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NOTE: This repository cannot be used to build OpenSim 3.x or earlier. For OpenSim 3.x, seehere.

OpenSim is software that lets users develop models of musculoskeletalstructures and create dynamic simulations of movement, such as this one:

More information can be found at our websites:

• OpenSim website; in particular, thesupportpage.
• SimTK project website

This repository contains the source code for OpenSim's C++ libraries, C++examples, command-line applications (inverse kinematics, computed musclecontrol, etc.), and Java and Python wrapping. This repository doesnotinclude source code for the OpenSim GUI.

• Simple Example
• Building from the source code
  • On Windows using Microsoft Visual Studio.
  • On Mac OSX using Xcode.
  • On Ubuntu using Unix Makefiles.

Let's simulate a simple arm whose elbow is actuated by a muscle, usingthe C++ interface

#include<OpenSim/OpenSim.h>usingnamespaceSimTK;usingnamespaceOpenSim;intmain() {    Model model;    model.setName("bicep_curl");    model.setUseVisualizer(true);// Create two links, each with a mass of 1 kg, center of mass at the body's// origin, and moments and products of inertia corresponding to an// ellipsoid with radii of 0.1, 0.5 and 0.1, in the x, y and z directions,// respectively.    OpenSim::Body* humerus =newOpenSim::Body("humerus",1.0,Vec3(0),Inertia(0.052,0.004,0.052));    OpenSim::Body* radius  =newOpenSim::Body("radius",1.0,Vec3(0),Inertia(0.052,0.004,0.052));// Connect the bodies with pin joints. Assume each body is 1 m long.    PinJoint* shoulder =newPinJoint("shoulder",// Parent body, location in parent, orientation in parent.            model.getGround(),Vec3(0),Vec3(0),// Child body, location in child, orientation in child.            *humerus,Vec3(0,0.5,0),Vec3(0));    PinJoint* elbow =newPinJoint("elbow",            *humerus,Vec3(0, -0.5,0),Vec3(0),            *radius,Vec3(0,0.5,0),Vec3(0));// Add a muscle that flexes the elbow.    Millard2012EquilibriumMuscle* biceps =newMillard2012EquilibriumMuscle("biceps",200,0.6,0.55,0);    biceps->addNewPathPoint("origin",    *humerus,Vec3(0,0.3,0));    biceps->addNewPathPoint("insertion", *radius,Vec3(0,0.2,0));// Add a controller that specifies the excitation of the muscle.    PrescribedController* brain =newPrescribedController();    brain->addActuator(*biceps);// Muscle excitation is 0.3 for the first 0.5 seconds, then increases to 1.    brain->prescribeControlForActuator("biceps",newStepFunction(0.5,3,0.3,1));// Add components to the model.    model.addBody(humerus);    model.addBody(radius);    model.addJoint(shoulder);  model.addJoint(elbow);    model.addForce(biceps);    model.addController(brain);// Add a console reporter to print the muscle fiber force and elbow angle.    ConsoleReporter* reporter =newConsoleReporter();    reporter->set_report_time_interval(1.0);    reporter->addToReport(biceps->getOutput("fiber_force"));    reporter->addToReport(        elbow->getCoordinate(PinJoint::Coord::RotationZ).getOutput("value"),"elbow_angle");    model.addComponent(reporter);// Add display geometry.    EllipsoidbodyGeometry(0.1,0.5,0.1);    bodyGeometry.setColor(Gray);// Attach an ellipsoid to a frame located at the center of each body.    PhysicalOffsetFrame* humerusCenter =newPhysicalOffsetFrame("humerusCenter", *humerus,Transform(Vec3(0)));    humerus->addComponent(humerusCenter);    humerusCenter->attachGeometry(bodyGeometry.clone());    PhysicalOffsetFrame* radiusCenter =newPhysicalOffsetFrame("radiusCenter", *radius,Transform(Vec3(0)));    radius->addComponent(radiusCenter);    radiusCenter->attachGeometry(bodyGeometry.clone());// Configure the model.    State& state = model.initSystem();// Fix the shoulder at its default angle and begin with the elbow flexed.    shoulder->getCoordinate().setLocked(state,true);    elbow->getCoordinate().setValue(state,0.5 * Pi);    model.equilibrateMuscles(state);// Configure the visualizer.    model.updMatterSubsystem().setShowDefaultGeometry(true);    Visualizer& viz = model.updVisualizer().updSimbodyVisualizer();    viz.setBackgroundType(viz.SolidColor);    viz.setBackgroundColor(White);// Simulate.simulate(model, state,5.0);return0;};

This code produces the following animation:

and prints the following information to the console:

[reporter]              | /forceset/bice|               |          time| ps|fiber_force|    elbow_angle|--------------| --------------| --------------|           0.0|     0.59048448|      1.5707963|           1.0|      24.574034|     0.91820573|           2.0|      21.418144|      1.4289945|           3.0|      17.584893|      1.5105765|           4.0|      17.688588|      1.5090021|           5.0|      17.590774|      1.5067387|

Expand to see Python and Matlab versions of the above example example:

