diff --git a/OndselSolver/ASMTGeneralMotion.cpp b/OndselSolver/ASMTGeneralMotion.cpp
index cd14528..e6aa45d 100644
--- a/OndselSolver/ASMTGeneralMotion.cpp
+++ b/OndselSolver/ASMTGeneralMotion.cpp
@@ -69,7 +69,12 @@ void MbD::ASMTGeneralMotion::readRotationOrder(std::vector<std::string>& lines)
 {
 	assert(lines[0].find("RotationOrder") != std::string::npos);
 	lines.erase(lines.begin());
-	rotationOrder = readString(lines[0]);
+	std::istringstream iss(lines[0]);
+	rotationOrder = std::make_shared<std::vector<int>>();
+	int i;
+	while (iss >> i) {
+		rotationOrder->push_back(i);
+	}
 	lines.erase(lines.begin());
 }
 
@@ -137,15 +142,7 @@ void MbD::ASMTGeneralMotion::createMbD(std::shared_ptr<System> mbdSys, std::shar
 
 	auto xyzRotBlkList = std::initializer_list<Symsptr>{ phiBlk, theBlk, psiBlk };
 	auto fangIJJ = std::make_shared<EulerAngles<Symsptr>>(xyzRotBlkList);
-	std::istringstream iss(rotationOrder);
-	auto rotOrder = std::make_shared<FullColumn<int>>();
-	int order;
-	for (int i = 0; i < 3; i++)
-	{
-		iss >> order;
-		rotOrder->push_back(order);
-	}
-	fangIJJ->rotOrder = rotOrder;
+	fangIJJ->rotOrder = rotationOrder;
 	fullMotion->fangIJJ = fangIJJ;
 }
 
diff --git a/OndselSolver/ASMTGeneralMotion.h b/OndselSolver/ASMTGeneralMotion.h
index a2c4fdb..f87c7ec 100644
--- a/OndselSolver/ASMTGeneralMotion.h
+++ b/OndselSolver/ASMTGeneralMotion.h
@@ -24,8 +24,9 @@ namespace MbD {
         void storeOnLevel(std::ofstream& os, int level) override;
         void storeOnTimeSeries(std::ofstream& os) override;
 
-        std::shared_ptr<FullColumn<std::string>> rIJI, angIJJ;
-        std::string rotationOrder;
+        std::shared_ptr<FullColumn<std::string>> rIJI = std::make_shared<FullColumn<std::string>>(3);
+        std::shared_ptr<FullColumn<std::string>> angIJJ = std::make_shared<FullColumn<std::string>>(3);
+        std::shared_ptr<std::vector<int>> rotationOrder = std::make_shared<std::vector<int>>(std::initializer_list<int>{ 1, 2, 3 });
 
