ASMT output, MBDyn input and output done.

2023-11-06 18:00:24 -07:00
parent 19ec0259b9
commit 11a5cff30b
96 changed files with 8466 additions and 4042 deletions
--- a/OndselSolver/ASMTAnimationParameters.h
+++ b/OndselSolver/ASMTAnimationParameters.h
@@ -18,7 +18,7 @@ namespace MbD {
        void parseASMT(std::vector<std::string>& lines) override;
        void storeOnLevel(std::ofstream& os, int level) override;

-		int nframe = 1000000, icurrent = 0, istart = 0, iend = 1000000, framesPerSecond = 30;
+		int nframe = 1000000, icurrent = 1, istart = 1, iend = 1000000, framesPerSecond = 30;
        bool isForward = true;


--- a/OndselSolver/ASMTAssembly.cpp
+++ b/OndselSolver/ASMTAssembly.cpp
@@ -1212,6 +1212,7 @@ void MbD::ASMTAssembly::storeOnLevelGeneralConstraintSets(std::ofstream& os, int

 void MbD::ASMTAssembly::storeOnTimeSeries(std::ofstream& os)
 {
+	if (times->empty()) return;
 	os << "TimeSeries" << std::endl;
 	os << "Number\tInput\t";
 	for (int i = 1; i < times->size(); i++)
--- a/OndselSolver/ASMTAssembly.h
+++ b/OndselSolver/ASMTAssembly.h
@@ -121,7 +121,7 @@ namespace MbD {
 		void storeOnLevelGeneralConstraintSets(std::ofstream& os, int level);
 		void storeOnTimeSeries(std::ofstream& os) override;

-		std::string notes;
+		std::string notes = "(Text string: '' runs: (Core.RunArray runs: #() values: #()))";
 		std::shared_ptr<std::vector<std::shared_ptr<ASMTPart>>> parts = std::make_shared<std::vector<std::shared_ptr<ASMTPart>>>();
 		std::shared_ptr<std::vector<std::shared_ptr<ASMTKinematicIJ>>> kinematicIJs = std::make_shared<std::vector<std::shared_ptr<ASMTKinematicIJ>>>();
 		std::shared_ptr<std::vector<std::shared_ptr<ASMTConstraintSet>>> constraintSets = std::make_shared<std::vector<std::shared_ptr<ASMTConstraintSet>>>();
@@ -129,11 +129,11 @@ namespace MbD {
 		std::shared_ptr<std::vector<std::shared_ptr<ASMTMotion>>> motions = std::make_shared<std::vector<std::shared_ptr<ASMTMotion>>>();
 		std::shared_ptr<std::vector<std::shared_ptr<ASMTForceTorque>>> forcesTorques = std::make_shared<std::vector<std::shared_ptr<ASMTForceTorque>>>();
 		std::shared_ptr<ASMTConstantGravity> constantGravity = std::make_shared<ASMTConstantGravity>();
-		std::shared_ptr<ASMTSimulationParameters> simulationParameters;
-		std::shared_ptr<ASMTAnimationParameters> animationParameters;
-		std::shared_ptr<std::vector<double>> times;
+		std::shared_ptr<ASMTSimulationParameters> simulationParameters = std::make_shared<ASMTSimulationParameters>();
+		std::shared_ptr<ASMTAnimationParameters> animationParameters = std::make_shared<ASMTAnimationParameters>();
+		std::shared_ptr<std::vector<double>> times = std::make_shared<std::vector<double>>();
 		std::shared_ptr<ASMTTime> asmtTime = std::make_shared<ASMTTime>();
-		std::shared_ptr<Units> mbdUnits;
+		std::shared_ptr<Units> mbdUnits = std::make_shared<Units>();
 		MBDynSystem* mbdynItem = nullptr;
 	};
 }
--- a/OndselSolver/ASMTGeneralMotion.cpp
+++ b/OndselSolver/ASMTGeneralMotion.cpp
@@ -92,21 +92,21 @@ void MbD::ASMTGeneralMotion::createMbD(std::shared_ptr<System> mbdSys, std::shar
 	userFunc = std::make_shared<BasicUserFunction>(rIJI->at(0), 1.0);
 	parser->parseUserFunction(userFunc);
 	auto geoX = parser->stack->top();
-	geoX = Symbolic::times(geoX, std::make_shared<Constant>(1.0 / mbdUnits->length));
+	geoX = Symbolic::times(geoX, sptrConstant(1.0 / mbdUnits->length));
 	geoX->createMbD(mbdSys, mbdUnits);
 	auto xBlk = geoX->simplified(geoX);

 	userFunc = std::make_shared<BasicUserFunction>(rIJI->at(1), 1.0);
 	parser->parseUserFunction(userFunc);
 	auto geoY = parser->stack->top();
-	geoY = Symbolic::times(geoY, std::make_shared<Constant>(1.0 / mbdUnits->length));
+	geoY = Symbolic::times(geoY, sptrConstant(1.0 / mbdUnits->length));
 	geoY->createMbD(mbdSys, mbdUnits);
 	auto yBlk = geoY->simplified(geoY);

 	userFunc = std::make_shared<BasicUserFunction>(rIJI->at(2), 1.0);
 	parser->parseUserFunction(userFunc);
 	auto geoZ = parser->stack->top();
-	geoZ = Symbolic::times(geoZ, std::make_shared<Constant>(1.0 / mbdUnits->length));
+	geoZ = Symbolic::times(geoZ, sptrConstant(1.0 / mbdUnits->length));
 	geoZ->createMbD(mbdSys, mbdUnits);
 	auto zBlk = geoZ->simplified(geoZ);

@@ -117,21 +117,21 @@ void MbD::ASMTGeneralMotion::createMbD(std::shared_ptr<System> mbdSys, std::shar
 	userFunc = std::make_shared<BasicUserFunction>(angIJJ->at(0), 1.0);
 	parser->parseUserFunction(userFunc);
 	auto geoPhi = parser->stack->top();
-	geoPhi = Symbolic::times(geoPhi, std::make_shared<Constant>(1.0 / mbdUnits->angle));
+	geoPhi = Symbolic::times(geoPhi, sptrConstant(1.0 / mbdUnits->angle));
 	geoPhi->createMbD(mbdSys, mbdUnits);
 	auto phiBlk = geoPhi->simplified(geoPhi);

 	userFunc = std::make_shared<BasicUserFunction>(angIJJ->at(1), 1.0);
 	parser->parseUserFunction(userFunc);
 	auto geoThe = parser->stack->top();
-	geoThe = Symbolic::times(geoThe, std::make_shared<Constant>(1.0 / mbdUnits->angle));
+	geoThe = Symbolic::times(geoThe, sptrConstant(1.0 / mbdUnits->angle));
 	geoThe->createMbD(mbdSys, mbdUnits);
 	auto theBlk = geoThe->simplified(geoThe);

 	userFunc = std::make_shared<BasicUserFunction>(angIJJ->at(2), 1.0);
 	parser->parseUserFunction(userFunc);
 	auto geoPsi = parser->stack->top();
-	geoPsi = Symbolic::times(geoPsi, std::make_shared<Constant>(1.0 / mbdUnits->angle));
+	geoPsi = Symbolic::times(geoPsi, sptrConstant(1.0 / mbdUnits->angle));
 	geoPsi->createMbD(mbdSys, mbdUnits);
 	auto psiBlk = geoPsi->simplified(geoPsi);

--- a/OndselSolver/ASMTPrincipalMassMarker.cpp
+++ b/OndselSolver/ASMTPrincipalMassMarker.cpp
@@ -12,6 +12,11 @@

 using namespace MbD;

+MbD::ASMTPrincipalMassMarker::ASMTPrincipalMassMarker()
+{
+	name = "MassMarker";
+}
+
 void MbD::ASMTPrincipalMassMarker::parseASMT(std::vector<std::string>& lines)
 {
 	size_t pos = lines[0].find_first_not_of("\t");
--- a/OndselSolver/ASMTPrincipalMassMarker.h
+++ b/OndselSolver/ASMTPrincipalMassMarker.h
@@ -5,29 +5,30 @@
 *                                                                         *
 *   See LICENSE file for details about copyright.                         *
 ***************************************************************************/
- 
+
 #pragma once

 #include "ASMTSpatialItem.h"

 namespace MbD {
-    class EXPORT ASMTPrincipalMassMarker : public ASMTSpatialItem
-    {
-        //
-    public:
-        void parseASMT(std::vector<std::string>& lines) override;
-        void setMass(double mass);
-        void setDensity(double density);
-        void setMomentOfInertias(DiagMatDsptr momentOfInertias);
+	class EXPORT ASMTPrincipalMassMarker : public ASMTSpatialItem
+	{
+		//
+	public:
+		ASMTPrincipalMassMarker();
+		void parseASMT(std::vector<std::string>& lines) override;
+		void setMass(double mass);
+		void setDensity(double density);
+		void setMomentOfInertias(DiagMatDsptr momentOfInertias);

-        // Overloads to simplify syntax.
-        void setMomentOfInertias(double a, double b, double c);
-        void storeOnLevel(std::ofstream& os, int level) override;
+		// Overloads to simplify syntax.
+		void setMomentOfInertias(double a, double b, double c);
+		void storeOnLevel(std::ofstream& os, int level) override;

-        double mass = 0.0;
-        double density = 0.0;
-        DiagMatDsptr momentOfInertias = std::make_shared<DiagonalMatrix<double>>(ListD{ 0.,0.,0. });
+		double mass = 1.0;
+		double density = 10.0;
+		DiagMatDsptr momentOfInertias = std::make_shared<DiagonalMatrix<double>>(ListD{ 1.0, 2.0, 3.0 });

-    };
+	};
 }

--- a/OndselSolver/ASMTRotationalMotion.cpp
+++ b/OndselSolver/ASMTRotationalMotion.cpp
@@ -68,9 +68,13 @@ void MbD::ASMTRotationalMotion::createMbD(std::shared_ptr<System> mbdSys, std::s
 	auto userFunc = std::make_shared<BasicUserFunction>(rotationZ, 1.0);
 	parser->parseUserFunction(userFunc);
 	auto geoPhi = parser->stack->top();
-	geoPhi = Symbolic::times(geoPhi, std::make_shared<Constant>(1.0 / mbdUnits->angle));
+	std::cout << *geoPhi << std::endl;
+	geoPhi = Symbolic::times(geoPhi, sptrConstant(1.0 / mbdUnits->angle));
 	geoPhi->createMbD(mbdSys, mbdUnits);
-	std::static_pointer_cast<ZRotation>(mbdObject)->phiBlk = geoPhi->simplified(geoPhi);
+	std::cout << *geoPhi << std::endl;
+	auto simple = geoPhi->simplified(geoPhi);
+	std::cout << *simple << std::endl;
+	std::static_pointer_cast<ZRotation>(mbdObject)->phiBlk = simple;
 }

 std::shared_ptr<Joint> MbD::ASMTRotationalMotion::mbdClassNew()
--- a/OndselSolver/ASMTSpatialContainer.cpp
+++ b/OndselSolver/ASMTSpatialContainer.cpp
@@ -550,13 +550,25 @@ void MbD::ASMTSpatialContainer::setOmega3D(double a, double b, double c)
 void MbD::ASMTSpatialContainer::storeOnLevelVelocity(std::ofstream& os, int level)
 {
 	storeOnLevelString(os, level, "Velocity3D");
-	storeOnLevelArray(os, level + 1, *velocity3D);
+	if (vxs == nullptr || vxs->empty()) {
+		storeOnLevelArray(os, level + 1, *velocity3D);
+	}
+	else {
+		auto array = getVelocity3D(0);
+		storeOnLevelArray(os, level + 1, *array);
+	}
 }

 void MbD::ASMTSpatialContainer::storeOnLevelOmega(std::ofstream& os, int level)
 {
 	storeOnLevelString(os, level, "Omega3D");
-	storeOnLevelArray(os, level + 1, *omega3D);
+	if (omexs == nullptr || omexs->empty()) {
+		storeOnLevelArray(os, level + 1, *omega3D);
+	}
+	else {
+		auto array = getOmega3D(0);
+		storeOnLevelArray(os, level + 1, *array);
+	}
 }

 void MbD::ASMTSpatialContainer::storeOnLevelRefPoints(std::ofstream& os, int level)
@@ -697,3 +709,21 @@ void MbD::ASMTSpatialContainer::storeOnTimeSeries(std::ofstream& os)
 	}
 	os << std::endl;
 }
+
+FColDsptr MbD::ASMTSpatialContainer::getVelocity3D(size_t i)
+{
+	auto vec3 = std::make_shared<FullColumn<double>>(3);
+	vec3->atiput(0, vxs->at(i));
+	vec3->atiput(1, vys->at(i));
+	vec3->atiput(2, vzs->at(i));
+	return vec3;
+}
+
+FColDsptr MbD::ASMTSpatialContainer::getOmega3D(size_t i)
+{
+	auto vec3 = std::make_shared<FullColumn<double>>(3);
+	vec3->atiput(0, omexs->at(i));
+	vec3->atiput(1, omeys->at(i));
+	vec3->atiput(2, omezs->at(i));
+	return vec3;
+}
--- a/OndselSolver/ASMTSpatialContainer.h
+++ b/OndselSolver/ASMTSpatialContainer.h
@@ -86,16 +86,16 @@ namespace MbD {
        void storeOnLevelRefCurves(std::ofstream& os, int level);
        void storeOnLevelRefSurfaces(std::ofstream& os, int level);
        void storeOnTimeSeries(std::ofstream& os) override;
+        FColDsptr getVelocity3D(size_t i);
+        FColDsptr getOmega3D(size_t i);

        FColDsptr velocity3D = std::make_shared<FullColumn<double>>(3);
        FColDsptr omega3D = std::make_shared<FullColumn<double>>(3);
        std::shared_ptr<std::vector<std::shared_ptr<ASMTRefPoint>>> refPoints;
        std::shared_ptr<std::vector<std::shared_ptr<ASMTRefCurve>>> refCurves;
        std::shared_ptr<std::vector<std::shared_ptr<ASMTRefSurface>>> refSurfaces;
-        FRowDsptr xs, ys, zs, bryxs, bryys, bryzs;
        FRowDsptr vxs, vys, vzs, omexs, omeys, omezs;
        FRowDsptr axs, ays, azs, alpxs, alpys, alpzs;
-        FRowDsptr inxs, inys, inzs, inbryxs, inbryys, inbryzs;
        FRowDsptr invxs, invys, invzs, inomexs, inomeys, inomezs;
        FRowDsptr inaxs, inays, inazs, inalpxs, inalpys, inalpzs;
        std::shared_ptr<ASMTPrincipalMassMarker> principalMassMarker = std::make_shared<ASMTPrincipalMassMarker>();
--- a/OndselSolver/ASMTSpatialItem.cpp
+++ b/OndselSolver/ASMTSpatialItem.cpp
@@ -10,6 +10,7 @@
 #include "Units.h"
 #include "Part.h"
 #include "ASMTSpatialContainer.h"
+#include "EulerAngles.h"

 using namespace MbD;

@@ -102,14 +103,50 @@ void MbD::ASMTSpatialItem::storeOnLevel(std::ofstream& os, int level)
 void MbD::ASMTSpatialItem::storeOnLevelPosition(std::ofstream& os, int level)
 {
 	storeOnLevelString(os, level, "Position3D");
-	storeOnLevelArray(os, level + 1, *position3D);
+	if (xs == nullptr || xs->empty()) {
+		storeOnLevelArray(os, level + 1, *position3D);
+	}
+	else {
+		auto array = getPosition3D(0);
+		storeOnLevelArray(os, level + 1, *array);
+	}
 }

 void MbD::ASMTSpatialItem::storeOnLevelRotationMatrix(std::ofstream& os, int level)
 {
 	storeOnLevelString(os, level, "RotationMatrix");
-	for (int i = 0; i < 3; i++)
-	{
-		storeOnLevelArray(os, level + 1, *rotationMatrix->at(i));
+	if (xs == nullptr || xs->empty()) {
+		for (int i = 0; i < 3; i++)
+		{
+			storeOnLevelArray(os, level + 1, *rotationMatrix->at(i));
+		}
 	}
+	else {
+		auto rotMat = getRotationMatrix(0);
+		for (int i = 0; i < 3; i++)
+		{
+			storeOnLevelArray(os, level + 1, *rotMat->at(i));
+		}
+	}
+
+}
+
+FColDsptr MbD::ASMTSpatialItem::getPosition3D(size_t i)
+{
+	auto vec3 = std::make_shared<FullColumn<double>>(3);
+	vec3->atiput(0, xs->at(i));
+	vec3->atiput(1, ys->at(i));
+	vec3->atiput(2, zs->at(i));
+	return vec3;
+}
+
+FMatDsptr MbD::ASMTSpatialItem::getRotationMatrix(size_t i)
+{
+	auto bryantAngles = std::make_shared<EulerAngles<double>>();
+	bryantAngles->setRotOrder(1, 2, 3);
+	bryantAngles->at(0) = bryxs->at(i);
+	bryantAngles->at(1) = bryys->at(i);
+	bryantAngles->at(2) = bryzs->at(i);
+	bryantAngles->calc();
+	return bryantAngles->aA;
 }
--- a/OndselSolver/ASMTSpatialItem.h
+++ b/OndselSolver/ASMTSpatialItem.h
@@ -31,6 +31,8 @@ namespace MbD {
 		void storeOnLevel(std::ofstream& os, int level) override;
 		void storeOnLevelPosition(std::ofstream& os, int level);
 		void storeOnLevelRotationMatrix(std::ofstream& os, int level);
+		FColDsptr getPosition3D(size_t i);
+		FMatDsptr getRotationMatrix(size_t i);

 		FColDsptr position3D = std::make_shared<FullColumn<double>>(3);
 		FMatDsptr rotationMatrix = std::make_shared<FullMatrix<double>>(ListListD{
@@ -38,6 +40,9 @@ namespace MbD {
 				{ 0, 1, 0 },
 				{ 0, 0, 1 }
 			});
+		FRowDsptr xs, ys, zs, bryxs, bryys, bryzs;
+		FRowDsptr inxs, inys, inzs, inbryxs, inbryys, inbryzs;
+
 	};
 }

--- a/OndselSolver/ASMTTime.cpp
+++ b/OndselSolver/ASMTTime.cpp
@@ -25,7 +25,27 @@ void MbD::ASMTTime::createMbD(std::shared_ptr<System> mbdSys, std::shared_ptr<Un
 {
 	auto mbdTime = mbdSys->time;
 	if (xx == mbdTime) return;
-	auto timeScale = std::make_shared<Constant>(mbdUnits->time);
+	auto timeScale = sptrConstant(mbdUnits->time);
 	auto geoTime = std::make_shared<Product>(timeScale, mbdTime);
 	this->xexpression(mbdTime, geoTime->simplified(geoTime));
 }
+
+Symsptr MbD::ASMTTime::expandUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>> set)
+{
+	return sptr;
+}
+
+Symsptr MbD::ASMTTime::simplifyUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>> set)
+{
+	return sptr;
+}
+
+bool MbD::ASMTTime::isVariable()
+{
+	return true;
+}
+
+void MbD::ASMTTime::setValue(double val)
+{
+	xx->setValue(val);
+}
--- a/OndselSolver/ASMTTime.h
+++ b/OndselSolver/ASMTTime.h
@@ -19,6 +19,10 @@ namespace MbD {
    public:
        void deleteMbD();
        void createMbD(std::shared_ptr<System> mbdSys, std::shared_ptr<Units> mbdUnits);
+        Symsptr expandUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>> set) override;
+        Symsptr simplifyUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>> set) override;
+        bool isVariable() override;
+        void setValue(double val) override;

