From 2bb83b82c06b3334bc6e11c09389c1597cdee34e Mon Sep 17 00:00:00 2001
From: Aik-Siong Koh <askoh@askoh.com>
Date: Tue, 12 Dec 2023 14:49:58 -0700
Subject: [PATCH] CompoundJoints debugged

---
 OndselSolver/ASMTAssembly.cpp               |   8 +
 OndselSolver/ASMTSpatialContainer.cpp       |   4 +-
 OndselSolver/ConstVelConstraintIJ.cpp       |   5 +-
 OndselSolver/ConstantVelocityJoint.cpp      |  22 +-
 OndselSolver/ConstantVelocityJoint.h        |   2 +-
 OndselSolver/CylSphJoint.cpp                |   2 +-
 OndselSolver/DistIeqcJec.cpp                |   2 +-
 OndselSolver/DistanceConstraintIJ.cpp       |  11 +
 OndselSolver/DistanceConstraintIJ.h         |   2 +
 OndselSolver/DistancexyConstraintIJ.cpp     |  11 +
 OndselSolver/DistancexyConstraintIJ.h       |   2 +
 OndselSolver/DistancexyConstraintIqcJqc.cpp |   4 +
 OndselSolver/DistancexyConstraintIqcJqc.h   |   2 +
 OndselSolver/GearConstraintIJ.cpp           |   4 +-
 OndselSolver/GearJoint.cpp                  |  20 +-
 OndselSolver/GearJoint.h                    |   2 +-
 OndselSolver/MBDynClampJoint.h              |   4 +-
 OndselSolver/MBDynTotalJoint.h              |   4 +-
 OndselSolver/RackPinConstraintIJ.cpp        |   8 +-
 OndselSolver/RackPinJoint.cpp               |  22 +-
 OndselSolver/RackPinJoint.h                 |   2 +-
 OndselSolver/RevCylJoint.cpp                |   2 +-
 OndselSolver/ScrewConstraintIJ.cpp          |   8 +-
 OndselSolver/ScrewJoint.cpp                 |  22 +-
 OndselSolver/ScrewJoint.h                   |   2 +-
 OndselSolver/SphSphJoint.cpp                |   2 +-
 OndselSolver/assembly.asmt                  | 401 ++++++++------------
 testapp/CylSphJt.asmt                       | 202 ++++++++++
 testapp/OndselSolver.cpp                    |   3 +
 testapp/RevCylJt.asmt                       | 202 ++++++++++
 testapp/SphSphJt.asmt                       | 202 ++++++++++
 testapp/part32.asmt                         | 200 ++++++++++
 32 files changed, 1078 insertions(+), 311 deletions(-)
 create mode 100644 testapp/CylSphJt.asmt
 create mode 100644 testapp/RevCylJt.asmt
 create mode 100644 testapp/SphSphJt.asmt
 create mode 100644 testapp/part32.asmt

diff --git a/OndselSolver/ASMTAssembly.cpp b/OndselSolver/ASMTAssembly.cpp
index 2150f7a..25f647c 100644
--- a/OndselSolver/ASMTAssembly.cpp
+++ b/OndselSolver/ASMTAssembly.cpp
@@ -718,6 +718,7 @@ void MbD::ASMTAssembly::readAnimationParameters(std::vector<std::string>& lines)
 
 void MbD::ASMTAssembly::readTimeSeries(std::vector<std::string>& lines)
 {
+	if (lines.empty()) return;
 	assert(lines[0] == "TimeSeries");
 	lines.erase(lines.begin());
 	assert(lines[0].find("Number\tInput") != std::string::npos);
@@ -727,6 +728,7 @@ void MbD::ASMTAssembly::readTimeSeries(std::vector<std::string>& lines)
 
 void MbD::ASMTAssembly::readTimes(std::vector<std::string>& lines)
 {
+	if (lines.empty()) return;
 	std::string str = lines[0];
 	std::string substr = "Time\tInput";
 	auto pos = str.find(substr);
@@ -739,6 +741,7 @@ void MbD::ASMTAssembly::readTimes(std::vector<std::string>& lines)
 
 void MbD::ASMTAssembly::readPartSeriesMany(std::vector<std::string>& lines)
 {
+	if (lines.empty()) return;
 	assert(lines[0].find("PartSeries") != std::string::npos);
 	auto it = std::find_if(lines.begin(), lines.end(), [](const std::string& s) {
 		return s.find("JointSeries") != std::string::npos;
@@ -752,6 +755,7 @@ void MbD::ASMTAssembly::readPartSeriesMany(std::vector<std::string>& lines)
 
 void MbD::ASMTAssembly::readJointSeriesMany(std::vector<std::string>& lines)
 {
+	if (lines.empty()) return;
 	assert(lines[0].find("JointSeries") != std::string::npos);
 	auto it = std::find_if(lines.begin(), lines.end(), [](const std::string& s) {
 		return s.find("MotionSeries") != std::string::npos;
@@ -765,6 +769,7 @@ void MbD::ASMTAssembly::readJointSeriesMany(std::vector<std::string>& lines)
 
 void MbD::ASMTAssembly::readAssemblySeries(std::vector<std::string>& lines)
 {
+	if (lines.empty()) return;
 	std::string str = lines[0];
 	std::string substr = "AssemblySeries";
 	auto pos = str.find(substr);
@@ -796,6 +801,7 @@ void MbD::ASMTAssembly::readAssemblySeries(std::vector<std::string>& lines)
 
 void MbD::ASMTAssembly::readPartSeries(std::vector<std::string>& lines)
 {
+	if (lines.empty()) return;
 	std::string str = lines[0];
 	std::string substr = "PartSeries";
 	auto pos = str.find(substr);
@@ -811,6 +817,7 @@ void MbD::ASMTAssembly::readPartSeries(std::vector<std::string>& lines)
 
 void MbD::ASMTAssembly::readJointSeries(std::vector<std::string>& lines)
 {
+	if (lines.empty()) return;
 	std::string str = lines[0];
 	std::string substr = "JointSeries";
 	auto pos = str.find(substr);
@@ -834,6 +841,7 @@ void MbD::ASMTAssembly::readMotionSeriesMany(std::vector<std::string>& lines)
 
 void MbD::ASMTAssembly::readMotionSeries(std::vector<std::string>& lines)
 {
+	if (lines.empty()) return;
 	std::string str = lines[0];
 	std::string substr = "MotionSeries";
 	auto pos = str.find(substr);
diff --git a/OndselSolver/ASMTSpatialContainer.cpp b/OndselSolver/ASMTSpatialContainer.cpp
index 64762ea..6ff4abd 100644
--- a/OndselSolver/ASMTSpatialContainer.cpp
+++ b/OndselSolver/ASMTSpatialContainer.cpp
@@ -333,7 +333,7 @@ void MbD::ASMTSpatialContainer::updateFromMbD()
 	auto mbdPart = std::static_pointer_cast<Part>(mbdObject);
 	auto rOcmO = mbdPart->qX()->times(mbdUnts->length);
 	auto aAOp = mbdPart->aAOp();
-	std::cout << "aAOp" << *aAOp << std::endl;
+	//std::cout << "aAOp" << *aAOp << std::endl;
 	auto vOcmO = mbdPart->qXdot()->times(mbdUnts->velocity);
 	auto omeOPO = mbdPart->omeOpO()->times(mbdUnts->omega);
 	omega3D = omeOPO;
@@ -356,7 +356,7 @@ void MbD::ASMTSpatialContainer::updateFromMbD()
 	bryxs->push_back(bryantAngles->at(0));
 	bryys->push_back(bryantAngles->at(1));
 	bryzs->push_back(bryantAngles->at(2));
-	std::cout << "bry " << *bryantAngles << std::endl;
+	//std::cout << "bry " << *bryantAngles << std::endl;
 	vxs->push_back(vOPO->at(0));
 	vys->push_back(vOPO->at(1));
 	vzs->push_back(vOPO->at(2));
diff --git a/OndselSolver/ConstVelConstraintIJ.cpp b/OndselSolver/ConstVelConstraintIJ.cpp
index 588ef92..72dc7fc 100644
--- a/OndselSolver/ConstVelConstraintIJ.cpp
+++ b/OndselSolver/ConstVelConstraintIJ.cpp
@@ -21,7 +21,10 @@ std::shared_ptr<ConstVelConstraintIJ> MbD::ConstVelConstraintIJ::With(EndFrmsptr
 {
 	assert(frmi->isEndFrameqc());
 	assert(frmj->isEndFrameqc());
-	return std::make_shared<ConstVelConstraintIqcJqc>(frmi, frmj);
+	auto constVelCon = std::make_shared<ConstVelConstraintIqcJqc>(frmi, frmj);
+	constVelCon->initA01IeJe();
+	constVelCon->initA10IeJe();
+	return constVelCon;
 }
 
 void ConstVelConstraintIJ::calcPostDynCorrectorIteration()
diff --git a/OndselSolver/ConstantVelocityJoint.cpp b/OndselSolver/ConstantVelocityJoint.cpp
index 065771f..23363e8 100644
--- a/OndselSolver/ConstantVelocityJoint.cpp
+++ b/OndselSolver/ConstantVelocityJoint.cpp
@@ -21,17 +21,17 @@ MbD::ConstantVelocityJoint::ConstantVelocityJoint()
 MbD::ConstantVelocityJoint::ConstantVelocityJoint(const char* str) : AtPointJoint(str)
 {
 }
-
-void MbD::ConstantVelocityJoint::initializeLocally()
-{
-	if (!constraints->empty())
-	{
-		auto constraint = std::static_pointer_cast<ConstVelConstraintIJ>(constraints->back());
-		constraint->initA01IeJe();
-		constraint->initA10IeJe();
-	}
-	Joint::initializeLocally();
-}
+//
+//void MbD::ConstantVelocityJoint::initializeLocally()
+//{
+//	if (!constraints->empty())
+//	{
+//		auto constraint = std::static_pointer_cast<ConstVelConstraintIJ>(constraints->back());
+//		constraint->initA01IeJe();
+//		constraint->initA10IeJe();
+//	}
+//	Joint::initializeLocally();
+//}
 
