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SemiImplicitEulerSolver

phyz

Struct SemiImplicitEulerSolver 

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pub struct SemiImplicitEulerSolver;
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Semi-implicit Euler integrator using Featherstone ABA.

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impl Solver for SemiImplicitEulerSolver

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fn step(&self, model: &Model, state: &mut State)

Advance state by dt. Reads from state and writes the result back.
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fn step_with_jacobians(&self, model: &Model, state: &mut State) -> StepJacobians

Advance state by dt and return step Jacobians.

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