StateImpl.h

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#ifndef SimTK_SimTKCOMMON_STATE_IMPL_H_
#define SimTK_SimTKCOMMON_STATE_IMPL_H_
 
/* -------------------------------------------------------------------------- *
 *                       Simbody(tm): SimTKcommon                             *
 * -------------------------------------------------------------------------- *
 * This is part of the SimTK biosimulation toolkit originating from           *
 * Simbios, the NIH National Center for Physics-Based Simulation of           *
 * Biological Structures at Stanford, funded under the NIH Roadmap for        *
 * Medical Research, grant U54 GM072970. See https://simtk.org/home/simbody.  *
 *                                                                            *
 * Portions copyright (c) 2005-15 Stanford University and the Authors.        *
 * Authors: Michael Sherman                                                   *
 * Contributors: Peter Eastman                                                *
 *                                                                            *
 * Licensed under the Apache License, Version 2.0 (the "License"); you may    *
 * not use this file except in compliance with the License. You may obtain a  *
 * copy of the License at http://www.apache.org/licenses/LICENSE-2.0.         *
 *                                                                            *
 * Unless required by applicable law or agreed to in writing, software        *
 * distributed under the License is distributed on an "AS IS" BASIS,          *
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.   *
 * See the License for the specific language governing permissions and        *
 * limitations under the License.                                             *
 * -------------------------------------------------------------------------- */
   // Hide from Doxygen
 
// This header is logically an extension of State.h and is intended to be
// included from within State.h and nowhere else.
 
namespace SimTK {
 
//==============================================================================
//                           LIST OF DEPENDENTS
//==============================================================================
/* This class contains a set of downstream cache entries that are dependent 
on the value of some prerequisite that is the owner of this object. 
Prerequisites may be 
  - continuous state variables q,u,z
  - discrete variables, or
  - upstream cache entries. 
 
When the prerequisite's value changes or is explicitly invalidated, the
notePrerequisiteChange() method is invoked, causing the invalidate() method of 
each of the dependent cache entries to be called.
 
CAUTION: upstream cache entries may be invalidated implicitly by their
depends-on stage becoming invalid. For this to work, the depends-on stage
of a downstream cache entry must be at least as high as the highest depends-on
stage of any of its upstream cache prerequisites. That way it is guaranteed to
be implicitly invalidated whenever any of its upstream prerequisites are.
 
The dependents are expected to know their prerequisites so that they can
remove themselves from any lists of dependents they are on when deleted; and so 
that they can be registered on the appropriate lists of dependents when copied.
*/
class ListOfDependents {
    using CacheList = Array_<CacheEntryKey>;
public:
    using size_type      = CacheList::size_type;
    using value_type     = CacheEntryKey;
    using iterator       = CacheList::iterator;
    using const_iterator = CacheList::const_iterator;
 
    // default constructors, assignment, destructor
 
    void clear() {m_dependents.clear();}
    bool empty() const {return m_dependents.empty();}
 
    size_type size() const {return m_dependents.size();}
    const_iterator cbegin() const {return m_dependents.cbegin();}
    const_iterator cend()   const {return m_dependents.cend();}
    iterator begin() {return m_dependents.begin();}
    iterator end()   {return m_dependents.end();}
    const value_type& front() const {return m_dependents.front();}
    const value_type& back() const {return m_dependents.back();}
 
    // Search the dependents list to see if this cache entry is already on it.
    // This is a linear search but we expect these lists to be *very* short.
    // We only expect to use this during set up and tear down, not while 
    // running so we'll leave the asserts in Release builds.
    bool contains(const CacheEntryKey& ck) const {
        SimTK_ASSERT2_ALWAYS(isCacheEntryKeyValid(ck),
            "ListOfDependents::contains(): invalid cache key (%d,%d).",
            (int)ck.first, (int)ck.second);
        return std::find(cbegin(), cend(), ck) != cend(); 
    }
 
    // When a cache entry is allocated or copied it has to add itself to the
    // dependency lists for its prerequisites. If it is already on the list then
    // we screwed up the bookkeeping somehow. We don't expect to do this often
    // so we'll leave the assert in Release builds.
    void addDependent(const CacheEntryKey& ck) {
        SimTK_ASSERT2_ALWAYS(!contains(ck),
            "ListOfDependents::addDependent(): Cache entry (%d,%d) was already "
            "present in the list of dependents.",
            (int)ck.first, (int)ck.second);
        m_dependents.push_back(ck);
    }
 
    // Invalidates dependents (mutable).
    inline void notePrerequisiteChange(const StateImpl& stateImpl) const;
 
    // When a cache entry gets de-allocated, it will call this method to
    // remove itself from any lists of dependents it is on. This doesn't happen
    // often so keep the asserts in Release.
    void removeDependent(const CacheEntryKey& ck) {
        SimTK_ASSERT2_ALWAYS(isCacheEntryKeyValid(ck),
            "ListOfDependents::removeDependent(): invalid cache key (%d,%d).",
            (int)ck.first, (int)ck.second);
 
        auto p = std::find(begin(), end(), ck);
        SimTK_ASSERT2_ALWAYS(p!=m_dependents.end(),
            "ListOfDependents::removeDependent(): Cache entry (%d,%d) to be "
            "removed should have been present in the list of dependents.",
            (int)ck.first, (int)ck.second);
        m_dependents.erase(p);
    }
 
    static bool isCacheEntryKeyValid(const CacheEntryKey& ck) 
    {   return ck.first.isValid() && ck.second.isValid(); }
 
private:
    CacheList               m_dependents;
};
 
// These local classes
//      DiscreteVarInfo
//      CacheVarInfo
//      EventInfo
// contain the information needed for each discrete variable and cache entry,
// including a reference to its current value and everything needed to 
// understand its dependencies, as well as information for each Event allocated
// by a Subsystem.
//
// These are intended as elements in an allocation stack as described above,
// so it is expected that they will get reaallocated, copied, and destructed 
// during allocation as the Array_ gets resized from time to time. However, the
// discrete variable and cache entry *values* must remain in a fixed location in 
// memory once allocated, because callers are permitted to retain references to
// these values once they have been allocated. So pointers to the AbstractValues
// are kept in these objects, and only the pointers are copied around. That 
// means the actual value object will not be deleted by the destructor; be sure
// to do that explicitly in the higher-level destructor or you'll have a nasty
// leak.
 
//==============================================================================
//                           DISCRETE VAR INFO
//==============================================================================
class DiscreteVarInfo {
public:
    DiscreteVarInfo() = default;
 
    DiscreteVarInfo(Stage allocation, Stage invalidated, AbstractValue* v)
    :   m_allocationStage(allocation), m_invalidatedStage(invalidated),
        m_value(v) 
    {   assert(isReasonable()); }
 
    // Default copy constructor, copy assignment, destructor are shallow.
 
    // Use this to make this entry contain a *copy* of the source value.
    // If the destination already has a value, the new value must be
    // assignment compatible.
    DiscreteVarInfo& deepAssign(const DiscreteVarInfo& src) {
        *this = src; // copy assignment forgets dependents
        return *this;
    }
 
    // For use in the containing class's destructor.
    void deepDestruct(StateImpl&) {
        m_value.reset();
    }
 
    const Stage& getAllocationStage()  const {return m_allocationStage;}
 
    // Exchange value pointers (should be from this dv's update cache entry).
    void swapValue(Real updTime, ClonePtr<AbstractValue>& other) 
    {   m_value.swap(other); m_timeLastUpdated=updTime; }
 
    const AbstractValue& getValue() const {assert(m_value); return *m_value;}
 
    // Whenever we hand out this variables value for write access we update
    // the value version, note the update time, and notify any dependents that
    // they are now invalid with respect to this variable's value.
    AbstractValue& updValue(const StateImpl& stateImpl, Real updTime) {
       assert(m_value); 
       ++m_valueVersion;
       m_timeLastUpdated=updTime; 
       m_dependents.notePrerequisiteChange(stateImpl);
       return *m_value; 
    }
    ValueVersion getValueVersion() const {return m_valueVersion;}
    Real getTimeLastUpdated() const 
    {   assert(m_value); return m_timeLastUpdated; }
 
    const Stage&    getInvalidatedStage() const {return m_invalidatedStage;}
    CacheEntryIndex getAutoUpdateEntry()  const {return m_autoUpdateEntry;}
    void setAutoUpdateEntry(CacheEntryIndex cx) {m_autoUpdateEntry = cx;}
 
    const ListOfDependents& getDependents() const {return m_dependents;}
    ListOfDependents& updDependents() {return m_dependents;}
 
private:
    // These are fixed at construction.
    Stage                           m_allocationStage;
    Stage                           m_invalidatedStage;
    CacheEntryIndex                 m_autoUpdateEntry; // if auto update var
 
    // This is the list of cache entries that have declared explicitly that
    // this variable is a prerequisite. This list gets forgotten if we
    // copy this variable; copied cache entries (if any) have to re-register
    // themselves.
    ResetOnCopy<ListOfDependents>   m_dependents;
 
    // These change at run time.
    ClonePtr<AbstractValue>         m_value;
    ValueVersion                    m_valueVersion{1};
    Real                            m_timeLastUpdated{NaN};
 
    bool isReasonable() const
    {    return (m_allocationStage==Stage::Topology 
                 || m_allocationStage==Stage::Model)
             && (m_invalidatedStage > m_allocationStage)
             && (m_value != nullptr); }
};
 
 
 
//==============================================================================
//                            CACHE ENTRY INFO
//==============================================================================
/* A cache entry holds an AbstractValue that is computed ("realized") from the
values of state variables. Its primary purpose is to efficiently and flawlessly
keep track of whether that value is up to date with respect to the state
variables from which it is realized. For efficiency, there are two 
mechanisms used: the "computation stage" system provides coarse granularity
that is sufficient for most cache entries. When additional finesse is needed,
a cache entry may also specify a set of prerequisite state variables or other
cache entries that it depends on. 
 
A cache entry specifies a "depends-on" stage. If its owning subsystem's stage
is below that, the cache entry's value *cannot* be valid. It may optionally
specify a "computed-by" stage; if its subsystem's stage has reached that then
the cache entry's value is *guaranteed* to be valid. If the stage is in 
between, then validity is determined as follows:
  - compare the saved depends-on stage version with the curent version; if they
    don't match then the cache entry is not valid
  - then, the cache entry is valid if its up-to-date-with-prerequisites
    flag is set and invalid otherwise.
 
Cache entries also have an allocation stage (Topology, Model, or Instance)
and must be de-allocated if that stage is invalidated.
*/
class SimTK_SimTKCOMMON_EXPORT CacheEntryInfo {
public:
    CacheEntryInfo() {}
 
    CacheEntryInfo(const CacheEntryKey& myKey, 
                   Stage allocation, Stage dependsOn, Stage computedBy, 
                   AbstractValue* value)
    :   m_myKey(myKey), 
        m_allocationStage(allocation), m_dependsOnStage(dependsOn), 
        m_computedByStage(computedBy), m_value(value)
    {   assert(isReasonable()); }
 
    CacheEntryInfo& setPrerequisiteQ() {m_qIsPrerequisite = true; return *this;}
    CacheEntryInfo& setPrerequisiteU() {m_uIsPrerequisite = true; return *this;}
    CacheEntryInfo& setPrerequisiteZ() {m_zIsPrerequisite = true; return *this;}
 
    CacheEntryInfo& setPrerequisite(const DiscreteVarKey& dk) {
        SimTK_ASSERT2(!isPrerequisite(dk),
            "CacheEntryInfo::setPrerequisite(): "
            "Discrete variable (%d,%d) is already on the list.",
             (int)dk.first, (int)dk.second);
        m_discreteVarPrerequisites.push_back(dk);
        return *this;
    }
 
    CacheEntryInfo& setPrerequisite(const CacheEntryKey& ck) {
        SimTK_ASSERT2(!isPrerequisite(ck),
            "CacheEntryInfo::setPrerequisite(): "
            "Cache entry (%d,%d) is already on the list.",
             (int)ck.first, (int)ck.second);
        m_cacheEntryPrerequisites.push_back(ck);
        return *this;
    }
 
    // Add this cache entry to the lists of dependents of its prerequisites in
    // the containing State. If there are no prerequisites the "is up to date
    // with prerequisites" flag is set true, otherwise it is set false and
    // requires an explicit markAsUpToDate() call to be valid.
    void registerWithPrerequisites(StateImpl&);
 
    // Remove this cache entry from the lists of dependents of its prerequisites
    // in the containing State. This is invoked on destruction. It is possible
    // that a prerequisite has already been destructed; that's not an error
    // because we don't attempt to destruct dependents before their 
    // prerequisites when un-allocating things.
    void unregisterWithPrerequisites(StateImpl&) const;
 
    // This method must be *very* fast and inline-able; it is called every time
    // a cache entry is accessed to look at its value -- and that is a lot!
    SimTK_FORCE_INLINE bool isUpToDate(const StateImpl&) const;
 
    // This must be called when cache entry evaluation is complete to record
    // the depends-on version and set the "is up to date with prerequisites"
    // flag. A cache entry with no prerequisites need not call this as long
    // as it isn't accessed until its computed-by stage.
    inline void markAsUpToDate(const StateImpl&);
 
    // We know this cache entry is illegally out of date from an earlier
    // call to isUpToDate(). Now we can afford to spend some time making
    // a nice error message.
    void throwHelpfulOutOfDateMessage(const StateImpl&,
                                      const char* funcName) const;
 
 
    // This affects only the explicit "last computed" flags which do not fully
    // determine whether the value is current; see isUpToDate() above.
    // If a cache entry has a computed-by stage, you have to invalidate that
    // stage in its subsystem also if you want to ensure it is invalid.
    void invalidate(const StateImpl& stateImpl) {
        m_dependsOnVersionWhenLastComputed = StageVersion(0);
        m_isUpToDateWithPrerequisites = false;
        ++m_valueVersion;
        m_dependents.notePrerequisiteChange(stateImpl);
    }
 
