================================
 AGX Dynamics Documentation
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.. image:: images/algoryx_agx_dynamics.png

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AGX Dynamics is a modular physics simulation toolkit written in C++. It contains the necessary core functionality to perform high fidelity, stable and robust simulations of mechanical systems in real-time, and can also be configured to deliver faithful simulation for applications in science and engineering. AGX Dynamics contains a mix of solvers for the resulting linear and LCP problems, suitable for different purposes: iterative for fast approximate solutions, and direct solvers for machine precision accuracy.
In addition, AGX Dynamics consists of models for simulating: wires, cables, hydrodynamics, aerodynamics, tires, discrete element modelling (DEM), drivetrain, hydraulics etc.

AGX Dynamic’s API also includes event handlers for injecting user code as listeners of contact events, step events etc.

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.. toctree::
   :hidden:
   :maxdepth: 3
   :numbered:

   legal_notice.rst
   scope_of_document.rst
   overall_structure.rst
   documentation.rst
   installation.rst
   building_your_first_application.rst
   license_system.rst
   unicode.rst
   math_classes_and_conventions_in_agx.rst
   reference_pointers.rst
   building_simulations__agxsdk.rst
   creating_objects.rst
   contact_reduction.rst
   constraints.rst
   particle_systems.rst
   granular_body_system.rst
   rigidbody_emitter.rst
   agxwire__simulating_wires.rst
   connecting_wires__agxwire__link.rst
   agxcable.rst
   cable_damage.rst
   creating_stable_simulations.rst
   parallelization.rst
   surface_velocity_conveyor_belt.rst
   agxmodel.rst
   agxTerrain.rst
   agxpowerline.rst
   agxdrivetrain.rst
   agxhydraulics.rst
   hydro__and_aerodynamics.rst
   locating_files_with_agxio__environment.rst
   autosleep.rst
   agx__mergedbody.rst
   agxsdk__mergesplithandler.rst
   mergesplit.rst
   agxvehicle__track.rst
   energy_calculations.rst
   statistics.rst
   serialization.rst
   performance.rst
   debug_rendering.rst
   file_formats.rst
   agx_python_scripting.rst
   3d-viewer.rst
   c___tutorials.rst
   environment_variables.rst
   matlab_simulink_plugin.rst
   fmi_export.rst
   strong_interaction.rst
   remote_debugging.rst
   urdf.rst
   logging_system.rst
   agxmodel__beam.rst
   agxmodel__PID_controller.rst
   appendix_1.rst
   appendix_2.rst
   appendix_3.rst
   appendix_4.rst
   appendix_5.rst
   appendix_6.rst
   references.rst
   changelog.rst
   changelog_older.rst