 void MbD::ConstantVelocityJoint::initializeGlobally()
 {
diff --git a/OndselSolver/ConstantVelocityJoint.h b/OndselSolver/ConstantVelocityJoint.h
index ebb8bfd..fabe383 100644
--- a/OndselSolver/ConstantVelocityJoint.h
+++ b/OndselSolver/ConstantVelocityJoint.h
@@ -17,7 +17,7 @@ namespace MbD {
     public:
         ConstantVelocityJoint();
         ConstantVelocityJoint(const char* str);
-        void initializeLocally() override;
+        //void initializeLocally() override;
         void initializeGlobally() override;
         void connectsItoJ(EndFrmsptr frmI, EndFrmsptr frmJ) override;
 
diff --git a/OndselSolver/CylSphJoint.cpp b/OndselSolver/CylSphJoint.cpp
index 065facc..389cc7d 100644
--- a/OndselSolver/CylSphJoint.cpp
+++ b/OndselSolver/CylSphJoint.cpp
@@ -25,7 +25,7 @@ void MbD::CylSphJoint::initializeGlobally()
 {
 	if (constraints->empty())
 	{
-		auto distxyIJ = CREATE<DistancexyConstraintIJ>::With(frmI, frmJ);
+		auto distxyIJ = DistancexyConstraintIJ::With(frmI, frmJ);
 		distxyIJ->setConstant(distanceIJ);
 		addConstraint(distxyIJ);
 		this->root()->hasChanged = true;
diff --git a/OndselSolver/DistIeqcJec.cpp b/OndselSolver/DistIeqcJec.cpp
index 9c23e35..51948cb 100644
--- a/OndselSolver/DistIeqcJec.cpp
+++ b/OndselSolver/DistIeqcJec.cpp
@@ -25,7 +25,7 @@ void MbD::DistIeqcJec::calcPrivate()
 	if (rIeJe == 0.0) return;
 	auto frmIeqc = std::static_pointer_cast<EndFrameqc>(frmI);
 	auto& mprIeJeOpEI = frmIeqc->prOeOpE;
-	auto mprIeJeOpEIT = mprIeJeOpEI->transpose();
+	mprIeJeOpEIT = mprIeJeOpEI->transpose();
 	auto& mpprIeJeOpEIpEI = frmIeqc->pprOeOpEpE;
 	auto muIeJeOT = muIeJeO->transpose();
 	prIeJepXI = muIeJeOT;
diff --git a/OndselSolver/DistanceConstraintIJ.cpp b/OndselSolver/DistanceConstraintIJ.cpp
index 62fa461..7a36a40 100644
--- a/OndselSolver/DistanceConstraintIJ.cpp
+++ b/OndselSolver/DistanceConstraintIJ.cpp
@@ -7,6 +7,8 @@
  ***************************************************************************/
  
 #include "DistanceConstraintIJ.h"
+#include "DistanceConstraintIqcJqc.h"
+#include "EndFrameqc.h"
 
 using namespace MbD;
 
@@ -14,6 +16,15 @@ MbD::DistanceConstraintIJ::DistanceConstraintIJ(EndFrmsptr frmi, EndFrmsptr frmj
 {
 }
 
+std::shared_ptr<DistanceConstraintIJ> MbD::DistanceConstraintIJ::With(EndFrmsptr frmi, EndFrmsptr frmj)
+{
+	assert(frmi->isEndFrameqc());
+	assert(frmj->isEndFrameqc());
+	auto distCon = std::make_shared<DistanceConstraintIqcJqc>(frmi, frmj);
+	distCon->init_distIeJe();
+	return distCon;
+}
+
 void MbD::DistanceConstraintIJ::calcPostDynCorrectorIteration()
 {
 aG = distIeJe->value() - aConstant;
diff --git a/OndselSolver/DistanceConstraintIJ.h b/OndselSolver/DistanceConstraintIJ.h
index cab116f..c40d366 100644
--- a/OndselSolver/DistanceConstraintIJ.h
+++ b/OndselSolver/DistanceConstraintIJ.h
@@ -18,6 +18,8 @@ namespace MbD {
     public:
         DistanceConstraintIJ(EndFrmsptr frmi, EndFrmsptr frmj);
 
+        static std::shared_ptr<DistanceConstraintIJ> With(EndFrmsptr frmi, EndFrmsptr frmj);
+
         void calcPostDynCorrectorIteration() override;
         virtual void init_distIeJe();
         void initialize() override;
diff --git a/OndselSolver/DistancexyConstraintIJ.cpp b/OndselSolver/DistancexyConstraintIJ.cpp
index 56483a0..62b8e9c 100644
--- a/OndselSolver/DistancexyConstraintIJ.cpp
+++ b/OndselSolver/DistancexyConstraintIJ.cpp
@@ -7,6 +7,8 @@
  ***************************************************************************/
  
 #include "DistancexyConstraintIJ.h"
+#include "DistancexyConstraintIqcJqc.h"
+#include "EndFrameqc.h"
 
 using namespace MbD;
 
@@ -14,6 +16,15 @@ MbD::DistancexyConstraintIJ::DistancexyConstraintIJ(EndFrmsptr frmi, EndFrmsptr
 {
 }
 
+std::shared_ptr<DistancexyConstraintIJ> MbD::DistancexyConstraintIJ::With(EndFrmsptr frmi, EndFrmsptr frmj)
+{
+	assert(frmi->isEndFrameqc());
+	assert(frmj->isEndFrameqc());
+	auto distxyCon = std::make_shared<DistancexyConstraintIqcJqc>(frmi, frmj);
+	distxyCon->init_xyIeJeIe();
+	return distxyCon;
+}
+
 void MbD::DistancexyConstraintIJ::calcPostDynCorrectorIteration()
 {
 	auto x = xIeJeIe->value();
diff --git a/OndselSolver/DistancexyConstraintIJ.h b/OndselSolver/DistancexyConstraintIJ.h
index 1b997bc..9ce87ab 100644
--- a/OndselSolver/DistancexyConstraintIJ.h
+++ b/OndselSolver/DistancexyConstraintIJ.h
@@ -18,6 +18,8 @@ namespace MbD {
     public:
         DistancexyConstraintIJ(EndFrmsptr frmi, EndFrmsptr frmj);
 
+        static std::shared_ptr<DistancexyConstraintIJ> With(EndFrmsptr frmi, EndFrmsptr frmj);
+
         void calcPostDynCorrectorIteration() override;
         virtual void init_xyIeJeIe();
         void initialize() override;
diff --git a/OndselSolver/DistancexyConstraintIqcJqc.cpp b/OndselSolver/DistancexyConstraintIqcJqc.cpp
index 270c836..59d8ee3 100644
--- a/OndselSolver/DistancexyConstraintIqcJqc.cpp
+++ b/OndselSolver/DistancexyConstraintIqcJqc.cpp
@@ -13,6 +13,10 @@
 
 using namespace MbD;
 
+MbD::DistancexyConstraintIqcJqc::DistancexyConstraintIqcJqc(EndFrmsptr frmi, EndFrmsptr frmj) : DistancexyConstraintIqcJc(frmi, frmj)
+{
+}
+
 void MbD::DistancexyConstraintIqcJqc::calc_pGpXJ()
 {
 	pGpXJ = (xIeJeIe->pvaluepXJ()->times(xIeJeIe->value())->plusFullRow(yIeJeIe->pvaluepXJ()->times(yIeJeIe->value())));
diff --git a/OndselSolver/DistancexyConstraintIqcJqc.h b/OndselSolver/DistancexyConstraintIqcJqc.h
index a1b9bcf..3662c66 100644
--- a/OndselSolver/DistancexyConstraintIqcJqc.h
+++ b/OndselSolver/DistancexyConstraintIqcJqc.h
@@ -15,6 +15,8 @@ namespace MbD {
 	{
 		//pGpXJ pGpEJ ppGpXIpXJ ppGpEIpXJ ppGpXJpXJ ppGpXIpEJ ppGpEIpEJ ppGpXJpEJ ppGpEJpEJ iqXJ iqEJ 
 	public:
+		DistancexyConstraintIqcJqc(EndFrmsptr frmi, EndFrmsptr frmj);
+
 		void calc_pGpXJ();
 		void calc_pGpEJ();
 		void calc_ppGpXIpXJ();
diff --git a/OndselSolver/GearConstraintIJ.cpp b/OndselSolver/GearConstraintIJ.cpp
index a1ae658..26eb8ed 100644
--- a/OndselSolver/GearConstraintIJ.cpp
+++ b/OndselSolver/GearConstraintIJ.cpp
@@ -20,7 +20,9 @@ std::shared_ptr<GearConstraintIJ> MbD::GearConstraintIJ::With(EndFrmsptr frmi, E
 {
 	assert(frmi->isEndFrameqc());
 	assert(frmj->isEndFrameqc());
-	return std::make_shared<GearConstraintIqcJqc>(frmi, frmj);
+	auto gearCon = std::make_shared<GearConstraintIqcJqc>(frmi, frmj);
+	gearCon->initorbitsIJ();
+	return gearCon;
 }
 
 void MbD::GearConstraintIJ::calcPostDynCorrectorIteration()
diff --git a/OndselSolver/GearJoint.cpp b/OndselSolver/GearJoint.cpp
index 9314f5d..687a3fb 100644
--- a/OndselSolver/GearJoint.cpp
+++ b/OndselSolver/GearJoint.cpp
@@ -20,16 +20,16 @@ MbD::GearJoint::GearJoint()
 MbD::GearJoint::GearJoint(const char*)
 {
 }
-
-void MbD::GearJoint::initializeLocally()
-{
-	if (!constraints->empty())
-	{
-		auto constraint = std::static_pointer_cast<GearConstraintIJ>(constraints->back());
-		constraint->initorbitsIJ();
-	}
-	Joint::initializeLocally();
-}
+//
+//void MbD::GearJoint::initializeLocally()
+//{
+//	if (!constraints->empty())
+//	{
+//		auto constraint = std::static_pointer_cast<GearConstraintIJ>(constraints->back());
+//		constraint->initorbitsIJ();
+//	}
+//	Joint::initializeLocally();
+//}
 
 void MbD::GearJoint::initializeGlobally()
 {
diff --git a/OndselSolver/GearJoint.h b/OndselSolver/GearJoint.h
index 4143f3d..cbf285e 100644
--- a/OndselSolver/GearJoint.h
+++ b/OndselSolver/GearJoint.h
@@ -18,7 +18,7 @@ namespace MbD {
 		GearJoint();
 		GearJoint(const char* str);
 
