void OdeImplicitEuler<Real>::Update (Real fTIn, Real* afXIn, Real& rfTOut,
Real* afXOut)
{
m_oFunction(fTIn,afXIn,m_pvData,m_kF);
m_oDFunction(fTIn,afXIn,m_pvData,m_kDF);
GMatrix<Real> kDG = m_kIdentity - m_fStep*m_kDF;
GMatrix<Real> kDGInverse(m_iDim,m_iDim);
bool bInvertible = kDG.GetInverse(kDGInverse);
if (bInvertible)
{
m_kF = kDGInverse*m_kF;
for (int i = 0; i < m_iDim; i++)
{
afXOut[i] = afXIn[i] + m_fStep*m_kF[i];
}
}
else
{
size_t uiSize = m_iDim*sizeof(Real);
System::Memcpy(afXOut,uiSize,afXIn,uiSize);
}
rfTOut = fTIn + m_fStep;
}
