Building simulations from code

• Create the simulation (Simulator if no contacts or joint limits, EventDrivenSimulator otherwise)
• Create one or more model(s) and add them to the simulation, see Constructing models
• Set contact parameters for any bodies that may come into contact (unnecessary for Simulator), see EventDrivenSimulator.h
• Set unchecked pairs, denoting bodies not checked for contact (unnecessary for Simulator), see EventDrivenSimulator.h
• Create controllers for any models that you want to control programmatically. Attempting to control models between simulation steps is not recommended, because the simulator can take multiple intermediate steps between a single nominal step.
• Run the simulation in a loop:
  1. Select a step size (typically from 0.0001 to 0.1)
  2. Step the simulation
  3. Update any graphics (you can call the the update_visualization() method if you're using OpenSceneGraph)

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