private static void Progress_ms2(MultiStepState state, double dt)
{
var N = state.N;
if (!state.memory.Keys.Contains("prev_acc"))
{
RungeKuttaIntegrator.Progress_rk2(new LeapFrogState(state), dt);
state.memory["prev_acc"] = (Vector3[])
state.EulerState_ComputeAccelerationVectorDirect();
}
else
{
var prev_acc = (Vector3[]) state.memory["prev_acc"];
Vector3[] old_acc = state.EulerState_ComputeAccelerationVectorDirect();
var jdt = new Vector3[N];
Parallel.For(0, N, i =>
//for (int i = 0; i < N; i++)
{
jdt[i] = old_acc[i] - prev_acc[i];
state.r[i] += state.v[i] * dt + old_acc[i] * 0.5 * dt * dt;
state.v[i] += old_acc[i] * dt + jdt[i] * 0.5 * dt;
});
state.memory["prev_acc"] = old_acc;
state.currentTime += dt;
}
}
private static void Progress_ms2(MultiStepState state, double dt)
{
var N = state.N;
if (!state.memory.Keys.Contains("prev_acc"))
{
RungeKuttaIntegrator.Progress_rk2(new LeapFrogState(state), dt);
state.memory["prev_acc"] = (Vector3[])
state.EulerState_ComputeAccelerationVectorDirect();
}
else
{
var prev_acc = (Vector3[])state.memory["prev_acc"];
Vector3[] old_acc = state.EulerState_ComputeAccelerationVectorDirect();
var jdt = new Vector3[N];
Parallel.For(0, N, i =>
//for (int i = 0; i < N; i++)
{
jdt[i] = old_acc[i] - prev_acc[i];
state.r[i] += state.v[i] * dt + old_acc[i] * 0.5 * dt * dt;
state.v[i] += old_acc[i] * dt + jdt[i] * 0.5 * dt;
});
state.memory["prev_acc"] = old_acc;
state.currentTime += dt;
}
}
private void Progress_ms4pc(MultiStepState state, double dt)
{
if (!state.memory.ContainsKey("ap3"))
{
state.memory["ap3"] = (Vector3[])
state.EulerState_ComputeAccelerationVectorDirect();
RungeKuttaIntegrator.Progress_rk4(state, dt);
}
else if (!state.memory.ContainsKey("ap2"))
{
state.memory["ap2"] = (Vector3[])
state.EulerState_ComputeAccelerationVectorDirect();
RungeKuttaIntegrator.Progress_rk4(state, dt);
}
else if (!state.memory.ContainsKey("ap1"))
{
state.memory["ap1"] = (Vector3[])
state.EulerState_ComputeAccelerationVectorDirect();
RungeKuttaIntegrator.Progress_rk4(state, dt);
}
else
{
var N = state.N;
var ap0 = state.EulerState_ComputeAccelerationVectorDirect();
Vector3[] ap1 = (Vector3[])state.memory["ap1"];
Vector3[] ap2 = (Vector3[])state.memory["ap2"];
Vector3[] ap3 = (Vector3[])state.memory["ap3"];
var jdt = new Vector3[N];
var sdt2 = new Vector3[N];
var cdt3 = new Vector3[N];
Parallel.For(0, N, i =>
//for (int i = 0; i < N; i++)
{
jdt[i] = ap0[i] * (11.0 / 6.0) - ap1[i] * 3.0 + ap2[i] * 1.5 - ap3[i] / 3.0;
sdt2[i] = ap0[i] * 2.0 - ap1[i] * 5.0 + ap2[i] * 4.0 - ap3[i];
cdt3[i] = ap0[i] - ap1[i] * 3.0 + ap2[i] * 3.0 - ap3[i];
state.r[i] += state.v[i] * dt + (ap0[i] / 2.0 + jdt[i] / 6.0 + sdt2[i] / 24.0) * dt * dt;
// we only need the predicted
//state.v[i] += ap0[i] * dt + (jdt[i] / 2.0 + sdt2[i] / 6.0 + cdt3[i] / 24.0) * dt;
});
state.memory["ap3"] = ap3 = ap2;
state.memory["ap2"] = ap2 = ap1;