-		void initializeLocally() override;
+		//void initializeLocally() override;
 		void initializeGlobally() override;
 
 		double radiusI = 0.0, radiusJ = 0.0, aConstant = 0.0;
diff --git a/OndselSolver/MBDynClampJoint.h b/OndselSolver/MBDynClampJoint.h
index b57cf3b..49ac5b2 100644
--- a/OndselSolver/MBDynClampJoint.h
+++ b/OndselSolver/MBDynClampJoint.h
@@ -17,8 +17,8 @@ namespace MbD {
     public:
         void parseMBDyn(std::string line) override;
         void createASMT() override;
-        void readMarkerI(std::vector<std::string>& args);
-        void readMarkerJ(std::vector<std::string>& args);
+        void readMarkerI(std::vector<std::string>& args) override;
+        void readMarkerJ(std::vector<std::string>& args) override;
         std::shared_ptr<ASMTJoint> asmtClassNew() override;
     };
 }
\ No newline at end of file
diff --git a/OndselSolver/MBDynTotalJoint.h b/OndselSolver/MBDynTotalJoint.h
index e484385..413e6b4 100644
--- a/OndselSolver/MBDynTotalJoint.h
+++ b/OndselSolver/MBDynTotalJoint.h
@@ -14,8 +14,8 @@ namespace MbD {
     {
     public:
         void parseMBDyn(std::string line) override;
-        void readMarkerI(std::vector<std::string>& args);
-        void readMarkerJ(std::vector<std::string>& args);
+        void readMarkerI(std::vector<std::string>& args) override;
+        void readMarkerJ(std::vector<std::string>& args) override;
         void readPositionConstraints(std::vector<std::string>& args);
         void readOrientationConstraints(std::vector<std::string>& args);
         void readPositionFormulas(std::vector<std::string>& args);
diff --git a/OndselSolver/RackPinConstraintIJ.cpp b/OndselSolver/RackPinConstraintIJ.cpp
index 58582e0..d4fb062 100644
--- a/OndselSolver/RackPinConstraintIJ.cpp
+++ b/OndselSolver/RackPinConstraintIJ.cpp
@@ -8,6 +8,7 @@
  
 #include "RackPinConstraintIJ.h"
 #include "RackPinConstraintIqcJqc.h"
+#include "EndFrameqc.h"
 
 using namespace MbD;
 
@@ -17,7 +18,12 @@ MbD::RackPinConstraintIJ::RackPinConstraintIJ(EndFrmsptr frmi, EndFrmsptr frmj)
 
 std::shared_ptr<RackPinConstraintIJ> MbD::RackPinConstraintIJ::With(EndFrmsptr frmi, EndFrmsptr frmj)
 {
-	return std::make_shared<RackPinConstraintIqcJqc>(frmi, frmj);
+	assert(frmi->isEndFrameqc());
+	assert(frmj->isEndFrameqc());
+	auto rackPinCon = std::make_shared<RackPinConstraintIqcJqc>(frmi, frmj);
+	rackPinCon->initxIeJeIe();
+	rackPinCon->initthezIeJe();
+	return rackPinCon;
 }
 
 void MbD::RackPinConstraintIJ::calcPostDynCorrectorIteration()
diff --git a/OndselSolver/RackPinJoint.cpp b/OndselSolver/RackPinJoint.cpp
index dd421c7..f196527 100644
--- a/OndselSolver/RackPinJoint.cpp
+++ b/OndselSolver/RackPinJoint.cpp
@@ -20,17 +20,17 @@ MbD::RackPinJoint::RackPinJoint()
 MbD::RackPinJoint::RackPinJoint(const char* str) : Joint(str)
 {
 }
-
-void MbD::RackPinJoint::initializeLocally()
-{
-	if (!constraints->empty())
-	{
-		auto constraint = std::static_pointer_cast<RackPinConstraintIJ>(constraints->front());
-		constraint->initxIeJeIe();
-		constraint->initthezIeJe();
-	}
-	Joint::initializeLocally();
-}
+//
+//void MbD::RackPinJoint::initializeLocally()
+//{
+//	if (!constraints->empty())
+//	{
+//		auto constraint = std::static_pointer_cast<RackPinConstraintIJ>(constraints->front());
+//		constraint->initxIeJeIe();
+//		constraint->initthezIeJe();
+//	}
+//	Joint::initializeLocally();
+//}
 
 void MbD::RackPinJoint::initializeGlobally()
 {
diff --git a/OndselSolver/RackPinJoint.h b/OndselSolver/RackPinJoint.h
index 3ae7d07..21fdbe4 100644
--- a/OndselSolver/RackPinJoint.h
+++ b/OndselSolver/RackPinJoint.h
@@ -17,7 +17,7 @@ namespace MbD {
 	public:
 		RackPinJoint();
 		RackPinJoint(const char* str);
-		void initializeLocally() override;
+		//void initializeLocally() override;
 		void initializeGlobally() override;
 		void connectsItoJ(EndFrmsptr frmI, EndFrmsptr frmJ) override;
 
diff --git a/OndselSolver/RevCylJoint.cpp b/OndselSolver/RevCylJoint.cpp
index 9b12025..2ed1f2b 100644
--- a/OndselSolver/RevCylJoint.cpp
+++ b/OndselSolver/RevCylJoint.cpp
@@ -25,7 +25,7 @@ void MbD::RevCylJoint::initializeGlobally()
 {
 	if (constraints->empty())
 	{
-		auto distxyIJ = CREATE<DistancexyConstraintIJ>::With(frmI, frmJ);
+		auto distxyIJ = DistancexyConstraintIJ::With(frmI, frmJ);
 		distxyIJ->setConstant(distanceIJ);
 		addConstraint(distxyIJ);
 		addConstraint(CREATE<DirectionCosineConstraintIJ>::ConstraintWith(frmI, frmJ, 2, 0));
diff --git a/OndselSolver/ScrewConstraintIJ.cpp b/OndselSolver/ScrewConstraintIJ.cpp
index 8e272c3..bc40b94 100644
--- a/OndselSolver/ScrewConstraintIJ.cpp
+++ b/OndselSolver/ScrewConstraintIJ.cpp
@@ -10,6 +10,7 @@
 
 #include "ScrewConstraintIJ.h"
 #include "ScrewConstraintIqcJqc.h"
+#include "EndFrameqc.h"
 
 using namespace MbD;
 
@@ -19,7 +20,12 @@ MbD::ScrewConstraintIJ::ScrewConstraintIJ(EndFrmsptr frmi, EndFrmsptr frmj) : Co
 
 std::shared_ptr<ScrewConstraintIJ> MbD::ScrewConstraintIJ::With(EndFrmsptr frmi, EndFrmsptr frmj)
 {
-	return std::make_shared<ScrewConstraintIqcJqc>(frmi, frmj);
+	assert(frmi->isEndFrameqc());
+	assert(frmj->isEndFrameqc());
+	auto screwCon = std::make_shared<ScrewConstraintIqcJqc>(frmi, frmj);
+	screwCon->initzIeJeIe();
+	screwCon->initthezIeJe();
+	return screwCon;
 }
 
 void MbD::ScrewConstraintIJ::calcPostDynCorrectorIteration()
diff --git a/OndselSolver/ScrewJoint.cpp b/OndselSolver/ScrewJoint.cpp
index 76d27e3..5b22b5d 100644
--- a/OndselSolver/ScrewJoint.cpp
+++ b/OndselSolver/ScrewJoint.cpp
@@ -20,17 +20,17 @@ MbD::ScrewJoint::ScrewJoint()
 MbD::ScrewJoint::ScrewJoint(const char* str) : Joint(str)
 {
 }
-
-void MbD::ScrewJoint::initializeLocally()
-{
-	if (!constraints->empty())
-	{
-		auto constraint = std::static_pointer_cast<ScrewConstraintIJ>(constraints->front());
-		constraint->initzIeJeIe();
-		constraint->initthezIeJe();
-	}
-	Joint::initializeLocally();
-}
+//
+//void MbD::ScrewJoint::initializeLocally()
+//{
+//	if (!constraints->empty())
+//	{
+//		auto constraint = std::static_pointer_cast<ScrewConstraintIJ>(constraints->front());
+//		constraint->initzIeJeIe();
+//		constraint->initthezIeJe();
+//	}
+//	Joint::initializeLocally();
+//}
 