     };
 }
diff --git a/OndselSolver/Arguments.cpp b/OndselSolver/Arguments.cpp
new file mode 100644
index 0000000..3fb5d60
--- /dev/null
+++ b/OndselSolver/Arguments.cpp
@@ -0,0 +1,21 @@
+/***************************************************************************
+ *   Copyright (c) 2023 Ondsel, Inc.                                       *
+ *                                                                         *
+ *   This file is part of OndselSolver.                                    *
+ *                                                                         *
+ *   See LICENSE file for details about copyright.                         *
+ ***************************************************************************/
+
+#include <algorithm>
+#include <iterator>
+
+#include "Arguments.h"
+
+using namespace MbD;
+
+
+void MbD::Arguments::arguments(Symsptr args)
+{
+	auto arguments = std::static_pointer_cast<Arguments>(args);
+	terms = arguments->terms;
+}
diff --git a/OndselSolver/Arguments.h b/OndselSolver/Arguments.h
new file mode 100644
index 0000000..61fb903
--- /dev/null
+++ b/OndselSolver/Arguments.h
@@ -0,0 +1,19 @@
+/***************************************************************************
+ *   Copyright (c) 2023 Ondsel, Inc.                                       *
+ *                                                                         *
+ *   This file is part of OndselSolver.                                    *
+ *                                                                         *
+ *   See LICENSE file for details about copyright.                         *
+ ***************************************************************************/
+
+#pragma once
+
+#include "FunctionWithManyArgs.h"
+
+namespace MbD {
+	class Arguments : public FunctionWithManyArgs
+	{
+	public:
+		void arguments(Symsptr args) override;
+	};
+}
diff --git a/OndselSolver/Array.h b/OndselSolver/Array.h
index 58198eb..39eccad 100644
--- a/OndselSolver/Array.h
+++ b/OndselSolver/Array.h
@@ -33,6 +33,7 @@ namespace MbD {
 		Array(std::initializer_list<T> list) : std::vector<T>{ list } {}
 		virtual ~Array() {}
 		virtual void initialize();
+		static bool equaltol(double x, double xx, double tol);
 		void copyFrom(std::shared_ptr<Array<T>> x);
 		virtual void zeroSelf();
 		virtual double sumOfSquares() = 0;
@@ -63,6 +64,11 @@ namespace MbD {
 	inline void Array<T>::initialize()
 	{
 	}
+	template<>
+	inline bool Array<double>::equaltol(double x, double xx, double tol)
+	{
+		return std::abs(x - xx) < tol;
+	}
 	template<typename T>
 	inline void Array<T>::copyFrom(std::shared_ptr<Array<T>> x)
 	{
diff --git a/OndselSolver/EulerAngles.h b/OndselSolver/EulerAngles.h
index a5e1502..65e05b4 100644
--- a/OndselSolver/EulerAngles.h
+++ b/OndselSolver/EulerAngles.h
@@ -32,7 +32,7 @@ namespace MbD {
 		std::shared_ptr<EulerAnglesDot<T>> differentiateWRT(T var);
 		void setRotOrder(int i, int j, int k);
 
-		std::shared_ptr<FullColumn<int>> rotOrder;
+		std::shared_ptr<std::vector<int>> rotOrder;
 		FColFMatDsptr cA;
 		FMatDsptr aA;
 
@@ -106,7 +106,7 @@ namespace MbD {
 	template<typename T>
 	inline void EulerAngles<T>::setRotOrder(int i, int j, int k)
 	{
-		rotOrder = std::make_shared<FullColumn<int>>(3);
+		rotOrder = std::make_shared<std::vector<int>>(3);
 		rotOrder->at(0) = i;
 		rotOrder->at(1) = j;
 		rotOrder->at(2) = k;
diff --git a/OndselSolver/FullMatrix.h b/OndselSolver/FullMatrix.h
index cfbcea2..958e2ab 100644
--- a/OndselSolver/FullMatrix.h
+++ b/OndselSolver/FullMatrix.h
@@ -104,6 +104,7 @@ namespace MbD {
 		FColsptr<T> bryantAngles();
 		bool isDiagonal();
 		bool isDiagonalToWithin(double ratio);
+		bool equaltol(FMatsptr<T> mat, double ratio);
 		std::shared_ptr<DiagonalMatrix<T>> asDiagonalMatrix();
 		void conditionSelfWithTol(double tol);
 
@@ -703,6 +704,22 @@ namespace MbD {
 		}
 	}
 	template<typename T>
+	inline bool FullMatrix<T>::equaltol(FMatsptr<T> mat2, double tol)
+	{
+		if (this->size() != mat2->size()) return false;
+		for (size_t i = 0; i < this->size(); i++)
+		{
+			auto& rowi = this->at(i);
+			auto& rowi2 = mat2->at(i);
+			if (rowi->size() != rowi2->size()) return false;
+			for (size_t j = 0; j < rowi->size(); j++)
+			{
+				if (!Array<double>::equaltol((double)rowi->at(j), (double)rowi2->at(j), tol)) return false;
+			}
+		}
+		return true;
+	}
+	template<typename T>
 	inline std::shared_ptr<DiagonalMatrix<T>> FullMatrix<T>::asDiagonalMatrix()
 	{
 		int nrow = this->nrow();
diff --git a/OndselSolver/FunctionX.cpp b/OndselSolver/FunctionX.cpp
index 6a14800..7c4f683 100644
--- a/OndselSolver/FunctionX.cpp
+++ b/OndselSolver/FunctionX.cpp
@@ -9,6 +9,7 @@
 #include "FunctionX.h"
 #include "Constant.h"
 #include "Sum.h"
+#include "Arguments.h"
 
 using namespace MbD;
 
