OpenSim comes with a variety of C++ API examples, located in <OpenSimResourcesDir>/Code/CPP (where, by default, <OpenSimResourcesDir> is C:\Users\<username>\Documents\OpenSim\4.x on Windows and ~/Documents/OpenSim/4.x on Mac). In the list below, we provide the subdirectory in the Code/CPP folder where you can find each example.

Performing a Simulation (ExampleMain) Write a main C++ program (a "tug of war") to create a model and run a forward simulation.
1. This example requires updating. For now, refer to the complete code in the ExampleMain/OutputReference folder.
Creating Your Own Analysis (Plugins/AnalysisPluginExample) Write your own Analysis to output the center of mass and orientation of each body in a model.
Creating a Controller (ControllerExample) Extend the tug of war example with a custom controller.
Creating an Optimization (OptimizationExample_Arm26) Write an optimization to find muscle controls to maximize the forward velocity of the hand.
Creating a Customized Actuator (CustomActuatorExample) Implement a spring with controllable stiffness.
Creating a Customized Muscle Model (MuscleExample) Implement a muscle model with fatigue.
Managing data in (DataTable, DataAdapter) Build a DataTable and read data files into memory.
Use Sockets, Inputs, and Outputs (ExampleHopperDevice) Attach an assistive device to a model to maximize jump height.
Build a model of a muscle-actuated Luxo Lamp (ExampleLuxoMuscle) This model uses kinematic constraints to form a parallel linkage.

This list is not comprehensive. Search the Code/CPP folder for additional examples.

To get started with any of these examples, refer to How to Build a C++ Example.

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