Simbody

This project is a SimTK Core toolset providing general multibody dynamics capability. The techniques of rigid body mechanics are used to provide results in Order(n) time for any set of n coordinates. This can be used for internal coordinate modeling of molecules, or for coarse-grained models based on larger chunks. It is also useful for large-scale mechanical models, such as neuromuscular models of human gait. This toolset was developed specifically for the SimTK Core by Michael Sherman, but descends directly from noble parentage: (1) the public domain NIH Internal Variable Dynamics Module (IVM) facility for molecular dynamics developed and kindly provided by Charles Schwieters, and (2) the TAO dynamics engine for robotics and biomechanics simulation and control, contributed to the open source SimTK effort by Arachi Corporation.
Find Simbody at: https://simtk.org/home/simbody