    // Use this to make this entry contain a *copy* of the source value.
    CacheEntryInfo& deepAssign(const CacheEntryInfo& src) {
        *this = src; // copy assignment forgets dependents
        return *this;
    }
 
    // For use in the containing class's destructor.
    void deepDestruct(StateImpl& stateImpl) {
        m_value.reset(); // destruct the AbstractValue
        unregisterWithPrerequisites(stateImpl);
    }
 
    const Stage& getAllocationStage() const {return m_allocationStage;}
 
    // Exchange values with a discrete variable (presumably this
    // cache entry has been determined to be that variable's update
    // entry but we're not checking here).
    void swapValue(Real updTime, DiscreteVarInfo& dv) 
    {   dv.swapValue(updTime, m_value); }
 
    const AbstractValue& getValue() const {assert(m_value); return *m_value;}
 
    // Merely handing out the cache entry's value with write access does not
    // trigger invalidation of dependents. (Maybe it should, but currently it
    // gets done often with no intent to modify, esp. by SBStateDigest.)
    // So be sure that the cache entry gets invalidated first either by an
    // explicit prerequisite change notification, or because the depends-on
    // stage got invalidated.
    AbstractValue& updValue(const StateImpl& stateImpl) {
       assert(m_value); 
       return *m_value; 
    }
    ValueVersion getValueVersion() const {return m_valueVersion;}
 
    // Recall the stage version number of this CacheEntry's owner Subsystem's 
    // depends-on stage as it was at last realization of this entry.
    StageVersion getDependsOnVersionWhenLastComputed() const 
    {   return m_dependsOnVersionWhenLastComputed; }
 
    const Stage&          getDependsOnStage()  const {return m_dependsOnStage;}
    const Stage&          getComputedByStage() const {return m_computedByStage;}
    DiscreteVariableIndex getAssociatedVar()   const {return m_associatedVar;}
    void setAssociatedVar(DiscreteVariableIndex dx)  {m_associatedVar=dx;}
 
    bool isQPrerequisite() const {return m_qIsPrerequisite;}
    bool isUPrerequisite() const {return m_uIsPrerequisite;}
    bool isZPrerequisite() const {return m_zIsPrerequisite;}
    bool isPrerequisite(const DiscreteVarKey& dk) const { 
        return std::find(m_discreteVarPrerequisites.cbegin(),
                         m_discreteVarPrerequisites.cend(), dk)
               != m_discreteVarPrerequisites.cend();
    }
    bool isPrerequisite(const CacheEntryKey& ck) const { 
        return std::find(m_cacheEntryPrerequisites.cbegin(),
                         m_cacheEntryPrerequisites.cend(), ck)
               != m_cacheEntryPrerequisites.cend();
    }
 
    void recordPrerequisiteVersions(const StateImpl&);
    void validatePrerequisiteVersions(const StateImpl&) const;
 
    const ListOfDependents& getDependents() const {return m_dependents;}
    ListOfDependents& updDependents() {return m_dependents;}
 
private:
    // These are fixed at construction.
    CacheEntryKey               m_myKey;           // location in State
    Stage                       m_allocationStage; // lifetime
    Stage                       m_dependsOnStage;  // can't be valid until here
    Stage                       m_computedByStage; // must be valid after here
    DiscreteVariableIndex       m_associatedVar;   // if an auto-update entry
 
    // Dependencies in addition to depends-on stage dependence. These are set
    // during allocation and used during de-allocation and copying.
    bool                        m_qIsPrerequisite{false}, 
                                m_uIsPrerequisite{false}, 
                                m_zIsPrerequisite{false};
    Array_<DiscreteVarKey>      m_discreteVarPrerequisites;
    Array_<CacheEntryKey>       m_cacheEntryPrerequisites;
 
    // This is set when other cache entries dependent on this one are
    // constructed. Each of these is invalidated whenever this entry is
    // explicitly invalidated (not when dependsOn stage gets invalidated).
    // This is not copied if the cache entry is copied; copied dependents
    // if any have to re-register themselves.
    ResetOnCopy<ListOfDependents> m_dependents;
 
    // These change at run time. Initially assume we don't have any
    // prerequisites so we are up to date with respect to them. We'll change
    // the initial value to false in registerWithPrerequisites() if there
    // are some.
    ClonePtr<AbstractValue>     m_value;
    ValueVersion                m_valueVersion{1};
    StageVersion                m_dependsOnVersionWhenLastComputed{0};
    bool                        m_isUpToDateWithPrerequisites{true};
 
 
    // These are just for debugging. At the time this is marked valid version
    // numbers are recorded for every prerequisite. Then the "is valid" code
    // can double check that the "is up to date with prerequisites" flag is
    // set correctly.
    ValueVersion                m_qVersion{0}, m_uVersion{0}, m_zVersion{0};
    Array_<ValueVersion>        m_discreteVarVersions;
    Array_<ValueVersion>        m_cacheEntryVersions;
 
    bool isReasonable() const {
        return (   m_allocationStage==Stage::Topology
                || m_allocationStage==Stage::Model
                || m_allocationStage==Stage::Instance)
            && (m_computedByStage >= m_dependsOnStage)
            && (m_value != nullptr)
            && (m_dependsOnVersionWhenLastComputed >= 0)
            && (ListOfDependents::isCacheEntryKeyValid(m_myKey)); 
    }
};
 
 
 
//==============================================================================
//                               TRIGGER INFO
//==============================================================================
class TriggerInfo {
public:
    TriggerInfo() 
    :   allocationStage(Stage::Empty), firstIndex(-1), nslots(0) {}
 
    TriggerInfo(Stage allocation, int index, int n)
    :   allocationStage(allocation), firstIndex(index), nslots(n)
    {   assert(isReasonable()); assert(n>0);}
 
    // Default copy constructor, copy assignment, destructor are fine since 
    // there is no heap object owned here.
 
    int getFirstIndex() const {return firstIndex;}
    int getNumSlots() const {return nslots;}
 
    // These the the "virtual" methods required by template methods elsewhere.
    TriggerInfo& deepAssign(const TriggerInfo& src) 
    {   return operator=(src); }
    void         deepDestruct(StateImpl&) {}
    const Stage& getAllocationStage() const {return allocationStage;}
private:
    // These are fixed at construction.
    Stage                   allocationStage;
    int                     firstIndex;
    int                     nslots;
 
    bool isReasonable() const {
        return (    allocationStage==Stage::Topology
                 || allocationStage==Stage::Model
                 || allocationStage==Stage::Instance);
    }
};
 
 
 
//==============================================================================
//                           CONTINUOUS VAR INFO
//==============================================================================
// Used for q, u, and z (in separate stacks).
// These accumulate default values for this subsystem's use of shared
// global state variables. After the System is advanced to Stage::Model,
// the state will allocate those globals and copy the initial
// values stored here into them. Some of these are allocated at Topology
// stage, and some at Model stage. If Model stage is invalidated, variables
// allocated then are forgotten while the ones allocated at Topology stage
// remain.
class ContinuousVarInfo {
public:
    ContinuousVarInfo() : allocationStage(Stage::Empty), firstIndex(-1) {}
 
    ContinuousVarInfo(Stage         allocation, 
                      int           index,  // QIndex, UIndex, or ZIndex
                      const Vector& initVals, 
                      const Vector& varWeights=Vector())
    :   allocationStage(allocation), firstIndex(index), initialValues(initVals)
    {   assert(isReasonable());
        assert(varWeights.size()==0 || varWeights.size()==initVals.size());
        assert(weightsAreOK(varWeights));
        if (varWeights.size()) weights=varWeights;
        else weights=Vector(initVals.size(), Real(1));
    }
 
    int getFirstIndex() const {return firstIndex;}
    int getNumVars() const {return initialValues.size();}
    const Vector& getInitialValues() const {return initialValues;}
    const Vector& getWeights() const {return weights;}
 
    // Default copy constructor, copy assignment, destructor are fine since 
    // there is no heap object owned here.
 
    // These the the "virtual" methods required by template methods elsewhere.
    ContinuousVarInfo& deepAssign(const ContinuousVarInfo& src) 
    {   return operator=(src); }
    void               deepDestruct(StateImpl&) {}
    const Stage&       getAllocationStage() const {return allocationStage;}
private:
    // These are fixed at construction.
    Stage     allocationStage;
    int       firstIndex;   // a QIndex, UIndex, or ZIndex
    Vector    initialValues;
    Vector    weights; // only used for u and z
 
    static bool weightsAreOK(const Vector& wts) {
        for (int i=0; i<wts.size(); ++i)
            if (wts[i] <= 0) return false;
        return true;
    }
 
    bool isReasonable() const {
        return (    allocationStage==Stage::Topology
                 || allocationStage==Stage::Model);
    }
};
 
//==============================================================================
//                           CONSTRAINT ERR INFO
//==============================================================================
// Used for qerr, uerr, and udoterr.
class ConstraintErrInfo {
public:
    ConstraintErrInfo() : allocationStage(Stage::Empty), firstIndex(-1) {}
 
    ConstraintErrInfo(Stage         allocation,
                      int           index, // QErr, UErr, or UDotErrIndex
                      int           nerr,
                      const Vector& varWeights=Vector())
    :   allocationStage(allocation), firstIndex(index)
    {   assert(isReasonable());
        assert(varWeights.size()==0 || varWeights.size()==nerr);
        assert(weightsAreOK(varWeights));
        if (varWeights.size()) weights=varWeights;
        else weights=Vector(nerr, Real(1));
    }
 
    int getFirstIndex() const {return firstIndex;}
    int getNumErrs() const {return weights.size();}
    const Vector& getWeights() const {return weights;}
 
    // Default copy constructor, copy assignment, destructor are fine since 
    // there is no heap object owned here.
 
    // These the the "virtual" methods required by template methods elsewhere.
    ConstraintErrInfo& deepAssign(const ConstraintErrInfo& src) 
    {   return operator=(src); }
    void               deepDestruct(StateImpl&) {}
    const Stage&       getAllocationStage() const {return allocationStage;}
private:
    // These are fixed at construction.
    Stage     allocationStage;
    int       firstIndex;   // a QErrIndex, UErrIndex, or UDotErrIndex
    Vector    weights;      // only used for u and z
 
    static bool weightsAreOK(const Vector& wts) {
        for (int i=0; i<wts.size(); ++i)
            if (wts[i] <= 0) return false;
        return true;
    }
 
    bool isReasonable() const {
        return (    allocationStage==Stage::Topology
                 || allocationStage==Stage::Model
                 || allocationStage==Stage::Instance);
    }
};
 
 
 
//==============================================================================
//                           PER SUBSYSTEM INFO
//==============================================================================
// This internal utility class is used to capture all the information needed for
// a single subsystem within the StateImpl.
class SimTK_SimTKCOMMON_EXPORT PerSubsystemInfo {
public:
    explicit PerSubsystemInfo(StateImpl& stateImpl,
                              const String& n="", const String& v="") 
    :   m_stateImpl(stateImpl), name(n), version(v)
    {   initialize(); }
 
    // Everything will properly clean itself up.
    ~PerSubsystemInfo() {
    }
 
    // Copy constructor copies all variables but cache only through
    // Instance stage. Note that this must be done in conjunction with
    // copying the whole state or our global resource indices will
    // be nonsense. Also, dependency lists are cleared and cache entries
    // must re-register in the new State after all subsystems have been copied.
    // (Dependencies can be cross-subsystem.)
    // The back reference to the StateImpl is null after this and must be
    // set to reference the new StateImpl.
    PerSubsystemInfo(const PerSubsystemInfo& src) {
        initialize();
        copyFrom(src, Stage::Instance);
    }
 
    // The back reference to the containing StateImpl remains unchanged.
    PerSubsystemInfo& operator=(const PerSubsystemInfo& src) {
        // destination is already initialized; copyFrom() will try
        // to reuse space and will properly clean up unused stuff
        if (&src != this)
            copyFrom(src, Stage::Instance);
        return *this;
    }
 
    // Back up to the stage just before g if this subsystem thinks
    // it is already at g or beyond. Note that we may be backing up
    // over many stages here. Careful: invalidating the stage
    // for a subsystem must also invalidate the same stage for all
    // the other subsystems and the system as a whole but we don't
    // take care of that here. Also, you can't invalidate Stage::Empty.
    void invalidateStageJustThisSubsystem(Stage g) {
        assert(g > Stage::Empty);
        restoreToStage(g.prev());
    }
 
    // Advance from stage g-1 to stage g. This is called at the end
    // of realize(g). You can't use this to "advance" to Stage::Empty.
    // It is a fatal error if the current stage isn't g-1.
    void advanceToStage(Stage g) const {
        assert(g > Stage::Empty);
        assert(currentStage == g.prev());
 
        // This validates whatever the current version number is of Stage g.
        currentStage = g;
    }
 
 
    void clearReferencesToModelStageGlobals() {
        qstart.invalidate(); ustart.invalidate(); 
        zstart.invalidate();
        q.clear(); u.clear(); z.clear();
        uWeights.clear(); zWeights.clear();
        qdot.clear(); udot.clear(); zdot.clear(); qdotdot.clear();
    }
 
    void clearReferencesToInstanceStageGlobals() {
        // These are late-allocated state variables.
        qerrWeights.clear(); uerrWeights.clear();
 
        // These are all mutable cache entries.
        qerrstart.invalidate();uerrstart.invalidate();udoterrstart.invalidate();
        qerr.clear();uerr.clear();udoterr.clear();multipliers.clear();
 
        for (int j=0; j<Stage::NValid; ++j) {
            triggerstart[j].invalidate();
            triggers[j].clear();
        }
    }
 
