Struct State 

pub struct State {
    pub q: DVec,
    pub v: DVec,
    pub ctrl: DVec,
    pub time: f64,
    pub body_xform: Vec<SpatialTransform>,
    pub qfrc_external: DVec,
}

Mutable simulation state.

Fields

q: DVec

Generalized positions (joint angles/displacements).

v: DVec

Generalized velocities.

ctrl: DVec

Control inputs.

If the model has actuators, entry i is the raw control of actuator i (clamped to its ctrlrange and scaled by its gear before reaching the dynamics — see Model::actuator_forces). If the model has no actuators, entries are raw per-DOF generalized forces.

time: f64

Simulation time.

body_xform: Vec<SpatialTransform>

Body-to-world transforms for each body.

qfrc_external: DVec

External generalized forces (e.g., from contacts).

Implementations

impl State

pub fn new(nq: usize, nv: usize, nbodies: usize) -> Self

Create a zero-initialized state for nq position DOFs and nv velocity DOFs.

pub fn new_with_nu(nq: usize, nv: usize, nu: usize, nbodies: usize) -> Self

Create a zero-initialized state, sizing ctrl for nu actuators.

ctrl is sized max(nv, nu) so that both conventions (per-DOF forces for unactuated models, per-actuator controls otherwise) fit.

pub fn kinetic_energy(&self, mass_matrix: &DMat) -> f64

Compute total kinetic energy given mass matrix. KE = 0.5 * v^T * M * v

Trait Implementations

impl Clone for State

fn clone(&self) -> State

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for State

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.