Introduction

This software is implements methodology put forth in:
Recursive Derivation of Explicit Equations of Motion For Efficient Dynamic/Control Simulation of Large Multibody Systems
PH. D Dissertation August 1990
Author: Kurt S. Anderson

This software also implements methodolgoy put forth in:
Computer-Aided Analysis of Mechanical Systems
by: Parvis E. Nikravesh ISBN: 0-13-164220-0 025

This tool can be used to simulate multi-body dynamics, i.e. mechanical systems.
Bodies have mass and inertia and can be connected with joints restricting motion.
Forces can be added to act upon the bodies. Contact is considered a force and is implemented using Bullet's Contact library.

For most applictations the user will be working in the Model1, Model2 or Model3 class almost exclusively. Use methods such as addJointTrans to add a translational joint.
Your application needs to instantiate the model and keep it around to access components of the model. For example, use the Model method: getBody to get a pointer to the body then access Body methods such as
getRot() to get the rotation matrix for the body

Installation

Step 1: Download source

etc...

Author:

John Kollman