    };
 }
--- a/OndselSolver/ASMTTranslationalMotion.cpp
+++ b/OndselSolver/ASMTTranslationalMotion.cpp
@@ -42,7 +42,7 @@ void MbD::ASMTTranslationalMotion::createMbD(std::shared_ptr<System> mbdSys, std
 	auto userFunc = std::make_shared<BasicUserFunction>(translationZ, 1.0);
 	parser->parseUserFunction(userFunc);
 	auto zIJ = parser->stack->top();
-	zIJ = Symbolic::times(zIJ, std::make_shared<Constant>(1.0 / mbdUnits->length));
+	zIJ = Symbolic::times(zIJ, sptrConstant(1.0 / mbdUnits->length));
 	zIJ->createMbD(mbdSys, mbdUnits);
 	std::static_pointer_cast<ZTranslation>(mbdObject)->zBlk = zIJ->simplified(zIJ);
 }
--- a/OndselSolver/Abs.cpp
+++ b/OndselSolver/Abs.cpp
@@ -19,8 +19,13 @@ double MbD::Abs::getValue()
    return std::abs(xx->getValue());
 }

+Symsptr MbD::Abs::copyWith(Symsptr arg)
+{
+	return std::make_shared<Abs>(arg);
+}
+
 std::ostream& MbD::Abs::printOn(std::ostream& s) const
 {
-	s << "abs(" << xx << ")";
+	s << "abs(" << *xx << ")";
 	return s;
 }
--- a/OndselSolver/Abs.h
+++ b/OndselSolver/Abs.h
@@ -18,6 +18,7 @@ namespace MbD {
        Abs() = default;
        Abs(Symsptr arg);
        double getValue() override;
+        Symsptr copyWith(Symsptr arg) override;

        std::ostream& printOn(std::ostream& s) const override;

--- a/OndselSolver/ArcSine.cpp
+++ b/OndselSolver/ArcSine.cpp
@@ -19,8 +19,13 @@ double MbD::ArcSine::getValue()
 	return std::asin(xx->getValue());
 }

+Symsptr MbD::ArcSine::copyWith(Symsptr arg)
+{
+	return std::make_shared<ArcSine>(arg);
+}
+
 std::ostream& MbD::ArcSine::printOn(std::ostream& s) const
 {
-	s << "arcsin(" << xx << ")";
+	s << "arcsin(" << *xx << ")";
 	return s;
 }
--- a/OndselSolver/ArcSine.h
+++ b/OndselSolver/ArcSine.h
@@ -18,6 +18,7 @@ namespace MbD {
        ArcSine() = default;
        ArcSine(Symsptr arg);
        double getValue() override;
+        Symsptr copyWith(Symsptr arg) override;

        std::ostream& printOn(std::ostream& s) const override;

--- a/OndselSolver/ArcTan.cpp
+++ b/OndselSolver/ArcTan.cpp
@@ -19,8 +19,13 @@ double MbD::ArcTan::getValue()
    return std::atan(xx->getValue());
 }

+Symsptr MbD::ArcTan::copyWith(Symsptr arg)
+{
+	return std::make_shared<ArcTan>(arg);
+}
+
 std::ostream& MbD::ArcTan::printOn(std::ostream& s) const
 {
-	s << "arctan(" << xx << ")";
+	s << "arctan(" << *xx << ")";
 	return s;
 }
--- a/OndselSolver/ArcTan.h
+++ b/OndselSolver/ArcTan.h
@@ -18,6 +18,7 @@ namespace MbD {
        ArcTan() = default;
        ArcTan(Symsptr arg);
        double getValue() override;
+        Symsptr copyWith(Symsptr arg) override;

        std::ostream& printOn(std::ostream& s) const override;

--- a/OndselSolver/ArcTan2.cpp
+++ b/OndselSolver/ArcTan2.cpp
@@ -16,5 +16,5 @@ MbD::ArcTan2::ArcTan2(Symsptr arg, Symsptr arg1) : FunctionXY(arg, arg1)

 double MbD::ArcTan2::getValue()
 {
-    return std::atan2(y->getValue(), x->getValue());;
+    return std::atan2(y->getValue(), x->getValue());
 }
--- a/OndselSolver/Constant.cpp
+++ b/OndselSolver/Constant.cpp
@@ -9,6 +9,7 @@
 #include "Constant.h"
 #include "System.h"
 #include "Units.h"
+#include "Polynomial.h"

 using namespace MbD;

@@ -22,7 +23,23 @@ Constant::Constant(double val) : Variable(val)

 Symsptr MbD::Constant::differentiateWRT(Symsptr var)
 {
-	return std::make_shared<Constant>(0.0);
+	return sptrConstant(0.0);
+}
+
+Symsptr MbD::Constant::integrateWRT(Symsptr var)
+{
+	if (value == 0.0) return clonesptr();
+	auto slope = sptrConstant(value);
+	auto intercept = sptrConstant(0.0);
+	auto coeffs = std::make_shared<std::vector<Symsptr>>();
+	coeffs->push_back(intercept);
+	coeffs->push_back(slope);
+	return std::make_shared<Polynomial>(var, coeffs);
+}
+
+Symsptr MbD::Constant::expandUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>> set)
+{
+	return sptr;
 }

 bool Constant::isConstant()
@@ -30,11 +47,6 @@ bool Constant::isConstant()
 	return true;
 }

-Symsptr MbD::Constant::expandUntil(std::shared_ptr<std::unordered_set<Symsptr>> set)
-{
-	return clonesptr();
-}
-
 Symsptr MbD::Constant::clonesptr()
 {
 	return std::make_shared<Constant>(*this);
@@ -60,6 +72,11 @@ double MbD::Constant::getValue()
 	return value;
 }

+double MbD::Constant::getValue(double arg)
+{
+	return value;
+}
+
 std::ostream& Constant::printOn(std::ostream& s) const
 {
 	return s << this->value;
--- a/OndselSolver/Constant.h
+++ b/OndselSolver/Constant.h
@@ -17,13 +17,15 @@ namespace MbD {
        Constant();
        Constant(double val);
        Symsptr differentiateWRT(Symsptr var) override;
+        Symsptr integrateWRT(Symsptr var) override;
+        Symsptr expandUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>> set) override;
        bool isConstant() override;
-        Symsptr expandUntil(std::shared_ptr<std::unordered_set<Symsptr>> set) override;
        Symsptr clonesptr() override;
        bool isZero() override;
        bool isOne() override;
        void createMbD(std::shared_ptr<System> mbdSys, std::shared_ptr<Units> mbdUnits) override;
        double getValue() override;
+        double getValue(double arg) override;

        std::ostream& printOn(std::ostream& s) const override;
    };
--- a/OndselSolver/Cosine.cpp
+++ b/OndselSolver/Cosine.cpp
@@ -26,8 +26,13 @@ Symsptr MbD::Cosine::differentiateWRTx()
    return std::make_shared<Negative>(std::make_shared<Sine>(xx));
 }

+Symsptr MbD::Cosine::copyWith(Symsptr arg)
+{
+	return std::make_shared<Cosine>(arg);
+}
+
 std::ostream& MbD::Cosine::printOn(std::ostream& s) const
 {
-	s << "cos(" << xx << ")";
+	s << "cos(" << *xx << ")";
 	return s;
 }
--- a/OndselSolver/Cosine.h
+++ b/OndselSolver/Cosine.h
@@ -19,6 +19,7 @@ namespace MbD {
        Cosine(Symsptr arg);
        double getValue() override;
        Symsptr differentiateWRTx() override;
+        Symsptr copyWith(Symsptr arg) override;

        std::ostream& printOn(std::ostream& s) const override;

--- a/OndselSolver/DifferentiatedGeneralSpline.cpp
+++ b/OndselSolver/DifferentiatedGeneralSpline.cpp
@@ -34,6 +34,6 @@ Symsptr MbD::DifferentiatedGeneralSpline::clonesptr()

 std::ostream& MbD::DifferentiatedGeneralSpline::printOn(std::ostream& s) const
 {
-	s << "deriv(" << generalSpline << ", " << derivativeOrder << ")";
+	s << "deriv(" << *generalSpline << ", " << derivativeOrder << ")";
 	return s;
 }
--- a/OndselSolver/EndFrameqct.cpp
+++ b/OndselSolver/EndFrameqct.cpp
@@ -101,6 +101,8 @@ void EndFrameqct::initpPhiThePsiptBlks()
 		auto vel = var->simplified(var);
 		//std::cout << "vel " << *vel << std::endl;
 		pPhiThePsiptBlks->at(i) = vel;
+		//std::cout << *angle << std::endl;
+		//std::cout << *vel << std::endl;
 	}
 }

@@ -113,6 +115,8 @@ void EndFrameqct::initppPhiThePsiptptBlks()
 		auto var = angleVel->differentiateWRT(mbdTime);
 		auto angleAcc = var->simplified(var);
 		ppPhiThePsiptptBlks->at(i) = angleAcc;
+		//std::cout << *angleVel << std::endl;
+		//std::cout << *angleAcc << std::endl;
 	}
 }

--- a/OndselSolver/Exponential.cpp
+++ b/OndselSolver/Exponential.cpp
@@ -19,8 +19,13 @@ double MbD::Exponential::getValue()
    return std::log(xx->getValue());
 }

+Symsptr MbD::Exponential::copyWith(Symsptr arg)
+{
+	return std::make_shared<Exponential>(arg);
+}
+
 std::ostream& MbD::Exponential::printOn(std::ostream& s) const
 {
-	s << "exp(" << xx << ")";
+	s << "exp(" << *xx << ")";
 	return s;
 }
--- a/OndselSolver/Exponential.h
+++ b/OndselSolver/Exponential.h
@@ -18,6 +18,7 @@ namespace MbD {
        Exponential() = default;
        Exponential(Symsptr arg);
        double getValue() override;
+        Symsptr copyWith(Symsptr arg) override;

        std::ostream& printOn(std::ostream& s) const override;

--- a/OndselSolver/ExpressionX.cpp
+++ b/OndselSolver/ExpressionX.cpp
@@ -7,6 +7,7 @@
 ***************************************************************************/
 
 #include "ExpressionX.h"
+#include "Constant.h"

 using namespace MbD;

@@ -23,8 +24,14 @@ void MbD::ExpressionX::xexpression(Symsptr arg, Symsptr func)
 	expression = func;
 }

+Symsptr MbD::ExpressionX::differentiateWRTx()
+{
+	return expression->differentiateWRT(xx);
+}
+
 Symsptr MbD::ExpressionX::differentiateWRT(Symsptr var)
 {
+	if (this == var.get()) return sptrConstant(1.0);
 	return expression->differentiateWRT(var);
 }

--- a/OndselSolver/ExpressionX.h
+++ b/OndselSolver/ExpressionX.h
@@ -17,6 +17,7 @@ namespace MbD {
    public:

        void xexpression(Symsptr arg, Symsptr func);
+        Symsptr differentiateWRTx() override;
        Symsptr differentiateWRT(Symsptr var) override;
        double getValue() override;

--- a/OndselSolver/FunctionX.cpp
+++ b/OndselSolver/FunctionX.cpp
@@ -5,7 +5,7 @@
 *                                                                         *
 *   See LICENSE file for details about copyright.                         *
 ***************************************************************************/
- 
+
 #include "FunctionX.h"
 #include "Constant.h"
 #include "Sum.h"
@@ -24,9 +24,43 @@ void MbD::FunctionX::arguments(Symsptr args)
 	xx = sum->terms->front();
 }

+Symsptr MbD::FunctionX::copyWith(Symsptr arg)
+{
+	assert(false);
+	return Symsptr();
+}
+
+Symsptr MbD::FunctionX::expandUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>> set)
+{
+	auto itr = std::find_if(set->begin(), set->end(), [sptr](Symsptr sym) {return sptr.get() == sym.get(); });
+	if (itr != set->end()) return sptr;
+	auto newx = xx->expandUntil(xx, set);
+	auto copy = copyWith(newx);
+	if (newx->isConstant()) {
+		return sptrConstant(copy->getValue());
+	}
+	else {
+		return copy;
+	}
+}
+
+Symsptr MbD::FunctionX::simplifyUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>> set)
+{
+	auto itr = std::find_if(set->begin(), set->end(), [sptr](Symsptr sym) {return sptr.get() == sym.get(); });
+	if (itr != set->end()) return sptr;
+	auto newx = xx->simplifyUntil(xx, set);
+	auto copy = copyWith(newx);
+	if (newx->isConstant()) {
+		return sptrConstant(copy->getValue());
+	}
+	else {
+		return copy;
+	}
+}
+
 Symsptr MbD::FunctionX::differentiateWRT(Symsptr var)
 {
-	if (this == var.get()) return std::make_shared<Constant>(1.0);
+	if (this == var.get()) return sptrConstant(1.0);
 	auto dfdx = differentiateWRTx();
 	auto dxdvar = xx->differentiateWRT(var);
 	return Symbolic::times(dfdx, dxdvar);
@@ -42,3 +76,24 @@ void MbD::FunctionX::createMbD(std::shared_ptr<System> mbdSys, std::shared_ptr<U
 {
 	xx->createMbD(mbdSys, mbdUnits);
 }
+
+double MbD::FunctionX::getValue()
+{
+	assert(false);
+	return 0.0;
+}
+
+double MbD::FunctionX::getValue(double arg)
+{
+	double answer;
+	if (xx->isVariable()) {
+		auto oldVal = xx->getValue();
+		xx->setValue(arg);
+		answer = getValue();
+		xx->setValue(oldVal);
+	}
+	else {
+		assert(false);
+	}
+	return answer;
+}
--- a/OndselSolver/FunctionX.h
+++ b/OndselSolver/FunctionX.h
@@ -21,9 +21,14 @@ namespace MbD {
 		FunctionX() = default;
 		FunctionX(Symsptr arg);
 		void arguments(Symsptr args) override;
+		virtual Symsptr copyWith(Symsptr arg);
+		Symsptr expandUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>> set) override;
+		Symsptr simplifyUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>> set) override;
 		Symsptr differentiateWRT(Symsptr var) override;
 		virtual Symsptr differentiateWRTx();
 		void createMbD(std::shared_ptr<System> mbdSys, std::shared_ptr<Units> mbdUnits) override;
+		double getValue() override;
+		double getValue(double arg) override;

 		Symsptr xx;

--- a/OndselSolver/GeneralSpline.cpp
+++ b/OndselSolver/GeneralSpline.cpp
@@ -249,15 +249,13 @@ std::ostream& MbD::GeneralSpline::printOn(std::ostream& s) const
 	{
 		s << ", " << xs->at(i);
 	}
-	s << "}" << std::endl;;
+	s << "}, " << std::endl;
 	s << "ys{";
 	s << ys->at(0);
 	for (int i = 1; i < ys->size(); i++)
 	{
 		s << ", " << ys->at(i);
 	}
-	s << "}";
-	s << ")";
-	s << std::endl;
+	s << "})" << std::endl;
 	return s;
 }
--- a/OndselSolver/IndependentVariable.cpp
+++ b/OndselSolver/IndependentVariable.cpp
@@ -18,9 +18,9 @@ IndependentVariable::IndependentVariable()
 Symsptr MbD::IndependentVariable::differentiateWRT(Symsptr var)
 {
 	if (this == var.get()) {
-		return std::make_shared<Constant>(1.0);
+		return sptrConstant(1.0);
 	}
 	else {
-		return std::make_shared<Constant>(0.0);
+		return sptrConstant(0.0);
 	}
 }
--- a/OndselSolver/Integral.cpp
+++ b/OndselSolver/Integral.cpp
@@ -0,0 +1,45 @@
+#include "Integral.h"
+
+using namespace MbD;
+
+MbD::Integral::Integral(Symsptr var, Symsptr integrand)
+{
+	assert(false);
+}
+
+void MbD::Integral::arguments(Symsptr args)
+{
+	auto arguments = args->getTerms();
+	xx = arguments->at(0);
+	integrand = arguments->at(1);
+	expression = integrand->integrateWRT(xx);
+}
+
+Symsptr MbD::Integral::expandUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>> set)
+{
+	auto expand = expression->expandUntil(expression, set);
+	auto answer = std::make_shared<Integral>();
+	answer->xx = xx;
+	answer->expression = expand;
+	answer->integrand = integrand;
+	answer->integrationConstant = integrationConstant;
+	return answer;
+}
+
+Symsptr MbD::Integral::simplifyUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>> set)
+{
+	auto simple = expression->simplifyUntil(expression, set);
+	auto answer = std::make_shared<Integral>();
+	answer->xx = xx;
+	answer->expression = simple;
+	answer->integrand = integrand;
+	answer->integrationConstant = integrationConstant;
+	return answer;
+}
+
+std::ostream& MbD::Integral::printOn(std::ostream& s) const
+{
+	s << *expression << " + ";
+	s << *integrationConstant;
+	return s;
+}
--- a/OndselSolver/Integral.h
+++ b/OndselSolver/Integral.h
@@ -0,0 +1,29 @@
+/***************************************************************************
+ *   Copyright (c) 2023 Ondsel, Inc.                                       *
+ *                                                                         *
+ *   This file is part of OndselSolver.                                    *
+ *                                                                         *
+ *   See LICENSE file for details about copyright.                         *
+ ***************************************************************************/
+
+#pragma once
+
+#include "ExpressionX.h"
+#include "Constant.h"
+
+namespace MbD {
+	class Integral : public ExpressionX
+	{
+	public:
+		Integral() = default;
+		Integral(Symsptr var, Symsptr integrand);
+		void arguments(Symsptr args) override;
+		Symsptr expandUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>> set) override;
+		Symsptr simplifyUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>> set) override;
+
+		std::ostream& printOn(std::ostream& s) const override;
+
+		Symsptr integrand;
+		Symsptr integrationConstant = sptrConstant(0.0);
+	};
+}
--- a/OndselSolver/Item.cpp
+++ b/OndselSolver/Item.cpp
@@ -13,6 +13,7 @@

 #include "Item.h"
 #include "System.h"
+#include "Symbolic.h"

 using namespace MbD;

@@ -41,7 +42,7 @@ std::ostream& Item::printOn(std::ostream& s) const
 {
 	std::string str = typeid(*this).name();
 	auto classname = str.substr(11, str.size() - 11);
-	s << classname << std::endl;
+	s << classname;	//Why classname() cannot be used?
 	return s;
 }

--- a/OndselSolver/Ln.cpp
+++ b/OndselSolver/Ln.cpp
@@ -18,3 +18,8 @@ double MbD::Ln::getValue()
 {
    return std::log(xx->getValue());
 }
+
+Symsptr MbD::Ln::copyWith(Symsptr arg)
+{
+	return std::make_shared<Ln>(arg);
+}
--- a/OndselSolver/Ln.h
+++ b/OndselSolver/Ln.h
@@ -18,6 +18,7 @@ namespace MbD {
        Ln() = default;
        Ln(Symsptr arg);
        double getValue() override;
+        Symsptr copyWith(Symsptr arg) override;



--- a/OndselSolver/Log10.cpp
+++ b/OndselSolver/Log10.cpp
@@ -19,8 +19,13 @@ double MbD::Log10::getValue()
    return std::log(xx->getValue());
 }

+Symsptr MbD::Log10::copyWith(Symsptr arg)
+{
+	return std::make_shared<Log10>(arg);
+}
+
 std::ostream& MbD::Log10::printOn(std::ostream& s) const
 {
-	s << "lg(" << xx << ")";
+	s << "lg(" << *xx << ")";
 	return s;
 }
--- a/OndselSolver/Log10.h
+++ b/OndselSolver/Log10.h
@@ -18,6 +18,7 @@ namespace MbD {
        Log10() = default;
        Log10(Symsptr arg);
        double getValue() override;
+        Symsptr copyWith(Symsptr arg) override;

        std::ostream& printOn(std::ostream& s) const override;

--- a/OndselSolver/LogN.cpp
+++ b/OndselSolver/LogN.cpp
@@ -19,8 +19,13 @@ double MbD::LogN::getValue()
    return std::log(xx->getValue());
 }

+Symsptr MbD::LogN::copyWith(Symsptr arg)
+{
+	return std::make_shared<LogN>(arg);
+}
+
 std::ostream& MbD::LogN::printOn(std::ostream& s) const
 {
-	s << "ln(" << xx << ")";
+	s << "ln(" << *xx << ")";
 	return s;
 }
--- a/OndselSolver/LogN.h
+++ b/OndselSolver/LogN.h
@@ -18,6 +18,7 @@ namespace MbD {
        LogN() = default;
        LogN(Symsptr arg);
        double getValue() override;
+        Symsptr copyWith(Symsptr arg) override;

        std::ostream& printOn(std::ostream& s) const override;