state.memory["ap1"] = ap1 = ap0;
ap0 = state.EulerState_ComputeAccelerationVectorDirect();
Parallel.For(0, N, i =>
//for (int i = 0; i < N; i++)
{
jdt[i] = ap0[i] * (11.0 / 6.0) - ap1[i] * 3.0 + ap2[i] * 1.5 - ap3[i] / 3.0;
sdt2[i] = ap0[i] * 2.0 - ap1[i] * 5.0 + ap2[i] * 4.0 - ap3[i];
cdt3[i] = ap0[i] - ap1[i] * 3.0 + ap2[i] * 3.0 - ap3[i];
state.r[i] += state.v[i] * dt + (ap0[i] / 2.0 + jdt[i] / 6.0 + sdt2[i] / 24.0) * dt * dt;
state.v[i] += ap0[i] * dt + (jdt[i] / 2.0 + sdt2[i] / 6.0 + cdt3[i] / 24.0) * dt;
});
state.currentTime += dt;
}
}
public MultiStepState(MultiStepState state)
: base(state)
{
foreach (var k in state.memory.Keys)
{
memory[k] = state.memory[k];
}
}
public MultiStepState(MultiStepState state)
: base(state)
{
foreach (var k in state.memory.Keys)
{
memory[k] = state.memory[k];
}
}
private void Progress_ms8(MultiStepState state, double dt)
{
if (!state.memory.ContainsKey("ap7"))
{
state.memory["ap7"] = (Vector3[])
state.EulerState_ComputeAccelerationVectorDirect();
RungeKuttaIntegrator.Progress_yo8(state, dt);
}
else if (!state.memory.ContainsKey("ap6"))
{
state.memory["ap6"] = (Vector3[])
state.EulerState_ComputeAccelerationVectorDirect();
RungeKuttaIntegrator.Progress_yo8(state, dt);
}
else if (!state.memory.ContainsKey("ap5"))
{
state.memory["ap5"] = (Vector3[])
state.EulerState_ComputeAccelerationVectorDirect();
RungeKuttaIntegrator.Progress_yo8(state, dt);
}
else if (!state.memory.ContainsKey("ap4"))
{
state.memory["ap4"] = (Vector3[])
state.EulerState_ComputeAccelerationVectorDirect();
RungeKuttaIntegrator.Progress_yo8(state, dt);
}
else if (!state.memory.ContainsKey("ap3"))
{
state.memory["ap3"] = (Vector3[])
state.EulerState_ComputeAccelerationVectorDirect();
RungeKuttaIntegrator.Progress_yo8(state, dt);
}
else if (!state.memory.ContainsKey("ap2"))
{
state.memory["ap2"] = (Vector3[])
state.EulerState_ComputeAccelerationVectorDirect();
RungeKuttaIntegrator.Progress_yo8(state, dt);
}
else if (!state.memory.ContainsKey("ap1"))
{
state.memory["ap1"] = (Vector3[])
state.EulerState_ComputeAccelerationVectorDirect();
RungeKuttaIntegrator.Progress_yo8(state, dt);
}
else
{
var N = state.N;
var ap0 = state.EulerState_ComputeAccelerationVectorDirect();
Vector3[] ap1 = (Vector3[])state.memory["ap1"];
Vector3[] ap2 = (Vector3[])state.memory["ap2"];
Vector3[] ap3 = (Vector3[])state.memory["ap3"];
Vector3[] ap4 = (Vector3[])state.memory["ap4"];
Vector3[] ap5 = (Vector3[])state.memory["ap5"];
Vector3[] ap6 = (Vector3[])state.memory["ap6"];
Vector3[] ap7 = (Vector3[])state.memory["ap7"];
var jdt = new Vector3[N];
var sdt2 = new Vector3[N];
var cdt3 = new Vector3[N];
var pdt4 = new Vector3[N];
var xdt5 = new Vector3[N];
var ydt6 = new Vector3[N];
var zdt7 = new Vector3[N];
Parallel.For(0, N, i =>
//for (int i = 0; i < N; i++)
{