importopensimasosimarm=osim.Model()arm.setName("bicep_curl")arm.setUseVisualizer(True)# ---------------------------------------------------------------------------# Create two links, each with a mass of 1 kg, center of mass at the body's# origin, and moments and products of inertia corresponding to an ellipsoid# with radii of 0.1, 0.5 and 0.1, in the x, y and z directions, respectively.# ---------------------------------------------------------------------------humerus=osim.Body("humerus",1.0,osim.Vec3(0),osim.Inertia(0.052,0.004,0.052))radius=osim.Body("radius",1.0,osim.Vec3(0),osim.Inertia(0.052,0.004,0.052))# ---------------------------------------------------------------------------# Connect the bodies with pin joints. Assume each body is 1m long.# ---------------------------------------------------------------------------shoulder=osim.PinJoint("shoulder",arm.getGround(),# PhysicalFrameosim.Vec3(0),osim.Vec3(0),humerus,# PhysicalFrameosim.Vec3(0,0.5,0),osim.Vec3(0))elbow=osim.PinJoint("elbow",humerus,# PhysicalFrameosim.Vec3(0,-0.5,0),osim.Vec3(0),radius,# PhysicalFrameosim.Vec3(0,0.5,0),osim.Vec3(0))# ---------------------------------------------------------------------------# Add a muscle that flexes the elbow (actuator for robotics people).# ---------------------------------------------------------------------------biceps=osim.Millard2012EquilibriumMuscle("biceps",# Muscle name100.0,# Max isometric force0.6,# Optimal fibre length0.55,# Tendon slack length0.0)# Pennation anglebiceps.addNewPathPoint("origin",humerus,osim.Vec3(0,0.3,0))biceps.addNewPathPoint("insertion",radius,osim.Vec3(0,0.2,0))# ---------------------------------------------------------------------------# Add a controller that specifies the excitation of the muscle.# ---------------------------------------------------------------------------brain=osim.PrescribedController()brain.addActuator(biceps)brain.prescribeControlForActuator("biceps",osim.StepFunction(0.5,3.0,0.3,1.0))# ---------------------------------------------------------------------------# Build model with components created above.# ---------------------------------------------------------------------------arm.addBody(humerus)arm.addBody(radius)arm.addJoint(shoulder)# Now required in OpenSim4.0arm.addJoint(elbow)arm.addForce(biceps)arm.addController(brain)# ---------------------------------------------------------------------------# Add a console reporter to print the muscle fibre force and elbow angle.# ---------------------------------------------------------------------------# We want to write our simulation results to the console.reporter=osim.ConsoleReporter()reporter.set_report_time_interval(1.0)reporter.addToReport(biceps.getOutput("fiber_force"))elbow_coord=elbow.getCoordinate().getOutput("value")reporter.addToReport(elbow_coord,"elbow_angle")arm.addComponent(reporter)# ---------------------------------------------------------------------------# Add display geometry.# ---------------------------------------------------------------------------bodyGeometry=osim.Ellipsoid(0.1,0.5,0.1)bodyGeometry.setColor(osim.Vec3(0.5))# GrayhumerusCenter=osim.PhysicalOffsetFrame()humerusCenter.setName("humerusCenter")humerusCenter.setParentFrame(humerus)humerusCenter.setOffsetTransform(osim.Transform(osim.Vec3(0)))humerus.addComponent(humerusCenter)humerusCenter.attachGeometry(bodyGeometry.clone())radiusCenter=osim.PhysicalOffsetFrame()radiusCenter.setName("radiusCenter")radiusCenter.setParentFrame(radius)radiusCenter.setOffsetTransform(osim.Transform(osim.Vec3(0)))radius.addComponent(radiusCenter)radiusCenter.attachGeometry(bodyGeometry.clone())# ---------------------------------------------------------------------------# Configure the model.# ---------------------------------------------------------------------------state=arm.initSystem()# Fix the shoulder at its default angle and begin with the elbow flexed.shoulder.getCoordinate().setLocked(state,True)elbow.getCoordinate().setValue(state,0.5*osim.SimTK_PI)arm.equilibrateMuscles(state)# ---------------------------------------------------------------------------# Configure the visualizer.# ---------------------------------------------------------------------------viz=arm.updVisualizer().updSimbodyVisualizer()viz.setBackgroundColor(osim.Vec3(0))# whiteviz.setGroundHeight(-2)# ---------------------------------------------------------------------------# Simulate.# ---------------------------------------------------------------------------manager=osim.Manager(arm)state.setTime(0)manager.initialize(state)state=manager.integrate(5.0)

%%Import Java librariesimportorg.opensim.modeling.*arm= Model();arm.setName('bicep_curl');arm.setUseVisualizer(true);% ---------------------------------------------------------------------------% Create two links, each with a mass of 1 kg, center of mass at the body's% origin, and moments and products of inertia corresponding to an ellipsoid% with radii of 0.1, 0.5 and 0.1, in the x, y and z directions, respectively.% ---------------------------------------------------------------------------humerus= Body('humerus',...1.0,...                    Vec3(0),...                    Inertia(0.052,0.004,0.052));radius= Body('radius',...1.0,...                   Vec3(0),...                   Inertia(0.052,0.004,0.052));% ---------------------------------------------------------------------------% Connect the bodies with pin joints. Assume each body is 1m long.% ---------------------------------------------------------------------------shoulder= PinJoint('shoulder',...arm.getGround(),... % PhysicalFrame                         Vec3(0),...                         Vec3(0),...humerus,... % PhysicalFrame                         Vec3(0,0.5,0),...                         Vec3(0));elbow= PinJoint('elbow',...humerus,... % PhysicalFrame                      Vec3(0,-0.5,0),...                      Vec3(0),...radius,... % PhysicalFrame                      Vec3(0,0.5,0),...                      Vec3(0));% ---------------------------------------------------------------------------% Add a muscle that flexes the elbow (actuator for robotics people).% ---------------------------------------------------------------------------biceps= Millard2012EquilibriumMuscle('biceps',...  % Muscle name100.0,...  % Max isometric force0.6,...  % Optimal fibre length0.55,...  % Tendon slack length0.0);% Pennation anglebiceps.addNewPathPoint('origin',...humerus,...                       Vec3(0,0.3,0));biceps.addNewPathPoint('insertion',...radius,...                       Vec3(0,0.2,0));% ---------------------------------------------------------------------------% Add a controller that specifies the excitation of the muscle.% ---------------------------------------------------------------------------brain= PrescribedController();brain.addActuator(biceps);brain.prescribeControlForActuator('biceps',...                                  StepFunction(0.5,3.0,0.3,1.0));% ---------------------------------------------------------------------------% Build model with components created above.% ---------------------------------------------------------------------------arm.addBody(humerus);arm.addBody(radius);arm.addJoint(shoulder);% Now required in OpenSim4.0arm.addJoint(elbow);arm.addForce(biceps);arm.addController(brain);% ---------------------------------------------------------------------------% Add a console reporter to print the muscle fibre force and elbow angle.% ---------------------------------------------------------------------------% We want to write our simulation results to the console.reporter= ConsoleReporter();reporter.set_report_time_interval(1.0);reporter.addToReport(biceps.getOutput('fiber_force'));elbow_coord=elbow.getCoordinate().getOutput('value');reporter.addToReport(elbow_coord,'elbow_angle');arm.addComponent(reporter);% ---------------------------------------------------------------------------% Add display geometry.% ---------------------------------------------------------------------------bodyGeometry= Ellipsoid(0.1,0.5,0.1);bodyGeometry.setColor(Vec3(0.5));% GrayhumerusCenter= PhysicalOffsetFrame();humerusCenter.setName('humerusCenter');humerusCenter.setParentFrame(humerus);humerusCenter.setOffsetTransform(Transform(Vec3(0)));humerus.addComponent(humerusCenter);humerusCenter.attachGeometry(bodyGeometry.clone());radiusCenter= PhysicalOffsetFrame();radiusCenter.setName('radiusCenter');radiusCenter.setParentFrame(radius);radiusCenter.setOffsetTransform(Transform(Vec3(0)));radius.addComponent(radiusCenter);radiusCenter.attachGeometry(bodyGeometry.clone());% ---------------------------------------------------------------------------% Configure the model.% ---------------------------------------------------------------------------state=arm.initSystem();% Fix the shoulder at its default angle and begin with the elbow flexed.shoulder.getCoordinate().setLocked(state,true);elbow.getCoordinate().setValue(state,0.5*pi);arm.equilibrateMuscles(state);% ---------------------------------------------------------------------------% Configure the visualizer% ---------------------------------------------------------------------------viz=arm.updVisualizer().updSimbodyVisualizer();viz.setBackgroundColor(Vec3(0));% whiteviz.setGroundHeight(-2)% ---------------------------------------------------------------------------% Simulate.% ---------------------------------------------------------------------------manager= Manager(arm);state.setTime(0);manager.initialize(state);state=manager.integrate(5.0);