    QIndex getNextQIndex() const {
        if (q_info.empty()) return QIndex(0);
        const ContinuousVarInfo& last = q_info.back();
        return QIndex(last.getFirstIndex()+last.getNumVars());
    }
    UIndex getNextUIndex() const {
        if (uInfo.empty()) return UIndex(0);
        const ContinuousVarInfo& last = uInfo.back();
        return UIndex(last.getFirstIndex()+last.getNumVars());
    }
    ZIndex getNextZIndex() const {
        if (zInfo.empty()) return ZIndex(0);
        const ContinuousVarInfo& last = zInfo.back();
        return ZIndex(last.getFirstIndex()+last.getNumVars());
    }
 
    QErrIndex getNextQErrIndex() const {
        if (qerrInfo.empty()) return QErrIndex(0);
        const ConstraintErrInfo& last = qerrInfo.back();
        return QErrIndex(last.getFirstIndex()+last.getNumErrs());
    }
    UErrIndex getNextUErrIndex() const {
        if (uerrInfo.empty()) return UErrIndex(0);
        const ConstraintErrInfo& last = uerrInfo.back();
        return UErrIndex(last.getFirstIndex()+last.getNumErrs());
    }
    UDotErrIndex getNextUDotErrIndex() const {
        if (udoterrInfo.empty()) return UDotErrIndex(0);
        const ConstraintErrInfo& last = udoterrInfo.back();
        return UDotErrIndex(last.getFirstIndex()+last.getNumErrs());
    }
    DiscreteVariableIndex getNextDiscreteVariableIndex() const {
        return DiscreteVariableIndex(discreteInfo.size());
    }
    CacheEntryIndex getNextCacheEntryIndex() const {
        return CacheEntryIndex(cacheInfo.size());
    }
    EventTriggerByStageIndex getNextEventTriggerByStageIndex(Stage g) const {
        if (triggerInfo[g].empty()) return EventTriggerByStageIndex(0);
        const TriggerInfo& last = triggerInfo[g].back();
        return EventTriggerByStageIndex
            (last.getFirstIndex()+last.getNumSlots());
    }
 
    bool hasDiscreteVar(DiscreteVariableIndex index) const {
        return index < (int)discreteInfo.size();
    }
 
 
    SimTK_FORCE_INLINE const DiscreteVarInfo& 
    getDiscreteVarInfo(DiscreteVariableIndex index) const {
        SimTK_INDEXCHECK(index,(int)discreteInfo.size(),
                         "PerSubsystemInfo::getDiscreteVarInfo()");
        return discreteInfo[index];
    }
 
    SimTK_FORCE_INLINE DiscreteVarInfo&
    updDiscreteVarInfo(DiscreteVariableIndex index) {
        SimTK_INDEXCHECK(index,(int)discreteInfo.size(),
                         "PerSubsystemInfo::updDiscreteVarInfo()");
        return discreteInfo[index];
    }
 
 
    bool hasCacheEntry(CacheEntryIndex index) const {
        return index < (int)cacheInfo.size();
    }
 
    SimTK_FORCE_INLINE const CacheEntryInfo& 
    getCacheEntryInfo(CacheEntryIndex index) const {
        SimTK_INDEXCHECK(index,(int)cacheInfo.size(),
                         "PerSubsystemInfo::getCacheEntryInfo()");
        return cacheInfo[index];
    }
 
    SimTK_FORCE_INLINE CacheEntryInfo&
    updCacheEntryInfo(CacheEntryIndex index) const {
        SimTK_INDEXCHECK(index,(int)cacheInfo.size(),
                         "PerSubsystemInfo::updCacheEntryInfo()");
        return cacheInfo[index]; // mutable
    }
 
    SimTK_FORCE_INLINE Stage getCurrentStage() const {return currentStage;}
    SimTK_FORCE_INLINE StageVersion getStageVersion(Stage g) const 
    {   return stageVersions[g]; }
 
private:
friend class StateImpl;
    ReferencePtr<StateImpl>     m_stateImpl; // container of this subsystem
 
    String name;
    String version;
 
        // DEFINITIONS //
 
    // State variables (continuous or discrete) can be defined (allocated) 
    // during realization of Topology or Model stages. Cache entries,
    // constraint error slots, and event trigger slots can be defined during 
    // realization of Topology, Model, or Instance stages. No further 
    // allocations are allowed. Then, when one of these stages is invalidated, 
    // all the definitions that occurred during realization of that stage must 
    // be forgotten.
    // 
    // To do that the allocation entries are stored in arrays which are really 
    // stacks, with definitions pushed onto the ends as the stage is advanced 
    // and popped off the ends as the stage is reduced.
 
    // Topology and Model stage definitions. 
    Array_<ContinuousVarInfo>      q_info, uInfo, zInfo;//qInfo -> q_info Qt definition conflict
    Array_<DiscreteVarInfo>        discreteInfo;
 
    // Topology, Model, and Instance stage definitions.
    mutable Array_<ConstraintErrInfo>   qerrInfo, uerrInfo, udoterrInfo;
    mutable Array_<TriggerInfo>         triggerInfo[Stage::NValid];
    mutable Array_<CacheEntryInfo>      cacheInfo;
   
        // GLOBAL RESOURCE ALLOCATIONS //
 
    // These are our own private views into partitions of the global
    // state and cache entries of the same names. The State will assign
    // contiguous blocks to this subsystem when the *System* stage is raised
    // to Model or Instance stage, and they are invalidated whenever that 
    // stage is invalidated. The starting indices are filled in here at 
    // the time the views are built.
 
    // Model stage global resources and views into them.
    SystemQIndex    qstart;
    SystemUIndex    ustart;
    SystemZIndex    zstart;
    Vector          q, u, z;
    Vector          uWeights, zWeights;
 
    mutable Vector  qdot, udot, zdot, qdotdot;
 
    // Instance stage global resources and views into them.
    Vector          qerrWeights, uerrWeights;
 
    // Note that multipliers just use the same indices as udoterr.
    mutable SystemQErrIndex                 qerrstart;
    mutable SystemUErrIndex                 uerrstart;
    mutable SystemUDotErrIndex              udoterrstart;
    mutable SystemEventTriggerByStageIndex  triggerstart[Stage::NValid];
 
    mutable Vector  qerr, uerr;
 
    mutable Vector  udoterr, multipliers; // same size and partioning
    mutable Vector  triggers[Stage::NValid];
 
    // The currentStage is the highest stage of this subsystem that is valid,
    // meaning that it has been realized since the last change to any variable
    // that might affect it. All stages less than currentStage are also valid,
    // and all higher stages are invalid.
    // Each stage has a "stage version" which is like a serial number that is
    // bumped every time the stage is invalidated by a variable change. Cache
    // entries that are calculated from a particular stage version can record
    // the version number to allow a quick check later -- if the current version
    // of a cache entry's dependsOn stage is different than the one stored with
    // the cache entry, then that cache entry cannot be valid.
    mutable Stage        currentStage;
    mutable StageVersion stageVersions[Stage::NValid];
 
private:
    // This is for use in constructors and for resetting an existing State into
    // its just-constructed condition.
    void initialize() {
        clearAllStacks();
        qstart.invalidate();ustart.invalidate();zstart.invalidate();
        qerrstart.invalidate();uerrstart.invalidate();udoterrstart.invalidate();
        for (int j=0; j<Stage::NValid; ++j) {
            triggerstart[j].invalidate();
            stageVersions[j] = 1; // never 0
        }
        currentStage = Stage::Empty;
    }
 
    // Manage allocation stacks.
 
    void clearContinuousVars();
    void clearConstraintErrs();
    void clearDiscreteVars();
    void clearEventTriggers(int g);
    void clearCache();
 
    void clearAllStacks();
 
    void popContinuousVarsBackToStage(const Stage& g);
    void popDiscreteVarsBackToStage(const Stage& g);
    void popConstraintErrsBackToStage(const Stage& g);
    void popCacheBackToStage(const Stage& g);
    void popEventTriggersBackToStage(const Stage& g);
 
    void popAllStacksBackToStage(const Stage& g);
 
    // Call once each for q_info, uInfo, zInfo.
    void copyContinuousVarInfoThroughStage
       (const Array_<ContinuousVarInfo>& src, const Stage& g,
        Array_<ContinuousVarInfo>& dest);
 
    void copyDiscreteVarsThroughStage
       (const Array_<DiscreteVarInfo>& src, const Stage& g);
 
    // Call once each for qerrInfo, uerrInfo, udoterrInfo.
    void copyConstraintErrInfoThroughStage
       (const Array_<ConstraintErrInfo>& src, const Stage& g,
        Array_<ConstraintErrInfo>& dest);
 
    void copyCacheThroughStage
       (const Array_<CacheEntryInfo>& src, const Stage& g);
 
    void copyEventsThroughStage
       (const Array_<TriggerInfo>& src, const Stage& g,
        Array_<TriggerInfo>& dest);
 
    void copyAllStacksThroughStage(const PerSubsystemInfo& src, const Stage& g);
 
    // Restore this subsystem to the way it last was at realize(g) for a given 
    // Stage g; that is, invalidate all stages > g. Allocations will be 
    // forgotten as Instance, Model, and Topology stages are invalidated.
    void restoreToStage(Stage g);
 
    // Utility which makes "this" a copy of the source subsystem exactly as it
    // was after being realized to stage maxStage. If maxStage >= Model then
    // all the subsystem-private state variables will be copied, but only
    // cached computations up through maxStage come through. We clear
    // our references to global variables regardless -- those will have to
    // be repaired at the System (State global) level.
    void copyFrom(const PerSubsystemInfo& src, Stage maxStage);
 
    // Stack methods; see implementation for explanation.
    template <class T> 
    void clearAllocationStack(Array_<T>& stack);
    template <class T> 
    void resizeAllocationStack(Array_<T>& stack, int newSize);
    template <class T>
    void popAllocationStackBackToStage(Array_<T>& stack, const Stage&);
    template <class T>
    void copyAllocationStackThroughStage(Array_<T>& stack, 
                                         const Array_<T>& src, const Stage&);
};
 
 
//==============================================================================
//                                 STATE IMPL
//==============================================================================
 
class SimTK_SimTKCOMMON_EXPORT StateImpl {
public:
    // For stages, the version is always the one that will be there when
    // the stage is next realized, so the constructor initializes them to
    // the first valid stage version, 1. Value versions for state variables
    // and cache entries are initialized to 0 (not valid) and bumped when
    // marked valid.
    StateImpl() {        
        for (int i=0; i < Stage::NValid; ++i)
            systemStageVersions[i] = 1; // 0 is not legal
    }
 
    // We'll do the copy constructor and assignment explicitly here
    // to get tight control over what's allowed.
    StateImpl(const StateImpl& src);
 
    StateImpl& operator=(const StateImpl& src);
 
    ~StateImpl() {}
 
    // Copies all the variables but not the cache.
    StateImpl* clone() const {return new StateImpl(*this);}
 
    const Stage& getSystemStage() const {return currentSystemStage;}
    Stage&       updSystemStage() const {return currentSystemStage;} // mutable
 
 
    SimTK_FORCE_INLINE const PerSubsystemInfo& 
    getSubsystem(SubsystemIndex subx) const {
        SimTK_INDEXCHECK(subx, (int)subsystems.size(), 
                         "StateImpl::getSubsystem()");
        return subsystems[subx];
    }
 
    SimTK_FORCE_INLINE PerSubsystemInfo& 
    updSubsystem(SubsystemIndex subx) {
        SimTK_INDEXCHECK(subx, (int)subsystems.size(), 
                         "StateImpl::updSubsystem()");
        return subsystems[subx];
    }
 
    const Stage& getSubsystemStage(int subsystem) const {
        return subsystems[subsystem].currentStage;
    }
    Stage& updSubsystemStage(int subsystem) const {
        return subsystems[subsystem].currentStage; // mutable
    }
 
    const StageVersion* getSubsystemStageVersions(int subsystem) const {
        return subsystems[subsystem].stageVersions;
    }
 
    // Back up the System stage just before stg if it thinks
    // it is already at stg or beyond. Note that we may be backing up
    // over many stages here. Careful: invalidating the stage
    // for the system must also invalidate the same stage for all
    // the subsystems (because we trash the shared resource pool
    // here if we back up earlier than Stage::Model) but we don't
    // take care of that here. Also, you can't invalidate Stage::Empty.
    void invalidateJustSystemStage(Stage stg);
 
    // Advance the System stage from stg-1 to stg. It is a fatal error if
    // we're not already at stg-1, and you can't advance to Stage::Empty.
    // Also, you can't advance the system to stg unless ALL subsystems have
    // already gotten there.
    void advanceSystemToStage(Stage stg) const;
    
    void setNumSubsystems(int nSubs) {
        assert(nSubs >= 0);
        subsystems.clear();
        for (int i=0; i < nSubs; ++i)
            subsystems.emplace_back(*this); // set backpointer
    }
    
    void initializeSubsystem
       (SubsystemIndex i, const String& name, const String& version) {
        updSubsystem(i).name = name;
        updSubsystem(i).version = version;
    }
      
    SubsystemIndex addSubsystem(const String& name, const String& version) {
        const SubsystemIndex sx(subsystems.size());
        subsystems.emplace_back(*this, name, version);
        return sx;
    }
    
    int getNumSubsystems() const {return (int)subsystems.size();}
    
    const String& getSubsystemName(SubsystemIndex subsys) const {
        return subsystems[subsys].name;
    }
    const String& getSubsystemVersion(SubsystemIndex subsys) const {
        return subsystems[subsys].version;
    }
 
    // Make sure the stage is no higher than g-1 for *any* subsystem and
    // hence for the system stage also. TODO: this should be more selective.
    void invalidateAll(Stage g) {
        invalidateJustSystemStage(g);
        for (SubsystemIndex i(0); i<(int)subsystems.size(); ++i)
            subsystems[i].invalidateStageJustThisSubsystem(g);
    }
 
    // Make sure the stage is no higher than g-1 for *any* subsystem and
    // hence for the system stage also. Same as invalidateAll() except this
    // requires only const access and can't be used for g below Instance.
    void invalidateAllCacheAtOrAbove(Stage g) const {
        SimTK_STAGECHECK_GE_ALWAYS(g, Stage::Instance, 
            "StateImpl::invalidateAllCacheAtOrAbove()");
 
        // We promise not to hurt this State; get non-const access just so
        // we can call these methods.
        StateImpl* mthis = const_cast<StateImpl*>(this);
        mthis->invalidateJustSystemStage(g);
        for (SubsystemIndex i(0); i<(int)subsystems.size(); ++i)
            mthis->subsystems[i].invalidateStageJustThisSubsystem(g);
    }
    
    // Move the stage for a particular subsystem from g-1 to g. No other
    // subsystems are affected, nor the global system stage.
    void advanceSubsystemToStage(SubsystemIndex subsys, Stage g) const {
        subsystems[subsys].advanceToStage(g);
        // We don't automatically advance the System stage even if this brings
        // ALL the subsystems up to stage g.
    }
     
    // We don't expect State entry allocations to be performance critical so
    // we'll keep error checking on even in Release mode.
    
