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This project allows MATLAB users to use OpenSim as a physics engine - .osim files serve as models whose dynamics can be integrated.

This project provides the MATLAB user with an interface to some functions of forward simulation in OpenSim. Multiple .osim files can be handles simultaneously.

Available outputs:
- Time-derivative of the state;
- Marker positions and velocities;
- Joint reaction forces;
- Mass matrix;
- Integrating the system forward using SimTK's integrator.


Code is provided for use with the MATLAB compiler to generate a .mex file (compiled MATLAB library) that would interface with OpenSim's libraries.

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