Struct Simulator 

pub struct Simulator { /* private fields */ }

Main simulation driver.

Implementations

impl Simulator

pub fn new() -> Self

Create a simulator with the default semi-implicit Euler solver.

pub fn rk4() -> Self

Create a simulator with the RK4 solver.

pub fn with_solver(solver: Box<dyn Solver>) -> Self

Create a simulator with a custom solver.

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

Advance simulation by one timestep.

pub fn step_with_jacobians( &self, model: &Model, state: &mut State, ) -> StepJacobians

Advance simulation by one timestep and return Jacobians.

pub fn simulate(&self, model: &Model, state: &mut State, n: usize)

Run simulation for n steps.

pub fn step_with_contacts( &self, model: &Model, state: &mut State, ground_height: f64, material: &ContactMaterial, )

Advance simulation with contact detection and resolution.

1. Runs FK to get body transforms and velocities
2. Detects ground contacts (and body-body contacts if geometries provided)
3. Computes contact forces
4. Runs ABA with contact forces as external forces
5. Integrates and updates FK

Trait Implementations

impl Default for Simulator

fn default() -> Self

Returns the “default value” for a type.