[wpilib] Add mechanism specific SetState overloads to physics sims (#5534)

wpilibc/src/main/native/include/frc/simulation/ElevatorSim.h

@@ -65,6 +65,16 @@ class ElevatorSim : public LinearSystemSim<2, 1, 1> {
               bool simulateGravity, units::meter_t startingHeight,
               const std::array<double, 1>& measurementStdDevs = {0.0});
 
+  using LinearSystemSim::SetState;
+
+  /**
+   * Sets the elevator's state. The new position will be limited between the
+   * minimum and maximum allowed heights.
+   * @param position The new position
+   * @param velocity The new velocity
+   */
+  void SetState(units::meter_t position, units::meters_per_second_t velocity);
+
   /**
    * Returns whether the elevator would hit the lower limit.
    *