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Is there an example somewhere of this being done? I've been reading through the documentation and it's clear that running Forward Dynamics in a C++ environment is possible, but I'm having trouble formulating the approach. Any and all help is appreciated.

You should check in the API for classes that contain the keyword "Tool". For example if you haved used the GUI there are options Inverse Kinematics, Inverse Dynamics etc (InverseDynamicsTool). All these functionalities are implemented in the classes *Tool.

Also check the GUI examples in OpenSim\Model to understand how to formulate the Forward dynamics. I think there is a pdf tutorial in OpenSim\doc.

https://simtk.org/api_docs/opensim/api_ ... dTool.html

Hi Ryan,

I think this example from the documentation may be helpful:

http://simtk-confluence.stanford.edu:80 ... Simulation

Cheers,
Brian