backward_euler.h

#ifndef BACKWARD_EULER_H
#define BACKWARD_EULER_H
#include "time_integrator.h"

class BackwardEuler : public TimeIntegrator
{
    public:
        BackwardEuler();

        BackwardEuler(GLfloat dt, GLfloat threshold, GLuint max_iter);

    private:
        GLfloat m_threshold; // if successive iterations are less than m_threshold halt
        GLuint m_max_iter; // maximum number of iterations to run

        void Solve(
            const NetForceAccumulator& net_force_accumulator,
            const std::vector<std::shared_ptr<PhysicsEntity>> &entity_ptrs,
            const std::shared_ptr<PhysicsEntity> entity_ptr);

        void ComputeJacobian(
                         const GLfloat mass, 
                         const Eigen::Matrix<GLfloat,3,3> dFdx,
                         const Eigen::Matrix<GLfloat,3,3> dFdv,
                         Eigen::Matrix<GLfloat,6,6> &J) const;       
};
#endif