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[Vincent Richefeu <richefeu@xxxxxxxxxxxxxxx>]

Hi everybody,

This morning I had a look at the file LeapFrogPositionIntegrator.cpp  
and I a little scarred of what I saw (I exaggerate of course).
Can someone enlighten me on that point:
If I translate the c++ code into human readable operations, I've got:

v(t+dt) = v(t) + a(t)*dt
p(t+dt) = p(t) + v(t+dt)*dt + getMove

1. The first thing that seems odd to me is the use of v(t+dt) in the  
evaluation of p(t+dt). There's no great danger if the displacements  
are small and slow. However, it is know that even a quasistatic load  
may be accompanied by small localized dynamic crises. If there is  
indeed a problem here, no big deal because reducing the time step is  
enough to correct it. But it's a pity!

2. The second that I don't understand is the method getMove that seems  
to return a force (!) I know, I am probably wrong. Can anyone give me  
details on what this function returns ?

Thank you in advance for your helpful comments,
VR