<t>There is no standard name in the literature for the kinematic coupling matrix that relates generalized speeds u to generalized coordinate derivatives qdot. Way back when, I chose the symbol "Q" for this matrix for Simbody's kinematic differential equation qdot=Q*u. That looked like a clever choic...

> I don't think we're talking about not building static libraries, are we?

Well, I wasn't thinking about that initially by I *think* that's what Ayman is saying -- is that right?

Ayman, what developers are you thinking of that wouldn't want static libraries? I would think that developers would almost by definition need to do debugging.

Sherm

<t>Ironically after posting this I immediately ran into a case where *only* the static tests failed. That was yesterday. Then today I was trying to debug another test case and found that in Visual Studio Debug mode I couldn't see internal class definitions inside the shared libraries, but could if I...

<t>I'm not sure who's monitoring this forum since it doesn't appear to have been used yet. But in case this is the right place for SimTK Core developer discussions ...<br/> <br/> We now have *lots* of test cases and every one comes in two flavors: shared and static. What do you think about eliminati...

Thanks for the information about your intended use of inverse dynamics. Would you please clarify for me where you get your acceleration data?

Regards,
Sherm

<t>Yes, that's right.<br/> <br/> Jean-Olivier, I'm sure you know this already but just in case I want to remind you that inverse dynamics requires specifying desired *accelerations* -- positions and velocities aren't enough. Positions q allow you to calculate the mass matrix M(q), velocities allow f...

<t>Hi, Jean-Olivier.<br/> <br/> Sorry for the delayed response. I am just returning to Stanford next week after an extended absence. Adding direct support in Simbody for inverse dynamics will be one of my top priorities on return, so calcMa() will be there in the next release.<br/> <br/> There are a...

<t>Hi, Jordi. <br/> <br/> Simbody is based on technology originally developed for robotics (recursive multibody formulation similar to Featherstone's) so should be very well suited to robotics simulation. Robotics simulation tends to be simpler than the biomechanics applications for which Simbody is...

<t>Hi, Adam. Like SD/FAST, Simbody is a fully general multibody code. Unlike SD/FAST, it achieves that numerically rather than symbolically so there is no generated source code to look at, and therefore no compile step either. However, also unlike SD/FAST Simbody is open source so you can see all th...