Simbody Reference Guide

This is the Doxygen-generated reference material for Simbody objects.

Until we finish this main page you'll have to look up the objects by their class names.

Introduction

Simbody is an API for building multibody systems, whose main components are:

• Mobilized Bodies
• Forces
• Constraints
• Motions

Mobilized Bodies

A MobilizedBody is a rigid body plus its mobilizer, which is the joint that defines the body's mobility with respect to its parent body in the multibody tree. Here are some of the built-in mobilizer types:

• Pin (torsion, revolute)
• Ball (spherical)
• Slider (prismatic)
• Free (6 dof)

Forces

tbd

Constraints

tbd

Motions

tbd