--- a/OndselSolver/MBDynBody.h
+++ b/OndselSolver/MBDynBody.h
@@ -19,7 +19,7 @@ namespace MbD {
        void readInertiaMatrix(std::vector<std::string>& args);
        void createASMT() override;

-        std::string bodyString, name, nodeName;
+        std::string bodyString, nodeName;
        double mass;
        FColDsptr rPcmP;
        FMatDsptr aJmat;
--- a/OndselSolver/MBDynCase.mov
+++ b/OndselSolver/MBDynCase.mov
@@ -1,324 +1,324 @@
-1 0.121 8.796847998598882e-19 0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0 
-2 0.1853423520676719 -0.0003049963359123015 0.1415220993435272 0.9952959831601956 -0.0005372420906749178 -0.09687939551894122 -3.252606517456513e-19 0.9999846242181696 -0.005545387925678226 0.09688088513829464 0.005519302327492587 0.995280679706302 0 -0 -0 0 0 0 
-3 0.3222616402245218 -0.0002911328660981436 0.1799682739051885 0.9952948074630237 -0.001621407113303408 -0.09687939551894119 0.001089272628257954 0.9999840309514423 -0.005545387925678226 0.09688683977859862 0.005413767734014727 0.995280679706302 0 0 0 0 0 0 
-4 0.4640248981573186 -7.44074583944898e-17 0.1600000000000001 1 0 0 0 1 0 0 0 1 0 0 -0 0 0 0 
-1 0.121 8.796847998598882e-19 0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0 
-2 0.1853423520676719 -0.0003049963359123014 0.1415220993435272 0.9952959831601956 -0.0005372420906749176 -0.09687939551894111 2.168404344971009e-19 0.9999846242181696 -0.005545387925678225 0.09688088513829453 0.005519302327492586 0.995280679706302 0 -0 -0 0 0 0 
-3 0.3222616402245218 -0.0002911328660981437 0.1799682739051886 0.9952948074630237 -0.001621407113303408 -0.09687939551894117 0.001089272628257954 0.9999840309514423 -0.005545387925678226 0.0968868397785986 0.005413767734014727 0.995280679706302 0 0 0 0 0 0 
-4 0.4640248981573186 -7.44074583944898e-17 0.1600000000000001 1 0 0 0 1 0 0 0 1 0 0 -0 0 0 0 
-1 0.121 8.796847998598882e-19 0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0 
-2 0.1853423520676719 -0.0003049963359123014 0.1415220993435272 0.9952959831601956 -0.0005372420906749175 -0.09687939551894122 -6.505213034913027e-19 0.9999846242181696 -0.005545387925678225 0.09688088513829464 0.005519302327492586 0.995280679706302 0 -0 -0 0 0 0 
-3 0.3222616402245218 -0.0002911328660981436 0.1799682739051886 0.9952948074630237 -0.001621407113303408 -0.09687939551894117 0.001089272628257954 0.9999840309514423 -0.005545387925678226 0.0968868397785986 0.005413767734014727 0.995280679706302 0 0 0 0 0 0 
-4 0.4640248981573186 -7.44074583944898e-17 0.1600000000000001 1 0 0 0 1 0 0 0 1 0 0 -0 0 0 0 
-1 0.121 8.796847998598882e-19 0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0 
-2 0.1853423520676719 -0.0003049963359123015 0.1415220993435272 0.9952959831601956 -0.0005372420906749175 -0.09687939551894111 0 0.9999846242181696 -0.005545387925678225 0.09688088513829453 0.005519302327492586 0.995280679706302 0 -0 -0 0 0 0 
-3 0.3222616402245218 -0.0002911328660981436 0.1799682739051886 0.9952948074630237 -0.001621407113303408 -0.09687939551894117 0.001089272628257954 0.9999840309514423 -0.005545387925678226 0.0968868397785986 0.005413767734014727 0.995280679706302 0 0 0 0 0 0 
-4 0.4640248981573186 -7.44074583944898e-17 0.1600000000000001 1 0 0 0 1 0 0 0 1 0 0 -0 0 0 0 
-1 0.121 8.796847998598882e-19 0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0 
-2 0.1853423520676719 -0.0003049963359123015 0.1415220993435272 0.9952959831601956 -0.0005372420906749176 -0.09687939551894122 -4.336808689942018e-19 0.9999846242181696 -0.005545387925678225 0.09688088513829464 0.005519302327492586 0.995280679706302 0 -0 -0 0 0 0 
-3 0.3222616402245218 -0.0002911328660981436 0.1799682739051886 0.9952948074630237 -0.001621407113303408 -0.09687939551894117 0.001089272628257954 0.9999840309514423 -0.005545387925678226 0.0968868397785986 0.005413767734014727 0.995280679706302 0 0 0 0 0 0 
-4 0.4640248981573186 -7.44074583944898e-17 0.1600000000000001 1 0 0 0 1 0 0 0 1 0 0 -0 0 0 0 
-1 0.121 8.796847998598882e-19 0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0 
-2 0.1853423520676719 -0.0003049963359123014 0.1415220993435272 0.9952959831601956 -0.0005372420906749176 -0.09687939551894111 2.168404344971009e-19 0.9999846242181696 -0.005545387925678225 0.09688088513829453 0.005519302327492586 0.995280679706302 0 -0 -0 0 0 0 
-3 0.3222616402245218 -0.0002911328660981436 0.1799682739051886 0.9952948074630237 -0.001621407113303408 -0.09687939551894117 0.001089272628257954 0.9999840309514423 -0.005545387925678226 0.0968868397785986 0.005413767734014727 0.995280679706302 0 0 0 0 0 0 
-4 0.4640248981573186 -7.44074583944898e-17 0.1600000000000001 1 0 0 0 1 0 0 0 1 0 0 -0 0 0 0 
-1 0.121 8.796847998598882e-19 0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0 
-2 0.1853423520676719 -0.0003049963359123014 0.1415220993435272 0.9952959831601956 -0.0005372420906749175 -0.09687939551894122 -6.505213034913027e-19 0.9999846242181696 -0.005545387925678225 0.09688088513829464 0.005519302327492586 0.995280679706302 0 -0 -0 0 0 0 
-3 0.3222616402245218 -0.0002911328660981436 0.1799682739051886 0.9952948074630237 -0.001621407113303408 -0.09687939551894117 0.001089272628257954 0.9999840309514423 -0.005545387925678226 0.0968868397785986 0.005413767734014727 0.995280679706302 0 0 0 0 0 0 
-4 0.4640248981573186 -7.44074583944898e-17 0.1600000000000001 1 0 0 0 1 0 0 0 1 0 0 -0 0 0 0 
-1 0.121 8.796847998598882e-19 0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0 
-2 0.1853423520676719 -0.0003049963359123015 0.1415220993435272 0.9952959831601956 -0.0005372420906749175 -0.09687939551894111 0 0.9999846242181696 -0.005545387925678225 0.09688088513829453 0.005519302327492586 0.995280679706302 0 -0 -0 0 0 0 
-3 0.3222616402245218 -0.0002911328660981436 0.1799682739051886 0.9952948074630237 -0.001621407113303408 -0.09687939551894117 0.001089272628257954 0.9999840309514423 -0.005545387925678226 0.0968868397785986 0.005413767734014727 0.995280679706302 0 0 0 0 0 0 
-4 0.4640248981573186 -7.44074583944898e-17 0.1600000000000001 1 0 0 0 1 0 0 0 1 0 0 -0 0 0 0 
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+2 -0.0486925957020273 -0.001985390890606622 -0.02810879162419696 0.9990678575462876 0.001558253989975216 0.04313916854059258 3.903127820947816e-18 0.9993482542271943 -0.03609801619284767 -0.04316730264761659 0.03606436769945952 0.9984167192933857 0 -0 -0 0 0 0 
+3 0.0922534106532278 -0.001895145850124542 -0.009155819605617063 0.9990537652981445 -0.005530477486285022 0.04313916854059255 0.007090681752166229 0.9993230986318842 -0.03609801619284766 -0.04291032831253394 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0 
+4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0 
+1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0 
+2 -0.04869259570202728 -0.001985390890606622 -0.02810879162419696 0.9990678575462876 0.001558253989975217 0.04313916854059258 2.168404344971009e-18 0.9993482542271943 -0.03609801619284767 -0.04316730264761659 0.03606436769945952 0.9984167192933857 0 -0 -0 0 0 0 
+3 0.09225341065322783 -0.001895145850124542 -0.009155819605617063 0.9990537652981445 -0.005530477486285022 0.04313916854059258 0.00709068175216623 0.9993230986318842 -0.03609801619284766 -0.04291032831253397 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0 
+4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0 
+1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0 
+2 -0.04869259570202727 -0.001985390890606624 -0.02810879162419694 0.9990678575462876 0.00155825398997522 0.04313916854059252 -1.951563910473908e-18 0.9993482542271943 -0.03609801619284769 -0.04316730264761653 0.03606436769945954 0.9984167192933857 0 -0 -0 0 0 0 
+3 0.09225341065322781 -0.001895145850124542 -0.009155819605617049 0.9990537652981445 -0.005530477486285024 0.04313916854059253 0.007090681752166232 0.9993230986318842 -0.03609801619284766 -0.04291032831253393 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0 
+4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0 
+1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0 
+2 -0.0486925957020273 -0.001985390890606622 -0.02810879162419696 0.9990678575462876 0.001558253989975216 0.04313916854059258 3.903127820947816e-18 0.9993482542271943 -0.03609801619284767 -0.04316730264761659 0.03606436769945952 0.9984167192933857 0 -0 -0 0 0 0 
+3 0.0922534106532278 -0.001895145850124542 -0.009155819605617063 0.9990537652981445 -0.005530477486285022 0.04313916854059255 0.007090681752166229 0.9993230986318842 -0.03609801619284766 -0.04291032831253394 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0 
+4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0 
+1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0 
+2 -0.04869259570202728 -0.001985390890606622 -0.02810879162419696 0.9990678575462876 0.001558253989975217 0.04313916854059258 2.168404344971009e-18 0.9993482542271943 -0.03609801619284767 -0.04316730264761659 0.03606436769945952 0.9984167192933857 0 -0 -0 0 0 0 
+3 0.09225341065322783 -0.001895145850124542 -0.009155819605617063 0.9990537652981445 -0.005530477486285022 0.04313916854059258 0.00709068175216623 0.9993230986318842 -0.03609801619284766 -0.04291032831253397 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0 
+4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0 
+1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0 
+2 -0.04869259570202727 -0.001985390890606624 -0.02810879162419694 0.9990678575462876 0.00155825398997522 0.04313916854059252 -1.951563910473908e-18 0.9993482542271943 -0.03609801619284769 -0.04316730264761653 0.03606436769945954 0.9984167192933857 0 -0 -0 0 0 0 
+3 0.09225341065322781 -0.001895145850124542 -0.009155819605617049 0.9990537652981445 -0.005530477486285024 0.04313916854059253 0.007090681752166232 0.9993230986318842 -0.03609801619284766 -0.04291032831253393 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0 
+4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0 
+1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0 
+2 -0.0486925957020273 -0.001985390890606622 -0.02810879162419696 0.9990678575462876 0.001558253989975216 0.04313916854059258 3.903127820947816e-18 0.9993482542271943 -0.03609801619284767 -0.04316730264761659 0.03606436769945952 0.9984167192933857 0 -0 -0 0 0 0 
+3 0.0922534106532278 -0.001895145850124542 -0.009155819605617063 0.9990537652981445 -0.005530477486285022 0.04313916854059255 0.007090681752166229 0.9993230986318842 -0.03609801619284766 -0.04291032831253394 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0 
+4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0 
+1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0 
+2 -0.04869259570202728 -0.001985390890606622 -0.02810879162419696 0.9990678575462876 0.001558253989975217 0.04313916854059258 2.168404344971009e-18 0.9993482542271943 -0.03609801619284767 -0.04316730264761659 0.03606436769945952 0.9984167192933857 0 -0 -0 0 0 0 
+3 0.09225341065322783 -0.001895145850124542 -0.009155819605617063 0.9990537652981445 -0.005530477486285022 0.04313916854059258 0.00709068175216623 0.9993230986318842 -0.03609801619284766 -0.04291032831253397 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0 
+4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0 
+1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0 
+2 -0.04869259570202727 -0.001985390890606624 -0.02810879162419694 0.9990678575462876 0.00155825398997522 0.04313916854059252 -1.951563910473908e-18 0.9993482542271943 -0.03609801619284769 -0.04316730264761653 0.03606436769945954 0.9984167192933857 0 -0 -0 0 0 0 
+3 0.09225341065322781 -0.001895145850124542 -0.009155819605617049 0.9990537652981445 -0.005530477486285024 0.04313916854059253 0.007090681752166232 0.9993230986318842 -0.03609801619284766 -0.04291032831253393 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0 
+4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0 
+1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0 
+2 -0.0486925957020273 -0.001985390890606622 -0.02810879162419696 0.9990678575462876 0.001558253989975216 0.04313916854059258 3.903127820947816e-18 0.9993482542271943 -0.03609801619284767 -0.04316730264761659 0.03606436769945952 0.9984167192933857 0 -0 -0 0 0 0 
+3 0.0922534106532278 -0.001895145850124542 -0.009155819605617063 0.9990537652981445 -0.005530477486285022 0.04313916854059255 0.007090681752166229 0.9993230986318842 -0.03609801619284766 -0.04291032831253394 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0 
+4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0 
+1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0 
+2 -0.04869259570202728 -0.001985390890606622 -0.02810879162419696 0.9990678575462876 0.001558253989975217 0.04313916854059258 2.168404344971009e-18 0.9993482542271943 -0.03609801619284767 -0.04316730264761659 0.03606436769945952 0.9984167192933857 0 -0 -0 0 0 0 
+3 0.09225341065322783 -0.001895145850124542 -0.009155819605617063 0.9990537652981445 -0.005530477486285022 0.04313916854059258 0.00709068175216623 0.9993230986318842 -0.03609801619284766 -0.04291032831253397 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0 
+4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0 
+1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0 
+2 -0.04869259570202727 -0.001985390890606624 -0.02810879162419694 0.9990678575462876 0.00155825398997522 0.04313916854059252 -1.951563910473908e-18 0.9993482542271943 -0.03609801619284769 -0.04316730264761653 0.03606436769945954 0.9984167192933857 0 -0 -0 0 0 0 
+3 0.09225341065322781 -0.001895145850124542 -0.009155819605617049 0.9990537652981445 -0.005530477486285024 0.04313916854059253 0.007090681752166232 0.9993230986318842 -0.03609801619284766 -0.04291032831253393 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0 
+4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0 
+1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0 
+2 -0.0486925957020273 -0.001985390890606622 -0.02810879162419696 0.9990678575462876 0.001558253989975216 0.04313916854059258 3.903127820947816e-18 0.9993482542271943 -0.03609801619284767 -0.04316730264761659 0.03606436769945952 0.9984167192933857 0 -0 -0 0 0 0 
+3 0.0922534106532278 -0.001895145850124542 -0.009155819605617063 0.9990537652981445 -0.005530477486285022 0.04313916854059255 0.007090681752166229 0.9993230986318842 -0.03609801619284766 -0.04291032831253394 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0 
+4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0 
--- a/OndselSolver/MBDynCase2.mbd
+++ b/OndselSolver/MBDynCase2.mbd
@@ -0,0 +1,297 @@
+#-----------------------------------------------------------------------------
+ # [Data Block]
+
+ begin: data;
+     problem: initial value;
+ end: data;
+
+ #-----------------------------------------------------------------------------
+ # [Problem Block]
+
+ begin: initial value;
+     initial time: 0.0;
+     final time: 3.0;
+     time step: 0.01;
+     max iterations: 100;
+     tolerance: 1e-06;
+     derivatives tolerance: 0.0001;
+     derivatives max iterations: 100;
+     derivatives coefficient: auto;
+ end: initial value;
+
+ #-----------------------------------------------------------------------------
+ # [Control Data Block]
+
+ begin: control data;
+     max iterations: 1000;
+     default orientation: euler321;
+     omega rotates: no;
+     print: none;
+     initial stiffness: 1.0, 1.0;
+     structural nodes: 4;
+     rigid bodies: 3;
+     joints: 6;
+ end: control data;
+
+ #-----------------------------------------------------------------------------
+ # [Design Variables]
+
+     #Generic bodies
+
+         #body: 2
+             set: integer body_2 = 2; #body label
+             set: real mass_2 = 1.448636188351172; #mass [kg]
+             set: real volume_2 = 0.00018337166941154076; #volume [m^3]
+
+         #body: 3
+             set: integer body_3 = 3; #body label
+             set: real mass_3 = 2.8529486557067685; #mass [kg]
+             set: real volume_3 = 0.0003611327412287049; #volume [m^3]
+
+         #body: 4
+             set: integer body_4 = 4; #body label
+             set: real mass_4 = 10.859427202622141; #mass [kg]
+             set: real volume_4 = 0.0013746110383066003; #volume [m^3]
+
+     #Nodes
+
+         #node: 1
+             set: integer structural_node_1 = 1; #node label
+
+         #node: 2
+             set: integer structural_node_2 = 2; #node label
+
+         #node: 3
+             set: integer structural_node_3 = 3; #node label
+
+         #node: 4
+             set: integer structural_node_4 = 4; #node label
+
+     #Joints
+
+         #joint: 1
+             set: integer joint_1 = 1; #joint label
+
+         #joint: 2
+             set: integer joint_2 = 2; #joint label
+
+         #joint: 3
+             set: integer joint_3 = 3; #joint label
+
+         #joint: 4
+             set: integer joint_4 = 4; #joint label
+
+         #joint: 5
+             set: integer joint_5 = 5; #joint label
+
+         #joint: 6
+             set: integer joint_6 = 6; #joint label
+
+     #Nodes: initial conditions
+
+         #node: 1
+             set: real Px_1 = -0.121; #X component of the absolute position [m]
+             set: real Py_1 = -1.218180697837851e-18; #Y component of the absolute position [m]
+             set: real Pz_1 = -0.08; #Z component of the absolute position [m]
+
+             set: real Vx_1 = 0.0; #X component of the absolute velocity [m/s]
+             set: real Vy_1 = 0.0; #Y component of the absolute velocity [m/s]
+             set: real Vz_1 = 0.0; #Z component of the absolute velocity [m/s]
+
+             set: real Wx_1 = 0.0; #X component of the absolute angular velocity [rad/s]
+             set: real Wy_1 = 0.0; #Y component of the absolute angular velocity [rad/s]
+             set: real Wz_1 = 0.0; #Z component of the absolute angular velocity [rad/s]
+
+         #node: 2
+             set: real Px_2 = -0.047537048944738425; #X component of the absolute position [m]
+             set: real Py_2 = 0.09742200410568831; #Y component of the absolute position [m]
+             set: real Pz_2 = -0.030293476812230588; #Z component of the absolute position [m]
+
+             set: real Vx_2 = 0.0; #X component of the absolute velocity [m/s]
+             set: real Vy_2 = 0.0; #Y component of the absolute velocity [m/s]
+             set: real Vz_2 = 0.0; #Z component of the absolute velocity [m/s]
+
+             set: real Wx_2 = 0.0; #X component of the absolute angular velocity [rad/s]
+             set: real Wy_2 = 0.0; #Y component of the absolute angular velocity [rad/s]
+             set: real Wz_2 = 0.0; #Z component of the absolute angular velocity [rad/s]
+
+         #node: 3
+             set: real Px_3 = 0.07099630277370235; #X component of the absolute position [m]
+             set: real Py_3 = -0.07364765799707981; #Y component of the absolute position [m]
+             set: real Pz_3 = 0.058407900823760565; #Z component of the absolute position [m]
+
+             set: real Vx_3 = 0.0; #X component of the absolute velocity [m/s]
+             set: real Vy_3 = 0.0; #Y component of the absolute velocity [m/s]
+             set: real Vz_3 = 0.0; #Z component of the absolute velocity [m/s]
+
+             set: real Wx_3 = 0.0; #X component of the absolute angular velocity [rad/s]
+             set: real Wy_3 = 0.0; #Y component of the absolute angular velocity [rad/s]
+             set: real Wz_3 = 0.0; #Z component of the absolute angular velocity [rad/s]
+
+         #node: 4
+             set: real Px_4 = 0.3723079639890564; #X component of the absolute position [m]
+             set: real Py_4 = 0.04333150035096042; #Y component of the absolute position [m]
+             set: real Pz_4 = 0.008140985321785409; #Z component of the absolute position [m]
+
+             set: real Vx_4 = 0.0; #X component of the absolute velocity [m/s]
+             set: real Vy_4 = 0.0; #Y component of the absolute velocity [m/s]
+             set: real Vz_4 = 0.0; #Z component of the absolute velocity [m/s]
+
+             set: real Wx_4 = 0.0; #X component of the absolute angular velocity [rad/s]
+             set: real Wy_4 = 0.0; #Y component of the absolute angular velocity [rad/s]
+             set: real Wz_4 = 0.0; #Z component of the absolute angular velocity [rad/s]
+
+ #-----------------------------------------------------------------------------
+ # [Intermediate Variables]
+
+     #Moments of inertia and relative center of mass
+
+         #body 2: 
+             set: real Ixx_2 = 0.0028717510150880004; #moment of inertia [kg*m^2]
+             set: real Iyy_2 = 0.002864447840812; #moment of inertia [kg*m^2]
+             set: real Izz_2 = 0.0007089594589930001; #moment of inertia [kg*m^2]
+
+             set: real Rx_2 = 7.105427357601002e-18; #X component of the relative center of mass [m]
+             set: real Ry_2 = 0.0; #Y component of the relative center of mass [m]
+             set: real Rz_2 = 7.105427357601002e-18; #Z component of the relative center of mass [m]
+
+         #body 3: 
+             set: real Ixx_3 = 0.033837921987970004; #moment of inertia [kg*m^2]
+             set: real Iyy_3 = 0.033715148099504; #moment of inertia [kg*m^2]
+             set: real Izz_3 = 0.001956310318013; #moment of inertia [kg*m^2]
+
+             set: real Rx_3 = 2.842170943040401e-17; #X component of the relative center of mass [m]
+             set: real Ry_3 = -1.4210854715202004e-17; #Y component of the relative center of mass [m]
+             set: real Rz_3 = 0.0; #Z component of the relative center of mass [m]
+
+         #body 4: 
+             set: real Ixx_4 = 0.07706742098794901; #moment of inertia [kg*m^2]
+             set: real Iyy_4 = 0.066351815798527; #moment of inertia [kg*m^2]
+             set: real Izz_4 = 0.061792350456255; #moment of inertia [kg*m^2]
+
+             set: real Rx_4 = 2.842170943040401e-16; #X component of the relative center of mass [m]
+             set: real Ry_4 = 2.1316282072803006e-17; #Y component of the relative center of mass [m]
+             set: real Rz_4 = 2.2737367544323206e-16; #Z component of the relative center of mass [m]
+
+ #-----------------------------------------------------------------------------
+ # [Nodes Block]
+
+ begin: nodes;
+
+     structural: structural_node_1,
+                 static,
+                 Px_1, Py_1, Pz_1, #<absolute_position> [m]
+                 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<absolute_orientation_matrix>
+                 Vx_1, Vy_1, Vz_1, #<absolute_velocity> [m/s]
+                 Wx_1, Wy_1, Wz_1; #<absolute_angular_velocity> [rad/s]
+
+     structural: structural_node_2,
+                 dynamic,
+                 Px_2, Py_2, Pz_2, #<absolute_position> [m]
+                 3, 0.28116838555915347, -0.12674940821214617, 0.9512512425641977, 2, -0.12674940821214617, 0.9776506595433675, 0.16773125949652098, #<absolute_orientation_matrix>
+                 Vx_2, Vy_2, Vz_2, #<absolute_velocity> [m/s]
+                 Wx_2, Wy_2, Wz_2; #<absolute_angular_velocity> [rad/s]
+
+     structural: structural_node_3,
+                 dynamic,
+                 Px_3, Py_3, Pz_3, #<absolute_position> [m]
+                 3, -0.27178893568691503, -0.25783416049630004, 0.9271743741709766, 2, 0.014330116918634624, 0.9622501868990581, 0.271788935686915, #<absolute_orientation_matrix>
+                 Vx_3, Vy_3, Vz_3, #<absolute_velocity> [m/s]
+                 Wx_3, Wy_3, Wz_3; #<absolute_angular_velocity> [rad/s]
+
+     structural: structural_node_4,
+                 dynamic,
+                 Px_4, Py_4, Pz_4, #<absolute_position> [m]
+                 3, 0.2588190451025211, 0.0, 0.9659258262890682, 2, 0.0, 1.0, 0.0, #<absolute_orientation_matrix>
+                 Vx_4, Vy_4, Vz_4, #<absolute_velocity> [m/s]
+                 Wx_4, Wy_4, Wz_4; #<absolute_angular_velocity> [rad/s]
+
+ end: nodes;
+
+ #-----------------------------------------------------------------------------
+ # [Elements Block]
+
+ begin: elements;
+
+     #-----------------------------------------------------------------------------
+     # [Bodies]
+
+         body: body_2,
+               structural_node_2, #<node_label> 
+               mass_2, #<mass> [kg]
+               Rx_2, Ry_2, Rz_2, #<relative_center_of_mass> [m]
+               diag, Ixx_2, Iyy_2, Izz_2, #<inertia matrix> [kg*m^2]
+               orientation, 3, -0.0054384608129255385, 0.8559103374577453, 0.5150405937686557, 2, 0.9969290667160357, -0.0024978913689130133, 0.0023196850194898005; 
+
+         body: body_3,
+               structural_node_3, #<node_label> 
+               mass_3, #<mass> [kg]
+               Rx_3, Ry_3, Rz_3, #<relative_center_of_mass> [m]
+               diag, Ixx_3, Iyy_3, Izz_3, #<inertia matrix> [kg*m^2]
+               orientation, 3, 0.9973238325492868, 0.0012847690482160057, -0.002629529780301787, 2, -0.00011328308715380375, 1.0027304733964244, 0.004450235157436283; 
+
+         body: body_4,
+               structural_node_4, #<node_label> 
+               mass_4, #<mass> [kg]
+               Rx_4, Ry_4, Rz_4, #<relative_center_of_mass> [m]
+               diag, Ixx_4, Iyy_4, Izz_4, #<inertia matrix> [kg*m^2]
+               orientation, 3, -8.551421488581235e-05, 0.0, 0.9957768995806164, 2, 0.0, 1.0, 0.0; 
+
+     #-----------------------------------------------------------------------------
+     # [Joints]
+
+     joint: joint_1,
+         clamp,
+         structural_node_1, #<node_label>
+             -0.121, -1.218180697837851e-18, -0.08, #<absolute_pin_position> [m]
+             3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; #<absolute_orientation_matrix> 
+
+     joint: joint_2,
+         axial rotation,
+         structural_node_1, #<node_1_label>
+             0.0, 1.218180697837851e-18, 0.05, #<relative_offset_1> [m]
+             orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<relative_orientation_matrix_1>
+         structural_node_2, #<node_2_label>
+             -0.03739853284269051, 0.0, 0.0032867622552210634, #<relative_offset_2> [m]
+             orientation, 3, 5.204170427930421e-18, 0.0, 1.0, 2, guess, #<relative_orientation_matrix_2>
+         string, "model::drive(1, Time)"; #<angular_velocity> [rad/s]
+
+     joint: joint_3,
+            revolute hinge,
+             structural_node_2, #<node_1_label>
+                 0.03260146715730949, 1.4210854715202004e-17, 0.05328676225522106, #<relative_position_1> [m]
+                 orientation, 3, 5.204170427930421e-18, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<relative_pin_orientation_matrix_1>
+             structural_node_3, #<node_2_label>
+                -0.1400000000000079, -1.0444978215673472e-15, 0.024999999999998038, #<relative_position_2> [m]
+                orientation, 3, -5.551115123125784e-17, -5.984795992119986e-17, 1.0, 2, guess; #<relative_pin_orientation_matrix_2>
+
+     joint: joint_4,
+         in line,
+         structural_node_3, #<node_1_label>
+             0.13999999999999133, 4.4231285301066236e-16, 9.79127889877418e-15, #<relative_line_position> [m]
+             3, 2.7195091690402506e-15, 1.2586758486779817e-14, 1.0, 2, 0.6882367162699149, 0.7254861972346578, -1.1003185610451133e-14, #<relative_orientation>
+         structural_node_4, #<node_2_label>
+             offset, -0.045580834634119244, -2.0299354019925886e-10, 1.2562251640702015e-08; #<relative_offset> [m]
+
+     joint: joint_5,
+         in line,
+         structural_node_1, #<node_1_label>
+             0.0, 1.2181806978377854e-18, 0.08, #<relative_line_position> [m]
+             3, 1.0, -2.220446049250313e-16, 2.220446049250313e-16, 2, -2.220446049250313e-16, 0.0, 1.0, #<relative_orientation>
+         structural_node_4, #<node_2_label>
+             offset, -0.045580834634119244, -2.0299354019925886e-10, 1.2562251640702015e-08; #<relative_offset> [m]
+
+     joint: joint_6,
+         prismatic,
+         structural_node_1, #<node_1_label>
+             orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #relative_orientation_matrix_1>
+         structural_node_4, #<node_2_label>
+             orientation, 3, 0, 0, 1, 2, 0, 1, 0; #relative_orientation_matrix_2>
+
+     #-----------------------------------------------------------------------------
+     # [Drive callers]
+
+     drive caller: 1, name,"drive:1", ramp, 6.28, 0.0, 1.0, 0.0;
+
+ end: elements;
+
--- a/OndselSolver/MBDynCase2.mov
+++ b/OndselSolver/MBDynCase2.mov
--- a/OndselSolver/MBDynCase2orig.mbd
+++ b/OndselSolver/MBDynCase2orig.mbd
@@ -40,18 +40,18 @@

