Euler Implicit Solver

Description

The EulerImplicitSolver can be used to solve ODE systems of first or second order, using the Euler implicit integration scheme. The step size of the discretization corresponds to the timeStep of SOFA.
At each step of the scheme, the linear equation systems obtained have to be solved by an auxiliary component, the CGLinearSolver, which can be of different kinds (conjugated gradient, ...).
Key points

Different simulations are proposed:
Results