This Inverse Dynamic Analysis can be used with the OpenSim 2.4 API. It allows the user to specify muscle controls to include muscle forces during the analysis. It also is able to read in user-specified joint accelerations from the input motion or storage file which contains the kinematics (and may contain velocities too).

This is an executable tool to perform an inverse kinematics analysis based and built on OpenSim libraries. The code is originally from the OpenSim source code, but had been modified to allow for better marker name handling and fixes the final time issue that other OpenSim users have seen. Built with OpenSim 3.2 VC2010 32bit, you can modify the code and build project to meet your needs if needed.