    QIndex allocateQ(SubsystemIndex subsys, const Vector& qInit) {
        SimTK_STAGECHECK_LT_ALWAYS(getSubsystemStage(subsys), Stage::Model, 
                                   "StateImpl::allocateQ()");
        // We are currently realizing the next stage.
        const Stage allocStage = getSubsystemStage(subsys).next();
        PerSubsystemInfo& ss = subsystems[subsys];
        const QIndex nxt(ss.getNextQIndex());
        ss.q_info.push_back(ContinuousVarInfo(allocStage,nxt,qInit,Vector())); 
        return nxt;
    }
    
    UIndex allocateU(SubsystemIndex subsys, const Vector& uInit) {
        SimTK_STAGECHECK_LT_ALWAYS(getSubsystemStage(subsys), Stage::Model, 
                                   "StateImpl::allocateU()");
        const Stage allocStage = getSubsystemStage(subsys).next();
        PerSubsystemInfo& ss = subsystems[subsys];
        const UIndex nxt(ss.getNextUIndex());
        ss.uInfo.push_back(ContinuousVarInfo(allocStage,nxt,uInit,Vector())); 
        return nxt;
    }
    ZIndex allocateZ(SubsystemIndex subsys, const Vector& zInit) {
        SimTK_STAGECHECK_LT_ALWAYS(getSubsystemStage(subsys), Stage::Model, 
                                   "StateImpl::allocateZ()");
        const Stage allocStage = getSubsystemStage(subsys).next();
        PerSubsystemInfo& ss = subsystems[subsys];
        const ZIndex nxt(ss.getNextZIndex());
        ss.zInfo.push_back(ContinuousVarInfo(allocStage,nxt,zInit,Vector())); 
        return nxt;
    }
    
    QErrIndex allocateQErr(SubsystemIndex subsys, int nqerr) const {
        SimTK_STAGECHECK_LT_ALWAYS(getSubsystemStage(subsys), Stage::Instance, 
                                   "StateImpl::allocateQErr()");
        const Stage allocStage = getSubsystemStage(subsys).next();
        const PerSubsystemInfo& ss = subsystems[subsys];
        const QErrIndex nxt(ss.getNextQErrIndex());
        ss.qerrInfo.push_back(ConstraintErrInfo(allocStage,nxt,nqerr,Vector())); 
        return nxt;
    }
    UErrIndex allocateUErr(SubsystemIndex subsys, int nuerr) const {
        SimTK_STAGECHECK_LT_ALWAYS(getSubsystemStage(subsys), 
                                   Stage::Instance,"StateImpl::allocateUErr()");
        const Stage allocStage = getSubsystemStage(subsys).next();
        const PerSubsystemInfo& ss = subsystems[subsys];
        const UErrIndex nxt(ss.getNextUErrIndex());
        ss.uerrInfo.push_back(ConstraintErrInfo(allocStage,nxt,nuerr,Vector())); 
        return nxt;
    }
    UDotErrIndex allocateUDotErr(SubsystemIndex subsys, int nudoterr) const {
        SimTK_STAGECHECK_LT_ALWAYS(getSubsystemStage(subsys), Stage::Instance,
                                   "StateImpl::allocateUDotErr()");
        const Stage allocStage = getSubsystemStage(subsys).next();
        const PerSubsystemInfo& ss = subsystems[subsys];
        const UDotErrIndex nxt(ss.getNextUDotErrIndex());
        ss.udoterrInfo.push_back
           (ConstraintErrInfo(allocStage,nxt,nudoterr,Vector())); 
        return nxt;
    }
    EventTriggerByStageIndex allocateEventTrigger
       (SubsystemIndex subsys, Stage g, int nt) const {
        SimTK_STAGECHECK_LT_ALWAYS(getSubsystemStage(subsys), Stage::Instance, 
                                   "StateImpl::allocateEventTrigger()");
        const Stage allocStage = getSubsystemStage(subsys).next();
        const PerSubsystemInfo& ss = subsystems[subsys];
        const EventTriggerByStageIndex 
            nxt(ss.getNextEventTriggerByStageIndex(g));
        ss.triggerInfo[g].push_back(TriggerInfo(allocStage,nxt,nt)); 
        return nxt;
    }
    
    // Topology- and Model-stage State variables can only be added during 
    // construction; that is, while stage <= Topology. Other entries can be 
    // added while stage < Model.
    DiscreteVariableIndex allocateDiscreteVariable
       (SubsystemIndex subsys, Stage invalidates, AbstractValue* vp) 
    {
        SimTK_STAGECHECK_RANGE_ALWAYS(Stage(Stage::LowestRuntime).prev(),
                                      invalidates, Stage::HighestRuntime, 
            "StateImpl::allocateDiscreteVariable()");
    
        const Stage maxAcceptable = (invalidates <= Stage::Model 
                                     ? Stage::Empty : Stage::Topology);
        SimTK_STAGECHECK_LT_ALWAYS(getSubsystemStage(subsys), 
            maxAcceptable.next(), "StateImpl::allocateDiscreteVariable()");
 
        const Stage allocStage = getSubsystemStage(subsys).next();    
        PerSubsystemInfo& ss = subsystems[subsys];
        const DiscreteVariableIndex nxt(ss.getNextDiscreteVariableIndex());
        ss.discreteInfo.push_back
           (DiscreteVarInfo(allocStage,invalidates,vp));
        return nxt;
    }
    
    // Cache entries can be allocated while stage < Instance.
    CacheEntryIndex allocateCacheEntry
       (SubsystemIndex subsys, Stage dependsOn, Stage computedBy,
        AbstractValue* vp) const 
    {
        SimTK_STAGECHECK_RANGE_ALWAYS(Stage(Stage::LowestRuntime).prev(), 
                                      dependsOn, Stage::HighestRuntime, 
            "StateImpl::allocateCacheEntry()");
        SimTK_STAGECHECK_RANGE_ALWAYS(dependsOn, computedBy, Stage::Infinity, 
            "StateImpl::allocateCacheEntry()");
        SimTK_STAGECHECK_LT_ALWAYS(getSubsystemStage(subsys), 
            Stage::Instance, "StateImpl::allocateCacheEntry()");
 
        const Stage allocStage = getSubsystemStage(subsys).next();    
        const PerSubsystemInfo& ss = subsystems[subsys];
        const CacheEntryIndex nxt(ss.getNextCacheEntryIndex());
        ss.cacheInfo.emplace_back(CacheEntryKey(subsys,nxt),
                                  allocStage, dependsOn, computedBy, vp);
        return nxt;
    }
 
    CacheEntryIndex allocateCacheEntryWithPrerequisites
       (SubsystemIndex subsys, Stage earliest, Stage latest,
        bool qPre, bool uPre, bool zPre,
        const Array_<DiscreteVarKey>& discreteVars,
        const Array_<CacheEntryKey>& cacheEntries,
        AbstractValue* value)
    {
        // First pre-check that no cache entry prerequisite has a later
        // depends-on stage than this one does. I'm doing this first rather
        // than combining it with the loop below so there won't be side effects
        // if this exception gets caught (likely only in testing).
        for (const auto& ckey : cacheEntries) {
            const CacheEntryInfo& prereq = getCacheEntryInfo(ckey);
            SimTK_ERRCHK4_ALWAYS(prereq.getDependsOnStage() <= earliest,
                "State::allocateCacheEntryWithPrerequisites()",
                "Prerequisite cache entry (%d,%d) has depends-on stage %s "
                "but this one would have lower depends-on stage %s. That "
                "would mean the prerequisite could get invalidated without "
                "invalidating this one; not good.",
                (int)ckey.first, (int)ckey.second, 
                prereq.getDependsOnStage().getName().c_str(),
                earliest.getName().c_str());
        }
 
        const CacheEntryIndex cx = 
            allocateCacheEntry(subsys,earliest,latest,value);
        CacheEntryInfo& cinfo = updCacheEntryInfo(CacheEntryKey(subsys,cx));
 
        if (qPre) cinfo.setPrerequisiteQ();
        if (uPre) cinfo.setPrerequisiteU();
        if (zPre) cinfo.setPrerequisiteZ();
        for (const auto& dk : discreteVars)
            cinfo.setPrerequisite(dk);
        for (const auto& ckey : cacheEntries)
            cinfo.setPrerequisite(ckey); // already validated above
 
        cinfo.registerWithPrerequisites(*this);
        return cx;
    }
 
    // Allocate a discrete variable and a corresponding cache entry for
    // updating it, and connect them together.
    DiscreteVariableIndex allocateAutoUpdateDiscreteVariable
       (SubsystemIndex subsys, Stage invalidates, AbstractValue* vp,
        Stage updateDependsOn)
    {
        const DiscreteVariableIndex dx = 
            allocateDiscreteVariable(subsys,invalidates,vp->clone());
        const CacheEntryIndex       cx = 
            allocateCacheEntry(subsys,updateDependsOn,Stage::Infinity,vp);
 
        PerSubsystemInfo& ss = subsystems[subsys];
        DiscreteVarInfo& dvinfo = ss.discreteInfo[dx];
        CacheEntryInfo&  ceinfo = ss.cacheInfo[cx];
        dvinfo.setAutoUpdateEntry(cx);
        ceinfo.setAssociatedVar(dx);
        return dx;
    }
    
        // State dimensions for shared continuous variables.
    
    int getNY() const {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Model, 
                            "StateImpl::getNY()");
        return y.size();
    }
    
    SystemYIndex getQStart() const {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Model, 
                            "StateImpl::getQStart()");
        return SystemYIndex(0); // q's come first
    }
    int getNQ() const {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Model, 
                            "StateImpl::getNQ()");
        return q.size();
    }
    
    SystemYIndex getUStart() const {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Model, 
                            "StateImpl::getUStart()");
        return SystemYIndex(q.size()); // u's come right after q's
    }
    int getNU() const {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Model, 
                            "StateImpl::getNU()");
        return u.size();
    }
    
    SystemYIndex getZStart() const {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Model, 
                            "StateImpl::getZStart()");
        return SystemYIndex(q.size() + u.size()); // q,u, then z
    }
    int getNZ() const {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Model, 
                            "StateImpl::getNZ()");
        return z.size();
    }
    
    int getNYErr() const {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Instance, 
                            "StateImpl::getNYErr()");
        return yerr.size();
    }
    
    SystemYErrIndex getQErrStart() const {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Instance, 
                            "StateImpl::getQErrStart()");
        return SystemYErrIndex(0); // qerr's come first
    }
    int getNQErr() const {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Instance, 
                            "StateImpl::getNQErr()");
        return qerr.size();
    }
    
    SystemYErrIndex getUErrStart() const {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Instance, 
                            "StateImpl::getUErrStart()");
        return SystemYErrIndex(qerr.size()); // uerr's follow qerrs
    }
    int getNUErr() const {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Instance, 
                            "StateImpl::getNUErr()");
        return uerr.size();
    }
    
    // UDot errors are independent of qerr & uerr.
    // This is used for multipliers also.
    int getNUDotErr() const {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Instance, 
                            "StateImpl::getNUDotErr()");
        return udoterr.size();
    }
    
    int getNEventTriggers() const {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Instance, 
                            "StateImpl::getNEventTriggers()");
        return allTriggers.size();
    }
    
    SystemEventTriggerIndex getEventTriggerStartByStage(Stage g) const {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Instance, 
                            "StateImpl::getEventTriggerStartByStage()");
        int nxt = 0;
        for (int j=0; j<g; ++j)
            nxt += triggers[j].size();
        return SystemEventTriggerIndex(nxt); // g starts where g-1 leaves off
    }
    
    int getNEventTriggersByStage(Stage g) const {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Instance, 
                            "StateImpl::getNEventTriggersByStage()");
        return triggers[g].size();
    }
    
    std::mutex& getStateLock() const {
      return stateLock; // mutable
    }
    
        // Subsystem dimensions.
    
