Advanced: Using DynamicObject Xmera Modules

Xmera modules such as spacecraft inherit from the DynamicObject class. These modules include the standard Xmera reset() and updateState() methods, but they also carry a state manager and a numerical integrator, because they have to solve internal ordinary differential equations (ODEs).

Each DynamicObject integrates its own states, and those of its attached state and dynamic effectors, during its own updateState() call. The integration method is the fixed step Runge-Kutta 4 (RK4) scheme, which spacecraft sets up when it is created. If several DynamicObject instances are added to a simulation, each one is integrated in turn as its task runs, at the update rate of the task it belongs to.

See Creating DynamicObject Xmera Modules for how to write a Xmera module that inherits from DynamicObject.