         #body: 2
             set: integer body_2 = 2; #body label
-             set: real mass_2 = 1.4486361883511718; #mass [kg]
-             set: real volume_2 = 0.00018337166941154073; #volume [m^3]
+             set: real mass_2 = 1.448636188351172; #mass [kg]
+             set: real volume_2 = 0.00018337166941154076; #volume [m^3]

         #body: 3
             set: integer body_3 = 3; #body label
-             set: real mass_3 = 2.852948655706769; #mass [kg]
-             set: real volume_3 = 0.00036113274122870494; #volume [m^3]
+             set: real mass_3 = 2.8529486557067685; #mass [kg]
+             set: real volume_3 = 0.0003611327412287049; #volume [m^3]

         #body: 4
             set: integer body_4 = 4; #body label
-             set: real mass_4 = 10.859427202622149; #mass [kg]
-             set: real volume_4 = 0.001374611038306601; #volume [m^3]
+             set: real mass_4 = 10.859427202622141; #mass [kg]
+             set: real volume_4 = 0.0013746110383066003; #volume [m^3]

     #Nodes

@@ -103,9 +103,9 @@
             set: real Wz_1 = 0.0; #Z component of the absolute angular velocity [rad/s]

         #node: 2
-             set: real Px_2 = -0.04942161873703145; #X component of the absolute position [m]
-             set: real Py_2 = 0.10494947176309491; #Y component of the absolute position [m]
-             set: real Pz_2 = -0.03019496284287986; #Z component of the absolute position [m]
+             set: real Px_2 = -0.047537048944738425; #X component of the absolute position [m]
+             set: real Py_2 = 0.09742200410568831; #Y component of the absolute position [m]
+             set: real Pz_2 = -0.030293476812230588; #Z component of the absolute position [m]

             set: real Vx_2 = 0.0; #X component of the absolute velocity [m/s]
             set: real Vy_2 = 0.0; #Y component of the absolute velocity [m/s]
@@ -116,9 +116,9 @@
             set: real Wz_2 = 0.0; #Z component of the absolute angular velocity [rad/s]

         #node: 3
-             set: real Px_3 = 0.0745132790133479; #X component of the absolute position [m]
-             set: real Py_3 = -0.07931074487337057; #Y component of the absolute position [m]
-             set: real Pz_3 = 0.047693362858105263; #Z component of the absolute position [m]
+             set: real Px_3 = 0.07099630277370235; #X component of the absolute position [m]
+             set: real Py_3 = -0.07364765799707981; #Y component of the absolute position [m]
+             set: real Pz_3 = 0.058407900823760565; #Z component of the absolute position [m]

             set: real Vx_3 = 0.0; #X component of the absolute velocity [m/s]
             set: real Vy_3 = 0.0; #Y component of the absolute velocity [m/s]
@@ -129,9 +129,9 @@
             set: real Wz_3 = 0.0; #Z component of the absolute angular velocity [rad/s]

         #node: 4
-             set: real Px_4 = 0.3575148357029521; #X component of the absolute position [m]
-             set: real Py_4 = 0.043331500350960436; #Y component of the absolute position [m]
-             set: real Pz_4 = 0.10422397969746418; #Z component of the absolute position [m]
+             set: real Px_4 = 0.3723079639890564; #X component of the absolute position [m]
+             set: real Py_4 = 0.04333150035096042; #Y component of the absolute position [m]
+             set: real Pz_4 = 0.008140985321785409; #Z component of the absolute position [m]

             set: real Vx_4 = 0.0; #X component of the absolute velocity [m/s]
             set: real Vy_4 = 0.0; #Y component of the absolute velocity [m/s]
@@ -151,17 +151,17 @@
             set: real Iyy_2 = 0.002864447840812; #moment of inertia [kg*m^2]
             set: real Izz_2 = 0.0007089594589930001; #moment of inertia [kg*m^2]

-             set: real Rx_2 = 0.0; #X component of the relative center of mass [m]
+             set: real Rx_2 = 7.105427357601002e-18; #X component of the relative center of mass [m]
             set: real Ry_2 = 0.0; #Y component of the relative center of mass [m]
-             set: real Rz_2 = 0.0; #Z component of the relative center of mass [m]
+             set: real Rz_2 = 7.105427357601002e-18; #Z component of the relative center of mass [m]

         #body 3: 
             set: real Ixx_3 = 0.033837921987970004; #moment of inertia [kg*m^2]
             set: real Iyy_3 = 0.033715148099504; #moment of inertia [kg*m^2]
             set: real Izz_3 = 0.001956310318013; #moment of inertia [kg*m^2]

-             set: real Rx_3 = 0.0; #X component of the relative center of mass [m]
-             set: real Ry_3 = 0.0; #Y component of the relative center of mass [m]
+             set: real Rx_3 = 2.842170943040401e-17; #X component of the relative center of mass [m]
+             set: real Ry_3 = -1.4210854715202004e-17; #Y component of the relative center of mass [m]
             set: real Rz_3 = 0.0; #Z component of the relative center of mass [m]

         #body 4: 
@@ -169,9 +169,9 @@
             set: real Iyy_4 = 0.066351815798527; #moment of inertia [kg*m^2]
             set: real Izz_4 = 0.061792350456255; #moment of inertia [kg*m^2]

-             set: real Rx_4 = 0.0; #X component of the relative center of mass [m]
-             set: real Ry_4 = 0.0; #Y component of the relative center of mass [m]
-             set: real Rz_4 = 0.0; #Z component of the relative center of mass [m]
+             set: real Rx_4 = 2.842170943040401e-16; #X component of the relative center of mass [m]
+             set: real Ry_4 = 2.1316282072803006e-17; #Y component of the relative center of mass [m]
+             set: real Rz_4 = 2.2737367544323206e-16; #Z component of the relative center of mass [m]

 #-----------------------------------------------------------------------------
 # [Nodes Block]
@@ -188,21 +188,21 @@
     structural: structural_node_2,
                 dynamic,
                 Px_2, Py_2, Pz_2, #<absolute_position> [m]
-                 3, 0.24321034680169393, 0.08852132690137694, 0.9659258262890683, 2, -0.3420201433256683, 0.9396926207859085, -1.8041124150158794e-16, #<absolute_orientation_matrix>
+                 3, 0.28116838555915347, -0.12674940821214617, 0.9512512425641977, 2, -0.12674940821214617, 0.9776506595433675, 0.16773125949652098, #<absolute_orientation_matrix>
                 Vx_2, Vy_2, Vz_2, #<absolute_velocity> [m/s]
                 Wx_2, Wy_2, Wz_2; #<absolute_angular_velocity> [rad/s]

     structural: structural_node_3,
                 dynamic,
                 Px_3, Py_3, Pz_3, #<absolute_position> [m]
-                 3, -0.17364817766693005, -3.122502256758253e-16, 0.9848077530122081, 2, 0.17101007166283402, 0.9848077530122081, 0.030153689607046008, #<absolute_orientation_matrix>
+                 3, -0.27178893568691503, -0.25783416049630004, 0.9271743741709766, 2, 0.014330116918634624, 0.9622501868990581, 0.271788935686915, #<absolute_orientation_matrix>
                 Vx_3, Vy_3, Vz_3, #<absolute_velocity> [m/s]
                 Wx_3, Wy_3, Wz_3; #<absolute_angular_velocity> [rad/s]

     structural: structural_node_4,
                 dynamic,
                 Px_4, Py_4, Pz_4, #<absolute_position> [m]
-                 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<absolute_orientation_matrix>
+                 3, 0.2588190451025211, 0.0, 0.9659258262890682, 2, 0.0, 1.0, 0.0, #<absolute_orientation_matrix>
                 Vx_4, Vy_4, Vz_4, #<absolute_velocity> [m/s]
                 Wx_4, Wy_4, Wz_4; #<absolute_angular_velocity> [rad/s]

@@ -220,22 +220,22 @@
               structural_node_2, #<node_label> 
               mass_2, #<mass> [kg]
               Rx_2, Ry_2, Rz_2, #<relative_center_of_mass> [m]
-               diag, Ixx_2, Iyy_2, Izz_2, #<inertia_matrix> [kg*m^2]
-               orientation, 3, -6.071532165918825e-17, -2.775557561562891e-17, 1.0, 2, 1.1102230246251565e-16, 1.0, 2.775557561562892e-17; 
+               diag, Ixx_2, Iyy_2, Izz_2, #<inertia matrix> [kg*m^2]
+               orientation, 3, -0.0054384608129255385, 0.8559103374577453, 0.5150405937686557, 2, 0.9969290667160357, -0.0024978913689130133, 0.0023196850194898005; 

         body: body_3,
               structural_node_3, #<node_label> 
               mass_3, #<mass> [kg]
               Rx_3, Ry_3, Rz_3, #<relative_center_of_mass> [m]
-               diag, Ixx_3, Iyy_3, Izz_3, #<inertia_matrix> [kg*m^2]
-               orientation, 3, -4.119968255444917e-18, -1.734723475976807e-18, 1.0, 2, -3.573502826499754e-36, 1.0, 1.734723475976807e-18; 
+               diag, Ixx_3, Iyy_3, Izz_3, #<inertia matrix> [kg*m^2]
+               orientation, 3, 0.9973238325492868, 0.0012847690482160057, -0.002629529780301787, 2, -0.00011328308715380375, 1.0027304733964244, 0.004450235157436283; 

         body: body_4,
               structural_node_4, #<node_label> 
               mass_4, #<mass> [kg]
               Rx_4, Ry_4, Rz_4, #<relative_center_of_mass> [m]
-               diag, Ixx_4, Iyy_4, Izz_4, #<inertia_matrix> [kg*m^2]
-               orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; 
+               diag, Ixx_4, Iyy_4, Izz_4, #<inertia matrix> [kg*m^2]
+               orientation, 3, -8.551421488581235e-05, 0.0, 0.9957768995806164, 2, 0.0, 1.0, 0.0; 

