text: #ifndef SimTK_SIMBODY_DOXYGEN_MAINPAGE_H_
  #define SimTK_SIMBODY_DOXYGEN_MAINPAGE_H_
  
  
  /** @file
  This "header" file is actually just the source for Simbody's Doxygen
  Mainpage, the first page that a user sees when entering the Doxygen-
  generated API documentation. This is not actually included as part of the
  Simbody source and it is not installed with Simbody. **/
  
  /** @mainpage  Simbody&tm; API Reference Documentation
  
  <h2>What is this page?</h2>
  You are looking at the main page for the reference documentation of the Simbody
  API. This documentation was generated by Doxygen directly from the Simbody 
  source code as annotated by the original programmers so it is both accurate and
  comprehensive. As you will quickly realize if you look around, this is a large 
  system providing a great deal of functionality. It is, however, very easy to 
  use if you know where to begin -- and this reference documentation is most
  definitely \e not the place to start if you want to learn how to use 
  Simbody. Instead, start with the tutorials in the Simbody User's Guide that 
  you can find at the Simbody project site https://simtk.org/home/simbody 
  "Documents" tab. There is also a collection of working example programs that
  come with the Simbody installation (in the examples directory). Both source
  and ready-to-execute binaries of the examples are installed. If you have 
  specific questions, use the Simbody help forum under the "Public Forums" tab. 
  You can also file bug reports and make feature requests using the tools 
  provided there.
  
  @image html isaac.png "Our hero, Sir Isaac Newton"
  
  <h2>What is Simbody?</h2>
  Simbody is a high-performance, industrial-grade open source C++ library 
  providing sophisticated treatment of articulated multibody systems with special
  attention to the needs of biomedical simulation. It is useful for predictive 
  dynamic simulations of diverse biological systems such as neuromuscular 
  biomechanical models (https://simtk.org/home/opensim) and coarse-grained 
  biomolecular modeling (https://simtk.org/home/rnatoolbox). It is also well 
  suited to related simulation domains such as robotic and avatar simulation and 
  control, and provides real time capabilities that make it useful for 
  interactive scientific simulations as well as virtual worlds and games. 
  
  Simbody uses a minimal coordinate recursive formulation of the equations of
  motion, providing computation of system dynamics to machine precision with 
  O(N) computational complexity for N interconnected bodies. Arbitrary adjoined 
  constraints, contact modeling, and advanced numerical methods provide fast, 
  robust simulation for any mechanical or biomechanical system from machines and 
  vehicles to human skeletons and macromolecules.
  
  Simbody is part of the %SimTK biosimulation toolkit originating from Simbios, 
  the NIH National Center for Physics-Based Simulation of Biological Structures 
  at Stanford, funded under the NIH Roadmap for Medical Research, grant 
  U54 GM072970. Related tools include 
    - OpenSim (http://opensim.stanford.edu and https://simtk.org/home/opensim),
      a freely available software system for building, exchanging, and analyzing
      musuloskeletal models and dynamic simulations of movement. Includes both a
      graphical user interface and an API; automatically constructs Simbody
      models from high-level description.
    - Molmodel (https://simtk.org/home/molmodel), a C++ API for constructing 
      coarse-grained, Simbody-based internal coordinate models of macromolecules
      like proteins and RNA, and
    - OpenMM (https://simtk.org/home/openmm), a GPU-accelerated high-performance
      numerical library for efficient calculation of molecular force fields.
      OpenMM may be used standalone or through Molmodel.
  
  Simbody is hosted on the simtk.org biosimulation community site,
  at https://simtk.org/home/simbody and is a community resource available for
  unrestricted academic, commercial, government, and personal use.
  
  Simbody was conceived and initially implemented by Michael Sherman (Sherm), 
  with substantial contributions from Peter Eastman, both of the Simbios Center 
  at Stanford. Many others have contributed to the software, support, and 
  documentation and we invite well-engineered community contributions.
  
  <h2>How to use this documentation</h2>
  If you know the name of the class, method, or other symbol for which you want
  information, you can enter it into the search box above and click directly to 
  the documentation for that symbol. You can also enter words or partial symbols 
  and get a list of names that include your search key. Unfortunately Doxygen
  does not currently provide a full-text search capability. Another approach is
  to select the Classes tab to get an alphabetical listing of all the class 
  names, and there is a tab below that providing a class hierarchy view. Here is
  an abbreviated list of important classes:
    - SimTK::MobilizedBody: combination of a SimTK::Body and the inboard joint 
      connecting it to the multibody tree, which we call a "mobilizer". Base class
      for specific mobilizer types of which there are many predefined; extensible.
    - SimTK::Force: base class for a selection of built-in force types; easily
      extensible to model your own force elements.
    - SimTK::Constraint: base class for a selection of built-in constraint types;
      extensible.
    - SimTK::Motion: prescribed motions permitting mixed forward/inverse dynamics;
      more efficient than the equivalent %Constraint. Built-ins plus 
      extendability.
    - SimTK::Measure: general state-dependent computational block.
    - SimTK::System, SimTK::Subsystem, SimTK::State: basic infrastructure objects.
    - SimTK::MultibodySystem, SimTK::SimbodyMatterSubsystem, SimTK::GeneralForceSubsystem,
      SimTK::ContactTrackerSubsystem, SimTK::CompliantContactSubsystem: commonly used 
      components.
    - SimTK::Integrator, SimTK::TimeStepper, SimTK::Assembler, SimTK::Optimizer: solvers.
    - Many utility classes (see tutorials, example programs, Doxygen Modules tab),
      including SimTK::Rotation_, SimTK::Transform_, SimTK::Quaternion_, 
      SimTK::Vector_, SimTK::Vec, SimTK::SpatialVec, SimTK::Xml, and many more.
  