NOTE: On all platforms (Windows, OSX, Linux), you shouldbuild all OpenSim dependencies (Simbody, BTK, etc) with thesameCMAKE_BUILD_TYPE (Linux) /CONFIGURATION(MSVC/Xcode) (e.g., Release, Debug) as OpenSim. Failing todo somay result in mysterious runtime errors likesegfaults.

We support a few ways of building OpenSim:

1. On Windows using Microsoft Visual Studio. In a rush? Usethese instructions.
2. On Mac OSX using Xcode. Need extended instructions? Usethese instructions.
3. On Ubuntu using Unix Makefiles. In a rush? Usethese instructions.

• operating system: Windows 7, 8, or 10.
• cross-platform build system:CMake >= 3.2
• compiler / IDE: Visual Studio2019
  • TheCommunity variant is sufficient and is free for everyone.
  • Visual Studio 2019 may not install C++ support by default.
    • During the installation, select the workloadDesktop Development with C++.
    • If Visual Studio is installed without C++ support, CMake will reportthe following errors:

      The C compiler identification is unknownThe CXX compiler identification is unknown

• physics engine:
  • Let OpenSim get this for you using superbuild (see below), or
  • Build on your own from latest master branch.
• C3D file support: Biomechanical-ToolKit Core or EZC3D, we use the latter by default.
  • Let OpenSim get this for you using superbuild (see below).
• command-line argument parsing: docopt.cpp. Two options:
  • Let OpenSim get this for you using superbuild (see below); much easier!
  • Build on your own (no instructions).
• logging: spdlog. Two options:
  • Let OpenSim get this for you using superbuild (see below); much easier!
  • Build on your own.
• Moco optimal control solvers: Solving optimal control problems withOpenSim's Moco module requires either CasADi or Tropter. Use superbuild forall these dependencies (except for Tropter, which is part of thisrepository).
  • MocoCasADiSolver (optional):CasADi (LGPL).
  • MocoTropterSolver (optional): Tropter.
    • matrix library:Eigen >= 3.3.7
    • sparse matrix algorithms:ColPack.
    • automatic differentiation:ADOL-C >= 2.6.3.
  • nonlinear optimizer (required if building with CasADi or Tropter):IPOPT >= 3.12.8.
• API documentation (optional):Doxygen >= 1.8.6
• version control (optional): git. There are many options:
  • Git for Windows, most advanced;
  • TortoiseGit,intermediate; good for TortoiseSVN users;
  • GitHub for Windows, easiest.
• Bindings (optional):SWIG 4.0.2
  • MATLAB scripting (optional):Java development kit >= 1.8.
    • Note: Older versions of MATLAB may use an older version of JVM. Run'ver' in MATLAB to check MATLAB's JVM version (must be >= 1.8).
    • Note: Java development kit >= 9 requires CMake >= 3.10.
  • Python scripting (optional): Python 2 >= 2.7 or Python 3 >= 3.5
    • Anaconda
    • Must provide the NumPy package; this should come with Anaconda.
  • The choice between 32-bit/64-bit must be the same between Java, Python,and OpenSim, we only build/test/support 64-bit platforms.

• Method 1: If you want to get going quickly, download the source code fromhttps://github.com/opensim-org/opensim-core/releases, for the version ofOpenSim you want. We'll assume you unzipped the source code intoC:/opensim-core-source.

• Method 2: If you plan on updating your OpenSim installation or you want tocontribute back to the project, clone the opensim-core git repository intoC:/opensim-core-source. If using TortoiseGit, open Windows Explorer,right-click in the window, selectGit Clone..., and provide thefollowing:

  • URL:https://github.com/opensim-org/opensim-core.git.
  • Directory:C:/opensim-core-source.