jdt[i] = (ap0[i]*1089 - ap1[i]*2940 + ap2[i]*4410 - ap3[i]*4900 + ap4[i]*3675 - ap5[i]*1764 + ap6[i]*490 - ap7[i]*60)/420 ;
sdt2[i] = (ap0[i]*938 - ap1[i]*4014 + ap2[i]*7911 - ap3[i]*9490 + ap4[i]*7380 - ap5[i]*3618 + ap6[i]*1019 - ap7[i]*126)/180;
cdt3[i] = (ap0[i]*967 - ap1[i]*5104 + ap2[i]*11787 - ap3[i]*15560 + ap4[i]*12725 - ap5[i]*6432 + ap6[i]*1849 - ap7[i]*232)/120;
pdt4[i] = (ap0[i]*56 - ap1[i]*333 + ap2[i]*852 - ap3[i]*1219 + ap4[i]*1056 - ap5[i]*555 + ap6[i]*164 - ap7[i]*21)/6;
xdt5[i] = (ap0[i]*46 - ap1[i]*295 + ap2[i]*810 - ap3[i]*1235 + ap4[i]*1130 - ap5[i]*621 + ap6[i]*190 - ap7[i]*25)/6;
ydt6[i] = ap0[i]*4 - ap1[i]*27 + ap2[i]*78 - ap3[i]*125 + ap4[i]*120 - ap5[i]*69 + ap6[i]*22 - ap7[i]*3;
zdt7[i] = ap0[i] - ap1[i]*7 + ap2[i]*21 - ap3[i]*35 + ap4[i]*35 - ap5[i]*21 + ap6[i]*7 - ap7[i];
state.r[i] += (state.v[i]+(ap0[i]+(jdt[i]+(sdt2[i]+(cdt3[i]+(pdt4[i]+(xdt5[i]+ydt6[i]/8)/7)/6)/5)/4)/3)*dt/2)*dt;
state.v[i] += (ap0[i] + (jdt[i] + (sdt2[i] + (cdt3[i] + (pdt4[i] + (xdt5[i] + (ydt6[i] + zdt7[i] / 8) / 7) / 6) / 5) / 4) / 3) / 2) * dt;
});
state.memory["ap7"] = ap6;
state.memory["ap6"] = ap5;
state.memory["ap5"] = ap4;
state.memory["ap4"] = ap3;
state.memory["ap3"] = ap2;
state.memory["ap2"] = ap1;
state.memory["ap1"] = ap0;
state.currentTime += dt;
}
}
public MultiStepIntegrator(EulerState s, Flavor f)
{
state = new MultiStepState(s);
flavor = f;
}
private void Progress_ms6(MultiStepState state, double dt)
{
if (!state.memory.ContainsKey("ap5"))
{
state.memory["ap5"] = (Vector3[])
state.EulerState_ComputeAccelerationVectorDirect();
RungeKuttaIntegrator.Progress_yo6(state, dt);
}
else if (!state.memory.ContainsKey("ap4"))
{
state.memory["ap4"] = (Vector3[])
state.EulerState_ComputeAccelerationVectorDirect();
RungeKuttaIntegrator.Progress_yo6(state, dt);
}
else if (!state.memory.ContainsKey("ap3"))
{
state.memory["ap3"] = (Vector3[])
state.EulerState_ComputeAccelerationVectorDirect();
RungeKuttaIntegrator.Progress_yo6(state, dt);
}
else if (!state.memory.ContainsKey("ap2"))
{
state.memory["ap2"] = (Vector3[])
state.EulerState_ComputeAccelerationVectorDirect();
RungeKuttaIntegrator.Progress_yo6(state, dt);
}
else if (!state.memory.ContainsKey("ap1"))
{
state.memory["ap1"] = (Vector3[])
state.EulerState_ComputeAccelerationVectorDirect();
RungeKuttaIntegrator.Progress_yo6(state, dt);
}
else
{
var N = state.N;
var ap0 = state.EulerState_ComputeAccelerationVectorDirect();
Vector3[] ap1 = (Vector3[])state.memory["ap1"];
Vector3[] ap2 = (Vector3[])state.memory["ap2"];
Vector3[] ap3 = (Vector3[])state.memory["ap3"];
Vector3[] ap4 = (Vector3[])state.memory["ap4"];
Vector3[] ap5 = (Vector3[])state.memory["ap5"];
var jdt = new Vector3[N];
var sdt2 = new Vector3[N];
var cdt3 = new Vector3[N];
var pdt4 = new Vector3[N];
var xdt5 = new Vector3[N];
Parallel.For(0, N, i =>
//for (int i = 0; i < N; i++)
{
jdt[i] = (ap0[i]*137 - ap1[i]*300 + ap2[i]*300 - ap3[i]*200 + ap4[i]*75 - ap5[i]*12)/60;