 void MbD::ScrewJoint::initializeGlobally()
 {
diff --git a/OndselSolver/ScrewJoint.h b/OndselSolver/ScrewJoint.h
index 5fe8930..17ee8c1 100644
--- a/OndselSolver/ScrewJoint.h
+++ b/OndselSolver/ScrewJoint.h
@@ -17,7 +17,7 @@ namespace MbD {
 	public:
 		ScrewJoint();
 		ScrewJoint(const char* str);
-		void initializeLocally() override;
+		//void initializeLocally() override;
 		void initializeGlobally() override;
 		void connectsItoJ(EndFrmsptr frmI, EndFrmsptr frmJ) override;
 
diff --git a/OndselSolver/SphSphJoint.cpp b/OndselSolver/SphSphJoint.cpp
index 0224638..e4d32f7 100644
--- a/OndselSolver/SphSphJoint.cpp
+++ b/OndselSolver/SphSphJoint.cpp
@@ -25,7 +25,7 @@ void MbD::SphSphJoint::initializeGlobally()
 {
 	if (constraints->empty())
 	{
-		auto distxyIJ = CREATE<DistanceConstraintIJ>::With(frmI, frmJ);
+		auto distxyIJ = DistanceConstraintIJ::With(frmI, frmJ);
 		distxyIJ->setConstant(distanceIJ);
 		addConstraint(distxyIJ);
 		this->root()->hasChanged = true;
diff --git a/OndselSolver/assembly.asmt b/OndselSolver/assembly.asmt
index 9c963ab..38d139e 100644
--- a/OndselSolver/assembly.asmt
+++ b/OndselSolver/assembly.asmt
@@ -1,7 +1,7 @@
 OndselSolver
 Assembly
 	Notes
-		(Text string: 'CAD: Copyright (C) 2000-2004, Aik-Siong Koh, All Rights Reserved.<n><n>The piston crank is the most common mechanism to convert rotary motion to reciprocating motion or vice versa. A crank connects to the ground with a revolute joint. Its other end is connected to the connecting rod. And the connecting rod is connected to the piston which slides along an axis on the ground. The crank is given rotary motion causing the piston to slides back and forth is a straight line. Units are SI units. Angles are in radians.<n><n>If the instructions below are too brief, refer to the Notes in projectile.asm and circular.asm.<n><n>To load the example for a quick look:<n>Click File/Open/Assembly/ to get a dialog. Enter *.asm for a list of assemblies. Select piston.asm. <n><n>To create the assembly from scratch:<n>To create crank, connection rod and piston:<n>Create an empty assembly and populate it with two rods (Assembly1Part1, Assembly1Part2) and one cylinder (Assembly1Part3). The rods have  dimensions (1.0d, 0.2d, 0.1d) and (1.5d, 0.2d, 0.1d). The cylinder has radius (0.5d) and height (1.0d). Arrange them from bottom up away from the origin. <n><n>To mark joint attachment points:<n>On the ground, create a marker (Assembly1Marker1) at (0.0d, 0.0d, 0.0d) and another (Assembly1Marker2) at (3.0d, 0.0d, 0.0d). <n>On the first rod, create a marker (Assembly1Part1Marker1) at (0.1d, 0.1d, 0.0d) and another (Assembly1Part1Marker2) at (0.9d, 0.1d, 0.0d) relative to the z-face. <n>On the second rod, create a marker (Assembly1Part2Marker1) at (0.1d, 0.1d, -0.1d) and another (Assembly1Part2Marker2) at (1.4d, 0.1d, -0.1d) relative to the z-face. <n>On the cylinder, create a marker (Assembly1Part3Marker1) at (0.0d, 0.0d, 0.0d) and another (Assembly1Part3Marker2) at (0.0d, 0.0d, -1.0d) relative to the z-face. Tilt the cylinder a little to get a good view of (Assembly1Part3Marker2). RightClick/Rotate/ over it to rotate the marker (90.0d) degrees about the x-axis.<n>Tilt the cylinder upright to help the solver assemble the system later.<n><n>To create the joints:<n>Connect (Assembly1Marker1) to (Assembly1Part1Marker1) with revolute joint (Assembly1Joint1).<n>Connect (Assembly1Part1Marker2) to (Assembly1Part2Marker1) with revolute joint (Assembly1Joint2).<n>Connect (Assembly1Part2Marker2) to (Assembly1Part3Marker2) with revolute joint (Assembly1Joint3).<n>Connect (Assembly1Marker2) to (Assembly1Part3Marker1) with translational joint (Assembly1Joint3).<n>The translational joint keeps the marker z-axes parallel and colinear. Only relative translation along the z-axis is permitted.<n><n>To apply motion to the crank:<n>Apply rotation motion (Assembly1Motion1) to (Assembly1Joint1). Enter 2.0d*pi*time.<n><n>The assembly is now ready for simulation, animation and plotting.<n>' runs: (Core.RunArray runs: #(514 63 14 5 12 1 2 37 89 10 4 36 1 43 295 32 848 21 517 29 151) values: #(nil #underline #(#underline #bold) #underline #(#underline #bold) #underline nil #(#bold #large) nil #bold nil #(#bold #large) nil #bold nil #bold nil #bold nil #bold nil)))
+		(Text string: '' runs: (Core.RunArray runs: #() values: #()))
 	Name
 		Assembly1
 	Position3D
@@ -27,11 +27,11 @@ Assembly
 					Name
 						Marker1
 					Position3D
-						0	3	0	
+						0	0	0	
 					RotationMatrix
 						1	0	0	
+						0	1	0	
 						0	0	1	
-						0	-1	0	
 		RefPoint
 			Position3D
 				0	0	0	
@@ -44,11 +44,11 @@ Assembly
 					Name
 						Marker2
 					Position3D
-						0	0	0	
+						3	0	4	
 					RotationMatrix
-						1	0	0	
+						0.70710678118655	0	0.70710678118655	
 						0	1	0	
-						0	0	1	
+						-0.70710678118655	0	0.70710678118655	
 	RefCurves
 	RefSurfaces
 	Parts
@@ -56,13 +56,13 @@ Assembly
 			Name
 				Part1
 			Position3D
-				-0.09999999999999998	-0.1	-0.1	
+				-0.5375	-0.35	0.1000000000000001	
 			RotationMatrix
 				1	0	0	
 				0	1	0	
 				0	0	1	
 			Velocity3D
-				0.62831853071796	-0.62831853071796	0	
+				2.1991148575129	-3.377212102609	0	
 			Omega3D
 				0	0	6.2831853071796	
 			FeatureOrder
@@ -70,21 +70,21 @@ Assembly
 				Name
 					MassMarker
 				Position3D
-					0.5	0.1	0.05	
+					0.5375	0.35	1	
 				RotationMatrix
-					1	0	0	
 					0	1	0	
 					0	0	1	
+					1	0	0	
 				Mass
-					0.2
+					0
 				MomentOfInertias
-					0.00083333333333333	0.016833333333333	0.017333333333333	
+					0	0	0	
 				Density
-					10
+					0
 			RefPoints
 				RefPoint
 					Position3D
-						0	0	0.1	
+						0.5375	0.35	2	
 					RotationMatrix
 						1	0	0	
 						0	1	0	
@@ -94,63 +94,63 @@ Assembly
 							Name
 								Marker1
 							Position3D
-								0.1	0.1	0	
+								0	-1.1102230246252e-16	0.1	
 							RotationMatrix
-								1	0	0	
-								0	1	0	
-								0	0	1	
+								1	0	1.1102230246252e-16	
+								-6.1629758220392e-33	1	5.5511151231258e-17	
+								-1.1102230246252e-16	-5.5511151231258e-17	1	
 				RefPoint
 					Position3D
-						0	0	0.1	
+						0.5375	0.35	2	
 					RotationMatrix
-						1	0	0	
-						0	1	0	
-						0	0	1	
+						1	-1.3877787807814e-17	-5.5511151231258e-17	
+						-1.3877787807814e-17	1	0	
+						-5.5511151231258e-17	0	1	
 					Markers
 						Marker
 							Name
 								Marker2
 							Position3D
-								0.9	0.1	0	
+								5.5511151231258e-18	-5.5511151231258e-17	-2.1	
 							RotationMatrix
-								1	0	0	
-								0	1	0	
-								0	0	1	
+								1	-1.3877787807814e-17	-5.5511151231258e-17	
+								-1.3877787807814e-17	1	5.5511151231258e-17	
+								-5.5511151231258e-17	-5.5511151231258e-17	1	
 			RefCurves
 			RefSurfaces
 		Part
 			Name
 				Part2
 			Position3D
-				0.9403611597381493	-0.0172842366612278	-4.85722573273506e-17	
+				-0.8017558855412327	-0.4375000000000001	3.730624872396903	
 			RotationMatrix
-				-0.615384615384619	-0.7882269819968893	0	
-				0.7882269819968893	-0.615384615384619	0	
-				0	0	1	
+				0.5144957554275305	0	0.8574929257125418	
+				0	1	0	
+				-0.8574929257125418	0	0.5144957554275305	
 			Velocity3D
-				-3.316411840237801e-34	5.0265482457437	-3.974830726464196e-33	
+				1.41429407486	-10.83849465488502	-2.357156791433301	
 			Omega3D
-				4.177425103292601e-33	3.2613995704322e-33	-3.182800078699101e-34	
+				5.387786951847501	0	3.2326721711085	
 			FeatureOrder
 			PrincipalMassMarker
 				Name
 					MassMarker
 				Position3D
-					0.75	0.1	0.05	
+					1.725	0.4375	1	
 				RotationMatrix
-					1	-2.7755575615629e-16	0	
-					2.7755575615629e-16	1	0	
+					0	1	0	
 					0	0	1	
+					1	0	0	
 				Mass
-					0.3
+					0
 				MomentOfInertias
-					0.00125	0.0565	0.05725	
+					0	0	0	