  If using a Git Bash or Git Shell, run the following:

    $ git clone https://github.com/opensim-org/opensim-core.git C:/opensim-core-source

  This will give you a bleeding-edge version of OpenSim-Core.

1. Open the CMake GUI.

2. In the fieldWhere is the source code, specifyC:/opensim-core-source/dependencies.

3. In the fieldWhere to build the binaries, specify a directory underwhich to build dependencies. Let's say this isC:/opensim-core-dependencies-build.

4. Click theConfigure button.

   1. Visual Studio 2019: Choose theVisual Studio 16 2019 generator.
   2. Need to build as 64-bit, select the generator withWin64 in the name.
   3. ClickFinish.

5. Where do you want to install OpenSim dependencies on your computer? Set thisby changing theCMAKE_INSTALL_PREFIX variable. Let's say this isC:/opensim-core-dependencies-install.

6. Variables namedSUPERBUILD_<dependency-name> allow you to selectivelydownload dependencies. By default, all dependencies are downloaded,configured and built.

7. Click theConfigure button again. Then, clickGenerate to makeVisual Studio project files in the build directory.

8. Go to the build directory you specified in step 3 using the command:

    cd C:/opensim-core-dependencies-build

9. Use CMake to download, compile and install the dependencies:

    cmake --build . --config RelWithDebInfo

   Alternative values for--config in this command are:

   • Debug: debugger symbols; no optimizations (more than 10x slower).Library names end with_d.
   • Release: no debugger symbols; optimized.
   • RelWithDebInfo: debugger symbols; optimized. Bigger but not slowerthan Release; choose this if unsure.
   • MinSizeRel: minimum size; optimized.

   You must run this command for each of the configurations you plan to usewith OpenSim (see below). You should run this command for the releaseconfigurationlast to ensure that you use the release version of thecommand-line applications instead of the slow debug versions.

   • Note: Superbuild attempts to determine when dependencies are out of datebut is not always successful. It is therefore recommended to build alldependencies from scratch when updating your installation.

10. If you like, you can now remove the directory used for buildingdependencies (c:/opensim-core-dependencies-build).

1. Open the CMake GUI.
2. In the fieldWhere is the source code, specifyC:/opensim-core-source.
3. In the fieldWhere to build the binaries, specify something likeC:/opensim-core-build, or some other path that is not inside your sourcedirectory. This isnot where we are installing OpenSim-Core; see below.
4. Click theConfigure button.
   1. Visual Studio 2019: Choose theVisual Studio 16 generator.
   2. To build as 64-bit, select the generator withWin64 in the name.The choice between 32-bit/64-bit must be the same across all dependencies.
   3. ClickFinish.
5. Where do you want to install OpenSim-Core on your computer? Set this bychanging theCMAKE_INSTALL_PREFIX variable. We'll assume you set it toC:/opensim-core. If you choose a different installation location, makesure to useyours where we useC:/opensim-core below.
6. Tell CMake where to find dependencies. This depends on how you got them.
   • Superbuild: Set the variableOPENSIM_DEPENDENCIES_DIR to the rootdirectory you specified with superbuild for installation of dependencies.In our example, it would bec:/opensim-core-dependencies-install.
   • Obtained on your own:
     1. Simbody: Set theSIMBODY_HOME variable to where you installedSimbody (e.g.,C:/Simbody).
     2. BTK: Set the variableBTK_DIR to the directory containingBTKConfig.cmake. If the root directory of your BTK installation isC:/BTKCore-install, then set this variable toC:/BTKCore-install/share/btk-0.4dev.
     3. docopt.cpp: Set the variabledocopt_DIR to the directorycontainingdocopt-config.cmake. If the root directory of yourdocopt.cpp installation isC:/docopt.cpp-install, then set thisvariable toC:/docopt.cpp-install/lib/cmake.
     4. spdlog: Set the variablespdlog_DIR to the directory containingspdlogConfig.cmake. If the root directory of your spdloginstallation isC:/spdlog-install, then set this variable toC:/spdlog-install/lib/spdlog/cmake.
7. Set the remaining configuration options.
   • BUILD_API_EXAMPLES to compile C++ API examples.
   • BUILD_TESTING to ensure that OpenSim works correctly. The tests take awhile to build; if you want to build OpenSim quickly, you can turn thisoff.
   • BUILD_JAVA_WRAPPING if you want to access OpenSim through MATLAB orJava; see dependencies above.
   • BUILD_PYTHON_WRAPPING if you want to access OpenSim through Python; seedependencies above. CMake setsPYTHON_* variables to tell you thePython version used when building the wrappers.
   • OPENSIM_PYTHON_VERSION to choose if the Python wrapping is built forPython 2 or Python 3.
   • BUILD_API_ONLY if you don't want to build the command-line applications.
   • OPENSIM_WITH_CASADI if you want support for MocoCasADiSolver.
   • OPENSIM_WITH_TROPTER if you want support for MocoTropterSolver.
8. Click theConfigure button again. Then, clickGenerate to makeVisual Studio project files in the build directory.

1. OpenC:/opensim-core-build/OpenSim.sln in Visual Studio.

2. Select your desiredSolution configuration from the drop-down at the top.

   • Debug: debugger symbols; no optimizations (more than 10x slower).Library names end with_d.
   • Release: no debugger symbols; optimized.
   • RelWithDebInfo: debugger symbols; optimized. Bigger but not slowerthan Release; choose this if unsure.
   • MinSizeRel: minimum size; optimized.

   You at least want release libraries (the last 3 count as release), but youcan have debug libraries coexist with them. To do this, go through theinstallation process twice, once for each of the two configurations. Youshould install the release configurationlast to ensure that you use therelease version of the command-line applications instead of the slow debugversions.

3. Build the API documentation. This is optional, and you can only do this ifyou have Doxygen. Build the documentation by right-clickingdoxygen andselectingBuild.

