diff options
Diffstat (limited to 'lib/core/c++/particle/particle.hpp')
| -rw-r--r-- | lib/core/c++/particle/particle.hpp | 18 |
1 files changed, 15 insertions, 3 deletions
diff --git a/lib/core/c++/particle/particle.hpp b/lib/core/c++/particle/particle.hpp index 8509df6..a82b12d 100644 --- a/lib/core/c++/particle/particle.hpp +++ b/lib/core/c++/particle/particle.hpp @@ -35,7 +35,7 @@ using ParticleRigidBody = Struct< Member<typename impl::rotation_type_helper<T,D>::Schema, "rotation_old">, Member<Vector<T,D>, "acceleration">, - Member<typename impl::rotation_type_helper<T,D>::Schema, "rotational_acceleration"> + Member<typename impl::rotation_type_helper<T,D>::Schema, "angular_acceleration"> >; template<typename T> @@ -109,8 +109,12 @@ constexpr auto verlet_step_lambda = [](saw::data<sch::Particle<T,D>>& particle, auto& pos = body.template get<"position">(); auto& pos_old = body.template get<"position_old">(); + auto& pos_acc = body.template get<"acceleration">(); + auto& rot = body.template get<"rotation">(); - auto& acc = body.template get<"acceleration">(); + auto& rot_old = body.template get<"rotation_old">(); + + auto& rot_acc = body.template get<"angular_acceleration">(); auto tsd_squared = time_step_delta * time_step_delta; @@ -118,10 +122,18 @@ constexpr auto verlet_step_lambda = [](saw::data<sch::Particle<T,D>>& particle, // Actual step saw::data<sch::Scalar<T>> two; two.at({}).set(2.0); - pos_new = pos * two - pos_old + acc * tsd_squared; + pos_new = pos * two - pos_old + pos_acc * tsd_squared; + + // Angular + saw::data<typename sch::impl::rotation_type_helper<T,D>::Schema> rot_new; + rot_new = rot * two - rot_old + rot_acc * tsd_squared; + // Swap - Could be std::swap? pos_old = pos; pos = pos_new; + + rot_old = rot; + rot = rot_new; }; template<typename T, uint64_t D> |