     #-----------------------------------------------------------------------------
     # [Joints]
@@ -248,50 +248,50 @@

     joint: joint_2,
         axial rotation,
-         1,#<node_1>
+         structural_node_1, #<node_1_label>
             0.0, 1.218180697837851e-18, 0.05, #<relative_offset_1> [m]
             orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<relative_orientation_matrix_1>
-         2, #<node_2>
-             -0.03739853284269052, 0.0, 0.0032867622552210526, #<relative_offset_2> [m]
-             orientation, 3, -6.678685382510707e-17, -2.0816681711721682e-17, 1.0, 2, guess, #<relative_orientation_matrix_2>
+         structural_node_2, #<node_2_label>
+             -0.03739853284269051, 0.0, 0.0032867622552210634, #<relative_offset_2> [m]
+             orientation, 3, 5.204170427930421e-18, 0.0, 1.0, 2, guess, #<relative_orientation_matrix_2>
         string, "model::drive(1, Time)"; #<angular_velocity> [rad/s]

     joint: joint_3,
            revolute hinge,
             structural_node_2, #<node_1_label>
-                 0.03260146715730951, 0.0, 0.05328676225522103, #<relative_position_1> [m]
-                 orientation, 3, -6.678685382510707e-17, -2.0816681711721682e-17, 1.0, 2, 1.1102230246251565e-16, 1.0, 2.0816681711721688e-17, #<relative_pin_orientation_matrix_1>
+                 0.03260146715730949, 1.4210854715202004e-17, 0.05328676225522106, #<relative_position_1> [m]
+                 orientation, 3, 5.204170427930421e-18, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<relative_pin_orientation_matrix_1>
             structural_node_3, #<node_2_label>
-                -0.14000000000000795, -1.0302869668521452e-15, 0.024999999999998076, #<relative_position_2> [m]
-                orientation, 3, -4.119968255444917e-18, -0.0, 1.0, 2, guess; #<relative_pin_orientation_matrix_2>
+                -0.1400000000000079, -1.0444978215673472e-15, 0.024999999999998038, #<relative_position_2> [m]
+                orientation, 3, -5.551115123125784e-17, -5.984795992119986e-17, 1.0, 2, guess; #<relative_pin_orientation_matrix_2>

     joint: joint_4,
         in line,
         structural_node_3, #<node_1_label>
-             0.13999999999999274, -9.25814980234918e-16, 4.0323300254385686e-15, #<relative_line_position> [m]
-             3, -5.818367705906288e-15, -7.134403807651544e-16, 1.0, 2, 0.9848077530122082, 0.1736481776669303, 5.853861248646238e-15, #<relative_orientation>
+             0.13999999999999133, 4.4231285301066236e-16, 9.79127889877418e-15, #<relative_line_position> [m]
+             3, 2.7195091690402506e-15, 1.2586758486779817e-14, 1.0, 2, 0.6882367162699149, 0.7254861972346578, -1.1003185610451133e-14, #<relative_orientation>
         structural_node_4, #<node_2_label>
-             offset, -0.045580834634119466, -2.0299355441011357e-10, 1.2562251569647742e-08; #<relative_offset> [m]
+             offset, -0.045580834634119244, -2.0299354019925886e-10, 1.2562251640702015e-08; #<relative_offset> [m]

     joint: joint_5,
+         in line,
+         structural_node_1, #<node_1_label>
+             0.0, 1.2181806978377854e-18, 0.08, #<relative_line_position> [m]
+             3, 1.0, -2.220446049250313e-16, 2.220446049250313e-16, 2, -2.220446049250313e-16, 0.0, 1.0, #<relative_orientation>
+         structural_node_4, #<node_2_label>
+             offset, -0.045580834634119244, -2.0299354019925886e-10, 1.2562251640702015e-08; #<relative_offset> [m]
+
+     joint: joint_6,
         prismatic,
         structural_node_1, #<node_1_label>
             orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #relative_orientation_matrix_1>
         structural_node_4, #<node_2_label>
             orientation, 3, 0, 0, 1, 2, 0, 1, 0; #relative_orientation_matrix_2>

-     joint: joint_6,
-         in line,
-         structural_node_1, #<node_1_label>
-             0.0, 1.218180697837851e-18, 0.071, #<relative_line_position> [m]
-             3, 1.0, 0.0, 2.220446049250313e-16, 2, 0.0, 1.0, 0.0, #<relative_orientation>
-         structural_node_4, #<node_2_label>
-             offset, 0.0, 0.0, 0.0; #<relative_offset> [m]
-
     #-----------------------------------------------------------------------------
     # [Drive callers]

-     drive caller: 1, name,"drive:1", cosine, 0.25, 3.1416, 10.0, half, 0.0;
+     drive caller: 1, name,"drive:1", ramp, 6.28, 0.0, 1.0, 0.0;

 end: elements;

--- a/OndselSolver/MBDynCase2orig.mov
+++ b/OndselSolver/MBDynCase2orig.mov
--- a/OndselSolver/MBDynCaseJose.mov
+++ b/OndselSolver/MBDynCaseJose.mov
--- a/OndselSolver/MBDynDrive.cpp
+++ b/OndselSolver/MBDynDrive.cpp
@@ -0,0 +1,78 @@
+#include <regex>
+
+#include "MBDynDrive.h"
+
+using namespace MbD;
+
+void MbD::MBDynDrive::parseMBDyn(std::string line)
+{
+	driveString = line;
+	size_t previousPos = 0;
+	auto pos = line.find(":");
+	auto front = line.substr(previousPos, pos - previousPos);
+	assert(front.find("drive caller") != std::string::npos);
+	auto arguments = std::vector<std::string>();
+	std::string argument;
+	while (true) {
+		previousPos = pos;
+		pos = line.find(",", pos + 1);
+		if (pos != std::string::npos) {
+			argument = line.substr(previousPos + 1, pos - previousPos - 1);
+			arguments.push_back(argument);
+		}
+		else {
+			argument = line.substr(previousPos + 1);
+			arguments.push_back(argument);
+			break;
+		}
+	}
+	auto iss = std::istringstream(arguments.at(0));
+	iss >> name;
+	arguments.erase(arguments.begin());
+	assert(arguments.at(0).find("name") != std::string::npos);
+	arguments.erase(arguments.begin());
+	iss = std::istringstream(arguments.at(0));
+	iss >> driveName;
+	driveName = std::regex_replace(driveName, std::regex("\""), "");
+	arguments.erase(arguments.begin());
+	readFunction(arguments);
+}
+
+void MbD::MBDynDrive::readFunction(std::vector<std::string>& args)
+{
+	if (args.empty()) return;
+	std::string str;
+	auto iss = std::istringstream(args.at(0));
+	iss >> str;
+	if (str.find("ramp") != std::string::npos) {
+		args.erase(args.begin());
+		std::string slope, initValue, initTime, finalTime;
+		slope = popOffTop(args);
+		initTime = popOffTop(args);
+		finalTime = popOffTop(args);
+		initValue = popOffTop(args);
+		slope.erase(remove_if(slope.begin(), slope.end(), isspace), slope.end());
+		initTime.erase(remove_if(initTime.begin(), initTime.end(), isspace), initTime.end());
+		finalTime.erase(remove_if(finalTime.begin(), finalTime.end(), isspace), finalTime.end());
+		initValue.erase(remove_if(initValue.begin(), initValue.end(), isspace), initValue.end());
+
+		//f = slope*(time - t0) + f0
+		//rampstep(time, t0, f0, t1, f1)
+		//t0 = initTime
+		//f0 = initValue
+		//t1 = finalTime
+		//f1 = initValue + slope * (finalTime - initTime)
+		auto ss = std::stringstream();
+		ss << "rampstep(time, " << initTime << ", " << initValue << ", " << finalTime << ", "
+			<< initValue << " + " << slope << "*(" << finalTime << " - " << initTime << "))";
+		formula = ss.str();
+	}
+	else {
+		assert(false);
+	}
+}
+
+void MbD::MBDynDrive::createASMT()
+{
+	assert(false);
+}
--- a/OndselSolver/MBDynDrive.h
+++ b/OndselSolver/MBDynDrive.h
@@ -0,0 +1,24 @@
+/***************************************************************************
+ *   Copyright (c) 2023 Ondsel, Inc.                                       *
+ *                                                                         *
+ *   This file is part of OndselSolver.                                    *
+ *                                                                         *
+ *   See LICENSE file for details about copyright.                         *
+ ***************************************************************************/
+
+#pragma once
+#include "MBDynElement.h"
+
+namespace MbD {
+	class MBDynDrive : public MBDynElement
+	{
+	public:
+        void parseMBDyn(std::string line);
+		void readFunction(std::vector<std::string>& args);
+		void createASMT() override;
+
+        std::string driveString, driveName, formula;
+
+	};
+}
+
--- a/OndselSolver/MBDynItem.cpp
+++ b/OndselSolver/MBDynItem.cpp
@@ -32,6 +32,55 @@ void MbD::MBDynItem::parseMBDyn(std::vector<std::string>& lines)
 	assert(false);
 }

+std::vector<std::string> MbD::MBDynItem::collectArgumentsFor(std::string title, std::string& statement)
+{
+	size_t previousPos = 0;
+	auto pos = statement.find(":");
+	auto front = statement.substr(previousPos, pos - previousPos);
+	assert(front.find(title) != std::string::npos);
+	auto arguments = std::vector<std::string>();
+	std::string argument;
+	while (true) {
+		previousPos = pos;
+		pos = statement.find(",", pos + 1);
+		if (pos != std::string::npos) {
+			argument = statement.substr(previousPos + 1, pos - previousPos - 1);
+			arguments.push_back(argument);
+		}
+		else {
+			argument = statement.substr(previousPos + 1);
+			arguments.push_back(argument);
+			break;
+		}
+	}
+	auto arguments2 = std::vector<std::string>();
+	while (!arguments.empty()) {
+		argument = arguments[0];
+		auto n = std::count(argument.begin(), argument.end(), '"');
+		if ((n % 2) == 0) {
+			arguments2.push_back(argument);
+			arguments.erase(arguments.begin());
+		}
+		else {
+			//Need to find matching '"'
+			auto it = std::find_if(arguments.begin() + 1, arguments.end(), [](const std::string& s) {
+				auto nn = std::count(s.begin(), s.end(), '"');
+				if ((nn % 2) == 1) return true;
+				});
+			std::vector<std::string> needToCombineArgs(arguments.begin(), it + 1);
+			arguments.erase(arguments.begin(), it + 1);
+			std::stringstream ss;
+			ss << needToCombineArgs[0];
+			needToCombineArgs.erase(needToCombineArgs.begin());
+			for (auto& arg : needToCombineArgs) {
+				ss << ',' << arg;
+			}
+			arguments2.push_back(ss.str());
+		}
+	}
+	return arguments2;
+}
+
 std::vector<std::string>::iterator MbD::MBDynItem::findLineWith(std::vector<std::string>& lines, std::vector<std::string>& tokens)
 {
 	auto it = std::find_if(lines.begin(), lines.end(), [&](const std::string& line) {
@@ -56,6 +105,21 @@ std::shared_ptr<std::vector<std::shared_ptr<MBDynNode>>> MbD::MBDynItem::mbdynNo
 	return owner->mbdynNodes();
 }

+std::shared_ptr<std::vector<std::shared_ptr<MBDynBody>>> MbD::MBDynItem::mbdynBodies()
+{
+	return owner->mbdynBodies();
+}
+
+std::shared_ptr<std::vector<std::shared_ptr<MBDynJoint>>> MbD::MBDynItem::mbdynJoints()
+{
+	return owner->mbdynJoints();
+}
+
+std::shared_ptr<std::vector<std::shared_ptr<MBDynDrive>>> MbD::MBDynItem::mbdynDrives()
+{
+	return owner->mbdynDrives();
+}
+
 std::vector<std::string> MbD::MBDynItem::nodeNames()
 {
 	return owner->nodeNames();
@@ -96,6 +160,18 @@ std::shared_ptr<ASMTAssembly> MbD::MBDynItem::asmtAssembly()
 	return owner->asmtAssembly();
 }

+std::string MbD::MBDynItem::formulaFromDrive(std::string driveName, std::string varName)
+{
+	std::vector<std::string> tokens{ "drive:", driveName };
+	auto drives = mbdynDrives();
+	auto it = std::find_if(drives->begin(), drives->end(), [&](auto& drive) {
+		return lineHasTokens(drive->driveName, tokens);
+		});
+	auto formula = (*it)->formula;
+	assert(varName == "Time");
+	return formula;
+}
+
 FColDsptr MbD::MBDynItem::readVector3(std::vector<std::string>& args)
 {
 	auto parser = std::make_shared<SymbolicParser>();
@@ -336,3 +412,11 @@ std::string MbD::MBDynItem::readStringOffTop(std::vector<std::string>& args)
 	iss >> str;
 	return str;
 }
+
+std::string MbD::MBDynItem::readToken(std::string& line)
+{
+	auto iss = std::istringstream(line);
+	std::string str;
+	iss >> str;
+	return str;
+}
--- a/OndselSolver/MBDynItem.h
+++ b/OndselSolver/MBDynItem.h
@@ -16,6 +16,8 @@ namespace MbD {
 	class MBDynNode;
 	class ASMTItem;
 	class MBDynBody;
+	class MBDynJoint;
+	class MBDynDrive;
 	class ASMTAssembly;

 	class MBDynItem
@@ -28,9 +30,13 @@ namespace MbD {
 		void noop();
 		//void setName(std::string str);
 		virtual void parseMBDyn(std::vector<std::string>& lines);
+		static std::vector<std::string> collectArgumentsFor(std::string title, std::string& statement);
 		std::vector<std::string>::iterator findLineWith(std::vector<std::string>& lines, std::vector<std::string>& tokens);
 		bool lineHasTokens(const std::string& line, std::vector<std::string>& tokens);
 		virtual std::shared_ptr<std::vector<std::shared_ptr<MBDynNode>>> mbdynNodes();
+		virtual std::shared_ptr<std::vector<std::shared_ptr<MBDynBody>>> mbdynBodies();
+		virtual std::shared_ptr<std::vector<std::shared_ptr<MBDynJoint>>> mbdynJoints();
+		virtual std::shared_ptr<std::vector<std::shared_ptr<MBDynDrive>>> mbdynDrives();
 		virtual std::vector<std::string> nodeNames();
 		virtual std::shared_ptr<std::map<std::string, Symsptr>> mbdynVariables();
 		virtual std::shared_ptr<std::map<std::string, std::shared_ptr<MBDynReference>>> mbdynReferences();
@@ -39,6 +45,7 @@ namespace MbD {
 		virtual int nodeidAt(std::string nodeName);
 		virtual std::shared_ptr<MBDynBody> bodyWithNode(std::string nodeName);
 		virtual std::shared_ptr<ASMTAssembly> asmtAssembly();
+		virtual std::string formulaFromDrive(std::string driveName, std::string varName);

 		FColDsptr readVector3(std::vector<std::string>& args);
 		FColDsptr readPosition(std::vector<std::string>& args);
@@ -47,6 +54,7 @@ namespace MbD {
 		FMatDsptr readBasicOrientation(std::vector<std::string>& args);
 		std::string popOffTop(std::vector<std::string>& args);
 		std::string readStringOffTop(std::vector<std::string>& args);
+		std::string readToken(std::string& line);

 		std::string name;
 		MBDynItem* owner;
--- a/OndselSolver/MBDynJoint.cpp
+++ b/OndselSolver/MBDynJoint.cpp
@@ -20,25 +20,26 @@ void MbD::MBDynJoint::initialize()
 void MbD::MBDynJoint::parseMBDyn(std::string line)
 {
 	jointString = line;
-	size_t previousPos = 0;
-	auto pos = line.find(":");
-	auto front = line.substr(previousPos, pos - previousPos);
-	assert(front.find("joint") != std::string::npos);
-	auto arguments = std::vector<std::string>();
-	std::string argument;
-	while (true) {
-		previousPos = pos;
-		pos = line.find(",", pos + 1);
-		if (pos != std::string::npos) {
-			argument = line.substr(previousPos + 1, pos - previousPos - 1);
-			arguments.push_back(argument);
-		}
-		else {
-			argument = line.substr(previousPos + 1);
-			arguments.push_back(argument);
-			break;
-		}
-	}
+	auto arguments = collectArgumentsFor("joint", line);
+	//size_t previousPos = 0;
+	//auto pos = line.find(":");
+	//auto front = line.substr(previousPos, pos - previousPos);
+	//assert(front.find("joint") != std::string::npos);
+	//auto arguments = std::vector<std::string>();
+	//std::string argument;
+	//while (true) {
+	//	previousPos = pos;
+	//	pos = line.find(",", pos + 1);
+	//	if (pos != std::string::npos) {
+	//		argument = line.substr(previousPos + 1, pos - previousPos - 1);
+	//		arguments.push_back(argument);
+	//	}
+	//	else {
+	//		argument = line.substr(previousPos + 1);
+	//		arguments.push_back(argument);
+	//		break;
+	//	}
+	//}
 	auto ss = std::stringstream();
 	auto iss = std::istringstream(arguments.at(0));
 	iss >> name;
@@ -119,7 +120,7 @@ void MbD::MBDynJoint::parseMBDyn(std::string line)
 		mkr1->nodeStr = "Assembly";
 		mkr1->rPmP = std::make_shared<FullColumn<double>>(3);
 		mkr1->aAPm = FullMatrix<double>::identitysptr(3);
-		readMarkerJ(arguments);
+		readClampMarkerJ(arguments);
 		return;
 	}
 	else if (joint_type == "prismatic") {
@@ -160,6 +161,15 @@ void MbD::MBDynJoint::readMarkerJ(std::vector<std::string>& args)
 	mkr2->parseMBDyn(args);
 }

+void MbD::MBDynJoint::readClampMarkerJ(std::vector<std::string>& args)
+{
+	if (args.empty()) return;
+	mkr2 = std::make_shared<MBDynMarker>();
+	mkr2->owner = this;
+	mkr2->nodeStr = readStringOffTop(args);
+	mkr2->parseMBDynClamp(args);
+}
+
 void MbD::MBDynJoint::readFunction(std::vector<std::string>& args)
 {
 	if (args.empty()) return;
@@ -177,7 +187,8 @@ void MbD::MBDynJoint::readFunction(std::vector<std::string>& args)
 		auto ss = std::stringstream();
 		ss << slope << "*(time - " << initTime << ") + " << initValue;
 		formula = ss.str();
-	} else if (str.find("single") != std::string::npos) {
+	}
+	else if (str.find("single") != std::string::npos) {
 		args.erase(args.begin());
 		auto vec3 = readVector3(args);
 		assert(vec3->at(0) == 0 && vec3->at(1) == 0 && vec3->at(2) == 1);
@@ -185,6 +196,11 @@ void MbD::MBDynJoint::readFunction(std::vector<std::string>& args)
 		formula = popOffTop(args);
 		formula = std::regex_replace(formula, std::regex("\""), "");
 	}
+	else if (str.find("string") != std::string::npos) {
+		args.erase(args.begin());
+		formula = popOffTop(args);
+		formula = std::regex_replace(formula, std::regex("\""), "");
+	}
 	else {
 		assert(false);
 	}
@@ -216,7 +232,7 @@ void MbD::MBDynJoint::createASMT()
 		asmtItem = asmtMotion;
 		asmtMotion->setName(name.append("Motion"));
 		asmtMotion->setMotionJoint(asmtJoint->fullName(""));
-		asmtMotion->setRotationZ(formula);
+		asmtMotion->setRotationZ(asmtFormulaIntegral());
 		asmtAsm->addMotion(asmtMotion);
 		return;
 	}
@@ -252,3 +268,37 @@ void MbD::MBDynJoint::createASMT()
 	asmtJoint->setMarkerJ(mkr2->asmtItem->fullName(""));
 	asmtAssembly()->addJoint(asmtJoint);
 }
+
+std::string MbD::MBDynJoint::asmtFormula()
+{
+	auto ss = std::stringstream();
+	std::string drivestr = "model::drive";
+	size_t previousPos = 0;
+	auto pos = formula.find(drivestr);
+	ss << formula.substr(previousPos, pos - previousPos);
+	while (pos != std::string::npos) {
+		previousPos = pos;
+		pos = formula.find('(', pos + 1);
+		previousPos = pos;
+		pos = formula.find(',', pos + 1);
+		auto driveName = formula.substr(previousPos + 1, pos - previousPos - 1);
+		driveName = readToken(driveName);
+		previousPos = pos;
+		pos = formula.find(')', pos + 1);
+		auto varName = formula.substr(previousPos + 1, pos - previousPos - 1);
+		varName = readToken(varName);
+		//Insert drive formula
+		ss << formulaFromDrive(driveName, varName);
+		previousPos = pos;
+		pos = formula.find(drivestr, pos + 1);
+		ss << formula.substr(previousPos + 1, pos - previousPos);
+	}
+	return ss.str();
+}
+
+std::string MbD::MBDynJoint::asmtFormulaIntegral()
+{
+	auto ss = std::stringstream();
+	ss << "integral(time, " << asmtFormula() << ")";
+	return ss.str();
+}
--- a/OndselSolver/MBDynJoint.h
+++ b/OndselSolver/MBDynJoint.h
@@ -18,8 +18,11 @@ namespace MbD {
        void parseMBDyn(std::string line);
        void readMarkerI(std::vector<std::string>& args);
        void readMarkerJ(std::vector<std::string>& args);
+        void readClampMarkerJ(std::vector<std::string>& args);
        void readFunction(std::vector<std::string>& args);
        void createASMT() override;
+        std::string asmtFormula();
+        std::string asmtFormulaIntegral();

        std::string jointString, joint_type, node_1_label, node_2_label;
        std::shared_ptr<MBDynMarker> mkr1, mkr2;
--- a/OndselSolver/MBDynMarker.cpp
+++ b/OndselSolver/MBDynMarker.cpp
@@ -32,6 +32,18 @@ void MbD::MBDynMarker::parseMBDyn(std::vector<std::string>& args)
 	}
 }