4. Build the libraries, etc. by right-clickingALL_BUILD and selectingBuild.

5. Run the tests by right-clickingRUN_TESTS_PARALLEL and selectingBuild.

6. Install OpenSim-Core by right-clickingINSTALL and selectingBuild.

In order to use the OpenSim-Core command-line applications or use OpenSim-Corelibraries in your own application, you must add the OpenSim-Corebin/directory to yourPATH environment variable.

1. In the Windows toolbar (Windows 10), Start screen (Windows 8) or Start menu(Windows 7), searchenvironment.
2. SelectEdit the system environment variables.
3. ClickEnvironment Variables....
4. UnderSystem variables, clickPath, then clickEdit.
5. AddC:/opensim-core/bin; to the front of of the text field. Don't forgetthe semicolon!

• GetVisual Studio Community2019

  • ChooseCustom installation, then chooseProgramming Languages ->Visual C++.

• Getgit fromhere.

  • ChooseUse Git from the Windows Command Prompt.

• GetCMake fromhere.

  • ChooseAdd CMake to the system PATH for all users.

• GetChocolatey fromhere.

• InPowerShell,run as Administrator:

  choco install python2 jdk8 swig

• InPowerShell:

  git clone https://github.com/opensim-org/opensim-core.gitmkdir opensim_dependencies_buildcd .\opensim_dependencies_buildcmake ..\opensim-core\dependencies`-G"Visual Studio 16 2019 Win64"`-DCMAKE_INSTALL_PREFIX="..\opensim_dependencies_install"cmake--build.--config RelWithDebInfo--/maxcpucount:8cd ..mkdir opensim_buildcd .\opensim_buildcmake ..\opensim-core`-G"Visual Studio 16 2019 Win64"`-DCMAKE_INSTALL_PREFIX="..\opensim_install"`-DOPENSIM_DEPENDENCIES_DIR="..\opensim_dependencies_install"`-DBUILD_JAVA_WRAPPING=ON`-DBUILD_PYTHON_WRAPPING=ON`-DWITH_BTK=ON                                  cmake--build.--config RelWithDebInfo--/maxcpucount:8ctest--build-config RelWithDebInfo--parallel8cmake--build.--config RelWithDebInfo--target install--/maxcpucount:8

Note: Please add<FULL-DIR>\opensim_install\bin to your PATH variable as perthese instructions.
Example: Ifopensim_install is inC:, addC:\opensim_install\bin to your PATH.

GetXcode from the App store. OpenXcode andAgree to license agreement. ToAgree to to the license agreement, you may need to type inTerminal:

sudo xcodebuild -license

If you already haveXcode, update it to 7.3, or the latest version.

Then, inTerminal, copy and paste commands below, line by line, one at a time. The first line installs the Homebrew package manager; omit this line if you already have Homebrew. Be sure the output doesn't contain errors.

/usr/bin/ruby -e"$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install)"brew install cmake swig gcc pkgconfig autoconf libtool automake wget doxygenbrew cask install javagit clone https://github.com/opensim-org/opensim-core.gitmkdir opensim_dependencies_buildcd opensim_dependencies_buildcmake ../opensim-core/dependencies \      -DCMAKE_INSTALL_PREFIX="~/opensim_dependencies_install" \      -DCMAKE_BUILD_TYPE=RelWithDebInfomake -j8cd ..mkdir opensim_buildcd opensim_buildcmake ../opensim-core \      -DCMAKE_INSTALL_PREFIX="~/opensim_install" \      -DCMAKE_BUILD_TYPE=RelWithDebInfo \      -DBUILD_PYTHON_WRAPPING=ON \      -DBUILD_JAVA_WRAPPING=ON \      -DOPENSIM_DEPENDENCIES_DIR="~/opensim_dependencies_install" \      -DWITH_BTK=ONmake -j8ctest -j8

• operating system: Mac OSX 10.11 El Capitan or newer.
• cross-platform build system:CMake >= 3.2
• compiler / IDE:Xcode >= 7.3 (the latest version), throughthe Mac App Store.
• physics engine: Simbody latest. Two options:
  • Let OpenSim get this for you using superbuild (see below).
  • Build on your own.
• C3D file support: EZC3D or Biomechanical-ToolKit Core.
  • Let OpenSim get this for you using superbuild (see below).
• command-line argument parsing: docopt.cpp. Two options:
  • Let OpenSim get this for you using superbuild (see below); much easier!
  • Build on your own (no instructions).
• logging: spdlog. Two options:
  • Let OpenSim get this for you using superbuild (see below); much easier!
  • Build on your own.
• Moco optimal control solvers: Solving optimal control problems withOpenSim's Moco module requires either CasADi or Tropter. Use superbuild forall these dependencies (except for Tropter, which is part of thisrepository).
  • MocoCasADiSolver (optional):CasADi (LGPL).
  • MocoTropterSolver (optional): Tropter.
    • matrix library:Eigen >= 3.3.7
    • sparse matrix algorithms:ColPack.
    • automatic differentiation:ADOL-C >= 2.6.3.
  • nonlinear optimizer (required if building with CasADi or Tropter):IPOPT >= 3.12.8.
• API documentation (optional):Doxygen >= 1.8.6
• version control (optional): git.
  • Xcode Command Line Tools gives you git on the command line.
  • GitHub for Mac, for a simple-to-use GUI.
• Bindings (optional):SWIG 4.0.2
  • MATLAB scripting (optional):Java development kit >= 1.7.
    • Note: Older versions of MATLAB may use an older version of JVM. Run'ver' in MATLAB to check MATLAB's JVM version (must be >= 1.7).
    • Note: Java development kit >= 9 requires CMake >= 3.10.
  • Python scripting (optional): Python 2 >= 2.7 or Python 3 >= 3.5
    • Mac OSX comes with Python, but you could also use:
    • brew install python,
    • Anaconda
    • Must provide the NumPy package; this should come with Anaconda.

