| Abstract Interface | Location | Description |
|---|---|---|
| linkage_prescribed_motion | dynamics_linkage_dynamics | Computes a prescribed angular displacement as a function of time. |
| poincare_map_progress | dynamics_maps | Reports progress after a complete ODE sample chunk is processed. |
| variational_constraint | dynamics_variational_integrators | Evaluates the holonomic equality constraints for a supplied maximal-coordinate state. |
| variational_constraint_jacobian | dynamics_variational_integrators | Computes the reduced maximal-coordinate constraint Jacobian. Translational columns are ordinary position derivatives. Rotational columns use the local quaternion variation |
| variational_force | dynamics_variational_integrators | 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. |