Delta V motion not applied properly

[Rick Stovall]

In cpp/sim_engine/base_object/base_object.cpp we are not applying motion properly, only half the deltaV should applied to motion, rather than the entire deltaV. In other words:

velocity = oldV + (accel*Time);
applyV = oldV + ((accel*Time)/2);
location += applyV * time

rotation should be handled in similar manner. Following is the method where the fault lies:

bool base_object::apply(int time, float quanta)
{
  // move acording to forces
  float tmass = mass + mass_mod;
  triplet a = force / tmass;
  triplet ra = torque / (tmass * 0.5); // not accurate!!
  velocity += (a + accel_mod) * quanta;
  rotation += (ra + torque_mod) * quanta;
  location += velocity * quanta;
  attitude += rotation * quanta;
  // apply post-effectors
  bool killme (false);
  for (auto e : post_attribs)
    if (e.second->tick(*this, time))
      killme = true;
  return killme;
};