  For an overview of Simbody, read this paper: 
  <a href="https://simtk.org/docman/view.php/47/1589/Sherman-2011-SethDelp-Simbody-ProcediaIUTAM-v2-p241.pdf">
  Michael A. Sherman, Ajay Seth, Scott L. Delp, "Simbody: multibody
  dynamics for biomedical research," <i>Procedia IUTAM</i> 2:241-261 (2011)</a>
  
  <h2>License</h2>
  We encourage the broadest possible use of Simbody for any purpose by using
  the extremely permissive Apache 2.0 License. We would appreciate some 
  acknowledgement if our work has been helpful in yours, but our license does not
  require that. For more information see our 
  \ref simbody_license_page "license page". **/
  
  
  /** @page simbody_license_page  Simbody&tm; Copyright and License
  <h2>Copyright and license</h2>
  This license, based on the maximally-permissive Apache 2.0 License, defines the 
  terms under which we offer Simbody.
  @verbatim
   * -------------------------------------------------------------------------- *
   *                                 Simbody(tm)                                *
   * -------------------------------------------------------------------------- *
   * This is part of the SimTK biosimulation toolkit originating from           *
   * Simbios, the NIH National Center for Physics-Based Simulation of           *
   * Biological Structures at Stanford, funded under the NIH Roadmap for        *
   * Medical Research, grant U54 GM072970. See https://simtk.org/home/simbody.  *
   *                                                                            *
   * Please cite:                                                               *
   *   Michael A. Sherman, Ajay Seth, Scott L. Delp, Simbody: multibody         *
   *   dynamics for biomedical research, Procedia IUTAM 2:241-261 (2011)        *
   *   http://dx.doi.org/10.1016/j.piutam.2011.04.023                          *
   *                                                                            *
   * Portions copyright (c) 2005-13 Stanford University and the Authors.        *
   * Authors: Michael Sherman, Peter Eastman                                    *
   * Contributors: Jack Middleton, Christopher Bruns, Paul Mitiguy, Matthew     *
   *   Millard, Charles Schwieters, Abhinandan Jain, Isaac Newton               *
   *                                                                            *
   * Licensed under the Apache License, Version 2.0 (the "License"); you may    *
   * not use this file except in compliance with the License. You may obtain a  *
   * copy of the License at http://www.apache.org/licenses/LICENSE-2.0.         *
   *                                                                            *
   * Unless required by applicable law or agreed to in writing, software        *
   * distributed under the License is distributed on an "AS IS" BASIS,          *
   * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.   *
   * See the License for the specific language governing permissions and        *
   * limitations under the License.                                             *
   * -------------------------------------------------------------------------- *
  @endverbatim
  
  <h2>What's with that "TM" in Simbody&tm;?</h2>
  That symbol is to let you know that we claim a trademark on the name "Simbody"
  so you may not use that name except to refer to our software as we distribute
  it. The license permits you to make any kind of derivative work, or to use
  all or part of Simbody code in any way you like, but you can't call the
  resulting work "Simbody" without our agreement. We make that restriction 
  because we don't want any confusion to exist about what is, and what is not, 
  the Simbody project that we are supporting. But ... if you want to make 
  improvements to Simbody we would love to have your well-engineered, open source
  contributions to put into the main Simbody source tree, in which case they 
  \e would be included under the Simbody name.
  
  <h2>How to acknowledge us</h2>
  Our license does not \e require that you acknowledge us, but we and our 
  sponsors would be grateful if you did anyway! If our hard work has helped you
  with yours, please throw us a bone and mention on your "About" page and in
  your documentation that you are using Simbody from 
  https://simtk.org/home/simbody. Where appropriate, please cite this paper:
  
  \par
  Michael A. Sherman, Ajay Seth, Scott L. Delp, Simbody: multibody
  dynamics for biomedical research, <i>Procedia IUTAM</i> 2:241-261 (2011)
  http://dx.doi.org/10.1016/j.piutam.2011.04.023
  
  We would be particularly grateful if you mention that Simbody is primarily
  funded by NIH Roadmap grant U54 GM072970. We appreciate that support very
  much, and the NIH appreciates knowing that its funds are having an impact,
  particularly on medical research and human health.
  **/
  
  #endif // SimTK_SIMBODY_DOXYGEN_MAINPAGE_H_
  