngularVel( id->getAngularVel() + wdot * dt );
-
// Setting the axis-aligned bounding box
id->calcBoundingBox();
--
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