sdt2[i] = (ap0[i]*45 - ap1[i]*154 + ap2[i]*214 - ap3[i]*156 + ap4[i]*61 - ap5[i]*10)/12;
cdt3[i] = (ap0[i]*17 - ap1[i]*71 + ap2[i]*118 - ap3[i]*98 + ap4[i]*41 - ap5[i]*7)/4;
pdt4[i] = ap0[i]*3 - ap1[i]*14 + ap2[i]*26 - ap3[i]*24 + ap4[i]*11 - ap5[i]*2;
xdt5[i] = ap0[i] - ap1[i] * 5 + ap2[i] * 10 - ap3[i] * 10 + ap4[i] * 5 - ap5[i];
state.r[i] += (state.v[i]+(ap0[i]+ (jdt[i]+(sdt2[i]+(cdt3[i]+pdt4[i]/6)/5)/4)/3)*dt/2)*dt;
state.v[i] += (ap0[i] + (jdt[i] + (sdt2[i] + (cdt3[i] + (pdt4[i] + xdt5[i] / 6) / 5) / 4) / 3) / 2) * dt;
});
state.memory["ap5"] = ap4;
state.memory["ap4"] = ap3;
state.memory["ap3"] = ap2;
state.memory["ap2"] = ap1;
state.memory["ap1"] = ap0;
state.currentTime += dt;
}
}
private void Progress_ms4pc(MultiStepState state, double dt)
{
if (!state.memory.ContainsKey("ap3"))
{
state.memory["ap3"] = (Vector3[])
state.EulerState_ComputeAccelerationVectorDirect();
RungeKuttaIntegrator.Progress_rk4(state, dt);
}
else if (!state.memory.ContainsKey("ap2"))
{
state.memory["ap2"] = (Vector3[])
state.EulerState_ComputeAccelerationVectorDirect();
RungeKuttaIntegrator.Progress_rk4(state, dt);
}
else if (!state.memory.ContainsKey("ap1"))
{
state.memory["ap1"] = (Vector3[])
state.EulerState_ComputeAccelerationVectorDirect();
RungeKuttaIntegrator.Progress_rk4(state, dt);
}
else
{
var N = state.N;
var ap0 = state.EulerState_ComputeAccelerationVectorDirect();
Vector3[] ap1 = (Vector3[])state.memory["ap1"];
Vector3[] ap2 = (Vector3[])state.memory["ap2"];
Vector3[] ap3 = (Vector3[])state.memory["ap3"];
var jdt = new Vector3[N];
var sdt2 = new Vector3[N];
var cdt3 = new Vector3[N];
Parallel.For(0, N, i =>
//for (int i = 0; i < N; i++)
{
jdt[i] = ap0[i] * (11.0 / 6.0) - ap1[i] * 3.0 + ap2[i] * 1.5 - ap3[i] / 3.0;
sdt2[i] = ap0[i] * 2.0 - ap1[i] * 5.0 + ap2[i] * 4.0 - ap3[i];
cdt3[i] = ap0[i] - ap1[i] * 3.0 + ap2[i] * 3.0 - ap3[i];
state.r[i] += state.v[i] * dt + (ap0[i] / 2.0 + jdt[i] / 6.0 + sdt2[i] / 24.0) * dt * dt;
// we only need the predicted
//state.v[i] += ap0[i] * dt + (jdt[i] / 2.0 + sdt2[i] / 6.0 + cdt3[i] / 24.0) * dt;
});
state.memory["ap3"] = ap3 = ap2;
state.memory["ap2"] = ap2 = ap1;
state.memory["ap1"] = ap1 = ap0;
ap0 = state.EulerState_ComputeAccelerationVectorDirect();
Parallel.For(0, N, i =>
//for (int i = 0; i < N; i++)
{
jdt[i] = ap0[i] * (11.0 / 6.0) - ap1[i] * 3.0 + ap2[i] * 1.5 - ap3[i] / 3.0;
sdt2[i] = ap0[i] * 2.0 - ap1[i] * 5.0 + ap2[i] * 4.0 - ap3[i];
cdt3[i] = ap0[i] - ap1[i] * 3.0 + ap2[i] * 3.0 - ap3[i];
state.r[i] += state.v[i] * dt + (ap0[i] / 2.0 + jdt[i] / 6.0 + sdt2[i] / 24.0) * dt * dt;
state.v[i] += ap0[i] * dt + (jdt[i] / 2.0 + sdt2[i] / 6.0 + cdt3[i] / 24.0) * dt;
});
state.currentTime += dt;
}
}
private void Progress_ms8(MultiStepState state, double dt)
{
if (!state.memory.ContainsKey("ap7"))
{
state.memory["ap7"] = (Vector3[])
