For this algorithm we need to keep l(t-dt/2) for next time step.
Any comments?
Yes, one comment : you don't need to keep any additional variable (as
stated before). :-P
l(t-dt/2) is I(t-dt/2).w(t-dt/2).
w(t-dt/2), is already kept in body-> velocity (or the rotational
equivalent).
For I(t-dt/2), you can use the same approach and consider that you
define values of I at times (t+k.dt/2).
No additional variable as long as you don't need a value x(t-3.dt/2).
Bruno
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