a = f(x, v, t)
x += v · dt (the *old* velocity)
v += a · dt
Position uses the velocity from the start of the step, which is what makes it
differ from semiImplicitEuler and what makes it inject energy into
oscillators. Under constant acceleration it lags the exact solution by
0.5 · a · t · dt.
Explicit (forward) Euler — first order.
Position uses the velocity from the start of the step, which is what makes it differ from semiImplicitEuler and what makes it inject energy into oscillators. Under constant acceleration it lags the exact solution by
0.5 · a · t · dt.