@@ -18,10 +19,9 @@ MbD::FunctionX::FunctionX(Symsptr arg) : xx(arg)
 
 void MbD::FunctionX::arguments(Symsptr args)
 {
-	//args is a Sum with "terms" containing the actual arguments
-	auto sum = std::static_pointer_cast<Sum>(args);
-	assert(sum->terms->size() == 1);
-	xx = sum->terms->front();
+	auto arguments = std::static_pointer_cast<Arguments>(args);
+	assert(arguments->terms->size() == 1);
+	xx = arguments->terms->front();
 }
 
 Symsptr MbD::FunctionX::copyWith(Symsptr)
diff --git a/OndselSolver/Functions.cpp b/OndselSolver/Functions.cpp
new file mode 100644
index 0000000..e256a83
--- /dev/null
+++ b/OndselSolver/Functions.cpp
@@ -0,0 +1,2 @@
+#include "Functions.h"
+
diff --git a/OndselSolver/Functions.h b/OndselSolver/Functions.h
new file mode 100644
index 0000000..3b8952c
--- /dev/null
+++ b/OndselSolver/Functions.h
@@ -0,0 +1,19 @@
+/***************************************************************************
+ *   Copyright (c) 2023 Ondsel, Inc.                                       *
+ *                                                                         *
+ *   This file is part of OndselSolver.                                    *
+ *                                                                         *
+ *   See LICENSE file for details about copyright.                         *
+ ***************************************************************************/
+
+#pragma once
+
+#include "Arguments.h"
+
+namespace MbD {
+	class Functions : public Arguments
+	{
+	public:
+
+	};
+}
diff --git a/OndselSolver/MBDynAxialRotationJoint.cpp b/OndselSolver/MBDynAxialRotationJoint.cpp
new file mode 100644
index 0000000..5795612
--- /dev/null
+++ b/OndselSolver/MBDynAxialRotationJoint.cpp
@@ -0,0 +1,37 @@
+/***************************************************************************
+ *   Copyright (c) 2023 Ondsel, Inc.                                       *
+ *                                                                         *
+ *   This file is part of OndselSolver.                                    *
+ *                                                                         *
+ *   See LICENSE file for details about copyright.                         *
+ ***************************************************************************/
+
+#include "MBDynAxialRotationJoint.h"
+#include "ASMTAssembly.h"
+#include "ASMTRevoluteJoint.h"
+#include "ASMTRotationalMotion.h"
+
+using namespace MbD;
+
+void MbD::MBDynAxialRotationJoint::parseMBDyn(std::string line)
+{
+	MBDynJoint::parseMBDyn(line);
+	readFunction(arguments);
+}
+
+void MbD::MBDynAxialRotationJoint::createASMT()
+{
+	MBDynJoint::createASMT();
+	auto asmtAsm = asmtAssembly();
+	asmtMotion = std::make_shared<ASMTRotationalMotion>();
+	asmtMotion->setName(name.append("Motion"));
+	asmtMotion->setMotionJoint(asmtItem->fullName(""));
+	asmtMotion->setRotationZ(asmtFormulaIntegral());
+	asmtAsm->addMotion(asmtMotion);
+	return;
+}
+
+std::shared_ptr<ASMTJoint> MbD::MBDynAxialRotationJoint::asmtClassNew()
+{
+	return std::make_shared<ASMTRevoluteJoint>();
+}
diff --git a/OndselSolver/MBDynAxialRotationJoint.h b/OndselSolver/MBDynAxialRotationJoint.h
new file mode 100644
index 0000000..d17a9f3
--- /dev/null
+++ b/OndselSolver/MBDynAxialRotationJoint.h
@@ -0,0 +1,26 @@
+/***************************************************************************
+ *   Copyright (c) 2023 Ondsel, Inc.                                       *
+ *                                                                         *
+ *   This file is part of OndselSolver.                                    *