You can get most of these dependencies usingHomebrew:

$ brew install cmake doxygen swig

• Method 1; If you want to get going quickly, download the source code fromhttps://github.com/opensim-org/opensim-core/releases, for the version ofOpenSim you want. We'll assume you unzipped the source code into~/opensim-core-source.

• Method 2: If you plan on updating your OpenSim installation or you want tocontribute back to the project, clone the opensim-core git repository into~/opensim-core-source. Run the following in a terminal, orfind a way to run the equivalent commands in a GUI client:

    $ git clone https://github.com/opensim-org/opensim-core.git ~/opensim-core-source

  This will give you a bleeding-edge version of OpenSim-Core.

1. Open the CMake GUI.

2. In the fieldWhere is the source code, specify~/opensim-core-source/dependencies.

3. In the fieldWhere to build the binaries, specify a directory underwhich to build dependencies. Let's say this is~/opensim-core-dependencies-build.

4. Click theConfigure button. ChooseXcode. ClickFinish.

5. Where do you want to install OpenSim dependencies on your computer? Set thisby changing theCMAKE_INSTALL_PREFIX variable. Let's say this is~/opensim-core-dependencies-install.

6. Variables namedSUPERBUILD_<dependency-name> allow you to selectivelydownload dependencies. By default, all dependencies are downloaded,configured and built.

7. Click theConfigure button again. Then, clickGenerate to make Xcodefiles in the build directory.

8. Open~/opensim-core-dependencies/build/OpenSimDependencies.xcodeproj inXcode.

9. Choose yourBuild Configuration for theALL_BUILD Scheme by pressingCommand-Shift , (or,Command-LessThan), or navigating toProduct ->Scheme -> Edit Scheme...; and changing theBuild Configuration field.

   • Debug: debugger symbols; no optimizations (more than 10x slower).Library names end with_d.
   • Release: no debugger symbols; optimized.
   • RelWithDebInfo: debugger symbols; optimized. Bigger but not slowerthan Release; choose this if unsure.
   • MinSizeRel: minimum size; optimized.

   You must build each of the configurations you plan to use with OpenSim (seebelow). You should install the release configurationlast to ensure thatyou use the release version of the command-line applications instead of theslow debug versions.

10. Compile. Run the SchemeALL_BUILD by clicking the play button in theupper left. If necessary, change the build configuration (previous step) andrunALL_BUILD again.

    • Note: Superbuild attempts to determine when dependencies are out of datebut is not always successful. It is therefore recommended to build alldependencies from scratch when updating your installation.

1. Open the CMake GUI.
2. In the fieldWhere is the source code, specify~/opensim-core-source.
3. In the fieldWhere to build the binaries, specify something like~/opensim-core-build, or some other path that is not inside your sourcedirectory. This isnot where we are installing OpenSim-Core; see below.
4. Click theConfigure button. ChooseXcode. ClickFinish.
5. Where do you want to install OpenSim-Core on your computer? Set this bychanging theCMAKE_INSTALL_PREFIX variable. We'll assume you set it to~/opensim-core. If you choose a different installation location, makesure to useyours where we use~/opensim-core below. You shouldnotuse/usr/,/usr/local/, etc. (because our installation does not yetconform to theFHS).
6. Tell CMake where to find dependencies. This depends on how you got them.
   • Superbuild: Set the variableOPENSIM_DEPENDENCIES_DIR to the rootdirectory you specified with superbuild for installation of dependencies.In our example, it would be~/opensim-core-dependencies-install.
   • Obtained on your own:
     1. Simbody: Set theSIMBODY_HOME variable to where you installedSimbody (e.g.,~/simbody). If you installed Simbody usingbrew,then CMake will find Simbody automatically.
     2. BTK: Set theBTK_DIR variable to the directory containingBTKConfig.cmake. If you installed BTK in~/BTKCore-install, thensetBTK_DIR to~/BTKCore-install/share/btk-0.4dev
     3. docopt.cpp: Set the variabledocopt_DIR to the directorycontainingdocopt-config.cmake. If the root directory of yourdocopt.cpp installation is~/docopt.cpp-install, then set thisvariable to~/docopt.cpp-install/lib/cmake.
     4. spdlog: Set the variablespdlog_DIR to the directory containingspdlogConfig.cmake. If the root directory of your spdloginstallation is~/spdlog-install, then set this variable to~/spdlog-install/lib/spdlog/cmake.
7. Set the remaining configuration options.
   • BUILD_API_EXAMPLES to compile C++ API examples.
   • BUILD_TESTING to ensure that OpenSim works correctly. The tests take awhile to build; if you want to build OpenSim quickly, you can turn thisoff.
   • BUILD_JAVA_WRAPPING if you want to access OpenSim through MATLAB orJava; see dependencies above.
   • BUILD_PYTHON_WRAPPING if you want to access OpenSim through Python; seedependencies above. CMake setsPYTHON_* variables to tell you thePython version used when building the wrappers.
   • OPENSIM_PYTHON_VERSION to choose if the Python wrapping is built forPython 2 or Python 3.
   • BUILD_API_ONLY if you don't want to build the command-line applications.
8. Click theConfigure button again. Then, clickGenerate to createXcode project files in the build directory.

1. Open~/opensim-core-build/OpenSim.xcodeproj in Xcode.

2. Choose yourBuild Configuration for theALL_BUILD Scheme by pressingCommand-Shift , (or,Command-LessThan), or navigating toProduct ->Scheme -> Edit Scheme...; and changing theBuild Configuration field.

   • Debug: debugger symbols; no optimizations (more than 10x slower).Library names end with_d.
   • Release: no debugger symbols; optimized.
   • RelWithDebInfo: debugger symbols; optimized. Bigger but not slowerthan Release; choose this if unsure.
   • MinSizeRel: minimum size; optimized.

   You at least want release libraries (the last 3 count as release), but youcan have debug libraries coexist with them. To do this, go through theinstallation process twice, once for each of the two configurations. Youshould install the release configurationlast to ensure that you use therelease version of the command-line applications instead of the slow debugversions.

