function integrateBody
rigidBody.ts:36
integrateBody(state: BodyState, linearAcceleration: Vec3, angularAcceleration: Vec3, dt: number) → BodyState
Advance a body by one fixed step.
Semi-implicit (symplectic) Euler: velocity first, then position from the new velocity. Explicit Euler pumps energy into every orbit — a ship left coasting would slowly climb out of a gravity well — and that failure is invisible for minutes and obvious after an hour of time warp. The cost of the better integrator is one line.
linearAcceleration is in frame axes; angularAcceleration is in body axes,
because torque comes from thrusters bolted to the hull.
- stateBodyState
- Undocumented
- linearAccelerationVec3
- Undocumented
- angularAccelerationVec3
- Undocumented
- dtnumber
- Undocumented
ReturnsBodyState