state.EulerState_ComputeAccelerationVectorDirect();
RungeKuttaIntegrator.Progress_yo8(state, dt);
}
else if (!state.memory.ContainsKey("ap6"))
{
state.memory["ap6"] = (Vector3[])
state.EulerState_ComputeAccelerationVectorDirect();
RungeKuttaIntegrator.Progress_yo8(state, dt);
}
else if (!state.memory.ContainsKey("ap5"))
{
state.memory["ap5"] = (Vector3[])
state.EulerState_ComputeAccelerationVectorDirect();
RungeKuttaIntegrator.Progress_yo8(state, dt);
}
else if (!state.memory.ContainsKey("ap4"))
{
state.memory["ap4"] = (Vector3[])
state.EulerState_ComputeAccelerationVectorDirect();
RungeKuttaIntegrator.Progress_yo8(state, dt);
}
else if (!state.memory.ContainsKey("ap3"))
{
state.memory["ap3"] = (Vector3[])
state.EulerState_ComputeAccelerationVectorDirect();
RungeKuttaIntegrator.Progress_yo8(state, dt);
}
else if (!state.memory.ContainsKey("ap2"))
{
state.memory["ap2"] = (Vector3[])
state.EulerState_ComputeAccelerationVectorDirect();
RungeKuttaIntegrator.Progress_yo8(state, dt);
}
else if (!state.memory.ContainsKey("ap1"))
{
state.memory["ap1"] = (Vector3[])
state.EulerState_ComputeAccelerationVectorDirect();
RungeKuttaIntegrator.Progress_yo8(state, dt);
}
else
{
var N = state.N;
var ap0 = state.EulerState_ComputeAccelerationVectorDirect();
Vector3[] ap1 = (Vector3[])state.memory["ap1"];
Vector3[] ap2 = (Vector3[])state.memory["ap2"];
Vector3[] ap3 = (Vector3[])state.memory["ap3"];
Vector3[] ap4 = (Vector3[])state.memory["ap4"];
Vector3[] ap5 = (Vector3[])state.memory["ap5"];
Vector3[] ap6 = (Vector3[])state.memory["ap6"];
Vector3[] ap7 = (Vector3[])state.memory["ap7"];
var jdt = new Vector3[N];
var sdt2 = new Vector3[N];
var cdt3 = new Vector3[N];
var pdt4 = new Vector3[N];
var xdt5 = new Vector3[N];
var ydt6 = new Vector3[N];
var zdt7 = new Vector3[N];
Parallel.For(0, N, i =>
//for (int i = 0; i < N; i++)
{
jdt[i] = (ap0[i] * 1089 - ap1[i] * 2940 + ap2[i] * 4410 - ap3[i] * 4900 + ap4[i] * 3675 - ap5[i] * 1764 + ap6[i] * 490 - ap7[i] * 60) / 420;
sdt2[i] = (ap0[i] * 938 - ap1[i] * 4014 + ap2[i] * 7911 - ap3[i] * 9490 + ap4[i] * 7380 - ap5[i] * 3618 + ap6[i] * 1019 - ap7[i] * 126) / 180;
cdt3[i] = (ap0[i] * 967 - ap1[i] * 5104 + ap2[i] * 11787 - ap3[i] * 15560 + ap4[i] * 12725 - ap5[i] * 6432 + ap6[i] * 1849 - ap7[i] * 232) / 120;
pdt4[i] = (ap0[i] * 56 - ap1[i] * 333 + ap2[i] * 852 - ap3[i] * 1219 + ap4[i] * 1056 - ap5[i] * 555 + ap6[i] * 164 - ap7[i] * 21) / 6;
xdt5[i] = (ap0[i] * 46 - ap1[i] * 295 + ap2[i] * 810 - ap3[i] * 1235 + ap4[i] * 1130 - ap5[i] * 621 + ap6[i] * 190 - ap7[i] * 25) / 6;
ydt6[i] = ap0[i] * 4 - ap1[i] * 27 + ap2[i] * 78 - ap3[i] * 125 + ap4[i] * 120 - ap5[i] * 69 + ap6[i] * 22 - ap7[i] * 3;
zdt7[i] = ap0[i] - ap1[i] * 7 + ap2[i] * 21 - ap3[i] * 35 + ap4[i] * 35 - ap5[i] * 21 + ap6[i] * 7 - ap7[i];
state.r[i] += (state.v[i] + (ap0[i] + (jdt[i] + (sdt2[i] + (cdt3[i] + (pdt4[i] + (xdt5[i] + ydt6[i] / 8) / 7) / 6) / 5) / 4) / 3) * dt / 2) * dt;