3. Compile. Run the SchemeALL_BUILD by clicking the play button in theupper left.

4. Test. Click onALL_BUILD in the upper left, and selectRUN_TESTS_PARALLEL. Change theBuild Configuration of this Scheme tothe same as you used forALL_BUILD (using the same instructions asabove). Click the play button.

5. Build the API documentation. This is optional, and you can only do this ifyou have Doxygen. Click on the current Scheme (RUN_TESTS_PARALLEL) andselectdoxygen. Click the play button.

6. Install. Click on the current Scheme (RUN_TESTS_PARALLEL ordoxygen), and selectinstall. Click the play button.

1. Executables. If you want to run OpenSim-Core's executables fromanywhere on your computer, you must update your PATH. Open a terminal andtype:

    $ echo 'export PATH=~/opensim-core/bin:$PATH' >> ~/.bash_profile

Your changes will only take effect in new terminal windows.

Most dependencies can be obtained via the Ubuntu software repositories;especially if you are using Ubuntu 16.04 or later. On each line below, we showthe Ubuntu package names for the dependencies. You can find instructions forspecific Ubuntu versions under 'For the impatient' below.

• cross-platform build system:CMake >= 3.2;cmake-gui.
• compiler:gcc >= 4.9;g++-4.9, orClang >= 3.4;clang-3.4.
• physics engine: Simbody >= 3.7. Two options:
  • Let OpenSim get this for you using superbuild (see below).
  • Build on your own.
• C3D file support: Biomechanical-ToolKit Core. Two options:
  • Let OpenSim get this for you using superbuild (see below).
  • Build on your own.
• command-line argument parsing: docopt.cpp. Two options:
  • Let OpenSim get this for you using superbuild (see below); much easier!
  • Build on your own (no instructions).
• logging: spdlog. Two options:
  • Let OpenSim get this for you using superbuild (see below); much easier!
  • Build on your own.
• Moco optimal control solvers: Solving optimal control problems withOpenSim's Moco module requires either CasADi or Tropter. Use superbuild forall these dependencies (except for Tropter, which is part of thisrepository).
  • MocoCasADiSolver (optional):CasADi (LGPL).
  • MocoTropterSolver (optional): Tropter.
    • matrix library:Eigen >= 3.3.7
    • sparse matrix algorithms:ColPack.
    • automatic differentiation:ADOL-C >= 2.6.3.
  • nonlinear optimizer (required if building with CasADi or Tropter):IPOPT >= 3.12.8.
• API documentation (optional):Doxygen >= 1.8.6;doxygen.
• version control (optional): git;git.
• Bindings (optional):SWIG 4.0.2;swig.
  • MATLAB scripting (optional):Java development kit >= 1.7;openjdk-7-jdk.
    • Note: Older versions of MATLAB may use an older version of JVM. Run'ver' in MATLAB to check MATLAB's JVM version (must be >= 1.7).
    • Note: Java development kit >= 9 requires CMake >= 3.10.
  • Python scripting (optional): Python 2 >= 2.7 or Python 3 >= 3.5;python-dev.
    • Must provide the NumPy package;python-numpy.

For example, you could get the required dependencies (except Simbody) via:

$ sudo apt-get install cmake-gui g++-4.9

And you could get all the optional dependencies via:

$ sudo apt-get install doxygen git swig openjdk-7-jdk python-dev python-numpy wget build-essential libtool autoconf pkg-config gfortran

• Method 1; If you want to get going quickly, download the source code fromhttps://github.com/opensim-org/opensim-core/releases, for the version ofOpenSim you want. We'll assume you unzipped the source code into~/opensim-core-source.

• Method 2: If you plan on updating your OpenSim installation or you want tocontribute back to the project, clone the opensim-core git repository intoC:/opensim-core-source. Run the following in a terminal:

    $ git clone https://github.com/opensim-org/opensim-core.git ~/opensim-core-source

  This will give you a bleeding-edge version of OpenSim-Core.

1. Open the CMake GUI.

2. In the fieldWhere is the source code, specify~/opensim-core-source/dependencies.

3. In the fieldWhere to build the binaries, specify a directory underwhich to build dependencies. Let's say this is~/opensim-core-dependencies-build.

4. Click theConfigure button. ChooseUnix Makefiles. ClickFinish.

5. Where do you want to install OpenSim dependencies on your computer? Set thisby changing theCMAKE_INSTALL_PREFIX variable. Let's say this is~/opensim-core-dependencies-install.

6. Variables namedSUPERBUILD_<dependency-name> allow you to selectivelydownload dependencies. By default, all dependencies are downloaded,configured and built.

7. Choose your build type by settingCMAKE_BUILD_TYPE to one of the following:

   • Debug: debugger symbols; no optimizations (more than 10x slower).Library names end with_d.
   • Release: no debugger symbols; optimized.
   • RelWithDebInfo: debugger symbols; optimized. Bigger but not slowerthan Release; choose this if unsure.
   • MinSizeRel: minimum size; optimized.

   You must perform the superbuild procedure for each of thebuild types you plan to use with OpenSim (see below). You might want touse different build directories for each build type, though you can usethe same install directory for all build types. You should install therelease build typelast to ensure that you use the release version ofthe command-line applications instead of the slow debug versions.

8. Click theConfigure button again. Then, clickGenerate to make UnixMakefiles in the build directory.

9. Open a terminal and navigate to the build directory.

    $ cd ~/opensim-core-dependencies-build

10. Compile. Use the-jn flag to build usingn concurrent jobs (potentiallyin parallel); this will greatly speed up your build. For example:

     $ make -j8

    • Note: Superbuild attempts to determine when dependencies are out of datebut is not always successful. It is therefore recommended to build alldependencies from scratch when updating your installation.