    SystemQIndex getQStart(SubsystemIndex subsys) const {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Model, 
                            "StateImpl::getQStart(subsys)");
        return getSubsystem(subsys).qstart;
    }
    int getNQ(SubsystemIndex subsys) const {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Model, 
                            "StateImpl::getNQ(subsys)");
        return getSubsystem(subsys).q.size();
    }
    
    SystemUIndex getUStart(SubsystemIndex subsys) const {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Model, 
                            "StateImpl::getUStart(subsys)");
        return getSubsystem(subsys).ustart;
    }
    int getNU(SubsystemIndex subsys) const {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Model, 
                            "StateImpl::getNU(subsys)");
        return getSubsystem(subsys).u.size();
    }
    
    SystemZIndex getZStart(SubsystemIndex subsys) const {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Model, 
                            "StateImpl::getZStart(subsys)");
        return getSubsystem(subsys).zstart;
    }
    int getNZ(SubsystemIndex subsys) const {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Model, 
                            "StateImpl::getNZ(subsys)");
        return getSubsystem(subsys).z.size();
    }
    
    SystemQErrIndex getQErrStart(SubsystemIndex subsys) const {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Instance, 
                            "StateImpl::getQErrStart(subsys)");
        return getSubsystem(subsys).qerrstart;
    }
    int getNQErr(SubsystemIndex subsys) const {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Instance, 
                            "StateImpl::getNQErr(subsys)");
        return getSubsystem(subsys).qerr.size();
    }
    
    SystemUErrIndex getUErrStart(SubsystemIndex subsys) const {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Instance, 
                            "StateImpl::getUErrStart(subsys)");
        return getSubsystem(subsys).uerrstart;
    }
    int getNUErr(SubsystemIndex subsys) const {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Instance, 
                            "StateImpl::getNUErr(subsys)");
        return getSubsystem(subsys).uerr.size();
    }
    
    // These are used for multipliers also.
    SystemUDotErrIndex getUDotErrStart(SubsystemIndex subsys) const {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Instance, 
                            "StateImpl::getUDotErrStart(subsys)");
        return getSubsystem(subsys).udoterrstart;
    }
    int getNUDotErr(SubsystemIndex subsys) const {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Instance, 
                            "StateImpl::getNUDotErr(subsys)");
        return getSubsystem(subsys).udoterr.size();
    }
    
    SystemEventTriggerByStageIndex getEventTriggerStartByStage
       (SubsystemIndex subsys, Stage g) const {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Instance, 
                            "StateImpl::getEventTriggerStartByStage(subsys)");
        return getSubsystem(subsys).triggerstart[g];
    }
    
    int getNEventTriggersByStage(SubsystemIndex subsys, Stage g) const {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Instance, 
                            "StateImpl::getNEventTriggersByStage(subsys)");
        return getSubsystem(subsys).triggers[g].size();
    }
    
        // Per-subsystem access to the global shared variables.
    
    const Vector& getQ(SubsystemIndex subsys) const {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Model, 
                            "StateImpl::getQ(subsys)");
        return getSubsystem(subsys).q;
    }
    const Vector& getU(SubsystemIndex subsys) const {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Model, 
                            "StateImpl::getU(subsys)");
        return getSubsystem(subsys).u;
    }
    const Vector& getZ(SubsystemIndex subsys) const {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Model, 
                            "StateImpl::getZ(subsys)");
        return getSubsystem(subsys).z;
    }
 
    const Vector& getUWeights(SubsystemIndex subsys) const {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Model, 
            "StateImpl::getUWeights(subsys)");
        return getSubsystem(subsys).uWeights;
    }
    const Vector& getZWeights(SubsystemIndex subsys) const {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Model, 
            "StateImpl::getZWeights(subsys)");
        return getSubsystem(subsys).zWeights;
    }
 
    const Vector& getQDot(SubsystemIndex subsys) const {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Model, 
                            "StateImpl::getQDot(subsys)");
        SimTK_STAGECHECK_GE(getSubsystemStage(subsys), Stage::Velocity, 
                            "StateImpl::getQDot(subsys)");
        return getSubsystem(subsys).qdot;
    }
    const Vector& getUDot(SubsystemIndex subsys) const {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Model, 
                            "StateImpl::getUDot(subsys)");
        SimTK_STAGECHECK_GE(getSubsystemStage(subsys), Stage::Acceleration, 
                            "StateImpl::getUDot(subsys)");
        return getSubsystem(subsys).udot;
    }
    const Vector& getZDot(SubsystemIndex subsys) const {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Model, 
                            "StateImpl::getZDot(subsys)");
        SimTK_STAGECHECK_GE(getSubsystemStage(subsys), Stage::Dynamics, 
                            "StateImpl::getZDot(subsys)");
        return getSubsystem(subsys).zdot;
    }
    const Vector& getQDotDot(SubsystemIndex subsys) const {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Model, 
                            "StateImpl::getQDotDot(subsys)");
        SimTK_STAGECHECK_GE(getSubsystemStage(subsys), Stage::Acceleration, 
                            "StateImpl::getQDotDot(subsys)");
        return getSubsystem(subsys).qdotdot;
    }
    
    Vector& updQ(SubsystemIndex subsys) {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Model, 
                            "StateImpl::updQ(subsys)");
        invalidateAll(Stage::Position);
        noteQChange();
        return updSubsystem(subsys).q;
    }
    Vector& updU(SubsystemIndex subsys) {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Model, 
                            "StateImpl::updU(subsys)");
        invalidateAll(Stage::Velocity);
        noteUChange();
        return updSubsystem(subsys).u;
    }
    Vector& updZ(SubsystemIndex subsys) {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Model, 
                            "StateImpl::updZ(subsys)");
        invalidateAll(Stage::Dynamics);
        noteZChange();
        return updSubsystem(subsys).z;
    }
 
    Vector& updUWeights(SubsystemIndex subsys) {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Model, 
            "StateImpl::updUWeights(subsys)");
        invalidateAll(Stage::Report);
        return updSubsystem(subsys).uWeights;
    }
    Vector& updZWeights(SubsystemIndex subsys) {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Model, 
            "StateImpl::updZWeights(subsys)");
        invalidateAll(Stage::Report);
        return updSubsystem(subsys).zWeights;
    }
    
        // These are mutable so the routines are const.
    
    Vector& updQDot(SubsystemIndex subsys) const {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Model, 
                            "StateImpl::updQDot(subsys)");
        return getSubsystem(subsys).qdot;
    }
    Vector& updUDot(SubsystemIndex subsys) const {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Model, 
                            "StateImpl::updUDot(subsys)");
        return getSubsystem(subsys).udot;
    }
    Vector& updZDot(SubsystemIndex subsys) const {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Model, 
                            "StateImpl::updZDot(subsys)");
        return getSubsystem(subsys).zdot;
    }
    Vector& updQDotDot(SubsystemIndex subsys) const {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Model, 
                            "StateImpl::updQDotDot(subsys)");
        return getSubsystem(subsys).qdotdot;
    }
    
    
    const Vector& getQErr(SubsystemIndex subsys) const {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Instance, 
                            "StateImpl::getQErr(subsys)");
        SimTK_STAGECHECK_GE(getSubsystemStage(subsys), Stage::Position, 
                            "StateImpl::getQErr(subsys)");
        return getSubsystem(subsys).qerr;
    }
    const Vector& getUErr(SubsystemIndex subsys) const {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Instance, 
                            "StateImpl::getUErr(subsys)");
        SimTK_STAGECHECK_GE(getSubsystemStage(subsys), Stage::Velocity, 
                            "StateImpl::getUErr(subsys)");
        return getSubsystem(subsys).uerr;
    }
 
    const Vector& getQErrWeights(SubsystemIndex subsys) const {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Instance, 
            "StateImpl::getQErrWeights(subsys)");
        return getSubsystem(subsys).qerrWeights;
    }
    const Vector& getUErrWeights(SubsystemIndex subsys) const {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Instance, 
            "StateImpl::getUErrWeights(subsys)");
        return getSubsystem(subsys).uerrWeights;
    }
 
    const Vector& getUDotErr(SubsystemIndex subsys) const {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Instance, 
                            "StateImpl::getUDotErr(subsys)");
        SimTK_STAGECHECK_GE(getSubsystemStage(subsys), Stage::Acceleration, 
                            "StateImpl::getUDotErr(subsys)");
        return getSubsystem(subsys).udoterr;
    }
    const Vector& getMultipliers(SubsystemIndex subsys) const {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Instance, 
                            "StateImpl::getMultipliers(subsys)");
        SimTK_STAGECHECK_GE(getSubsystemStage(subsys), Stage::Acceleration, 
                            "StateImpl::getMultipliers(subsys)");
        return getSubsystem(subsys).multipliers;
    }
    
    const Vector& getEventTriggersByStage(SubsystemIndex subsys, Stage g) const {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Instance, 
                            "StateImpl::getEventTriggersByStage(subsys)");
        SimTK_STAGECHECK_GE(getSubsystemStage(subsys), g, 
                            "StateImpl::getEventTriggersByStage(subsys)");
        return getSubsystem(subsys).triggers[g];
    }
    
    Vector& updQErr(SubsystemIndex subsys) const {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Instance, 
                            "StateImpl::updQErr(subsys)");
        return getSubsystem(subsys).qerr;
    }
    Vector& updUErr(SubsystemIndex subsys) const {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Instance, 
                            "StateImpl::updUErr(subsys)");
        return getSubsystem(subsys).uerr;
    }
    
    Vector& updQErrWeights(SubsystemIndex subsys) {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Instance, 
            "StateImpl::updQErrWeights(subsys)");
        invalidateAll(Stage::Position);
        return updSubsystem(subsys).qerrWeights;
    }
    Vector& updUErrWeights(SubsystemIndex subsys) {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Instance, 
            "StateImpl::updUErrWeights(subsys)");
        invalidateAll(Stage::Velocity);
        return updSubsystem(subsys).uerrWeights;
    }
 
    Vector& updUDotErr(SubsystemIndex subsys) const {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Instance, 
                            "StateImpl::updUDotErr(subsys)");
        return getSubsystem(subsys).udoterr;
    }
    Vector& updMultipliers(SubsystemIndex subsys) const {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Instance, 
                            "StateImpl::updMultipliers(subsys)");
        return getSubsystem(subsys).multipliers;
    }
    Vector& updEventTriggersByStage(SubsystemIndex subsys, Stage g) const {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Instance, 
                            "StateImpl::updEventTriggersByStage(subsys)");
        return getSubsystem(subsys).triggers[g];
    }
    
        // Direct access to the global shared state and cache entries.
        // Time is allocated in Stage::Topology, State in Stage::Model, and
        // Cache in Stage::Instance.
    
    const Real& getTime() const {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Topology, 
                            "StateImpl::getTime()");
        return t;
    }
    
    const Vector& getY() const {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Model, 
                            "StateImpl::getY()");
        return y;
    }
    
    const Vector& getQ() const {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Model, 
                            "StateImpl::getQ()");
        return q;
    }
    
    const Vector& getU() const {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Model, 
                            "StateImpl::getU()");
        return u;
    }
    
    const Vector& getZ() const {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Model, 
                            "StateImpl::getZ()");
        return z;
    }
        
    const Vector& getUWeights() const {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Model, 
                            "StateImpl::getUWeights()");
        return uWeights;
    }
    
    const Vector& getZWeights() const {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Model, 
                            "StateImpl::getZWeights()");
        return zWeights;
    }
       
    // You can call these as long as stage >= allocation stage, but the
    // stage will be backed up if necessary to one stage prior to the 
    // invalidated stage.
    Real& updTime() {  // Back to Stage::Time-1
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Topology, 
                            "StateImpl::updTime()");
        invalidateAll(Stage::Time);
        return t;
    }
    
    Vector& updY() {    // Back to Stage::Position-1
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Model, 
                            "StateImpl::updY()");
        invalidateAll(Stage::Position);
        noteYChange();
        return y;
    }
    
    Vector& updQ() {    // Stage::Position-1
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Model, 
                            "StateImpl::updQ()");
        invalidateAll(Stage::Position);
        noteQChange();
        return q;
    }
    
    Vector& updU() {     // Stage::Velocity-1
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Model, 
                            "StateImpl::updU()");
        invalidateAll(Stage::Velocity);
        noteUChange();
        return u;
    }
    
    Vector& updZ() {     // Stage::Dynamics-1
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Model, 
                            "StateImpl::updZ()");
        invalidateAll(Stage::Dynamics);
        noteZChange();
        return z;
    }
     
    Vector& updUWeights() { // Invalidates Report stage only
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Model, 
            "StateImpl::updUWeights()");
        invalidateAll(Stage::Report);
        return uWeights;
    }
    
    Vector& updZWeights() { // Invalidates Report stage only
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Model, 
            "StateImpl::updZWeights()");
        invalidateAll(Stage::Dynamics);
        return zWeights;
    }   
 
    // These cache entries you can get at their "computedBy" stages.
    const Vector& getYDot() const {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Acceleration, 
                            "StateImpl::getYDot()");
        return ydot;
    }
    
    const Vector& getQDot() const {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Velocity, 
                            "StateImpl::getQDot()");
        return qdot;
    }
    
    const Vector& getZDot() const {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Dynamics, 
                            "StateImpl::getZDot()");
        return zdot;
    }
    
    const Vector& getUDot() const {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Acceleration, 
                            "StateImpl::getUDot()");
        return udot;
    }
    
    const Vector& getQDotDot() const {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Acceleration, 
                            "StateImpl::getQDotDot()");
        return qdotdot;
    }
    
    // Cache updates are allowed any time after they have been allocated.
    Vector& updYDot() const {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Model, 
                            "StateImpl::updYDot()");
        return ydot;
    }
    
    Vector& updQDot() const {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Model, 
                            "StateImpl::updQDot()");
        return qdot;
    }
    
    Vector& updUDot() const {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Model, 
                            "StateImpl::updUDot()");
        return udot;
    }
    
    Vector& updZDot() const {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Model, 
                            "StateImpl::updZDot()");
        return zdot;
    }
    
