model_state_stage.h

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#pragma once
 
namespace opyn
{
    // Represents a stage of state realization. A `ModelState` advances
    // through each `ModelStateStage` in sequential order until it is
    // fully realized.
    //
    // Related: https://simtk.org/api_docs/molmodel/api_docs22/Simbody/html/classSimTK_1_1Stage.html
    // Related: https://opensimconfluence.atlassian.net/wiki/spaces/OpenSim/pages/53089017/SimTK+Simulation+Concepts
    enum class ModelStateStage {
 
        // The topology of the physics system has been realized.
        topology =  0,
 
        // Modelling choices have been made.
        model,
 
        // Physical parameters have been set.
        instance,
 
        // Time has advanced and state variables have new values, but no derived information has been calculated.
        time,
 
        // The spatial positions of all bodies are known.
        position,
 
        // The spatial velocities of all bodies are known.
        velocity,
 
        // The force acting on each body is known, along with total kinetic/potential energy.
        dynamics,
 
        // The time derivatives of all continuous state variables known.
        acceleration,
 
        // Additional variables useful for output are known (optional: not required for integration).
        report,
 
        NUM_OPTIONS
    };
}