OpenSim provides several mechanisms for extending its existing capabilities by either adding new model elements, computing new quantities, or computing existing quantities in a new way. For example, you may want to model the drag acting on bodies moving through a fluid, which OpenSim does not provide. Another example is being able to extract the linear and angular momenta of the model during a simulation. In order to extend OpenSim, it is important to know what functionality exists and have a sense of where to add new functionality. OpenSim can be extended by using its API, or Application Programming Interface, through C++, Matlab, or Python.
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