    Vector& updQDotDot() const {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Model, 
                            "StateImpl::updQDotDot()");
        return qdotdot;
    }
    
    
    const Vector& getYErr() const {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Velocity, 
                            "StateImpl::getYErr()");
        return yerr;
    }
    
    const Vector& getQErr() const {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Position, 
                            "StateImpl::getQErr()");
        return qerr;
    }
    const Vector& getUErr() const {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Velocity, 
                            "StateImpl::getUErr()");
        return uerr;
    }
    
    const Vector& getQErrWeights() const {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Instance, 
            "StateImpl::getQErrWeights()");
        return qerrWeights;
    }
    const Vector& getUErrWeights() const {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Instance, 
            "StateImpl::getUErrWeights()");
        return uerrWeights;
    }
 
    const Vector& getUDotErr() const {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Acceleration, 
                            "StateImpl::getUDotErr()");
        return udoterr;
    }
    const Vector& getMultipliers() const {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Acceleration, 
                            "StateImpl::getMultipliers()");
        return multipliers;
    }
    
    Vector& updYErr() const {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Instance, 
                            "StateImpl::updYErr()");
        return yerr;
    }
    Vector& updQErr() const{
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Instance, 
                            "StateImpl::updQErr()");
        return qerr;
    }
    Vector& updUErr() const{
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Instance, 
                            "StateImpl::updUErr()");
        return uerr;
    }
 
    Vector& updQErrWeights() {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Instance, 
            "StateImpl::updQErrWeights()");
        invalidateAll(Stage::Position);
        return qerrWeights;
    }
    Vector& updUErrWeights() {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Instance, 
            "StateImpl::updUErrWeights()");
        invalidateAll(Stage::Velocity);
        return uerrWeights;
    }
 
    Vector& updUDotErr() const{
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Instance, 
                            "StateImpl::updUDotErr()");
        return udoterr;
    }
    Vector& updMultipliers() const{
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Instance, 
                            "StateImpl::updMultipliers()");
        return multipliers;
    }
    
    const Vector& getEventTriggers() const {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Acceleration, 
                            "StateImpl::getEventTriggers()");
        return allTriggers;
    }
    const Vector& getEventTriggersByStage(Stage g) const {
        SimTK_STAGECHECK_GE(getSystemStage(), g, 
                            "StateImpl::getEventTriggersByStage()");
        return triggers[g];
    }
    
    // These are mutable; hence 'const'.
    Vector& updEventTriggers() const {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Instance, 
                            "StateImpl::updEventTriggers()");
        return allTriggers;
    }
    Vector& updEventTriggersByStage(Stage g) const {
        SimTK_STAGECHECK_GE(getSystemStage(), Stage::Instance, 
                            "StateImpl::updEventTriggersByStage()");
        return triggers[g];
    }
 
    bool hasDiscreteVar(const DiscreteVarKey& dk) const {
        return getSubsystem(dk.first).hasDiscreteVar(dk.second);
    }
 
    const DiscreteVarInfo& getDiscreteVarInfo(const DiscreteVarKey& dk) const {
        return getSubsystem(dk.first).getDiscreteVarInfo(dk.second);
    } 
 
    DiscreteVarInfo& updDiscreteVarInfo(const DiscreteVarKey& dk) {
        return updSubsystem(dk.first).updDiscreteVarInfo(dk.second);
    } 
 
    CacheEntryIndex getDiscreteVarUpdateIndex(const DiscreteVarKey& dk) const {
        return getDiscreteVarInfo(dk).getAutoUpdateEntry();
    } 
 
    Stage getDiscreteVarAllocationStage(const DiscreteVarKey& dk) const {
        return getDiscreteVarInfo(dk).getAllocationStage();
    } 
 
    Stage getDiscreteVarInvalidatesStage(const DiscreteVarKey& dk) const {
        return getDiscreteVarInfo(dk).getInvalidatedStage();
    } 
 
    // You can access a variable any time after it has been allocated.
    const AbstractValue& 
    getDiscreteVariable(const DiscreteVarKey& dk) const {
        const DiscreteVarInfo& dv = getDiscreteVarInfo(dk);   
        return dv.getValue();
    }
 
    Real getDiscreteVarLastUpdateTime(const DiscreteVarKey& dk) const {
        return getDiscreteVarInfo(dk).getTimeLastUpdated();
    }
 
    const AbstractValue& getDiscreteVarUpdateValue(const DiscreteVarKey& dk) const {
        const CacheEntryIndex cx = getDiscreteVarUpdateIndex(dk);
        SimTK_ERRCHK2(cx.isValid(), "StateImpl::getDiscreteVarUpdateValue()", 
            "Subsystem %d has a discrete variable %d but it does not have an"
            " associated update cache variable.", 
            (int)dk.first, (int)dk.second);
        return getCacheEntry(CacheEntryKey(dk.first,cx));
    }
    AbstractValue& updDiscreteVarUpdateValue(const DiscreteVarKey& dk) const {
        const CacheEntryIndex cx = getDiscreteVarUpdateIndex(dk);
        SimTK_ERRCHK2(cx.isValid(), "StateImpl::updDiscreteVarUpdateValue()", 
            "Subsystem %d has a discrete variable %d but it does not have an"
            " associated update cache variable.", 
            (int)dk.first, (int)dk.second);
        return updCacheEntry(CacheEntryKey(dk.first,cx));
    }
    bool isDiscreteVarUpdateValueRealized(const DiscreteVarKey& dk) const {
        const CacheEntryIndex cx = getDiscreteVarUpdateIndex(dk);
        SimTK_ERRCHK2(cx.isValid(), 
            "StateImpl::isDiscreteVarUpdateValueRealized()", 
            "Subsystem %d has a discrete variable %d but it does not have an"
            " associated update cache variable.", 
            (int)dk.first, (int)dk.second);
        return isCacheValueRealized(CacheEntryKey(dk.first,cx));
    }
    void markDiscreteVarUpdateValueRealized(const DiscreteVarKey& dk) const {
        const CacheEntryIndex cx = getDiscreteVarUpdateIndex(dk);
        SimTK_ERRCHK2(cx.isValid(), 
            "StateImpl::markDiscreteVarUpdateValueRealized()", 
            "Subsystem %d has a discrete variable %d but it does not have an"
            " associated update cache variable.", 
            (int)dk.first, (int)dk.second);
        markCacheValueRealized(CacheEntryKey(dk.first,cx));
    }
 
    // You can update a variable's value any time after it is allocated.
    // This always backs the stage up to one earlier than the 
    // variable's "invalidates" stage, and if there is an auto-update cache 
    // entry it is also invalidated, regardless of its "depends on" stage.
    // Any explicit dependent cache entries are also invalidated.
    AbstractValue& 
    updDiscreteVariable(const DiscreteVarKey& dk) {
        DiscreteVarInfo& dv = updDiscreteVarInfo(dk);
    
        // Invalidate the "invalidates" stage. (All subsystems and the system
        // have their stage reduced to no higher than invalidates-1.)
        invalidateAll(dv.getInvalidatedStage());
 
        // Invalidate the auto-update entry, if any.
        const CacheEntryIndex cx = dv.getAutoUpdateEntry();
        if (cx.isValid()) {
            CacheEntryInfo& ce = updCacheEntryInfo(CacheEntryKey(dk.first,cx));
            ce.invalidate(*this);
        }
    
        // We're now marking this variable as having been updated at the 
        // current time. Dependents get invalidated here.
        return dv.updValue(*this, t);
    }
 
    bool hasCacheEntry(const CacheEntryKey& ck) const {
        return getSubsystem(ck.first).hasCacheEntry(ck.second);
    }
 
    const CacheEntryInfo& 
    getCacheEntryInfo(const CacheEntryKey& ck) const {
        return getSubsystem(ck.first).getCacheEntryInfo(ck.second);
    }
 
    CacheEntryInfo&
    updCacheEntryInfo(const CacheEntryKey& ck) const {
        return getSubsystem(ck.first).updCacheEntryInfo(ck.second);
    }
 
    Stage getCacheEntryAllocationStage(const CacheEntryKey& ck) const {
        return getCacheEntryInfo(ck).getAllocationStage();
    } 
 
 
    // Stage >= ce.stage
    // This method gets called a lot, so make it fast in Release mode. Keep
    // it small so it gets inlined.
    const AbstractValue& 
    getCacheEntry(const CacheEntryKey& ck) const {
        const CacheEntryInfo& ce = getCacheEntryInfo(ck);
 
        if (!ce.isUpToDate(*this))
            ce.throwHelpfulOutOfDateMessage(*this, __func__);
        return ce.getValue();
    }
    
    // You can access a cache entry for update any time after it has been
    // allocated. This does not affect the stage.
    AbstractValue& 
    updCacheEntry(const CacheEntryKey& ck) const {
        return updCacheEntryInfo(ck).updValue(*this);
    }
 
    bool isCacheValueRealized(const CacheEntryKey& ck) const {
        const CacheEntryInfo& ce = getCacheEntryInfo(ck);
        return ce.isUpToDate(*this);
    }
 
    void markCacheValueRealized(const CacheEntryKey& ck) const {
        CacheEntryInfo& ce = updCacheEntryInfo(ck);
    
        // This cache entry can't be valid unless 
        // we're at least *working* on its depends-on stage, meaning the current
        // stage would have to be the one before that. The depends-on stage is 
        // required to be at least Stage::Topology, so its prev() stage exists.
        SimTK_STAGECHECK_GE(getSubsystemStage(ck.first), 
                            ce.getDependsOnStage().prev(), 
                            "StateImpl::markCacheValueRealized()");
 
        ce.markAsUpToDate(*this);
    }
 
    void markCacheValueNotRealized(const CacheEntryKey& ck) const {
        CacheEntryInfo& ce = updCacheEntryInfo(ck);
        ce.invalidate(*this);
    }
 
    StageVersion getSystemTopologyStageVersion() const
    {   return systemStageVersions[Stage::Topology]; }
 
    void setSystemTopologyStageVersion(StageVersion topoVersion)
    {   assert(topoVersion>0); 
        systemStageVersions[Stage::Topology]=topoVersion; }
 
    // Capture the stage versions only for currently-realized stages.
    void getSystemStageVersions(Array_<StageVersion>& versions) const {
        versions.resize(currentSystemStage+1);
        for (int i=0; i <= currentSystemStage; ++i)
            versions[i] = systemStageVersions[i];
    }
 
    // If the current state is realized at least as high as the previous one, 
    // then report Stage::Infinity if all of those stage versions match.
    // Otherwise report either the first mismatch or the first now-invalid
    // stage if lower stages match.
    Stage getLowestSystemStageDifference
       (const Array_<StageVersion>& prevVersions) const {
        const int nRealizedBefore = (int)prevVersions.size();
        const int nRealizedNow    = (int)currentSystemStage+1; // count from 0
        const int nRealizedBoth   = std::min(nRealizedBefore,nRealizedNow);
 
        // First check the stages both had in common.
        Stage g=Stage::Topology; 
        for (; g < nRealizedBoth; ++g)
            if (systemStageVersions[g] != prevVersions[g])
                return g;
 
        // All stages that were valid before and now have identical versions.
        // If that's all there was before then nothing has changed.
        return nRealizedNow >= nRealizedBefore ? Stage::Infinity
                                               : g; // 1st unrealized stage
    }
 
    ValueVersion getQValueVersion() const {return qVersion;}
    ValueVersion getUValueVersion() const {return uVersion;}
    ValueVersion getZValueVersion() const {return zVersion;}
 
    const ListOfDependents& getQDependents() const {return qDependents;}
    const ListOfDependents& getUDependents() const {return uDependents;}
    const ListOfDependents& getZDependents() const {return zDependents;}
 
    ListOfDependents& updQDependents() {return qDependents;}
    ListOfDependents& updUDependents() {return uDependents;}
    ListOfDependents& updZDependents() {return zDependents;}
 
    void autoUpdateDiscreteVariables();
    
    String toString() const;    
    String cacheToString() const;
 
private:
    // This is the guts of copy construction and copy assignment which have to
    // be done carefully to manage what gets copied and whether the resulting
    // cache entries are valid.
    void copyFrom(const StateImpl& source);
 
    // Make sure that no cache entry copied from src could accidentally think
    // it was up to date, by setting all the version counters higher than
    // the ones in the source. (Don't set these to zero because then a
    // subsequent bump to 1 could make some cache entries look valid.)
    void invalidateCopiedStageVersions(const StateImpl& src) {
        for (int i=1; i <= src.currentSystemStage; ++i)
            systemStageVersions[i] = src.systemStageVersions[i]+1;
 
        qVersion = src.qVersion + 1;
        uVersion = src.uVersion + 1;
        zVersion = src.zVersion + 1;
 
        qDependents.clear(); // these shouldn't copy
        uDependents.clear();
        zDependents.clear();
    }
 
    // After we have copied variables and cache entries from another state into
    // this one, all variable and cache entry dependency lists are empty. Any
    // cache entry with prerequisites must register itself now.
    void registerWithPrerequisitesAfterCopy() {
        for (auto& subsys : subsystems) {
            for (auto& ce : subsys.cacheInfo)
                ce.registerWithPrerequisites(*this);
        }
    }
 
private:
    // Bump modification version numbers for state variables and notify their
    // dependents.
    void noteQChange() 
    {   ++qVersion; qDependents.notePrerequisiteChange(*this); }
    void noteUChange() 
    {   ++uVersion; uDependents.notePrerequisiteChange(*this); }
    void noteZChange() 
    {   ++zVersion; zDependents.notePrerequisiteChange(*this); }
 
    void noteYChange() {noteQChange();noteUChange();noteZChange();}
 
    // Return true only if all subsystems are realized to at least Stage g.
    bool allSubsystemsAtLeastAtStage(Stage g) const {
        for (SubsystemIndex i(0); i < (int)subsystems.size(); ++i)
            if (subsystems[i].currentStage < g)
                return false;
        return true;
    }
 
private:
        // Subsystem support //
 
    Array_<PerSubsystemInfo> subsystems;
 
        // Shared global resource State variables //
 
    // We consider time t to be a state variable allocated at Topology stage,
    // with its "invalidated" stage Stage::Time. The value of t is NaN in an 
    // Empty State, and is initialized to zero when the System stage advances
    // to Stage::Topology (i.e., when the System is realized to stage Topology).
    Real            t{NaN};         // no value until Topology stage
 