state.v[i] += (ap0[i] + (jdt[i] + (sdt2[i] + (cdt3[i] + (pdt4[i] + (xdt5[i] + (ydt6[i] + zdt7[i] / 8) / 7) / 6) / 5) / 4) / 3) / 2) * dt;
});
state.memory["ap7"] = ap6;
state.memory["ap6"] = ap5;
state.memory["ap5"] = ap4;
state.memory["ap4"] = ap3;
state.memory["ap3"] = ap2;
state.memory["ap2"] = ap1;
state.memory["ap1"] = ap0;
state.currentTime += dt;
}
}
public MultiStepIntegrator(EulerState s, Flavor f)
{
state = new MultiStepState(s);
flavor = f;
}
private void Progress_ms6(MultiStepState state, double dt)
{
if (!state.memory.ContainsKey("ap5"))
{
state.memory["ap5"] = (Vector3[])
state.EulerState_ComputeAccelerationVectorDirect();
RungeKuttaIntegrator.Progress_yo6(state, dt);
}
else if (!state.memory.ContainsKey("ap4"))
{
state.memory["ap4"] = (Vector3[])
state.EulerState_ComputeAccelerationVectorDirect();
RungeKuttaIntegrator.Progress_yo6(state, dt);
}
else if (!state.memory.ContainsKey("ap3"))
{
state.memory["ap3"] = (Vector3[])
state.EulerState_ComputeAccelerationVectorDirect();
RungeKuttaIntegrator.Progress_yo6(state, dt);
}
else if (!state.memory.ContainsKey("ap2"))
{
state.memory["ap2"] = (Vector3[])
state.EulerState_ComputeAccelerationVectorDirect();
RungeKuttaIntegrator.Progress_yo6(state, dt);
}
else if (!state.memory.ContainsKey("ap1"))
{
state.memory["ap1"] = (Vector3[])
state.EulerState_ComputeAccelerationVectorDirect();
RungeKuttaIntegrator.Progress_yo6(state, dt);
}
else
{
var N = state.N;
var ap0 = state.EulerState_ComputeAccelerationVectorDirect();
Vector3[] ap1 = (Vector3[])state.memory["ap1"];
Vector3[] ap2 = (Vector3[])state.memory["ap2"];
Vector3[] ap3 = (Vector3[])state.memory["ap3"];
Vector3[] ap4 = (Vector3[])state.memory["ap4"];
Vector3[] ap5 = (Vector3[])state.memory["ap5"];
var jdt = new Vector3[N];
var sdt2 = new Vector3[N];
var cdt3 = new Vector3[N];
var pdt4 = new Vector3[N];
var xdt5 = new Vector3[N];
Parallel.For(0, N, i =>
//for (int i = 0; i < N; i++)
{
jdt[i] = (ap0[i] * 137 - ap1[i] * 300 + ap2[i] * 300 - ap3[i] * 200 + ap4[i] * 75 - ap5[i] * 12) / 60;
sdt2[i] = (ap0[i] * 45 - ap1[i] * 154 + ap2[i] * 214 - ap3[i] * 156 + ap4[i] * 61 - ap5[i] * 10) / 12;
cdt3[i] = (ap0[i] * 17 - ap1[i] * 71 + ap2[i] * 118 - ap3[i] * 98 + ap4[i] * 41 - ap5[i] * 7) / 4;
pdt4[i] = ap0[i] * 3 - ap1[i] * 14 + ap2[i] * 26 - ap3[i] * 24 + ap4[i] * 11 - ap5[i] * 2;
xdt5[i] = ap0[i] - ap1[i] * 5 + ap2[i] * 10 - ap3[i] * 10 + ap4[i] * 5 - ap5[i];
state.r[i] += (state.v[i] + (ap0[i] + (jdt[i] + (sdt2[i] + (cdt3[i] + pdt4[i] / 6) / 5) / 4) / 3) * dt / 2) * dt;
state.v[i] += (ap0[i] + (jdt[i] + (sdt2[i] + (cdt3[i] + (pdt4[i] + xdt5[i] / 6) / 5) / 4) / 3) / 2) * dt;
});
state.memory["ap5"] = ap4;
state.memory["ap4"] = ap3;
state.memory["ap3"] = ap2;
state.memory["ap2"] = ap1;
state.memory["ap1"] = ap0;
state.currentTime += dt;
}
}