| Type | Intent | Optional | Attributes | Name | ||
|---|---|---|---|---|---|---|
| real(kind=real64), | intent(in) | :: | t |
The current simulation time. |
||
| type(variational_state), | intent(in) | :: | state |
The current maximal-coordinate state. |
||
| real(kind=real64), | intent(out), | dimension(:,:) | :: | force |
The 3-by-nbody world-frame force array. |
|
| real(kind=real64), | intent(out), | dimension(:,:) | :: | torque |
The 3-by-nbody body-frame torque array. |
|
| class(*), | intent(inout), | optional | :: | args |
Optional user-supplied data. |
Computes applied forces and body-frame torques at the selected force-evaluation state. Depending on the integrator settings, this is the current state, trial next state, or interpolated midpoint state. Velocity-dependent forces are reevaluated as Newton's trial state changes for the latter two modes.