 				Density
-					10
+					0
 			RefPoints
 				RefPoint
 					Position3D
-						0	0	0.1	
+						1.725	0.4375	2	
 					RotationMatrix
 						1	0	0	
 						0	1	0	
@@ -160,137 +160,64 @@ Assembly
 							Name
 								Marker1
 							Position3D
-								0.1	0.1	-0.1	
+								-8.8817841970013e-16	-3.7485330339683e-17	-2.1	
 							RotationMatrix
-								1	3.5771870615405e-50	3.0814879110196e-33	
-								3.5771870615405e-50	1	1.755680013548e-33	
-								3.0814879110196e-33	1.755680013548e-33	1	
+								1	4.3628049982166e-17	-2.2204460492503e-16	
+								-4.3628049982166e-17	-1	-1.7850157304611e-17	
+								-2.2204460492503e-16	-1.7850157304611e-17	-1	
 				RefPoint
 					Position3D
-						-7.0256300777061e-17	-1.0408340855861e-17	0.1	
+						1.725	0.4375	2	
 					RotationMatrix
-						1	1.7347234759768e-18	-6.9388939039072e-18	
-						1.7347234759768e-18	1	0	
-						-6.9388939039072e-18	0	1	
+						1	-6.9388939039072e-18	0	
+						-6.9388939039072e-18	1	1.3877787807814e-17	
+						0	1.3877787807814e-17	1	
 					Markers
 						Marker
 							Name
 								Marker2
 							Position3D
-								1.4	0.1	-0.1	
+								-3.0531133177192e-16	3.1727945112426e-18	0.1	
 							RotationMatrix
-								1	-5.5511151231258e-17	2.1510571102112e-16	
-								3.4181598826109e-49	1	4.1633363423443e-17	
-								-2.2898349882894e-16	-4.1633363423443e-17	1	
-			RefCurves
-			RefSurfaces
-		Part
-			Name
-				Part3
-			Position3D
-				-1.044261215915049e-16	1.024695076596	-2.0284539354805e-17	
-			RotationMatrix
-				1	1.0785207688569e-32	2.220446049250313e-16	
-				-2.220446049250313e-16	6.123233995736766e-17	1	
-				-2.811103045899911e-33	-1	6.123233995736766e-17	
-			Velocity3D
-				-1.6491143091194e-30	5.0265482457437	-7.121410028206799e-33	
-			Omega3D
-				4.1774251032926e-33	3.2613995704322e-33	4.7241180434735e-49	
-			FeatureOrder
-			PrincipalMassMarker
-				Name
-					MassMarker
-				Position3D
-					-7.9328390680452e-18	2.9323172983667e-17	0.5	
-				RotationMatrix
-					9.244463733058701e-33	1	-1.0785207688569e-32	
-					9.9703461330478e-65	1.0785207688569e-32	1	
-					1	-9.244463733058701e-33	0	
-				Mass
-					7.6536686473018
-				MomentOfInertias
-					0.93243354610288	1.1040224936599	1.1040224936599	
-				Density
-					10
-			RefPoints
-				RefPoint
-					Position3D
-						0	0	0	
-					RotationMatrix
-						1	0	0	
-						0	-1	0	
-						0	0	-1	
-					Markers
-						Marker
-							Name
-								Marker1
-							Position3D
-								0	0	0	
-							RotationMatrix
-								1	9.559235592913599e-33	0	
-								0	-2.2204460492503e-16	1	
-								-9.559235592913599e-33	-1	-2.2204460492503e-16	
-				RefPoint
-					Position3D
-						1.0408340855861e-17	5.5511151231258e-17	1	
-					RotationMatrix
-						1	-6.9388939039072e-18	6.9388939039072e-18	
-						-6.9388939039072e-18	1	0	
-						6.9388939039072e-18	0	1	
-					Markers
-						Marker
-							Name
-								Marker2
-							Position3D
-								0	0	0	
-							RotationMatrix
-								1	-1.3877787807814e-17	1.3877787807814e-17	
-								-1.3877787807814e-17	1	0	
-								1.3877787807814e-17	0	1	
+								1	-5.0566943886073e-17	-3.885780586188e-16	
+								-5.0566943886073e-17	1	8.7239096343683e-17	
+								3.885780586188e-16	-2.3783206118832e-17	1	
 			RefCurves
 			RefSurfaces
 	KinematicIJs
 	ConstraintSets
 		Joints
-			RevoluteJoint
+			ConstantVelocityJoint
 				Name
-					Joint1
+					ConstantVel
 				MarkerI
-					/Assembly1/Marker2
-				MarkerJ
 					/Assembly1/Part1/Marker1
-			RevoluteJoint
-				Name
-					Joint2
-				MarkerI
-					/Assembly1/Part1/Marker2
 				MarkerJ
 					/Assembly1/Part2/Marker1
-			RevoluteJoint
+			CylindricalJoint
 				Name
-					Joint3
+					Cylindrical
 				MarkerI
 					/Assembly1/Part2/Marker2
 				MarkerJ
-					/Assembly1/Part3/Marker1
-			CylindricalJoint
+					/Assembly1/Marker2
+			RevoluteJoint
 				Name
-					Joint4
+					Revolute
 				MarkerI
-					/Assembly1/Part3/Marker2
-				MarkerJ
 					/Assembly1/Marker1
+				MarkerJ
+					/Assembly1/Part1/Marker2
 		Motions
 			RotationalMotion
 				Name
-					Motion1
+					Rotation
 				MarkerI
-					/Assembly1/Marker2
+					/Assembly1/Marker1
 				MarkerJ
-					/Assembly1/Part1/Marker1
+					/Assembly1/Part1/Marker2
 				MotionJoint
-					/Assembly1/Joint1
+					/Assembly1/Revolute
 				RotationZ
 					2.0d*pi*time
 		GeneralConstraintSets
@@ -307,133 +234,107 @@ Assembly
 		hmax
 			1
 		hout
-			0.04
+			0.01
 		errorTol
 			1e-06
 	AnimationParameters
 		nframe
-			26
+			101
 		icurrent
 			1
 		istart
 			1
 		iend
-			26
+			101
 		isForward
 			true
 		framesPerSecond
 			30
 TimeSeries
-Number	Input	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19	20	21	22	23	24	25	26	27	28	29	30	31	32	33	34	35	36	37	38	39	40	41	42	43	44	45	46	47	48	49	50	51	52	53	
-Time	Input	0	0.04	0.08	0.12	0.16	0.2	0.24	0.28	0.32	0.36	0.4	0.44	0.48	0.52	0.5600000000000001	0.6	0.64	0.68	0.72	0.76	0.8	0.84	0.88	0.92	0.96	1	0	0	0.04	0.08	0.12	0.16	0.2	0.24	0.28	0.32	0.36	0.4	0.4399999999999999	0.4799999999999999	0.5199999999999999	0.5599999999999999	0.6	0.64	0.68	0.7200000000000001	0.7600000000000001	0.8000000000000002	0.8400000000000002	0.8800000000000002	0.9200000000000003	0.9600000000000003	1	
+Number	Input	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19	20	21	22	23	24	25	26	27	28	29	30	31	32	33	34	35	36	37	38	39	40	41	42	43	44	45	46	47	48	49	50	51	52	53	54	55	56	57	58	59	60	61	62	63	64	65	66	67	68	69	70	71	72	73	74	75	76	77	78	79	80	81	82	83	84	85	86	87	88	89	90	91	92	93	94	95	96	97	98	99	100	101	102	103	104	105	106	107	108	109	110	111	112	113	114	115	116	117	118	119	120	121	122	123	124	125	126	127	128	129	130	131	132	133	134	135	136	137	138	139	140	141	142	143	144	145	146	147	148	149	150	151	152	153	154	155	156	157	158	159	160	161	162	163	164	165	166	167	168	169	170	171	172	173	174	175	176	177	178	179	180	181	182	183	184	185	186	187	188	189	190	191	192	193	194	195	196	197	198	199	200	201	202	203	
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-OmegaX	4.177425103292601e-33	-8.969120650030006e-33	1.081632668291512e-17	1.168081089073292e-17	3.776605853310244e-19	-1.163368230904207e-17	-1.197924635859316e-17	-2.378780772416525e-18	1.310199900732063e-17	2.07367674918833e-17	1.589194637490073e-17	1.341949545869414e-17	4.516641210396458e-18	5.306339757550669e-19	-3.509834153257269e-19	-4.196018118171287e-18	-4.624544168790445e-18	-1.076280136437402e-17	-1.481315597714609e-17	-5.430569894664151e-18	2.752095101650789e-19	2.765345019504176e-18	-2.163182078554213e-18	-9.785435447432254e-18	-1.699181093713169e-17	-1.111889295360563e-17	2.185438651973779e-34	
-OmegaY	3.2613995704322e-33	1.915189848417104e-32	-8.876712215776529e-18	-2.017386747557449e-17	4.610037375407426e-18	2.028812161854959e-17	1.732173082890348e-17	5.637545591883054e-17	4.395595133268684e-17	5.283080959219327e-17	4.042524945718039e-17	2.776173341906112e-17	1.858564163629445e-17	3.423482030702383e-18	1.300561314445268e-18	-4.280027269595594e-19	-1.395404751321328e-17	-8.116748416461529e-18	-3.478502857318765e-17	-1.098449586749414e-17	-1.753986438625035e-17	-3.868476961652391e-18	4.546051953118793e-18	1.848859036267753e-17	2.794280037779489e-17	1.237561613817536e-17	-1.417654624416976e-32	
-OmegaZ	-3.182800078699101e-34	1.168339497344748e-15	-1.19756211345592	-2.211920192303964	-2.961564966115344	-3.458060357205636	-3.745682056037213	-3.861829846388225	-3.823593663518196	-3.625237164830134	-3.238826702955576	-2.620572586749856	-1.735545370123934	-0.6118884148019538	0.6118884148019472	1.735545370123922	2.62057258674985	3.238826702955576	3.625237164830135	3.823593663518191	3.861829846388222	3.745682056037215	3.458060357205632	2.961564966115346	2.21192019230396	1.197562113455914	-6.884782783766256e-16	
