Extendable OpenSim-Matlab Infrastructure Using Class Oriented C++ Mex Interface

The objective of this project is to provide an alternative interface between OpenSim and Matlab®, based on an extended C++ mex interface. Despite the fact that there is a user friendly OpenSim interface for Matlab, it lacks the ability to extend new functionalities based on the Java API (e.g. custom controller). Inspired by the relative project “Dynamic Simulation of Movement Based on OpenSim and MATLAB®/Simulink®”, where the user can easily interface OpenSim with Simulink, the proposed framework moves one step further by providing new capabilities to link custom written C++ OpenSim extensions to Matlab and to harvest both the powerful OpenSim C++ API and Matlab functionalities. The implementation is based on Matlab mex interface, which is further extended to support more complex functionalities based on the project mexplus. The latter is a C++ Matlab mex development kit that contains a couple of C++ classes and macros to make mex development easy in Matlab.An example project is provided in the download section with instructions on how-to use. <br/><br/>This project includes the following software/data packages: <br/> <ul> <li> <a href="https://simtk.org/frs?group_id=1042#pack_1771">CMake Project </a> </li> <li> <a href="https://simtk.org/frs?group_id=1042#pack_1831">OpenSimMatlab (OpenSim 3.3) </a> : For building with OpenSim 3.3 x64 </li> </ul>

本项目的宗旨在于构建一个介于 OpenSim 与 Matlab® 之间的替代性接口，该接口基于扩展的 C++ mex 接口。尽管 OpenSim 提供了面向 Matlab 的用户友好型接口，但其在基于 Java API 扩展新功能（如自定义控制器）方面存在不足。受‘基于 OpenSim 和 MATLAB®/Simulink® 的运动动态仿真’相关项目启发，该项目允许用户轻松地将 OpenSim 与 Simulink 连接，进一步提出了一种框架，该框架通过提供新的能力，将自定义编写的 C++ OpenSim 扩展与 Matlab 集成，并充分利用 OpenSim 的强大 C++ API 和 Matlab 功能。实现基于 Matlab mex 接口，并进一步扩展以支持基于项目 mexplus 的更复杂功能。mexplus 是一个包含若干 C++ 类和宏的 C++ Matlab mex 开发套件，旨在简化 Matlab 中的 mex 开发。下载部分提供了一个示例项目，其中包含了使用说明。

本项目包含以下软件/数据包：

<ul>
<li><a href="https://simtk.org/frs?group_id=1042#pack_1771">CMake 项目</a></li>
<li><a href="https://simtk.org/frs?group_id=1042#pack_1831">OpenSimMatlab (OpenSim 3.3)</a>：用于构建 OpenSim 3.3 x64 版本</li>
</ul>