+void MbD::MBDynMarker::parseMBDynClamp(std::vector<std::string>& args)
+{
+	//rOmO = rOPO + aAOP*rPmP
+	//aAOm = aAOP * aAPm
+	auto rOmO = std::make_shared<FullColumn<double>>(3);
+	auto aAOm = FullMatrix<double>::identitysptr(3);
+	auto rOPO = readPosition(args);
+	auto aAOP = readOrientation(args);
+	rPmP = aAOP->transposeTimesFullColumn(rOmO->minusFullColumn(rOPO));
+	aAPm = aAOP->transposeTimesFullMatrix(aAOm);
+}
+
 void MbD::MBDynMarker::createASMT()
 {
 	auto asmtAsm = asmtAssembly();
--- a/OndselSolver/MBDynMarker.h
+++ b/OndselSolver/MBDynMarker.h
@@ -15,6 +15,7 @@ namespace MbD {
 	{
 	public:
 		void parseMBDyn(std::vector<std::string>& args);
+		void parseMBDynClamp(std::vector<std::string>& args);
 		void createASMT() override;

 		std::string nodeStr;
--- a/OndselSolver/MBDynNode.cpp
+++ b/OndselSolver/MBDynNode.cpp
@@ -20,13 +20,7 @@ void MbD::MBDynNode::outputLine(int i, std::ostream& os)
 	auto x = asmtPart->xs->at(i);
 	auto y = asmtPart->ys->at(i);
 	auto z = asmtPart->zs->at(i);
-	auto bryantAngles = std::make_shared<EulerAngles<double>>();
-	bryantAngles->setRotOrder(1, 2, 3);
-	bryantAngles->at(0) = asmtPart->bryxs->at(i);
-	bryantAngles->at(1) = asmtPart->bryys->at(i);
-	bryantAngles->at(2) = asmtPart->bryzs->at(i);
-	bryantAngles->calc();
-	auto aA = bryantAngles->aA;
+	auto aA = asmtPart->getRotationMatrix(i);
 	auto vx = asmtPart->vxs->at(i);
 	auto vy = asmtPart->vys->at(i);
 	auto vz = asmtPart->vzs->at(i);
--- a/OndselSolver/MBDynSystem.cpp
+++ b/OndselSolver/MBDynSystem.cpp
@@ -3,6 +3,7 @@
 #include <fstream>	
 #include <algorithm>
 #include <numeric>
+#include <iomanip>

 #include "MBDynSystem.h"
 #include "CREATE.h"
@@ -14,12 +15,12 @@
 #include "ASMTConstantGravity.h"
 #include "ASMTTime.h"
 #include "MBDynBody.h"
+#include "MBDynJoint.h"
 #include "MBDynStructural.h"
 #include "SymbolicParser.h"
 #include "BasicUserFunction.h"
-#include "MBDynJoint.h"
 #include "MBDynReference.h"
-#include <iomanip>
+#include "MBDynDrive.h"

 using namespace MbD;

@@ -38,7 +39,6 @@ void MbD::MBDynSystem::runFile(const char* filename)
 	system->setFilename(filename);
 	system->parseMBDyn(statements);
 	system->runKINEMATIC();
-	system->outputFiles();
 }

 void MbD::MBDynSystem::parseMBDyn(std::vector<std::string>& lines)
@@ -51,7 +51,7 @@ void MbD::MBDynSystem::parseMBDyn(std::vector<std::string>& lines)
 	readReferences(lines);
 	readNodesBlock(lines);
 	readElementsBlock(lines);
-
+	assert(lines.empty());
 }

 std::shared_ptr<std::vector<std::shared_ptr<MBDynNode>>> MbD::MBDynSystem::mbdynNodes()
@@ -59,6 +59,21 @@ std::shared_ptr<std::vector<std::shared_ptr<MBDynNode>>> MbD::MBDynSystem::mbdyn
 	return nodes;
 }

+std::shared_ptr<std::vector<std::shared_ptr<MBDynBody>>> MbD::MBDynSystem::mbdynBodies()
+{
+	return bodies;
+}
+
+std::shared_ptr<std::vector<std::shared_ptr<MBDynJoint>>> MbD::MBDynSystem::mbdynJoints()
+{
+	return joints;
+}
+
+std::shared_ptr<std::vector<std::shared_ptr<MBDynDrive>>> MbD::MBDynSystem::mbdynDrives()
+{
+	return drives;
+}
+
 std::shared_ptr<std::map<std::string, Symsptr>> MbD::MBDynSystem::mbdynVariables()
 {
 	return variables;
@@ -77,7 +92,8 @@ void MbD::MBDynSystem::createASMT()
 	asmtItem->setName("Assembly");
 	initialValue->createASMT();
 	for (auto& node : *nodes) node->createASMT();
-	for (auto& element : *elements) element->createASMT();
+	for (auto& body : *bodies) body->createASMT();
+	for (auto& joint : *joints) joint->createASMT();
 }

 std::shared_ptr<MBDynNode> MbD::MBDynSystem::nodeAt(std::string nodeName)
@@ -95,12 +111,8 @@ int MbD::MBDynSystem::nodeidAt(std::string nodeName)

 std::shared_ptr<MBDynBody> MbD::MBDynSystem::bodyWithNode(std::string nodeName)
 {
-	for (auto& element : *elements) {
-		std::string str = typeid(element).name();
-		if (str.find("MBDynBody") != std::string::npos) {
-			auto body = std::static_pointer_cast<MBDynBody>(element);
-			if (body->nodeName == nodeName) return body;
-		}
+	for (auto& body : *bodies) {
+		if (body->nodeName == nodeName) return body;
 	}
 	return nullptr;
 }
@@ -122,8 +134,10 @@ std::vector<std::string> MbD::MBDynSystem::nodeNames()
 void MbD::MBDynSystem::runKINEMATIC()
 {
 	createASMT();
+	asmtAssembly()->outputFile("assembly.asmt");
 	std::static_pointer_cast<ASMTAssembly>(asmtItem)->runKINEMATIC();
 	outputFiles();
+	asmtAssembly()->outputFile("assembly2.asmt");
 }

 void MbD::MBDynSystem::outputFiles()
@@ -302,31 +316,47 @@ void MbD::MBDynSystem::parseMBDynNodes(std::vector<std::string>& lines)

 void MbD::MBDynSystem::parseMBDynElements(std::vector<std::string>& lines)
 {
-	elements = std::make_shared<std::vector<std::shared_ptr<MBDynElement>>>();
-	std::vector<std::string> bodyToken{ "body:" };
-	std::vector<std::string> jointToken{ "joint:" };
+	assert(lines[0].find("begin: elements") != std::string::npos);
+	lines.erase(lines.begin());
+	bodies = std::make_shared<std::vector<std::shared_ptr<MBDynBody>>>();
+	joints = std::make_shared<std::vector<std::shared_ptr<MBDynJoint>>>();
+	drives = std::make_shared<std::vector<std::shared_ptr<MBDynDrive>>>();
+	std::vector<std::string> bodyTokens{ "body:" };
+	std::vector<std::string> jointTokens{ "joint:" };
+	std::vector<std::string> driveTokens{ "drive", "caller:" };
 	std::vector<std::string>::iterator it;
 	while (true) {
-		it = findLineWith(lines, bodyToken);
+		it = findLineWith(lines, bodyTokens);
 		if (it != lines.end()) {
 			auto body = std::make_shared<MBDynBody>();
 			body->owner = this;
 			body->parseMBDyn(*it);
-			elements->push_back(body);
+			bodies->push_back(body);
 			lines.erase(it);
 			continue;
 		}
-		it = findLineWith(lines, jointToken);
+		it = findLineWith(lines, jointTokens);
 		if (it != lines.end()) {
 			auto joint = std::make_shared<MBDynJoint>();
 			joint->owner = this;
 			joint->parseMBDyn(*it);
-			elements->push_back(joint);
+			joints->push_back(joint);
+			lines.erase(it);
+			continue;
+		}
+		it = findLineWith(lines, driveTokens);
+		if (it != lines.end()) {
+			auto drive = std::make_shared<MBDynDrive>();
+			drive->owner = this;
+			drive->parseMBDyn(*it);
+			drives->push_back(drive);
 			lines.erase(it);
 			continue;
 		}
 		break;
 	}
+	assert(lines[0].find("end: elements") != std::string::npos);
+	lines.erase(lines.begin());
 }

 void MbD::MBDynSystem::parseMBDynVariables(std::vector<std::string>& lines)
@@ -349,6 +379,7 @@ void MbD::MBDynSystem::parseMBDynVariables(std::vector<std::string>& lines)
 			auto userFunc = std::make_shared<BasicUserFunction>(str, 1.0);
 			parser->parseUserFunction(userFunc);
 			auto sym = parser->stack->top();
+			auto val = sym->getValue();
 			variables->insert(std::make_pair(variable, sym));
 			lines.erase(it);
 		}
--- a/OndselSolver/MBDynSystem.h
+++ b/OndselSolver/MBDynSystem.h
@@ -11,6 +11,7 @@
 #include <string>

 #include "MBDynItem.h"
+#include "MBDynDrive.h"

 namespace MbD {
    class MBDynData;
@@ -37,6 +38,9 @@ namespace MbD {
        void parseMBDynLabels(std::vector<std::string>& lines);
        void parseMBDynReferences(std::vector<std::string>& lines);
        std::shared_ptr<std::vector<std::shared_ptr<MBDynNode>>> mbdynNodes() override;
+        std::shared_ptr<std::vector<std::shared_ptr<MBDynBody>>> mbdynBodies() override;
+        std::shared_ptr<std::vector<std::shared_ptr<MBDynJoint>>> mbdynJoints() override;
+        std::shared_ptr<std::vector<std::shared_ptr<MBDynDrive>>> mbdynDrives() override;
        std::shared_ptr<std::map<std::string, Symsptr>> mbdynVariables() override;
        std::shared_ptr<std::map<std::string, std::shared_ptr<MBDynReference>>> mbdynReferences() override;
        void createASMT() override;
@@ -63,7 +67,9 @@ namespace MbD {
        std::shared_ptr<MBDynInitialValue> initialValue;
        std::shared_ptr<MBDynControlData> controlData;
        std::shared_ptr<std::vector<std::shared_ptr<MBDynNode>>> nodes;
-        std::shared_ptr<std::vector<std::shared_ptr<MBDynElement>>> elements;
+        std::shared_ptr<std::vector<std::shared_ptr<MBDynBody>>> bodies;
+        std::shared_ptr<std::vector<std::shared_ptr<MBDynJoint>>> joints;
+        std::shared_ptr<std::vector<std::shared_ptr<MBDynDrive>>> drives;
        std::shared_ptr<std::map<std::string, Symsptr>> variables;
        std::shared_ptr<std::map<std::string, int>> labels;
        std::shared_ptr<std::map<std::string, std::shared_ptr<MBDynReference>>> references;
--- a/OndselSolver/MbdMath.cpp
+++ b/OndselSolver/MbdMath.cpp
@@ -6,4 +6,9 @@
 *   See LICENSE file for details about copyright.                         *
 ***************************************************************************/
 
-#include "MbdMath.h"
+#include "MbDMath.h"
+
+void MbD::MbDMath::noop()
+{
+	//No Operations
+}
--- a/OndselSolver/MbdMath.h
+++ b/OndselSolver/MbdMath.h
@@ -9,8 +9,11 @@
 #pragma once

 namespace MbD {
-	class MbdMath
+	class MbDMath
 	{
+	public:
+		void noop();
+
 	};
 }

--- a/OndselSolver/Negative.cpp
+++ b/OndselSolver/Negative.cpp
@@ -22,11 +22,31 @@ double MbD::Negative::getValue()

 Symsptr MbD::Negative::differentiateWRTx()
 {
-	return std::make_shared<Constant>(-1);
+	return sptrConstant(-1);
+}
+
+Symsptr MbD::Negative::expandUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>> set)
+{
+	auto expand = xx->expandUntil(xx, set);
+	return std::make_shared<Negative>(expand);
+}
+
+Symsptr MbD::Negative::simplifyUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>> set)
+{
+	auto simple = xx->simplifyUntil(xx, set);
+	if (simple->isConstant()) {
+		return sptrConstant(-simple->getValue());
+	}
+	return std::make_shared<Negative>(simple);
+}
+
+Symsptr MbD::Negative::copyWith(Symsptr arg)
+{
+	return std::make_shared<Negative>(arg);
 }

 std::ostream& MbD::Negative::printOn(std::ostream& s) const
 {
-	s << "-(" << xx << ")";
+	s << "-(" << *xx << ")";
 	return s;
 }
--- a/OndselSolver/Negative.h
+++ b/OndselSolver/Negative.h
@@ -19,6 +19,9 @@ namespace MbD {
        Negative(Symsptr arg);
        double getValue() override;
        Symsptr differentiateWRTx() override;
+        Symsptr expandUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>> set) override;
+        Symsptr simplifyUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>> set) override;
+        Symsptr copyWith(Symsptr arg) override;

        std::ostream& printOn(std::ostream& s) const override;

--- a/OndselSolver/Numeric.h
+++ b/OndselSolver/Numeric.h
@@ -9,10 +9,10 @@
 #pragma once
 #include <vector>

-#include "MbdMath.h"
+#include "MbDMath.h"

 namespace MbD {
-    class Numeric : public MbdMath
+    class Numeric : public MbDMath
    {
        //
    public:
--- a/OndselSolver/OndselSolver.cpp
+++ b/OndselSolver/OndselSolver.cpp
@@ -22,13 +22,14 @@

 using namespace MbD;
 void runSpMat();
+void sharedptrTest();

 int main()
 {
-	////ASMTAssembly::readWriteFile("piston.asmt");
-	//MBDynSystem::runFile("MBDynCaseJose.mbd");
-	//MBDynSystem::runFile("MBDynCase.mbd");
-	//MBDynSystem::runFile("crank_slider.mbd");
+	ASMTAssembly::readWriteFile("piston.asmt");
+	MBDynSystem::runFile("MBDynCase2.mbd");
+	MBDynSystem::runFile("MBDynCase.mbd");
+	//MBDynSystem::runFile("crank_slider.mbd");	//Needs integration of product
 	////ASMTAssembly::runSinglePendulumSuperSimplified();	//Mass is missing
 	////ASMTAssembly::runSinglePendulumSuperSimplified2();	//DOF has infinite acceleration due to zero mass and inertias
 	ASMTAssembly::runSinglePendulumSimplified();
@@ -49,8 +50,25 @@ int main()
 	cadSystem->runPiston();
 	runSpMat();
 	MomentOfInertiaSolver::example1();
+	sharedptrTest();
 }
+void sharedptrTest() {
+	auto assm = std::make_shared<ASMTAssembly>();