11. If necessary, repeat this whole procedure for other build types.

1. Open the CMake GUI.

2. In the fieldWhere is the source code, specify~/opensim-core-source.

3. In the fieldWhere to build the binaries, specify something like~/opensim-core-build, or some other path that is not inside your sourcedirectory. This isnot where we are installing OpenSim-Core; see below.

4. Click theConfigure button. ChooseUnix Makefiles. ClickFinish.

5. Where do you want to install OpenSim-Core on your computer? Set this bychanging theCMAKE_INSTALL_PREFIX variable. We'll assume you set it to~/opensim-core. If you choose a different installation location, makesure to useyours where we use~/opensim-core below. You shouldnotuse/usr/,/usr/local/, etc. (because our installation does not yetconform to theFHS), but/opt/is okay.

6. Tell CMake where to find dependencies. This depends on how you got them.

   • Superbuild: Set the variableOPENSIM_DEPENDENCIES_DIR to the rootdirectory you specified with superbuild for installation of dependencies.In our example, it would be~/opensim-core-dependencies-install.
   • Obatained on your own:
     1. Simbody: Set theSIMBODY_HOME variable to where you installedSimbody (e.g.,~/simbody).
     2. BTK: Set theBTK_DIR variable to the directory containingBTKConfig.cmake. If you installed BTK in~/BTK-install, then setBTK-DIR to~/BTK-install/share/btk-0.4dev.
     3. docopt.cpp: Set the variabledocopt_DIR to the directorycontainingdocopt-config.cmake. If the root directory of yourdocopt.cpp installation is~/docopt.cpp-install, then set thisvariable to~/docopt.cpp-install/lib/cmake.
     4. spdlog: Set the variablespdlog_DIR to the directory containingspdlogConfig.cmake. If the root directory of your spdloginstallation is~/spdlog-install, then set this variable to~/spdlog-install/lib/spdlog/cmake.

7. Choose your build type by settingCMAKE_BUILD_TYPE to one of the following:

   • Debug: debugger symbols; no optimizations (more than 10x slower).Library names end with_d.
   • Release: no debugger symbols; optimized.
   • RelWithDebInfo: debugger symbols; optimized. Bigger but not slowerthan Release; choose this if unsure.
   • MinSizeRel: minimum size; optimized.

   You at least want release libraries (the last 3 count as release), but youcan have debug libraries coexist with them. To do this, go through theinstallation process twice, once for each of the two build types. It istypical to use a different build directory for each build type (e.g.,~/opensim-core-build-debug and~/opensim-core-build-release). Youshould install the release build typelast to ensure that you use therelease version of the command-line applications instead of the slow debugversions.

8. Set the remaining configuration options.

   • BUILD_API_EXAMPLES to compile C++ API examples.
   • BUILD_TESTING to ensure that OpenSim works correctly. The tests take awhile to build; if you want to build OpenSim quickly, you can turn thisoff.
   • BUILD_JAVA_WRAPPING if you want to access OpenSim through MATLAB orJava; see dependencies above.
   • BUILD_PYTHON_WRAPPING if you want to access OpenSim through Python; seedependencies above.
   • OPENSIM_PYTHON_VERSION to choose if the Python wrapping is built forPython 2 or Python 3.
   • BUILD_API_ONLY if you don't want to build the command-line applications.
   • OPENSIM_COPY_DEPENDENCIES to decide if Simbody and BTK are copied intothe OpenSim installation; you want this off if you're installing OpenSiminto/usr/ or/usr/local/.

9. Click theConfigure button again. Then, clickGenerate to createMakefiles in the build directory.

1. Open a terminal and navigate to the build directory.

    $ cd ~/opensim-core-build

2. Build the API documentation. This is optional, and you can only do this ifyou have Doxygen.

    $ make doxygen

3. Compile. Use the-jn flag to build usingn concurrent jobs (potentiallyin parallel); this will greatly speed up your build. For example:

    $ make -j8

4. Run the tests.

    $ ctest -j8

5. Install (to~/opensim-core).

    $ make -j8 install

1. Executables. Add OpenSim-Core's executables to the path so you canaccess them from any directory on your computer.

    $ echo 'export PATH=~/opensim-core/bin:$PATH' >> ~/.bashrc

Your changes will only take effect in new terminal windows.

InTerminal --

sudo add-apt-repository --yes ppa:george-edison55/cmake-3.xsudo apt-add-repository --yes ppa:fenics-packages/fenics-expsudo apt-get updatesudo apt-get --yes install git cmake cmake-curses-gui clang-3.6 \                           freeglut3-dev libxi-dev libxmu-dev \                           liblapack-dev swig3.0 python-dev \                           openjdk-7-jdksudo rm -f /usr/bin/cc /usr/bin/c++sudo ln -s /usr/bin/clang-3.6 /usr/bin/ccsudo ln -s /usr/bin/clang++-3.6 /usr/bin/c++export JAVA_HOME=/usr/lib/jvm/java-7-openjdk-amd64git clone https://github.com/opensim-org/opensim-core.gitmkdir opensim_dependencies_buildcd opensim_dependencies_buildcmake ../opensim-core/dependencies/ \      -DCMAKE_INSTALL_PREFIX='~/opensim_dependencies_install' \      -DCMAKE_BUILD_TYPE=RelWithDebInfomake -j8cd ..mkdir opensim_buildcd opensim_buildcmake ../opensim-core \      -DCMAKE_INSTALL_PREFIX="~/opensim_install" \      -DCMAKE_BUILD_TYPE=RelWithDebInfo \      -DOPENSIM_DEPENDENCIES_DIR="~/opensim_dependencies_install" \      -DBUILD_PYTHON_WRAPPING=ON \      -DBUILD_JAVA_WRAPPING=ON \      -DWITH_BTK=ONmake -j8ctest -j8make -j8 install

Note: You may need to add<FULL-DIR>/opensim_install/bin to your PATH variable as perthese instructions.
Example: If opensim_install is in your home directory:

    $ echo 'export PATH=~/opensim_install/bin:$PATH' >> ~/.bashrc