    // The continuous state variables are allocated at Model stage, and given
    // their specified initial values when the System stage advances to
    // Stage::Model (i.e., when the System is realized to Model stage).
    Vector          y; // All the continuous state variables together {q,u,z}
 
        // These are views into y.
    Vector          q; // Stage::Position continuous variables
    Vector          u; // Stage::Velocity continuous variables
    Vector          z; // Stage::Dynamics continuous variables
 
    // These version numbers are incremented whenever the corresponding variable
    // is handed out with write access. updY() increments all three versions.
    ValueVersion    qVersion{1};
    ValueVersion    uVersion{1};
    ValueVersion    zVersion{1};
 
    // These lists are notified whenever the corresponding variable is requested
    // for write access. updY() notifies all three lists. These do not
    // get copied when state copying is done; cache entries must re-register
    // with their prerequisites after a copy.
    ListOfDependents   qDependents;
    ListOfDependents   uDependents;
    ListOfDependents   zDependents;
 
        // These are not views; there are no qWeights (because qdot=N*u).
    Vector          uWeights; // scaling for u
    Vector          zWeights; // scaling for z
 
        // These are Instance stage state variables.
    Vector          qerrWeights; // Scaling for perrs
    Vector          uerrWeights; // Scaling for pdoterrs and verrs
 
        // Shared global resource Cache entries //
 
    // This is the System's currently highest-valid Stage.
    mutable Stage        currentSystemStage{Stage::Empty};
 
    // This contains a counter for each system stage which is bumped each
    // time that stage is invalidated. This allows detection of a state
    // that has been changed even after a subsequent realization. The
    // Topology stage entry should match the System's Topology version.
    // These are initialized to version 1.
    mutable StageVersion systemStageVersions[Stage::NValid];
 
        // DIFFERENTIAL EQUATIONS
 
    // All the state derivatives taken together (qdot,udot,zdot)
    mutable Vector  ydot; 
 
    // These are views into ydot.
    mutable Vector  qdot;       // Stage::Velocity
    mutable Vector  udot;       // Stage::Acceleration
    mutable Vector  zdot;       // Stage::Acceleration
 
    // This is an independent cache entry.
    mutable Vector  qdotdot;    // Stage::Acceleration
 
        // ALGEBRAIC EQUATIONS
 
    mutable Vector  yerr;        // All constraint errors together (qerr,uerr)
    mutable Vector  udoterr;     // Stage::Acceleration (Index 1 constraints)
    mutable Vector  multipliers; // Stage::Acceleration (Index 1 algebraic vars)
 
    // These are views into yerr.
    mutable Vector  qerr;       // Stage::Position (Index 3 constraints)
    mutable Vector  uerr;       // Stage::Velocity (Index 2 constraints)
 
        // DISCRETE EQUATIONS
 
    // All the event triggers together, ordered by stage.
    mutable Vector  allTriggers;
 
    // These are views into allTriggers.
    mutable Vector  triggers[Stage::NValid];
 
    // State specific mutex that should be locked by external methods whenever
    // they are performing non-thread-safe operations involving the state.
    // This is not copied when a State is copied or assigned; each State object
    // has its own mutex.
    mutable std::mutex stateLock;
 
};
 
//==============================================================================
//                   LIST OF DEPENDENTS :: IMPLEMENTATIONS
//==============================================================================
inline void ListOfDependents::
notePrerequisiteChange(const StateImpl& stateImpl) const {
    for (auto ckey : m_dependents) {
        // Cache entries are mutable.
        CacheEntryInfo& ce = stateImpl.updCacheEntryInfo(ckey);
        ce.invalidate(stateImpl);
    }
}
 
//==============================================================================
//                 CACHE ENTRY INFO :: INLINE IMPLEMENTATIONS
//==============================================================================
SimTK_FORCE_INLINE bool CacheEntryInfo::
isUpToDate(const StateImpl& stateImpl) const {
    const PerSubsystemInfo& subsys = stateImpl.getSubsystem(m_myKey.first);
    assert(&subsys.getCacheEntryInfo(m_myKey.second) == this);
    if (subsys.getCurrentStage() >= m_computedByStage) 
        return true;    // guaranteed to have been computed by now
    if (subsys.getCurrentStage() <  m_dependsOnStage)  
        return false;   // can't have been computed yet
 
    // Stage is OK; is valid if the depends-on stage version hasn't 
    // changed and if no prerequisite invalidated this.
    const StageVersion version = subsys.getStageVersion(m_dependsOnStage);
    assert(version >= 1);
    if (!(   version == m_dependsOnVersionWhenLastComputed
            && m_isUpToDateWithPrerequisites))
        return false;
 
    // This entry is allegedly up to date. In Debug we'll double check.
    #ifndef NDEBUG
    validatePrerequisiteVersions(stateImpl);
    #endif
    return true;
}
 
inline void CacheEntryInfo::
markAsUpToDate(const StateImpl& stateImpl) {
    const PerSubsystemInfo& subsys = stateImpl.getSubsystem(m_myKey.first);
    assert(&subsys.getCacheEntryInfo(m_myKey.second) == this);
    const StageVersion version = subsys.getStageVersion(m_dependsOnStage);
    assert(version >= 1);
    m_dependsOnVersionWhenLastComputed = version;
    m_isUpToDateWithPrerequisites = true;
 
    // In Debug we'll record versions for all the prerequisites so we
    // can double check later in isUpToDate().
    #ifndef NDEBUG
    recordPrerequisiteVersions(stateImpl);
    #endif
}
 
//==============================================================================
//                   INLINE IMPLEMENTATIONS OF STATE METHODS
//==============================================================================
// These mostly just forward to the StateImpl object.
 
inline void State::setNumSubsystems(int i) {
    updImpl().setNumSubsystems(i);
}
inline void State::initializeSubsystem
   (SubsystemIndex subsys, const String& name, const String& version) {
    updImpl().initializeSubsystem(subsys, name, version);
}
 
inline SubsystemIndex State::addSubsystem
   (const String& name, const String& version) {
    return updImpl().addSubsystem(name, version);
}
inline int State::getNumSubsystems() const {
    return getImpl().getNumSubsystems();
}
inline const String& State::getSubsystemName(SubsystemIndex subsys) const {
    return getImpl().getSubsystemName(subsys);
}
inline const String& State::getSubsystemVersion(SubsystemIndex subsys) const {
    return getImpl().getSubsystemVersion(subsys);
}
inline const Stage& State::getSubsystemStage(SubsystemIndex subsys) const {
    return getImpl().getSubsystemStage(subsys);
}
inline const Stage& State::getSystemStage() const {
    return getImpl().getSystemStage();
}
inline void State::invalidateAll(Stage stage) {
    updImpl().invalidateAll(stage);
}
inline void State::invalidateAllCacheAtOrAbove(Stage stage) const {
    getImpl().invalidateAllCacheAtOrAbove(stage);
}
inline void State::advanceSubsystemToStage(SubsystemIndex subsys, Stage stage) const {
    getImpl().advanceSubsystemToStage(subsys, stage);
}
inline void State::advanceSystemToStage(Stage stage) const {
    getImpl().advanceSystemToStage(stage);
}
 
inline StageVersion State::getSystemTopologyStageVersion() const 
{   return getImpl().getSystemTopologyStageVersion(); }
 
// Continuous state variables
inline QIndex State::allocateQ(SubsystemIndex subsys, const Vector& qInit) {
    return updImpl().allocateQ(subsys, qInit);
}
inline UIndex State::allocateU(SubsystemIndex subsys, const Vector& uInit) {
    return updImpl().allocateU(subsys, uInit);
}
inline ZIndex State::allocateZ(SubsystemIndex subsys, const Vector& zInit) {
    return updImpl().allocateZ(subsys, zInit);
}
 
// Constraint errors and multipliers
inline QErrIndex State::allocateQErr(SubsystemIndex subsys, int nqerr) const {
    return getImpl().allocateQErr(subsys, nqerr);
}
inline UErrIndex State::allocateUErr(SubsystemIndex subsys, int nuerr) const {
    return getImpl().allocateUErr(subsys, nuerr);
}
inline UDotErrIndex State::
allocateUDotErr(SubsystemIndex subsys, int nudoterr) const {
    return getImpl().allocateUDotErr(subsys, nudoterr);
}
 
// Event witness functions
inline EventTriggerByStageIndex State::
allocateEventTrigger(SubsystemIndex subsys, Stage stage, int nevent) const {
    return getImpl().allocateEventTrigger(subsys, stage, nevent);
}
 
// Discrete Variables
inline DiscreteVariableIndex State::
allocateDiscreteVariable(SubsystemIndex subsys, Stage stage, AbstractValue* v) {
    return updImpl().allocateDiscreteVariable(subsys, stage, v);
}
inline DiscreteVariableIndex State::
allocateAutoUpdateDiscreteVariable
   (SubsystemIndex subsys, Stage invalidates, AbstractValue* v,
    Stage updateDependsOn) {
    return updImpl().allocateAutoUpdateDiscreteVariable
       (subsys, invalidates, v, updateDependsOn); 
}
 
inline CacheEntryIndex State::
getDiscreteVarUpdateIndex
   (SubsystemIndex subsys, DiscreteVariableIndex index) const {
    return getImpl().getDiscreteVarUpdateIndex(DiscreteVarKey(subsys,index));
}
inline Stage State::
getDiscreteVarAllocationStage
   (SubsystemIndex subsys, DiscreteVariableIndex index) const {
    return getImpl().getDiscreteVarAllocationStage(DiscreteVarKey(subsys,index));
}
inline Stage State::
getDiscreteVarInvalidatesStage
   (SubsystemIndex subsys, DiscreteVariableIndex index) const {
    return getImpl().getDiscreteVarInvalidatesStage(DiscreteVarKey(subsys,index));
}
 
inline const AbstractValue& State::
getDiscreteVariable(SubsystemIndex subsys, DiscreteVariableIndex index) const {
    return getImpl().getDiscreteVariable(DiscreteVarKey(subsys,index));
}
inline Real State::
getDiscreteVarLastUpdateTime
   (SubsystemIndex subsys, DiscreteVariableIndex index) const {
    return getImpl().getDiscreteVarLastUpdateTime(DiscreteVarKey(subsys,index));
}
inline const AbstractValue& State::
getDiscreteVarUpdateValue
   (SubsystemIndex subsys, DiscreteVariableIndex index) const {
    return getImpl().getDiscreteVarUpdateValue(DiscreteVarKey(subsys,index));
}
inline AbstractValue& State::
updDiscreteVarUpdateValue
   (SubsystemIndex subsys, DiscreteVariableIndex index) const {
    return getImpl().updDiscreteVarUpdateValue(DiscreteVarKey(subsys,index));
}
inline bool State::
isDiscreteVarUpdateValueRealized
   (SubsystemIndex subsys, DiscreteVariableIndex index) const {
    return getImpl().isDiscreteVarUpdateValueRealized
                                                (DiscreteVarKey(subsys,index));
}
inline void State::
markDiscreteVarUpdateValueRealized
   (SubsystemIndex subsys, DiscreteVariableIndex index) const {
    getImpl().markDiscreteVarUpdateValueRealized(DiscreteVarKey(subsys,index));
}
 
inline AbstractValue& State::
updDiscreteVariable
   (SubsystemIndex subsys, DiscreteVariableIndex index) {
    return updImpl().updDiscreteVariable(DiscreteVarKey(subsys,index));
}
inline void State::
setDiscreteVariable
   (SubsystemIndex i, DiscreteVariableIndex index, const AbstractValue& v) {
    updDiscreteVariable(i,index) = v;
}
 
// Cache Entries
inline CacheEntryIndex State::
allocateCacheEntry(SubsystemIndex subsys, Stage dependsOn, Stage computedBy, 
                   AbstractValue* value) const {
    return getImpl().allocateCacheEntry(subsys, dependsOn, computedBy, value);
}
 
inline CacheEntryIndex State::
allocateCacheEntryWithPrerequisites
   (SubsystemIndex subsys, Stage earliest, Stage latest,
    bool q, bool u, bool z,
    const Array_<DiscreteVarKey>& discreteVars,
    const Array_<CacheEntryKey>& cacheEntries,
    AbstractValue* value) {
    return updImpl().allocateCacheEntryWithPrerequisites
       (subsys, earliest, latest, q, u, z, discreteVars, cacheEntries, value);
}
 
inline Stage State::
getCacheEntryAllocationStage(SubsystemIndex subsys, CacheEntryIndex index) const {
    return getImpl().getCacheEntryAllocationStage(CacheEntryKey(subsys,index));
}
inline const AbstractValue& State::
getCacheEntry(SubsystemIndex subsys, CacheEntryIndex index) const {
    return getImpl().getCacheEntry(CacheEntryKey(subsys,index));
}
inline AbstractValue& State::
updCacheEntry(SubsystemIndex subsys, CacheEntryIndex index) const {
    return getImpl().updCacheEntry(CacheEntryKey(subsys,index));
}
 
inline bool State::
isCacheValueRealized(SubsystemIndex subx, CacheEntryIndex cx) const {
    return getImpl().isCacheValueRealized(CacheEntryKey(subx,cx)); 
}
 
inline void State::
markCacheValueRealized(SubsystemIndex subx, CacheEntryIndex cx) const {
    getImpl().markCacheValueRealized(CacheEntryKey(subx,cx)); 
}
 
inline void State::
markCacheValueNotRealized(SubsystemIndex subx, CacheEntryIndex cx) const {
    getImpl().markCacheValueNotRealized(CacheEntryKey(subx,cx)); 
}
 
inline std::mutex& State::getStateLock() const {
  return getImpl().getStateLock();
}
// Global Resource Dimensions
 
inline int State::getNY() const {
    return getImpl().getNY();
}
inline int State::getNQ() const {
    return getImpl().getNQ();
}
inline SystemYIndex State::getQStart() const {
    return getImpl().getQStart();
}
inline int State::getNU() const {
    return getImpl().getNU();
}
inline SystemYIndex State::getUStart() const {
    return getImpl().getUStart();
}
inline int State::getNZ() const {
    return getImpl().getNZ();
}
inline SystemYIndex State::getZStart() const {
    return getImpl().getZStart();
}
inline int State::getNYErr() const {
    return getImpl().getNYErr();
}
inline int State::getNQErr() const {
    return getImpl().getNQErr();
}
inline SystemYErrIndex State::getQErrStart() const {
    return getImpl().getQErrStart();
}
inline int State::getNUErr() const {
    return getImpl().getNUErr();
}
inline SystemYErrIndex State::getUErrStart() const {
    return getImpl().getUErrStart();
}
inline int State::getNUDotErr() const {
    return getImpl().getNUDotErr();
}
inline int State::getNMultipliers() const {
    return getNUDotErr();
}
inline int State::getNEventTriggers() const {
    return getImpl().getNEventTriggers();
}
inline int State::getNEventTriggersByStage(Stage stage) const {
    return getImpl().getNEventTriggersByStage(stage);
}
 