+	auto assm1 = assm;	//New shared_ptr to old object. Reference count incremented.
+	assert(assm == assm1);
+	assert(assm.get() == assm1.get());
+	assert(&assm != &assm1);
+	assert(assm->constantGravity == assm1->constantGravity);
+	assert(&(assm->constantGravity) == &(assm1->constantGravity));
+
+	auto assm2 = std::make_shared<ASMTAssembly>(*assm);	//New shared_ptr to new object. Member variables copy old member variables
+	assert(assm != assm2);
+	assert(assm.get() != assm2.get());
+	assert(&assm != &assm2);
+	assert(assm->constantGravity == assm2->constantGravity);	//constantGravity is same object pointed to
+	assert(&(assm->constantGravity) != &(assm2->constantGravity)); //Different shared_ptrs of same reference counter
+}
 void runSpMat() {
 	auto spMat = std::make_shared<SparseMatrix<double>>(3, 3);
 	spMat->atijput(0, 0, 1.0);
--- a/OndselSolver/OndselSolver.vcxproj
+++ b/OndselSolver/OndselSolver.vcxproj
@@ -219,6 +219,7 @@
    <ClCompile Include="FunctionXcParameter.cpp" />
    <ClCompile Include="FunctionXY.cpp" />
    <ClCompile Include="GeneralSpline.cpp" />
+    <ClCompile Include="Integral.cpp" />
    <ClCompile Include="Ln.cpp" />
    <ClCompile Include="Log10.cpp" />
    <ClCompile Include="LogN.cpp" />
@@ -226,6 +227,7 @@
    <ClCompile Include="MBDynBody.cpp" />
    <ClCompile Include="MBDynControlData.cpp" />
    <ClCompile Include="MBDynData.cpp" />
+    <ClCompile Include="MBDynDrive.cpp" />
    <ClCompile Include="MBDynElement.cpp" />
    <ClCompile Include="MBDynInitialValue.cpp" />
    <ClCompile Include="MBDynItem.cpp" />
@@ -237,6 +239,8 @@
    <ClCompile Include="MBDynSystem.cpp" />
    <ClCompile Include="MomentOfInertiaSolver.cpp" />
    <ClCompile Include="Negative.cpp" />
+    <ClCompile Include="PiecewiseFunction.cpp" />
+    <ClCompile Include="Polynomial.cpp" />
    <ClCompile Include="PosVelAccData.cpp" />
    <ClCompile Include="DiagonalMatrix.cpp" />
    <ClCompile Include="DifferenceOperator.cpp" />
@@ -337,7 +341,7 @@
    <ClCompile Include="MatrixLDU.cpp" />
    <ClCompile Include="MatrixSolver.cpp" />
    <ClCompile Include="MaximumIterationError.cpp" />
-    <ClCompile Include="MbdMath.cpp" />
+    <ClCompile Include="MbDMath.cpp" />
    <ClCompile Include="NewtonRaphson.cpp" />
    <ClCompile Include="NewtonRaphsonError.cpp" />
    <ClCompile Include="NoRotationJoint.cpp" />
@@ -367,6 +371,7 @@
    <ClCompile Include="RackPinConstraintIqcJc.cpp" />
    <ClCompile Include="RackPinConstraintIqcJqc.cpp" />
    <ClCompile Include="RackPinJoint.cpp" />
+    <ClCompile Include="RampStepFunction.cpp" />
    <ClCompile Include="Reciprocal.cpp" />
    <ClCompile Include="RedundantConstraint.cpp" />
    <ClCompile Include="RevCylJoint.cpp" />
@@ -390,6 +395,7 @@
    <ClCompile Include="StableBackwardDifference.cpp" />
    <ClCompile Include="LDUFullMat.cpp" />
    <ClCompile Include="StateData.cpp" />
+    <ClCompile Include="StepFunction.cpp" />
    <ClCompile Include="Sum.cpp" />
    <ClCompile Include="Symbolic.cpp" />
    <ClCompile Include="SymbolicParser.cpp" />
@@ -505,6 +511,7 @@
    <ClInclude Include="FunctionXcParameter.h" />
    <ClInclude Include="FunctionXY.h" />
    <ClInclude Include="GeneralSpline.h" />
+    <ClInclude Include="Integral.h" />
    <ClInclude Include="Ln.h" />
    <ClInclude Include="Log10.h" />
    <ClInclude Include="LogN.h" />
@@ -512,6 +519,7 @@
    <ClInclude Include="MBDynBody.h" />
    <ClInclude Include="MBDynControlData.h" />
    <ClInclude Include="MBDynData.h" />
+    <ClInclude Include="MBDynDrive.h" />
    <ClInclude Include="MBDynElement.h" />
    <ClInclude Include="MBDynInitialValue.h" />
    <ClInclude Include="MBDynItem.h" />
@@ -523,6 +531,8 @@
    <ClInclude Include="MBDynSystem.h" />
    <ClInclude Include="MomentOfInertiaSolver.h" />
    <ClInclude Include="Negative.h" />
+    <ClInclude Include="PiecewiseFunction.h" />
+    <ClInclude Include="Polynomial.h" />
    <ClInclude Include="PosVelAccData.h" />
    <ClInclude Include="DiagonalMatrix.h" />
    <ClInclude Include="DifferenceOperator.h" />
@@ -624,7 +634,7 @@
    <ClInclude Include="MatrixLDU.h" />
    <ClInclude Include="MatrixSolver.h" />
    <ClInclude Include="MaximumIterationError.h" />
-    <ClInclude Include="MbdMath.h" />
+    <ClInclude Include="MbDMath.h" />
    <ClInclude Include="NewtonRaphson.h" />
    <ClInclude Include="NewtonRaphsonError.h" />
    <ClInclude Include="NoRotationJoint.h" />
@@ -654,6 +664,7 @@
    <ClInclude Include="RackPinConstraintIqcJc.h" />
    <ClInclude Include="RackPinConstraintIqcJqc.h" />
    <ClInclude Include="RackPinJoint.h" />
+    <ClInclude Include="RampStepFunction.h" />
    <ClInclude Include="Reciprocal.h" />
    <ClInclude Include="RedundantConstraint.h" />
    <ClInclude Include="resource.h" />
@@ -678,6 +689,7 @@
    <ClInclude Include="StableBackwardDifference.h" />
    <ClInclude Include="LDUFullMat.h" />
    <ClInclude Include="StateData.h" />
+    <ClInclude Include="StepFunction.h" />
    <ClInclude Include="Sum.h" />
    <ClInclude Include="Symbolic.h" />
    <ClInclude Include="SymbolicParser.h" />
--- a/OndselSolver/OndselSolver.vcxproj.filters
+++ b/OndselSolver/OndselSolver.vcxproj.filters
@@ -867,6 +867,24 @@
    <ClCompile Include="MomentOfInertiaSolver.cpp">
      <Filter>Source Files</Filter>
    </ClCompile>
+    <ClCompile Include="MBDynDrive.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="PiecewiseFunction.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="Polynomial.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="RampStepFunction.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="StepFunction.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="Integral.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
  </ItemGroup>
  <ItemGroup>
    <ClInclude Include="Array.h">
@@ -1727,6 +1745,24 @@
    <ClInclude Include="MomentOfInertiaSolver.h">
      <Filter>Header Files</Filter>
    </ClInclude>
+    <ClInclude Include="MBDynDrive.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="PiecewiseFunction.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="Polynomial.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="RampStepFunction.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="StepFunction.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="Integral.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
  </ItemGroup>
  <ItemGroup>
    <ResourceCompile Include="OndselSolver.rc">
--- a/OndselSolver/PiecewiseFunction.cpp
+++ b/OndselSolver/PiecewiseFunction.cpp
@@ -0,0 +1,115 @@
+/***************************************************************************
+ *   Copyright (c) 2023 Ondsel, Inc.                                       *
+ *                                                                         *
+ *   This file is part of OndselSolver.                                    *
+ *                                                                         *
+ *   See LICENSE file for details about copyright.                         *
+ ***************************************************************************/
+
+#include <algorithm>
+
+#include "PiecewiseFunction.h"
+
+using namespace MbD;
+
+MbD::PiecewiseFunction::PiecewiseFunction()
+{
+	noop();
+}
+
+MbD::PiecewiseFunction::PiecewiseFunction(Symsptr var, std::shared_ptr<std::vector<Symsptr>> funcs, std::shared_ptr<std::vector<Symsptr>> trans)
+{
+	assert(var);
+	assert(functions->empty());
+	xx = var;
+	functions->clear();
+	functions->insert(functions->end(), funcs->begin(), funcs->end());
+	transitions->clear();
+	transitions->insert(transitions->end(), trans->begin(), trans->end());
+}
+
+Symsptr MbD::PiecewiseFunction::expandUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>> set)
+{
+	auto expansions = std::make_shared<std::vector<Symsptr>>();
+	std::transform(functions->begin(),
+		functions->end(),
+		std::back_inserter(*expansions),
+		[&](auto& func) { return func->expandUntil(func, set); }
+	);
+	return std::make_shared<PiecewiseFunction>(xx, expansions, transitions);
+}
+
+Symsptr MbD::PiecewiseFunction::simplifyUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>> set)
+{
+	auto simplifications = std::make_shared<std::vector<Symsptr>>();
+	std::transform(functions->begin(),
+		functions->end(),
+		std::back_inserter(*simplifications),
+		[&](auto& func) { return func->simplifyUntil(func, set); }
+	);
+	return std::make_shared<PiecewiseFunction>(xx, simplifications, transitions);
+}
+
+Symsptr MbD::PiecewiseFunction::differentiateWRTx()
+{
+	auto derivatives = std::make_shared<std::vector<Symsptr>>();
+	std::transform(functions->begin(),
+		functions->end(),
+		std::back_inserter(*derivatives),
+		[&](auto& func) { return func->differentiateWRT(xx); }
+	);
+	return std::make_shared<PiecewiseFunction>(xx, derivatives, transitions);
+}
+
+Symsptr MbD::PiecewiseFunction::integrateWRT(Symsptr var)
+{
+	assert(xx == var);
+	auto integrals = std::make_shared<std::vector<Symsptr>>();
+	std::transform(functions->begin(),
+		functions->end(),
+		std::back_inserter(*integrals),
+		[var](auto& func) { return func->integrateWRT(var); }
+	);
+	for (int i = 0; i < transitions->size(); i++)
+	{
+		auto x = transitions->at(i)->getValue();
+		auto fi = integrals->at(i)->getValue(x);
+		auto fi1 = integrals->at(i + 1)->getValue(x);
+		auto integConstant = fi - fi1;
+		integrals->at(i + 1)->integrationConstant(integConstant);
+		noop();
+	}
+	return std::make_shared<PiecewiseFunction>(var, integrals, transitions);
+}
+
+double MbD::PiecewiseFunction::getValue()
+{
+	auto xval = xx->getValue();
+	for (int i = 0; i < transitions->size(); i++)
+	{
+		if (xval < transitions->at(i)->getValue()) {
+			return functions->at(i)->getValue();
+		}
+	}
+	return functions->back()->getValue();
+}
+
+std::ostream& MbD::PiecewiseFunction::printOn(std::ostream& s) const
+{
+	s << "PiecewiseFunction(" << *xx << ", " << std::endl;
+	s << "functions{" << std::endl;
+	s << *functions->at(0) << std::endl;
+	for (int i = 1; i < functions->size(); i++)
+	{
+		s << *functions->at(i) << std::endl;
+	}
+	s << "}, " << std::endl;
+	s << "transitions{" << std::endl;
+	s << *transitions->at(0) << std::endl;
+	for (int i = 1; i < transitions->size(); i++)
+	{
+		s << *transitions->at(i) << std::endl;
+	}
+	s << "})" << std::endl;
+	return s;
+}
--- a/OndselSolver/PiecewiseFunction.h
+++ b/OndselSolver/PiecewiseFunction.h
@@ -0,0 +1,36 @@
+/***************************************************************************
+ *   Copyright (c) 2023 Ondsel, Inc.                                       *
+ *                                                                         *
+ *   This file is part of OndselSolver.                                    *
+ *                                                                         *
+ *   See LICENSE file for details about copyright.                         *
+ ***************************************************************************/
+
+#pragma once
+
+#include "FunctionXcParameter.h"
+
+namespace MbD {
+    class Symbolic;
+    using Symsptr = std::shared_ptr<Symbolic>;
+    
+    class PiecewiseFunction : public FunctionXcParameter
+    {
+        //functions transitions 
+        //func0 tran0 func1 tran1 func2
+    public:
+        PiecewiseFunction();
+        PiecewiseFunction(Symsptr var, std::shared_ptr<std::vector<Symsptr>> funcs, std::shared_ptr<std::vector<Symsptr>> trans);
+        Symsptr expandUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>> set) override;
+        Symsptr simplifyUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>> set) override;
+        Symsptr differentiateWRTx() override;
+        Symsptr integrateWRT(Symsptr var) override;
+        double getValue() override;
+
+        std::ostream& printOn(std::ostream& s) const override;
+
+        std::shared_ptr<std::vector<Symsptr>> functions = std::make_shared<std::vector<Symsptr>>();
+        std::shared_ptr<std::vector<Symsptr>> transitions = std::make_shared<std::vector<Symsptr>>();
+
+    };
+}
--- a/OndselSolver/Polynomial.cpp
+++ b/OndselSolver/Polynomial.cpp
@@ -0,0 +1,122 @@
+/***************************************************************************
+ *   Copyright (c) 2023 Ondsel, Inc.                                       *
+ *                                                                         *
+ *   This file is part of OndselSolver.                                    *
+ *                                                                         *
+ *   See LICENSE file for details about copyright.                         *
+ ***************************************************************************/
+
+#include <algorithm>
+
+#include "Polynomial.h"
+#include "Constant.h"
+#include "Sum.h"
+
+using namespace MbD;
+
+MbD::Polynomial::Polynomial(Symsptr var, std::shared_ptr<std::vector<double>> coefficients)
+{
+	assert(!coefficients->empty());
+	xx = var;
+	std::transform(coefficients->begin(), coefficients->end(), coeffs->begin(),
+		[&](auto& coeff) { return sptrConstant(coeff); }
+	);
+}
+MbD::Polynomial::Polynomial(Symsptr var, std::shared_ptr<std::vector<Symsptr>> coefficients)
+{
+	assert(!coefficients->empty());
+	xx = var;
+	coeffs->insert(coeffs->end(), coefficients->begin(), coefficients->end());
+}
+
+Symsptr MbD::Polynomial::expandUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>> set)
+{
+	auto newCoeffs = std::make_shared<std::vector<Symsptr>>();
+	for (int i = 0; i < coeffs->size(); i++)
+	{
+		auto coeff = coeffs->at(i);
+		auto newCoeff = coeff->expandUntil(coeff, set);
+		newCoeffs->push_back(newCoeff);
+	}
+	return std::make_shared<Polynomial>(xx, newCoeffs);
+}
+
+Symsptr MbD::Polynomial::simplifyUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>> set)
+{
+	auto newCoeffs = std::make_shared<std::vector<Symsptr>>();
+	for (int i = 0; i < coeffs->size(); i++)
+	{
+		auto coeff = coeffs->at(i);
+		auto newCoeff = coeff->simplifyUntil(coeff, set);
+		newCoeffs->push_back(newCoeff);
+	}
+	return std::make_shared<Polynomial>(xx, newCoeffs);
+}
+
+Symsptr MbD::Polynomial::differentiateWRTx()
+{
+	//Differentiate powers
+	if (coeffs->size() == 1) return sptrConstant(0.0);
+	auto newCoeffs = std::make_shared<std::vector<Symsptr>>();
+	for (int i = 1; i < coeffs->size(); i++)
+	{
+		auto newCoeff = i * coeffs->at(i)->getValue();
+		newCoeffs->push_back(sptrConstant(newCoeff));
+	}
+	auto poly1 = std::make_shared<Polynomial>(xx, newCoeffs);
+	//Differentiate coeffs
+	auto coeffDerivs = std::make_shared<std::vector<Symsptr>>();
+	std::transform(coeffs->begin(),
+		coeffs->end(),
+		std::back_inserter(*coeffDerivs),
+		[&](auto& coeff) { return coeff->differentiateWRT(xx); }
+	);
+	auto poly2 = std::make_shared<Polynomial>(xx, coeffDerivs);
+	return std::make_shared<Sum>(poly1, poly2);
+}
+
+Symsptr MbD::Polynomial::integrateWRT(Symsptr var)
+{
+	assert(xx == var);
+	auto newCoeffs = std::make_shared<std::vector<Symsptr>>();
+	newCoeffs->push_back(sptrConstant(0.0));
+	for (int i = 0; i < coeffs->size(); i++)
+	{
+		auto newCoeff = coeffs->at(i)->getValue() / (i + 1);
+		newCoeffs->push_back(sptrConstant(newCoeff));
+	}
+	return std::make_shared<Polynomial>(var, newCoeffs);
+}
+
+double MbD::Polynomial::getValue()
+{
+	auto xvalue = xx->getValue();
+	auto xpower = 1.0;
+	auto answer = 0.0;
+	for (int i = 0; i < coeffs->size(); i++)
+	{
+		answer += coeffs->at(i)->getValue() * xpower;
+		xpower *= xvalue;
+	}
+	return answer;
+}
+
+void MbD::Polynomial::integrationConstant(double integConstant)
+{
+	auto coeff0 = coeffs->at(0);
+	coeff0->setValue(coeff0->getValue() + integConstant);
+}
+
+std::ostream& MbD::Polynomial::printOn(std::ostream& s) const
+{
+	s << "Polynomial(";
+	s << *xx << ", ";
+	s << "coeffs{";
+	s << *coeffs->at(0);
+	for (int i = 1; i < coeffs->size(); i++)
+	{
+		s << ", " << *coeffs->at(i);
+	}
+	s << "})";
+	return s;
+}
--- a/OndselSolver/Polynomial.h
+++ b/OndselSolver/Polynomial.h
@@ -0,0 +1,33 @@
+/***************************************************************************
+ *   Copyright (c) 2023 Ondsel, Inc.                                       *
+ *                                                                         *
+ *   This file is part of OndselSolver.                                    *
+ *                                                                         *
+ *   See LICENSE file for details about copyright.                         *
+ ***************************************************************************/
+
+#pragma once
+
+#include "FunctionXcParameter.h"
+
+namespace MbD {
+    class Polynomial : public FunctionXcParameter
+    {
+        //pn = a0*x^0 + a1*x^1 ... an*x^n
+    public:
+        Polynomial(Symsptr var, std::shared_ptr<std::vector<double>> coeffs);
+        Polynomial(Symsptr var, std::shared_ptr<std::vector<Symsptr>> coeffs);
+        Symsptr expandUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>> set) override;
+        Symsptr simplifyUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>> set) override;
+        Symsptr differentiateWRTx() override;
+        Symsptr integrateWRT(Symsptr var) override;
+        double getValue() override;
+        void integrationConstant(double integConstant) override;
+
+        std::ostream& printOn(std::ostream& s) const override;
+
+        std::shared_ptr<std::vector<Symsptr>> coeffs = std::make_shared<std::vector<Symsptr>>();
+
+    };
+}
+
--- a/OndselSolver/Power.cpp
+++ b/OndselSolver/Power.cpp
@@ -22,7 +22,7 @@ MbD::Power::Power(Symsptr bse, Symsptr ex) : FunctionXY(bse, ex)

 Symsptr MbD::Power::differentiateWRTx()
 {
-	auto yminus1 = Symbolic::sum(y, std::make_shared<Constant>(-1.0));
+	auto yminus1 = Symbolic::sum(y, sptrConstant(-1.0));
 	auto power = Symbolic::raisedTo(x, yminus1);
 	auto deriv = Symbolic::times(y, power);
 	return deriv->simplified(deriv);
@@ -37,6 +37,7 @@ Symsptr MbD::Power::differentiateWRTy()

 Symsptr MbD::Power::simplifyUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>> set)
 {
+	assert(false);
 	return Symsptr();
 }

--- a/OndselSolver/Product.cpp
+++ b/OndselSolver/Product.cpp
@@ -43,6 +43,13 @@ Symsptr MbD::Product::differentiateWRT(Symsptr var)
 	return answer;
 }

+Symsptr MbD::Product::integrateWRT(Symsptr var)
+{
+	//ToDo: Integration by parts
+	assert(false);
+	return Symsptr();
+}
+
 Symsptr Product::expandUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>> set)
 {
 	auto itr = std::find_if(set->begin(), set->end(), [sptr](Symsptr sym) {return sptr.get() == sym.get(); });
@@ -67,7 +74,8 @@ Symsptr Product::expandUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Sy
 	}
 	auto factor = std::make_shared<Product>();
 	factor->terms = productTerms;
-	auto sumOfProductsOfSums = std::make_shared<Sum>(std::make_shared<Constant>(1));
+	//sumOfProductsOfSums = (a + b + ...)*(c + d + ...)
+	auto sumOfProductsOfSums = std::make_shared<Sum>(sptrConstant(1));
 	for (const auto& term : *sumTerms) {
 		sumOfProductsOfSums = std::static_pointer_cast<Sum>(Symbolic::times(sumOfProductsOfSums, term));
 	}
@@ -94,14 +102,14 @@ Symsptr Product::simplifyUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<
 		}
 	}
 	if (factor == 0.0) {
-		return std::make_shared<Constant>(0.0);
+		return sptrConstant(0.0);
 	}
 	if (factor != 1.0) {
-		newTerms->insert(newTerms->begin(), std::make_shared<Constant>(factor));
+		newTerms->insert(newTerms->begin(), sptrConstant(factor));
 	}
 	auto newSize = newTerms->size();
 	if (newSize == 0) {
-		return std::make_shared<Constant>(1.0);
+		return sptrConstant(1.0);
 	}
 	else if (newSize == 1) {
 		return newTerms->at(0);
--- a/OndselSolver/Product.h
+++ b/OndselSolver/Product.h
@@ -24,6 +24,7 @@ namespace MbD {
        Product(Symsptr term, Symsptr term1, Symsptr term2) : FunctionWithManyArgs(term, term1, term2) {}
        Product(std::shared_ptr<std::vector<Symsptr>> _terms) : FunctionWithManyArgs(_terms) {}
        Symsptr differentiateWRT(Symsptr var) override;
+        Symsptr integrateWRT(Symsptr var) override;
        Symsptr expandUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>> set) override;
        Symsptr simplifyUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>> set) override;
        bool isProduct() override;
--- a/OndselSolver/RampStepFunction.cpp
+++ b/OndselSolver/RampStepFunction.cpp
@@ -0,0 +1,62 @@
+#include <algorithm>
+
+#include "RampStepFunction.h"
+#include "Constant.h"
+#include "Polynomial.h"
+
+using namespace MbD;
+
+MbD::RampStepFunction::RampStepFunction(Symsptr var, std::shared_ptr<std::vector<double>> consts, std::shared_ptr<std::vector<double>> trans)
+{
+
+	double x0 = trans->at(0);
+	double x1 = trans->at(1);
+	double y0 = consts->at(0);
+	double y1 = consts->at(1);
+	initFunctionsTransitions(var, x0, y0, x1, y1);
+}
+
+void MbD::RampStepFunction::arguments(Symsptr args)
+{
+	auto arguments = args->getTerms();
+	auto var = arguments->at(0);
+	auto symx0 = arguments->at(1);
+	auto symy0 = arguments->at(2);
+	auto symx1 = arguments->at(3);
+	auto symy1 = arguments->at(4);
+	double x0 = symx0->getValue();
+	double y0 = symy0->getValue();
+	double x1 = symx1->getValue();
+	double y1 = symy1->getValue();
+	initFunctionsTransitions(var, x0, y0, x1, y1, symx0, symy0, symx1, symy1);
+}
+
+void MbD::RampStepFunction::initFunctionsTransitions(Symsptr var, double x0, double y0, double x1, double y1)
+{
+	auto symx0 = sptrConstant(x0);
+	auto symy0 = sptrConstant(y0);
+	auto symx1 = sptrConstant(x1);
+	auto symy1 = sptrConstant(y1);
+	initFunctionsTransitions(var, x0, y0, x1, y1, symx0, symy0, symx1, symy1);
+}
+
+void MbD::RampStepFunction::initFunctionsTransitions(Symsptr var, double x0, double y0, double x1, double y1, Symsptr symx0, Symsptr symy0, Symsptr symx1, Symsptr symy1)
+{
+	//(y - y0)/(x - x0) = (y1 - y0)/(x1 - x0)
+	//y = (x - x0)(y1 - y0)/(x1 - x0)  + y0
+	//y = (y1 - y0)*x/(x1 - x0) + y0 - (y1 - y0)*x0/(x1 - x0)
+	xx = var;
+	auto func0 = symy0;
+	auto slope = sptrConstant((y1 - y0) / (x1 - x0));
+	auto intercept = sptrConstant(y0 - (y1 - y0) * x0 / (x1 - x0));
+	auto coeffs = std::make_shared<std::vector<Symsptr>>();
+	coeffs->push_back(intercept);
+	coeffs->push_back(slope);
+	auto func1 = std::make_shared<Polynomial>(var, coeffs);
+	auto func2 = symy1;
+	functions->push_back(func0);
+	functions->push_back(func1);
+	functions->push_back(func2);
+	transitions->push_back(symx0);
+	transitions->push_back(symx1);
+}
--- a/OndselSolver/RampStepFunction.h
+++ b/OndselSolver/RampStepFunction.h
@@ -0,0 +1,25 @@
+/***************************************************************************
+ *   Copyright (c) 2023 Ondsel, Inc.                                       *
+ *                                                                         *
+ *   This file is part of OndselSolver.                                    *
+ *                                                                         *
+ *   See LICENSE file for details about copyright.                         *
+ ***************************************************************************/
+
+#pragma once
+
+#include "PiecewiseFunction.h"
+
+namespace MbD {
+    class RampStepFunction : public PiecewiseFunction
+    {
+    public:
+        RampStepFunction() = default;
+        RampStepFunction(Symsptr var, std::shared_ptr<std::vector<double>> consts, std::shared_ptr<std::vector<double>> trans);
+        void arguments(Symsptr args) override;
+        void initFunctionsTransitions(Symsptr var, double x0, double y0, double x1, double y1);
+        void initFunctionsTransitions(Symsptr var, double x0, double y0, double x1, double y1, Symsptr symx0, Symsptr symy0, Symsptr symx1, Symsptr symy1);
+
+    };
+}
+
--- a/OndselSolver/Reciprocal.cpp
+++ b/OndselSolver/Reciprocal.cpp
@@ -24,13 +24,18 @@ double MbD::Reciprocal::getValue()

