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Matlab interface to the Open Dynamics Engine (ODE)
...The system to be simulated is defined in an XML file, while the joint positions and motor signals can be sensed and actuated from a Matlab script. Examples are provided.
Starting at version 0.30, MatODE is only available for Windows and Linux 64-bit. For older 32-bit versions, select "Browse all files".
Compile matlab mex files with gcc on Windows Platforms
Gnumex is a package that allows Matlab mex and engine files written in C, C++, Fortran 77 or Fortran 95 to be compiled with MinGW (or Cygwin) MS Windows versions of gcc, gfortran or g95. NOTE: Newer versions of Matlab now natively support Mingw, negating the need for this package.