-AX	-1.295177143359768e-65	-32.11546178246253	-31.37544345857777	-29.02279642555415	-24.88626246965602	-19.03662429882354	-11.79401399087025	-3.622230912495755	4.954287402443036	13.40071256071963	21.20015363832115	27.85286312878128	32.83233574939136	35.55474996755233	35.55474996755235	32.83233574939138	27.85286312878127	21.20015363832111	13.40071256071959	4.954287402443068	-3.62223091249577	-11.79401399087026	-19.03662429882359	-24.88626246965606	-29.02279642555419	-31.37544345857777	-32.11546178246254	
-AY	1.671011241673164e-65	-4.326154467713573	-11.77559898123401	-18.12633350896699	-23.29840172341832	-27.1559544907543	-29.50402978544076	-30.18636987650221	-29.14912647721922	-26.46153919981208	-22.3063080696354	-16.93484160124645	-10.57615770925685	-3.358852933576924	4.557879441392765	12.67660200482793	20.1928890414493	26.363521639149	30.69228517934528	32.89750758950612	32.85445566782087	30.56990031959193	26.17641421002862	19.94133670491298	12.30386285682661	3.933014169925379	-4.326154467713577	
-AZ	1.235699161928302e-66	-5.121774227827065e-16	-3.917057383441297e-16	-2.186297566372609e-16	1.112433885116104e-16	1.699911775391568e-16	5.613737633184854e-16	3.318604217899091e-16	1.661709912707993e-16	1.827586898809985e-16	1.763437910301126e-16	6.889869246834346e-18	-1.611504665529588e-16	-2.85382353083445e-16	-8.278797381008928e-17	-5.046279535466829e-17	-1.993760206880225e-17	2.016961162763366e-16	1.759754575982014e-16	1.989546072609489e-16	2.222545510062945e-16	1.824599904912303e-16	9.158663354417957e-17	-1.903023579887223e-17	-1.949606089130855e-16	-3.149157976249666e-16	-4.360229789372764e-16	
-AlphaX	0	3.454484463720294e-15	2.686051515296129e-15	1.239580283868917e-15	-2.087381598954902e-16	-1.27456172868216e-15	-1.866897562605547e-15	-2.093152148728033e-15	-1.916851836299748e-15	-1.639041196493627e-15	-1.149487383655572e-15	-2.534117227360124e-16	7.859401422447845e-16	1.669016521549698e-15	1.745843821047856e-15	1.108189371888991e-15	5.803350313338059e-17	-9.212549251824182e-16	-1.608979510335812e-15	-1.882167418884763e-15	-1.904513274705583e-15	-1.463623982555034e-15	-6.204449904046963e-16	5.448426456622336e-16	1.954195802207584e-15	3.115612293210523e-15	3.436850868272252e-15	
-AlphaY	0	2.696985312115368e-15	1.988874474412138e-15	7.965087104286453e-16	-1.127441852151431e-16	-4.294451993289467e-16	-7.345552802511585e-16	-8.017283403359292e-17	1.945095748242397e-16	7.764917807462778e-16	2.347517810374965e-16	1.520697135284443e-16	-6.442535641840416e-16	-1.303372089997312e-15	-1.346668108888457e-15	-7.930942773159443e-16	-6.542606228516937e-17	5.216274057448749e-16	3.913251818354832e-16	2.026045283186248e-16	-7.520248527871214e-17	-3.641323254270712e-16	-3.197963930850258e-16	2.719785169466564e-16	1.17971763162135e-15	2.310498430317133e-15	2.683218410448092e-15	
-AlphaZ	0	-30.82159249598807	-28.241394635846	-22.14720024264387	-15.41317361665602	-9.612096703780395	-4.929303691441842	-0.9498967899367488	2.885728149674806	7.150337359348468	12.36177039274133	18.72059407275699	25.44084758946827	30.14458435501739	30.14458435501739	25.44084758946831	18.72059407275699	12.3617703927413	7.150337359348429	2.885728149674829	-0.9498967899367687	-4.929303691441853	-9.612096703780439	-15.41317361665605	-22.14720024264393	-28.24139463584604	-30.82159249598805	
-PartSeries	/Assembly1/Part3
-X	-1.044261215915049e-16	-7.041707813776303e-17	-7.949678397688364e-17	-8.938042158649289e-17	-9.892750573581356e-17	-1.069737016852234e-16	-1.125678651499232e-16	-1.150794954752239e-16	-1.142346488426739e-16	-1.10124833519663e-16	-1.032044223170672e-16	-9.427175849478973e-17	-8.44050555308331e-17	-7.479526273498796e-17	-6.644639291757669e-17	-5.988303497880709e-17	-5.51173953761299e-17	-5.187792971364739e-17	-4.985124386562264e-17	-4.880117345170047e-17	-4.859756025442449e-17	-4.921477459210122e-17	-5.073016346652134e-17	-5.332750817355984e-17	-5.728917991595011e-17	-6.293070871935065e-17	-7.041707996051818e-17	
-Y	1.024695076596	1.02469507659596	1.24278228981572	1.480179366506	1.709492681612448	1.902755855947434	2.037123175785611	2.097450521915651	2.077157983301907	1.97844351523561	1.812220788468628	1.597665367178468	1.360675068250384	1.129855528341609	0.9293223546387235	0.7716757839548993	0.6572089635105103	0.5793996000273653	0.5307202312899781	0.5054983821360046	0.5006077564304161	0.5154327497133651	0.5518311751442102	0.6142173121265466	0.7093734879432563	0.844878470351953	1.024695076595962	
-Z	-2.0284539354805e-17	-5.55127549760977e-17	-4.511305236226578e-17	-3.123259360054837e-17	-1.299122922675906e-17	4.68284780078228e-19	1.294605347403564e-17	1.59381133057e-17	1.923872344977828e-17	1.818882934466386e-17	1.360720316352807e-17	5.121495712256597e-18	-7.2081039443815e-19	-1.191768604424567e-17	-1.31012102382213e-17	-1.304616427546337e-17	-9.553083211689261e-18	-6.006795919038703e-19	4.139410803152944e-19	-1.616488840392927e-20	-4.782311530143049e-19	-1.312272959239267e-17	-2.726985247064476e-17	-4.11349381991122e-17	-4.583341659835943e-17	-5.76278282318125e-17	-5.785307988423487e-17	
-Bryantx	-1.570796326794897	-1.570796326794897	-1.570796326794897	-1.570796326794897	-1.570796326794897	-1.570796326794897	-1.570796326794897	-1.570796326794897	-1.570796326794897	-1.570796326794897	-1.570796326794897	-1.570796326794897	-1.570796326794897	-1.570796326794897	-1.570796326794897	-1.570796326794897	-1.570796326794897	-1.570796326794897	-1.570796326794897	-1.570796326794897	-1.570796326794897	-1.570796326794897	-1.570796326794897	-1.570796326794897	-1.570796326794897	-1.570796326794897	-1.570796326794897	
-Bryanty	2.220446049250313e-16	2.220446049250313e-16	2.220446049250313e-16	2.220446049250313e-16	2.220446049250313e-16	2.220446049250313e-16	2.220446049250313e-16	2.220446049250313e-16	2.220446049250313e-16	2.220446049250313e-16	2.220446049250313e-16	2.220446049250313e-16	2.220446049250313e-16	2.220446049250313e-16	2.220446049250313e-16	2.220446049250313e-16	2.220446049250313e-16	2.220446049250313e-16	2.220446049250313e-16	2.220446049250313e-16	2.220446049250313e-16	2.220446049250313e-16	2.220446049250313e-16	2.220446049250313e-16	2.220446049250313e-16	2.220446049250313e-16	2.220446049250313e-16	
-Bryantz	-1.0785207688569e-32	-1.822925609730439e-16	-1.741727677690481e-16	-1.550769148183692e-16	-1.313918448192965e-16	-1.04132939646408e-16	-7.685430130163072e-17	-4.855528262726502e-17	-2.0699464887145e-17	7.22601512374138e-18	3.438305426032599e-17	5.883324689456516e-17	8.02153422523481e-17	9.080779980706066e-17	9.305892244607789e-17	8.268195591533804e-17	6.351789092505877e-17	3.954222528868558e-17	1.108725492809423e-17	-1.872075108975573e-17	-4.938452963404358e-17	-8.006623388967137e-17	-1.098439886923186e-16	-1.377024493132123e-16	-1.632938365229582e-16	-1.777104520478661e-16	-1.813675575821913e-16	
-VX	-1.6491143091194e-30	-1.320477840074985e-15	2.905703382397549e-15	6.562813796605072e-16	8.538315048488385e-35	1.095668412038743e-15	8.237608145022391e-16	3.552713678800501e-15	2.879893113403146e-15	2.997638475690497e-15	-2.943530431536243e-15	1.159602903685689e-15	7.062954688926255e-15	9.455947528701012e-16	-1.891189505740204e-15	9.792393091328979e-35	5.798014518428439e-15	2.943530431536245e-15	-4.32962871393984e-15	2.423380393929398e-15	-5.401480768378232e-17	-2.785795160365988e-16	1.075603710887482e-15	-5.329070518200756e-15	-3.505240305423234e-15	-5.393112810435475e-15	9.381384558082582e-16	
-VY	5.0265482457437	5.026548245743668	5.796580787427193	5.955454157499838	5.391306334062021	4.175696354760463	2.479272359653009	0.5096086177002229	-1.515057223805368	-3.375040880527796	-4.855647108748238	-5.762633159991207	-5.964501784342067	-5.472563204980015	-4.501261617957575	-3.382630943808548	-2.370492747713212	-1.552437766184176	-0.9053594216529985	-0.36870521242667	0.1216305338785856	0.6273053023077393	1.211022117887797	1.937085616672516	2.85414145311605	3.940679191428769	5.026548245743669	
