utsuroi

Numerical ODE integrators for orbital mechanics and rigid-body simulation. The name 「移ろい」(utsuroi) evokes the flowing passage of state over time.

Provides Runge-Kutta (RK4), Dormand-Prince (RK45), Störmer-Verlet, and Yoshida symplectic integrators with a generic trait interface. Designed for use as the stepping engine inside the orts simulation workspace but usable standalone for any ODE system.