 
 
// Per-Subsystem Dimensions
inline SystemQIndex State::getQStart(SubsystemIndex subsys) const {
    return getImpl().getQStart(subsys);
}
inline int State::getNQ(SubsystemIndex subsys) const {
    return getImpl().getNQ(subsys);
}
inline SystemUIndex State::getUStart(SubsystemIndex subsys) const {
    return getImpl().getUStart(subsys);
}
inline int State::getNU(SubsystemIndex subsys) const {
    return getImpl().getNU(subsys);
}
inline SystemZIndex State::getZStart(SubsystemIndex subsys) const {
    return getImpl().getZStart(subsys);
}
inline int State::getNZ(SubsystemIndex subsys) const {
    return getImpl().getNZ(subsys);
}
inline SystemQErrIndex State::getQErrStart(SubsystemIndex subsys) const {
    return getImpl().getQErrStart(subsys);
}
inline int State::getNQErr(SubsystemIndex subsys) const {
    return getImpl().getNQErr(subsys);
}
inline SystemUErrIndex State::getUErrStart(SubsystemIndex subsys) const {
    return getImpl().getUErrStart(subsys);
}
inline int State::getNUErr(SubsystemIndex subsys) const {
    return getImpl().getNUErr(subsys);
}
inline SystemUDotErrIndex State::getUDotErrStart(SubsystemIndex subsys) const {
    return getImpl().getUDotErrStart(subsys);
}
inline int State::getNUDotErr(SubsystemIndex subsys) const {
    return getImpl().getNUDotErr(subsys);
}
inline SystemMultiplierIndex State::getMultipliersStart(SubsystemIndex subsys) const {
    return SystemMultiplierIndex(getUDotErrStart(subsys));
}
inline int State::getNMultipliers(SubsystemIndex subsys) const {
    return getNUDotErr(subsys);
}
inline SystemEventTriggerByStageIndex State::
getEventTriggerStartByStage(SubsystemIndex subsys, Stage stage) const {
    return getImpl().getEventTriggerStartByStage(subsys, stage);
}
inline int State::
getNEventTriggersByStage(SubsystemIndex subsys, Stage stage) const {
    return getImpl().getNEventTriggersByStage(subsys, stage);
}
 
 
 
inline const Vector& State::
getEventTriggersByStage(SubsystemIndex subsys, Stage stage) const {
    return getImpl().getEventTriggersByStage(subsys, stage);
}
inline Vector& State::
updEventTriggersByStage(SubsystemIndex subsys, Stage stage) const {
    return getImpl().updEventTriggersByStage(subsys, stage);
}
inline const Vector& State::getQ(SubsystemIndex subsys) const {
    return getImpl().getQ(subsys);
}
inline const Vector& State::getU(SubsystemIndex subsys) const {
    return getImpl().getU(subsys);
}
inline const Vector& State::getZ(SubsystemIndex subsys) const {
    return getImpl().getZ(subsys);
}
inline const Vector& State::getUWeights(SubsystemIndex subsys) const {
    return getImpl().getUWeights(subsys);
}
inline const Vector& State::getZWeights(SubsystemIndex subsys) const {
    return getImpl().getZWeights(subsys);
}
inline Vector& State::updQ(SubsystemIndex subsys) {
    return updImpl().updQ(subsys);
}
inline Vector& State::updU(SubsystemIndex subsys) {
    return updImpl().updU(subsys);
}
inline Vector& State::updZ(SubsystemIndex subsys) {
    return updImpl().updZ(subsys);
}
inline Vector& State::updUWeights(SubsystemIndex subsys) {
    return updImpl().updUWeights(subsys);
}
inline Vector& State::updZWeights(SubsystemIndex subsys) {
    return updImpl().updZWeights(subsys);
}
inline const Vector& State::getQDot(SubsystemIndex subsys) const {
    return getImpl().getQDot(subsys);
}
inline const Vector& State::getUDot(SubsystemIndex subsys) const {
    return getImpl().getUDot(subsys);
}
inline const Vector& State::getZDot(SubsystemIndex subsys) const {
    return getImpl().getZDot(subsys);
}
inline const Vector& State::getQDotDot(SubsystemIndex subsys) const {
    return getImpl().getQDotDot(subsys);
}
inline Vector& State::updQDot(SubsystemIndex subsys) const {
    return getImpl().updQDot(subsys);
}
inline Vector& State::updUDot(SubsystemIndex subsys) const {
    return getImpl().updUDot(subsys);
}
inline Vector& State::updZDot(SubsystemIndex subsys) const {
    return getImpl().updZDot(subsys);
}
inline Vector& State::updQDotDot(SubsystemIndex subsys) const {
    return getImpl().updQDotDot(subsys);
}
inline const Vector& State::getQErr(SubsystemIndex subsys) const {
    return getImpl().getQErr(subsys);
}
inline const Vector& State::getUErr(SubsystemIndex subsys) const {
    return getImpl().getUErr(subsys);
}
inline const Vector& State::getQErrWeights(SubsystemIndex subsys) const {
    return getImpl().getQErrWeights(subsys);
}
inline const Vector& State::getUErrWeights(SubsystemIndex subsys) const {
    return getImpl().getUErrWeights(subsys);
}
inline const Vector& State::getUDotErr(SubsystemIndex subsys) const {
    return getImpl().getUDotErr(subsys);
}
inline const Vector& State::getMultipliers(SubsystemIndex subsys) const {
    return getImpl().getMultipliers(subsys);
}
inline Vector& State::updQErr(SubsystemIndex subsys) const {
    return getImpl().updQErr(subsys);
}
inline Vector& State::updUErr(SubsystemIndex subsys) const {
    return getImpl().updUErr(subsys);
}
inline Vector& State::updQErrWeights(SubsystemIndex subsys) {
    return updImpl().updQErrWeights(subsys);
}
inline Vector& State::updUErrWeights(SubsystemIndex subsys) {
    return updImpl().updUErrWeights(subsys);
}
inline Vector& State::updUDotErr(SubsystemIndex subsys) const {
    return getImpl().updUDotErr(subsys);
}
inline Vector& State::updMultipliers(SubsystemIndex subsys) const {
    return getImpl().updMultipliers(subsys);
}
 
inline SystemEventTriggerIndex State::
getEventTriggerStartByStage(Stage stage) const {
    return getImpl().getEventTriggerStartByStage(stage);
}
 
inline const Vector& State::getEventTriggers() const {
    return getImpl().getEventTriggers();
}
inline const Vector& State::getEventTriggersByStage(Stage stage) const {
    return getImpl().getEventTriggersByStage(stage);
}
 
inline Vector& State::updEventTriggers() const {
    return getImpl().updEventTriggers();
}
inline Vector& State::updEventTriggersByStage(Stage stage) const {
    return getImpl().updEventTriggersByStage(stage);
}
 
inline const Real& State::getTime() const {
    return getImpl().getTime();
}
inline const Vector& State::getY() const {
    return getImpl().getY();
}
inline const Vector& State::getQ() const {
    return getImpl().getQ();
}
inline const Vector& State::getU() const {
    return getImpl().getU();
}
inline const Vector& State::getZ() const {
    return getImpl().getZ();
}
inline const Vector& State::getUWeights() const {
    return getImpl().getUWeights();
}
inline const Vector& State::getZWeights() const {
    return getImpl().getZWeights();
}
Real& State::updTime() {
    return updImpl().updTime();
}
inline Vector& State::updY() {
    return updImpl().updY();
}
inline void State::setTime(Real t) {
    updTime() = t;
}
inline void State::setY(const Vector& y) {
    updY() = y;
}
inline Vector& State::updQ() {
    return updImpl().updQ();
}
inline Vector& State::updU() {
    return updImpl().updU();
}
inline Vector& State::updZ() {
    return updImpl().updZ();
}
inline Vector& State::updUWeights() {
    return updImpl().updUWeights();
}
inline Vector& State::updZWeights() {
    return updImpl().updZWeights();
}
inline void State::setQ(const Vector& q) {
    updQ() = q;
}
inline void State::setU(const Vector& u) {
    updU() = u;
}
inline void State::setZ(const Vector& z) {
    updZ() = z;
}
inline const Vector& State::getYDot() const {
    return getImpl().getYDot();
}
inline const Vector& State::getQDot() const {
    return getImpl().getQDot();
}
inline const Vector& State::getZDot() const {
    return getImpl().getZDot();
}
inline const Vector& State::getUDot() const {
    return getImpl().getUDot();
}
inline const Vector& State::getQDotDot() const {
    return getImpl().getQDotDot();
}
inline Vector& State::updYDot() const {
    return getImpl().updYDot();
}
inline Vector& State::updQDot() const {
    return getImpl().updQDot();
}
inline Vector& State::updZDot() const {
    return getImpl().updZDot();
}
inline Vector& State::updUDot() const {
    return getImpl().updUDot();
}
inline Vector& State::updQDotDot() const {
    return getImpl().updQDotDot();
}
inline const Vector& State::getYErr() const {
    return getImpl().getYErr();
}
inline const Vector& State::getQErr() const {
    return getImpl().getQErr();
}
inline const Vector& State::getUErr() const {
    return getImpl().getUErr();
}
inline const Vector& State::getQErrWeights() const {
    return getImpl().getQErrWeights();
}
inline const Vector& State::getUErrWeights() const {
    return getImpl().getUErrWeights();
}
inline const Vector& State::getUDotErr() const {
    return getImpl().getUDotErr();
}
inline const Vector& State::getMultipliers() const {
    return getImpl().getMultipliers();
}
inline Vector& State::updYErr() const {
    return getImpl().updYErr();
}
inline Vector& State::updQErr() const {
    return getImpl().updQErr();
}
inline Vector& State::updUErr() const {
    return getImpl().updUErr();
}
inline Vector& State::updQErrWeights() {
    return updImpl().updQErrWeights();
}
inline Vector& State::updUErrWeights() {
    return updImpl().updUErrWeights();
}
inline Vector& State::updUDotErr() const {
    return getImpl().updUDotErr();
}
inline Vector& State::updMultipliers() const {
    return getImpl().updMultipliers();
}
 
inline void State::
setSystemTopologyStageVersion(StageVersion topoVersion)
{   return updImpl().setSystemTopologyStageVersion(topoVersion); }
 
inline void State::
getSystemStageVersions(Array_<StageVersion>& versions) const {
    return getImpl().getSystemStageVersions(versions); 
}
inline Stage State::
getLowestSystemStageDifference(const Array_<StageVersion>& prev) const {
    return getImpl().getLowestSystemStageDifference(prev); 
}
 
inline ValueVersion State::getQValueVersion() const {
    return getImpl().getQValueVersion();
}
 
inline ValueVersion State::getUValueVersion() const {
    return getImpl().getUValueVersion();
}
 
inline ValueVersion State::getZValueVersion() const {
    return getImpl().getZValueVersion();
}
 
inline const ListOfDependents& State::getQDependents() const {
    return getImpl().getQDependents();
}
 
inline const ListOfDependents& State::getUDependents() const {
    return getImpl().getUDependents();
}
 
inline const ListOfDependents& State::getZDependents() const {
    return getImpl().getZDependents();
}
 
inline bool State::hasCacheEntry(const CacheEntryKey& cacheEntry) const {
    return getImpl().hasCacheEntry(cacheEntry);
}
 
inline const CacheEntryInfo& State::
getCacheEntryInfo(const CacheEntryKey& cacheEntry) const {
    return getImpl().getCacheEntryInfo(cacheEntry);
}
 
inline CacheEntryInfo& State::
updCacheEntryInfo(const CacheEntryKey& cacheEntry) {
    return updImpl().updCacheEntryInfo(cacheEntry);
}
 
inline bool State::hasDiscreteVar(const DiscreteVarKey& discreteVar) const {
    return getImpl().hasDiscreteVar(discreteVar);
}
 
inline const DiscreteVarInfo& State::
getDiscreteVarInfo(const DiscreteVarKey& discreteVar) const {
    return getImpl().getDiscreteVarInfo(discreteVar);
}
 
inline const PerSubsystemInfo& State::
getPerSubsystemInfo(SubsystemIndex subx) const {
    return getImpl().getSubsystem(subx);
}
 
 
inline void State::autoUpdateDiscreteVariables() {
    updImpl().autoUpdateDiscreteVariables(); 
}
 
inline String State::toString() const {
    return getImpl().toString();
}
inline String State::cacheToString() const {
    return getImpl().cacheToString();
}
 
 
} // namespace SimTK
   // End of hiding from Doxygen
 
#endif // SimTK_SimTKCOMMON_STATE_IMPL_H_