-VZ	-7.121410028206799e-33	-1.778985230616211e-33	-1.471563161675209e-18	-4.711339614480997e-18	1.041106569481545e-18	5.531492667506762e-18	5.033143538121358e-18	2.462921959035837e-19	-6.18447986821699e-18	-7.965241495199993e-18	-1.610667563645991e-18	-2.838133376313271e-18	-6.520289895500982e-19	9.023190515268243e-19	5.504251646731461e-20	4.941490981265588e-18	-1.482664425907586e-18	1.109050918079139e-17	2.190869861938094e-17	7.017103608389864e-18	5.735627141647336e-19	-5.040519429160835e-18	-2.739430938201885e-18	-1.774066968813188e-18	-1.549963239036809e-18	-2.108336142583963e-18	3.98141370334613e-33	
-OmegaX	4.1774251032926e-33	-6.55717218911017e-35	8.374392957380832e-19	3.099931341009523e-18	-8.067420886712803e-19	-5.041259684537232e-18	-5.227193563650155e-18	-2.728849795873088e-19	6.701558616007658e-18	7.797162089414058e-18	1.356032794654991e-18	2.023863142139531e-18	3.977423736575542e-19	-4.824862812479262e-19	-2.658188568878418e-20	-2.217581690170697e-18	6.32862428963898e-19	-4.581718312909793e-18	-8.872505617630469e-18	-2.81302828514439e-18	-2.294808730563963e-19	2.028731332822378e-18	1.118971416672318e-18	7.435995649689649e-19	6.766547190816817e-19	9.782910678490944e-19	-2.015594481729419e-33	
-OmegaY	3.2613995704322e-33	1.018237677662503e-33	4.565946356339673e-18	-6.773671831547729e-18	6.96971396967019e-18	1.413464706451426e-18	-1.753677347313919e-17	1.916199595159363e-18	-1.117940910219946e-17	5.17174450228052e-18	6.338452613980227e-18	7.910698934525999e-18	1.268171092958471e-17	2.109247091909012e-18	1.721379896863637e-18	2.4078405949697e-18	-4.795717622317074e-18	6.377925149028722e-18	-1.290446626916604e-17	1.156381195109567e-17	-4.4883814837591e-18	-6.559624637462693e-20	-4.851027796569665e-18	-2.488327363664663e-18	3.511190071193033e-19	-3.920620613010258e-18	-5.048654922470436e-33	
-OmegaZ	4.7241180434735e-49	2.263889368321221e-50	2.036602951021264e-34	4.706027263946844e-35	1.31982624464979e-34	-2.270276153707212e-34	-5.884829601504547e-34	3.538368458373107e-35	-1.503447397362483e-34	6.630301879463552e-35	8.849562147206428e-35	8.259112599833069e-35	2.015508774665848e-34	5.993165033085055e-35	2.975599315547412e-35	1.287171822855593e-34	-8.669262582472661e-35	1.645088692676566e-34	-9.478325805901336e-35	1.023735538931261e-34	-5.59389653050746e-35	8.031042076622841e-35	-2.055882092694356e-35	7.976958662975437e-37	6.30140807139875e-35	-1.598556010827311e-35	-3.27654773676201e-49	
-AX	-6.812126218695586e-66	4.961732038475698e-15	2.521786378228209e-15	-1.015235077023056e-15	-4.592377161599154e-15	-7.490115357686086e-15	-9.40231939159177e-15	-1.023164840500096e-14	-9.954701097749729e-15	-8.578243119109664e-15	-6.152586148870166e-15	-2.855465498280036e-15	8.221399689251702e-16	3.940376031059123e-15	5.533443645509853e-15	5.501244515168577e-15	4.615670632572804e-15	3.641142606574001e-15	2.922702264406403e-15	2.530814217873633e-15	2.453925996935757e-15	2.686232802705524e-15	3.241846436019001e-15	4.108665602620712e-15	5.108170140638827e-15	5.682797979197349e-15	4.961732038475731e-15	
-AY	8.725440246809593e-66	24.65727399679046	12.53199028225812	-5.045199795392535	-22.8217689089354	-37.22204770630297	-46.72472508512102	-50.84606669699109	-49.46978003245269	-42.62948691278975	-30.575210689563	-14.1902050803015	4.085615732632046	19.58165630364406	27.49838867861375	27.3383754467169	22.93752556239431	18.09461901922138	14.52433746636758	12.5768540342727	12.19475884733202	13.34920501991167	16.11032099448002	20.41796951939593	25.38499657040116	28.24060343341759	24.65727399679042	
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-RevoluteJointSeries	/Assembly1/Joint1
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-RevoluteJointSeries	/Assembly1/Joint2
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-RevoluteJointSeries	/Assembly1/Joint3
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-CylindricalJointSeries	/Assembly1/Joint4
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+RevoluteJointSeries	/Assembly1/Revolute
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+FYonI	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	
+FZonI	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	
+TXonI	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	
+TYonI	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	
+TZonI	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	
+RotationalMotionSeries	/Assembly1/Rotation
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+FYonI	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	
+FZonI	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	
+TXonI	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	
+TYonI	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	
+TZonI	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	
diff --git a/testapp/CylSphJt.asmt b/testapp/CylSphJt.asmt
new file mode 100644
index 0000000..d05744a
--- /dev/null
+++ b/testapp/CylSphJt.asmt
@@ -0,0 +1,202 @@
+OndselSolver
+Assembly
+	Notes
+		(Text string: '' runs: (Core.RunArray runs: #() values: #()))
+	Name
+		OndselAssembly
+	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
+						marker-part32#Body001
+					Position3D
+						-50.97707939147949	-6.651639938354492	5.976193904876709	
+					RotationMatrix
+						1	0	0	
+						0	1	0	
+						0	0	1	
+	RefCurves
+	RefSurfaces
+	Parts
+		Part
+			Name
+				part32#Body001
+			Position3D
+				-50.97707939147949	-6.651639938354492	5.976193904876709	
+			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	1	1	
+				Density
+					1
+			RefPoints
+				RefPoint
+					Position3D
+						0	0	0	
+					RotationMatrix
+						1	0	0	
+						0	1	0	
+						0	0	1	
+					Markers
+						Marker
+							Name
+								FixingMarker
+							Position3D
+								0	0	0	
+							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
+								part32#Distance
+							Position3D
+								24.73092618997876	13.40888489553289	5	
+							RotationMatrix
+								1	0	0	
+								0	1	0	
+								0	0	1	
+			RefCurves
+			RefSurfaces
+		Part
+			Name
+				part32#Body002
+			Position3D
+				58.55961227416992	25.54718399047852	23.1300048828125	
+			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	1	1	
+				Density
+					1
+			RefPoints
+				RefPoint
+					Position3D
+						0	0	0	
+					RotationMatrix
+						1	0	0	
+						0	1	0	
+						0	0	1	
+					Markers
+						Marker
+							Name
+								part32#Distance
+							Position3D
+								-22.68139865429635	-16.64244751954205	5	
+							RotationMatrix
+								1	0	0	
+								0	1	0	
+								0	0	1	
+			RefCurves
+			RefSurfaces
+	KinematicIJs
+	ConstraintSets
+		Joints
+			FixedJoint
+				Name
+					part32#GroundedJoint
+				MarkerI
+					/OndselAssembly/marker-part32#Body001
+				MarkerJ
+					/OndselAssembly/part32#Body001/FixingMarker
+			CylSphJoint
+				Name
+					part32#CylSphJoint
+				MarkerI
+					/OndselAssembly/part32#Body001/part32#Distance
+				MarkerJ
+					/OndselAssembly/part32#Body002/part32#Distance
+				distanceIJ
+					2
+		Motions
+		GeneralConstraintSets
+	ForceTorques
+	ConstantGravity
+		0	0	0	
+	SimulationParameters
+		tstart
+			0
+		tend
+			1
+		hmin
+			1e-09
+		hmax
+			1000000000
+		hout
+			0.1
+		errorTol
+			1e-06
+	AnimationParameters
+		nframe
+			1000000
+		icurrent
+			1
+		istart
+			1
+		iend
+			1000000
+		isForward
+			true
+		framesPerSecond
+			30
diff --git a/testapp/OndselSolver.cpp b/testapp/OndselSolver.cpp
index aade7e6..2c194a6 100644
--- a/testapp/OndselSolver.cpp
+++ b/testapp/OndselSolver.cpp
@@ -26,6 +26,9 @@ void sharedptrTest();
 