 Symsptr MbD::Reciprocal::differentiateWRTx()
 {
-	auto two = std::make_shared<Constant>(2);
+	auto two = sptrConstant(2);
 	auto sq = std::make_shared<Power>(xx, two);
 	return std::make_shared<Negative>(sq);
 }

+Symsptr MbD::Reciprocal::copyWith(Symsptr arg)
+{
+	return std::make_shared<Reciprocal>(arg);
+}
+
 std::ostream& MbD::Reciprocal::printOn(std::ostream& s) const
 {
-	s << "/(" << xx << ")";
+	s << "/(" << *xx << ")";
 	return s;
 }
--- a/OndselSolver/Reciprocal.h
+++ b/OndselSolver/Reciprocal.h
@@ -19,6 +19,7 @@ namespace MbD {
        Reciprocal(Symsptr arg);
        double getValue() override;
        Symsptr differentiateWRTx() override;
+        Symsptr copyWith(Symsptr arg) override;

        std::ostream& printOn(std::ostream& s) const override;

--- a/OndselSolver/Sine.cpp
+++ b/OndselSolver/Sine.cpp
@@ -25,8 +25,13 @@ Symsptr MbD::Sine::differentiateWRTx()
    return std::make_shared<Cosine>(xx);
 }

+Symsptr MbD::Sine::copyWith(Symsptr arg)
+{
+	return std::make_shared<Sine>(arg);
+}
+
 std::ostream& MbD::Sine::printOn(std::ostream& s) const
 {
-	s << "sin(" << xx << ")";
+	s << "sin(" << *xx << ")";
 	return s;
 }
--- a/OndselSolver/Sine.h
+++ b/OndselSolver/Sine.h
@@ -19,6 +19,7 @@ namespace MbD {
        Sine(Symsptr arg);
        double getValue() override;
        Symsptr differentiateWRTx() override;
+        Symsptr copyWith(Symsptr arg) override;

        std::ostream& printOn(std::ostream& s) const override;

--- a/OndselSolver/StepFunction.cpp
+++ b/OndselSolver/StepFunction.cpp
@@ -0,0 +1,25 @@
+/***************************************************************************
+ *   Copyright (c) 2023 Ondsel, Inc.                                       *
+ *                                                                         *
+ *   This file is part of OndselSolver.                                    *
+ *                                                                         *
+ *   See LICENSE file for details about copyright.                         *
+ ***************************************************************************/
+
+#include <algorithm>
+
+#include "StepFunction.h"
+#include "Constant.h"
+
+using namespace MbD;
+
+MbD::StepFunction::StepFunction(Symsptr var, std::shared_ptr<std::vector<double>> consts, std::shared_ptr<std::vector<double>> trans)
+{
+	xx = var;
+	std::transform(consts->begin(), consts->end(), functions->begin(),
+		[&](auto& constant) { return sptrConstant(constant); }
+	);
+	std::transform(trans->begin(), trans->end(), transitions->begin(),
+		[&](auto& constant) { return sptrConstant(constant); }
+	);
+}
--- a/OndselSolver/StepFunction.h
+++ b/OndselSolver/StepFunction.h
@@ -0,0 +1,21 @@
+/***************************************************************************
+ *   Copyright (c) 2023 Ondsel, Inc.                                       *
+ *                                                                         *
+ *   This file is part of OndselSolver.                                    *
+ *                                                                         *
+ *   See LICENSE file for details about copyright.                         *
+ ***************************************************************************/
+
+#pragma once
+
+#include "PiecewiseFunction.h"
+
+namespace MbD {
+    class StepFunction : public PiecewiseFunction
+    {
+    public:
+        StepFunction(Symsptr var, std::shared_ptr<std::vector<double>> consts, std::shared_ptr<std::vector<double>> trans);
+
+    };
+}
+
--- a/OndselSolver/Sum.cpp
+++ b/OndselSolver/Sum.cpp
@@ -5,7 +5,7 @@
 *                                                                         *
 *   See LICENSE file for details about copyright.                         *
 ***************************************************************************/
- 
+
 #include <sstream>
 #include <string>

@@ -72,7 +72,7 @@ Symsptr Sum::expandUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symspt
 	}
 	auto newSize = newTerms->size();
 	if (newSize == 0) {
-		return std::make_shared<Constant>(0.0);
+		return sptrConstant(0.0);
 	}
 	else if (newSize == 1) {
 		return newTerms->at(0);
@@ -104,11 +104,11 @@ Symsptr Sum::simplifyUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Syms
 		}
 	}
 	if (constant != 0.0) {
-		newTerms->insert(newTerms->begin(), std::make_shared<Constant>(constant));
+		newTerms->insert(newTerms->begin(), sptrConstant(constant));
 	}
 	auto newSize = newTerms->size();
 	if (newSize == 0) {
-		return std::make_shared<Constant>(0.0);
+		return sptrConstant(0.0);
 	}
 	else if (newSize == 1) {
 		return newTerms->at(0);
@@ -140,7 +140,8 @@ Symsptr MbD::Sum::clonesptr()
 Symsptr MbD::Sum::differentiateWRT(Symsptr var)
 {
 	auto derivatives = std::make_shared<std::vector<Symsptr>>();
-	std::transform(terms->begin(), terms->end(), 
+	std::transform(terms->begin(),
+		terms->end(),
 		std::back_inserter(*derivatives),
 		[var](Symsptr term) { return term->differentiateWRT(var); }
 	);
@@ -149,6 +150,26 @@ Symsptr MbD::Sum::differentiateWRT(Symsptr var)
 	return answer;
 }

+Symsptr MbD::Sum::integrateWRT(Symsptr var)
+{
+	auto simple = simplified();
+	if (simple->isSum()) {
+		auto newTerms = simple->getTerms();
+		auto integrals = std::make_shared<std::vector<Symsptr>>();
+		std::transform(newTerms->begin(),
+			newTerms->end(),
+			std::back_inserter(*integrals),
+			[var](Symsptr term) { return term->integrateWRT(var); }
+		);
+		auto answer = std::make_shared<Sum>();
+		answer->terms = integrals;
+		return answer;
+	}
+	else {
+		return simple->integrateWRT(var);
+	}
+}
+
 std::ostream& Sum::printOn(std::ostream& s) const
 {
 	s << "(";
--- a/OndselSolver/Sum.h
+++ b/OndselSolver/Sum.h
@@ -31,6 +31,7 @@ namespace MbD {
        double getValue() override;
        Symsptr clonesptr() override;
        Symsptr differentiateWRT(Symsptr var) override;
+        Symsptr integrateWRT(Symsptr var) override;

        std::ostream& printOn(std::ostream& s) const override;
    
--- a/OndselSolver/Symbolic.cpp
+++ b/OndselSolver/Symbolic.cpp
@@ -86,6 +86,12 @@ Symsptr MbD::Symbolic::differentiateWRT(Symsptr var)
 	return Symsptr();
 }

+Symsptr MbD::Symbolic::integrateWRT(Symsptr var)
+{
+	assert(false);
+	return Symsptr();
+}
+
 Symsptr MbD::Symbolic::simplified()
 {
 	//std::cout << "sptr " << *sptr << std::endl;
@@ -112,17 +118,18 @@ Symsptr Symbolic::simplified(Symsptr sptr)

 Symsptr MbD::Symbolic::expandUntil(std::shared_ptr<std::unordered_set<Symsptr>> set)
 {
-	assert(false);
-	return clonesptr();
+	return expandUntil(clonesptr(), set);
 }

 Symsptr Symbolic::expandUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>> set)
 {
+	assert(false);
 	return sptr;
 }

 Symsptr Symbolic::simplifyUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>> set)
 {
+	assert(false);
 	return sptr;
 }

@@ -153,7 +160,10 @@ bool Symbolic::isConstant()

 std::ostream& Symbolic::printOn(std::ostream& s) const
 {
-	return s << "(" << typeid(*this).name() << ")";
+	std::string str = typeid(*this).name();
+	auto classname = str.substr(11, str.size() - 11);
+	s << classname;
+	return s;
 }

 std::shared_ptr<std::vector<Symsptr>> Symbolic::getTerms()
@@ -173,6 +183,17 @@ double Symbolic::getValue()
 	return 0.0;
 }

+double MbD::Symbolic::getValue(double arg)
+{
+	assert(false);
+	return 0.0;
+}
+
+void MbD::Symbolic::setValue(double val)
+{
+	assert(false);
+}
+
 void MbD::Symbolic::createMbD(std::shared_ptr<System> mbdSys, std::shared_ptr<Units> mbdUnits)
 {
 	assert(false);
@@ -191,6 +212,16 @@ std::shared_ptr<Constant> MbD::Symbolic::sptrConstant(double value)
 	return std::make_shared<Constant>(value);
 }

+bool MbD::Symbolic::isVariable()
+{
+	return false;
+}
+
+void MbD::Symbolic::integrationConstant(double integConstant)
+{
+	assert(false);
+}
+
 Symsptr MbD::Symbolic::raisedTo(Symsptr x, Symsptr y)
 {
 	return std::make_shared<Power>(x, y);
--- a/OndselSolver/Symbolic.h
+++ b/OndselSolver/Symbolic.h
@@ -13,7 +13,7 @@
 #include <memory>
 #include <ostream>

-#include "MbdMath.h"
+#include "MbDMath.h"
 #include "System.h"
 #include "Units.h"
 //#include "Constant.h"
@@ -23,7 +23,7 @@ namespace MbD {
 	class Symbolic;
 	using Symsptr = std::shared_ptr<Symbolic>;

-	class Symbolic : public MbdMath
+	class Symbolic : public MbDMath
 	{
 	public:
 		Symbolic();
@@ -33,6 +33,7 @@ namespace MbD {

 		virtual void initialize();
 		virtual Symsptr differentiateWRT(Symsptr var);
+		virtual Symsptr integrateWRT(Symsptr var);
 		virtual Symsptr simplified();
 		virtual Symsptr simplified(Symsptr sptr);
 		virtual Symsptr expandUntil(std::shared_ptr<std::unordered_set<Symsptr>> set);
@@ -46,9 +47,13 @@ namespace MbD {
 		virtual std::shared_ptr<std::vector<Symsptr>> getTerms();
 		virtual void addTerm(Symsptr trm);
 		virtual double getValue();
+		virtual double getValue(double arg);
+		virtual void setValue(double val);
 		virtual void createMbD(std::shared_ptr<System> mbdSys, std::shared_ptr<Units> mbdUnits);
 		virtual Symsptr clonesptr();
 		std::shared_ptr<Constant> sptrConstant(double value);
+		virtual bool isVariable();
+		virtual void integrationConstant(double integConstant);

 		virtual std::ostream& printOn(std::ostream& s) const;
 		friend std::ostream& operator<<(std::ostream& s, const Symbolic& sym)
--- a/OndselSolver/SymbolicParser.cpp
+++ b/OndselSolver/SymbolicParser.cpp
@@ -25,6 +25,8 @@
 #include "Reciprocal.h"
 #include "GeneralSpline.h"
 #include "ArcSine.h"
+#include "Integral.h"
+#include "RampStepFunction.h"

 MbD::SymbolicParser::SymbolicParser()
 {
@@ -361,6 +363,12 @@ bool MbD::SymbolicParser::intrinsic()
 	else if (peekForTypevalue("word", "spline")) {
 		symfunc = std::make_shared<GeneralSpline>();
 	}
+	else if (peekForTypevalue("word", "integral")) {
+		symfunc = std::make_shared<Integral>();
+	}
+	else if (peekForTypevalue("word", "rampstep")) {
+		symfunc = std::make_shared<RampStepFunction>();
+	}
 	if (symfunc != nullptr) {
 		stack->push(symfunc);
 		if (peekForTypeNoPush("(")) {
--- a/OndselSolver/Variable.cpp
+++ b/OndselSolver/Variable.cpp
@@ -52,3 +52,18 @@ void Variable::setValue(double val)
 {
 	value = val;
 }
+
+Symsptr MbD::Variable::expandUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>> set)
+{
+	return sptr;
+}
+
+Symsptr MbD::Variable::simplifyUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>> set)
+{
+	return sptr;
+}
+
+bool MbD::Variable::isVariable()
+{
+	return true;
+}
--- a/OndselSolver/Variable.h
+++ b/OndselSolver/Variable.h
@@ -24,7 +24,10 @@ namespace MbD {
 		const std::string& getName() const;
 		double getValue() override;
 		std::ostream& printOn(std::ostream& s) const override;
-		virtual void setValue(double val);
+		void setValue(double val) override;
+		Symsptr expandUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>> set) override;
+		Symsptr simplifyUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>> set) override;
+		bool isVariable() override;

 		std::string name;
 		double value;
--- a/OndselSolver/assembly.asmt
+++ b/OndselSolver/assembly.asmt
--- a/OndselSolver/assembly2.asmt
+++ b/OndselSolver/assembly2.asmt
--- a/OndselSolver/assemblyDebug.asmt
+++ b/OndselSolver/assemblyDebug.asmt
@@ -0,0 +1,435 @@
+OndselSolver
+Assembly
+	Notes
+		(Text string: '' runs: (Core.RunArray runs: #() values: #()))
+	Name
+		Assembly
+	Position3D
+		0	0	0	
+	RotationMatrix
+		1	0	0	
+		0	1	0	
+		0	0	1	
+	Velocity3D
+		0	0	0	
+	Omega3D
+		0	0	0	
+	RefPoints
+		RefPoint
+			Position3D
+				0	0	0	
+			RotationMatrix
+				1	0	0	
+				0	1	0	
+				0	0	1	
+			Markers
+				Marker
+					Name
+						Marker0
+					Position3D
+						0	0	0	
+					RotationMatrix
+						1	0	0	
+						0	1	0	
+						0	0	1	
+	RefCurves
+	RefSurfaces
+	Parts
+		Part
+			Name
+				structural_node_1
+			Position3D
+				-0.121	-1.218180697837851e-18	-0.08	
+			RotationMatrix
+				1	0	0	
+				0	1	0	
+				0	0	1	
+			Velocity3D
+				0	0	0	
+			Omega3D
+				0	0	0	
+			FeatureOrder
+			PrincipalMassMarker
+				Name
+					MassMarker
+				Position3D
+					0	0	0	
+				RotationMatrix
+					1	0	0	
+					0	1	0	
+					0	0	1	
+				Mass
+					1
+				MomentOfInertias
+					1	2	3	
+				Density
+					10
+			RefPoints
+				RefPoint
+					Position3D
+						0	0	0	
+					RotationMatrix
+						1	0	0	
+						0	1	0	
+						0	0	1	
+					Markers
+						Marker
+							Name
+								Marker0
+							Position3D
+								0.121	1.218180697837851e-18	0.08	
+							RotationMatrix
+								1	0	0	
+								0	1	0	
+								0	0	1	
+				RefPoint
+					Position3D
+						0	0	0	
+					RotationMatrix
+						1	0	0	
+						0	1	0	
+						0	0	1	
+					Markers
+						Marker
+							Name
+								Marker1
+							Position3D
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+								1	0	-2.220446049250313e-16	
+								4.930380657631324e-32	1	2.220446049250313e-16	
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+			RefCurves
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+		Part
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+			Position3D
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+			RotationMatrix
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+				0.167731259496521	0.9776506595433678	-0.1267494082121462	
+				-0.258819045102521	0.167731259496521	0.9512512425641977	
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+				Name
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+							RotationMatrix
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+							Position3D
+								-0.04558083463411924	-2.029935401992589e-10	1.256225164070202e-08	
+							RotationMatrix
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+						Marker
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+							RotationMatrix
+								1	0	0	
+								0	1	0	
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+			RefCurves
+			RefSurfaces
+	KinematicIJs
+	ConstraintSets
+		Joints
+			FixedJoint
+				Name
+					joint_1
+				MarkerI
+					/Assembly/Marker0
+				MarkerJ
+					/Assembly/structural_node_1/Marker0
+			RevoluteJoint
+				Name
+					joint_2
+				MarkerI
+					/Assembly/structural_node_1/Marker1
+				MarkerJ
+					/Assembly/structural_node_2/Marker0
+			RevoluteJoint
+				Name
+					joint_3
+				MarkerI
+					/Assembly/structural_node_2/Marker1
+				MarkerJ
+					/Assembly/structural_node_3/Marker0
+			PointInLineJoint
+				Name
+					joint_4
+				MarkerI
+					/Assembly/structural_node_3/Marker1
+				MarkerJ
+					/Assembly/structural_node_4/Marker0
+			PointInLineJoint
+				Name
+					joint_5
+				MarkerI
+					/Assembly/structural_node_1/Marker2
+				MarkerJ
+					/Assembly/structural_node_4/Marker1
+			NoRotationJoint
+				Name
+					joint_6
+				MarkerI
+					/Assembly/structural_node_1/Marker3
+				MarkerJ
+					/Assembly/structural_node_4/Marker2
+		Motions
+			RotationalMotion
+				Name
+					joint_2Motion
+				MotionJoint
+					/Assembly/joint_2
+				RotationZ
+					2.0*pi*time
+		GeneralConstraintSets
+	ForceTorques
+	ConstantGravity
+		0	0	0	
+	SimulationParameters
+		tstart
+			0
+		tend
+			0.1
+		hmin
+			1e-09
+		hmax
+			1
+		hout
+			0.01
+		errorTol
+			1e-06
+	AnimationParameters
+		nframe
+			1000000
+		icurrent
+			1
+		istart
+			1
+		iend
+			1000000
+		isForward
+			true
+		framesPerSecond
+			30
--- a/OndselSolver/assemblyDebug2.asmt
+++ b/OndselSolver/assemblyDebug2.asmt