 int main()
 {
+	ASMTAssembly::runFile("../testapp/RevCylJt.asmt");
+	ASMTAssembly::runFile("../testapp/CylSphJt.asmt");
+	ASMTAssembly::runFile("../testapp/SphSphJt.asmt");
 	//MBDynSystem::runFile("../testapp/MBDynCase(Cosine-half drive).mbd");
 	//MBDynSystem::runFile("../testapp/MBDynCase(Sine-forever drive).mbd");
 	MBDynSystem::runFile("../testapp/MBDynCase9orig.mbd");	//SimulationStoppingError
diff --git a/testapp/RevCylJt.asmt b/testapp/RevCylJt.asmt
new file mode 100644
index 0000000..6060d04
--- /dev/null
+++ b/testapp/RevCylJt.asmt
@@ -0,0 +1,202 @@
+OndselSolver
+Assembly
+	Notes
+		(Text string: '' runs: (Core.RunArray runs: #() values: #()))
+	Name
+		OndselAssembly
+	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
+						marker-part32#Body001
+					Position3D
+						-50.97707939147949	-6.651639938354492	5.976193904876709	
+					RotationMatrix
+						1	0	0	
+						0	1	0	
+						0	0	1	
+	RefCurves
+	RefSurfaces
+	Parts
+		Part
+			Name
+				part32#Body001
+			Position3D
+				-50.97707939147949	-6.651639938354492	5.976193904876709	
+			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	1	1	
+				Density
+					1
+			RefPoints
+				RefPoint
+					Position3D
+						0	0	0	
+					RotationMatrix
+						1	0	0	
+						0	1	0	
+						0	0	1	
+					Markers
+						Marker
+							Name
+								FixingMarker
+							Position3D
+								0	0	0	
+							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
+								part32#Distance
+							Position3D
+								24.73092618997876	13.40888489553289	5	
+							RotationMatrix
+								1	0	0	
+								0	1	0	
+								0	0	1	
+			RefCurves
+			RefSurfaces
+		Part
+			Name
+				part32#Body002
+			Position3D
+				58.55961227416992	25.54718399047852	23.1300048828125	
+			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	1	1	
+				Density
+					1
+			RefPoints
+				RefPoint
+					Position3D
+						0	0	0	
+					RotationMatrix
+						1	0	0	
+						0	1	0	
+						0	0	1	
+					Markers
+						Marker
+							Name
+								part32#Distance
+							Position3D
+								-22.68139865429635	-16.64244751954205	5	
+							RotationMatrix
+								1	0	0	
+								0	1	0	
+								0	0	1	
+			RefCurves
+			RefSurfaces
+	KinematicIJs
+	ConstraintSets
+		Joints
+			FixedJoint
+				Name
+					part32#GroundedJoint
+				MarkerI
+					/OndselAssembly/marker-part32#Body001
+				MarkerJ
+					/OndselAssembly/part32#Body001/FixingMarker
+			RevCylJoint
+				Name
+					part32#RevCylJoint
+				MarkerI
+					/OndselAssembly/part32#Body001/part32#Distance
+				MarkerJ
+					/OndselAssembly/part32#Body002/part32#Distance
+				distanceIJ
+					2
+		Motions
+		GeneralConstraintSets
+	ForceTorques
+	ConstantGravity
+		0	0	0	
+	SimulationParameters
+		tstart
+			0
+		tend
+			1
+		hmin
+			1e-09
+		hmax
+			1000000000
+		hout
+			0.1
+		errorTol
+			1e-06
+	AnimationParameters
+		nframe
+			1000000
+		icurrent
+			1
+		istart
+			1
+		iend
+			1000000
+		isForward
+			true
+		framesPerSecond
+			30
diff --git a/testapp/SphSphJt.asmt b/testapp/SphSphJt.asmt
new file mode 100644
index 0000000..cdf1bc9
--- /dev/null
+++ b/testapp/SphSphJt.asmt
@@ -0,0 +1,202 @@
+OndselSolver
+Assembly
+	Notes
+		(Text string: '' runs: (Core.RunArray runs: #() values: #()))
+	Name
+		OndselAssembly
+	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
+						marker-part32#Body001
+					Position3D
+						-50.97707939147949	-6.651639938354492	5.976193904876709	
+					RotationMatrix
+						1	0	0	
+						0	1	0	
+						0	0	1	
+	RefCurves
+	RefSurfaces
+	Parts
+		Part
+			Name
+				part32#Body001
+			Position3D
+				-50.97707939147949	-6.651639938354492	5.976193904876709	
+			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	1	1	
+				Density
+					1
+			RefPoints
+				RefPoint
+					Position3D
+						0	0	0	
+					RotationMatrix
+						1	0	0	
+						0	1	0	
+						0	0	1	
+					Markers
+						Marker
+							Name
+								FixingMarker
+							Position3D
+								0	0	0	
+							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
+								part32#Distance
+							Position3D
+								24.73092618997876	13.40888489553289	5	
+							RotationMatrix
+								1	0	0	
+								0	1	0	
+								0	0	1	
+			RefCurves
+			RefSurfaces
+		Part
+			Name
+				part32#Body002
+			Position3D
+				58.55961227416992	25.54718399047852	23.1300048828125	
+			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	1	1	
+				Density
+					1
+			RefPoints
+				RefPoint
+					Position3D
+						0	0	0	
+					RotationMatrix
+						1	0	0	
+						0	1	0	
+						0	0	1	
+					Markers
+						Marker
+							Name
+								part32#Distance
+							Position3D
+								-22.68139865429635	-16.64244751954205	5	
+							RotationMatrix
+								1	0	0	
+								0	1	0	
+								0	0	1	
+			RefCurves
+			RefSurfaces
+	KinematicIJs
+	ConstraintSets
+		Joints
+			FixedJoint
+				Name
+					part32#GroundedJoint
+				MarkerI
+					/OndselAssembly/marker-part32#Body001
+				MarkerJ
+					/OndselAssembly/part32#Body001/FixingMarker
+			SphSphJoint
+				Name
+					part32#SphSphJoint
+				MarkerI
+					/OndselAssembly/part32#Body001/part32#Distance
+				MarkerJ
+					/OndselAssembly/part32#Body002/part32#Distance
+				distanceIJ
+					2
+		Motions
+		GeneralConstraintSets
+	ForceTorques
+	ConstantGravity
+		0	0	0	
+	SimulationParameters
+		tstart
+			0
+		tend
+			1
+		hmin
+			1e-09
+		hmax
+			1000000000
+		hout
+			0.1
+		errorTol
+			1e-06
+	AnimationParameters
+		nframe
+			1000000
+		icurrent
+			1
+		istart
+			1
+		iend
+			1000000
+		isForward
+			true
+		framesPerSecond
+			30
diff --git a/testapp/part32.asmt b/testapp/part32.asmt
new file mode 100644
index 0000000..01de8d1
--- /dev/null
+++ b/testapp/part32.asmt
@@ -0,0 +1,200 @@
+OndselSolver
+Assembly
+	Notes
+		(Text string: '' runs: (Core.RunArray runs: #() values: #()))
+	Name
+		OndselAssembly
+	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
+						marker-part32#Body001
+					Position3D
+						-50.97707939147949	-6.651639938354492	5.976193904876709	
+					RotationMatrix
+						1	0	0	
+						0	1	0	
+						0	0	1	
+	RefCurves
+	RefSurfaces
+	Parts
+		Part
+			Name
+				part32#Body001
+			Position3D
+				-50.97707939147949	-6.651639938354492	5.976193904876709	
+			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	1	1	
+				Density
+					1
+			RefPoints
+				RefPoint
+					Position3D
+						0	0	0	
+					RotationMatrix
+						1	0	0	
+						0	1	0	
+						0	0	1	
+					Markers
+						Marker
+							Name
+								FixingMarker
+							Position3D
+								0	0	0	
+							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
+								part32#Slider
+							Position3D
+								15.997032	-6.973144	5	
+							RotationMatrix
+								1	0	0	
+								0	1	0	
+								0	0	1	
+			RefCurves
+			RefSurfaces
+		Part
+			Name
+				part32#Body002
+			Position3D
+				-52.32045548863208	-15.58438009010746	23.1300048828125	
+			RotationMatrix
+				0.8660254037844387	-0.4999999999999999	0	
+				0.4999999999999999	0.8660254037844387	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	1	1	
+				Density
+					1
+			RefPoints
+				RefPoint
+					Position3D
+						0	0	0	
+					RotationMatrix
+						1	0	0	
+						0	1	0	
+						0	0	1	
+					Markers
+						Marker
+							Name
+								part32#Slider
+							Position3D
+								15.997032	-6.973144000000001	5	
+							RotationMatrix
+								-0.8660254037844388	-0.4999999999999999	0	
+								0.4999999999999999	-0.8660254037844388	0	
+								0	0	1	
+			RefCurves
+			RefSurfaces
+	KinematicIJs
+	ConstraintSets
+		Joints
+			FixedJoint
+				Name
+					part32#GroundedJoint
+				MarkerI
+					/OndselAssembly/marker-part32#Body001
+				MarkerJ
+					/OndselAssembly/part32#Body001/FixingMarker
+			TranslationalJoint
+				Name
+					part32#TranJoint
+				MarkerI
+					/OndselAssembly/part32#Body001/part32#Slider
+				MarkerJ
+					/OndselAssembly/part32#Body002/part32#Slider
+		Motions
+		GeneralConstraintSets
+	ForceTorques
+	ConstantGravity
+		0	0	0	
+	SimulationParameters
+		tstart
+			0
+		tend
+			1
+		hmin
+			1e-09
+		hmax
+			1000000000
+		hout
+			0.1
+		errorTol
+			1e-06
+	AnimationParameters
+		nframe
+			1000000
+		icurrent
+			1
+		istart
+			1
+		iend
+			1000000
+		isForward
+			true
+		framesPerSecond
+			30