+ *                                                                         *
+ *   See LICENSE file for details about copyright.                         *
+ ***************************************************************************/
+
+#pragma once
+#include "MBDynJoint.h"
+
+namespace MbD {
+    class ASMTJoint;
+    class ASMTRotationalMotion;
+
+    class MBDynAxialRotationJoint : public MBDynJoint
+    {
+    public:
+        void parseMBDyn(std::string line) override;
+        void createASMT() override;
+        std::shared_ptr<ASMTJoint> asmtClassNew() override;
+
+        std::shared_ptr<ASMTRotationalMotion> asmtMotion;
+    };
+
+}
\ No newline at end of file
diff --git a/OndselSolver/MBDynBody.cpp b/OndselSolver/MBDynBody.cpp
index 40ab5d0..cfbf8f5 100644
--- a/OndselSolver/MBDynBody.cpp
+++ b/OndselSolver/MBDynBody.cpp
@@ -16,31 +16,15 @@ void MbD::MBDynBody::initialize()
 void MbD::MBDynBody::parseMBDyn(std::string line)
 {
 	bodyString = line;
-	size_t previousPos = 0;
-	auto pos = line.find(":");
-	auto front = line.substr(previousPos, pos - previousPos);
-	assert(front.find("body") != 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());
-	iss = std::istringstream(arguments.at(0));
-	iss >> nodeName;
-	arguments.erase(arguments.begin());
+	arguments = collectArgumentsFor("body", line);
+	name = readStringOffTop(arguments);
+	nodeName = readStringOffTop(arguments);
+	//auto iss = std::istringstream(arguments.at(0));
+	//iss >> name;
+	//arguments.erase(arguments.begin());
+	//iss = std::istringstream(arguments.at(0));
+	//iss >> nodeName;
+	//arguments.erase(arguments.begin());
 	readMass(arguments);
 	rPcmP = readPosition(arguments);
 	readInertiaMatrix(arguments);
diff --git a/OndselSolver/MBDynClampJoint.cpp b/OndselSolver/MBDynClampJoint.cpp
new file mode 100644
index 0000000..514a24b
--- /dev/null
+++ b/OndselSolver/MBDynClampJoint.cpp
@@ -0,0 +1,50 @@
+/***************************************************************************
+ *   Copyright (c) 2023 Ondsel, Inc.                                       *
+ *                                                                         *
+ *   This file is part of OndselSolver.                                    *
+ *                                                                         *
+ *   See LICENSE file for details about copyright.                         *
+ ***************************************************************************/
+
+#include "MBDynClampJoint.h"
+#include "ASMTAssembly.h"
+#include "ASMTFixedJoint.h"
+
+using namespace MbD;
+
+void MbD::MBDynClampJoint::parseMBDyn(std::string statement)
+{
+	MBDynJoint::parseMBDyn(statement);
+	assert(joint_type == "clamp");
+	return;
+}
+
+void MbD::MBDynClampJoint::createASMT()
+{
+	MBDynJoint::createASMT();
+}
+
+void MbD::MBDynClampJoint::readMarkerI(std::vector<std::string>& args)
+{
+	//mkr1 should be on assembly which doesn't exist in MBDyn
+	//mkr2 is on the node
+	mkr1 = std::make_shared<MBDynMarker>();
+	mkr1->owner = this;
+	mkr1->nodeStr = "Assembly";
+	mkr1->rPmP = std::make_shared<FullColumn<double>>(3);
+	mkr1->aAPm = FullMatrix<double>::identitysptr(3);
+}
+
+void MbD::MBDynClampJoint::readMarkerJ(std::vector<std::string>& args)
+{
+	if (args.empty()) return;
+	mkr2 = std::make_shared<MBDynMarker>();
+	mkr2->owner = this;
+	mkr2->nodeStr = readStringOffTop(args);
+	mkr2->parseMBDynClamp(args);
+}
+
+std::shared_ptr<ASMTJoint> MbD::MBDynClampJoint::asmtClassNew()
+{
+	return std::make_shared<ASMTFixedJoint>();
+}
diff --git a/OndselSolver/MBDynClampJoint.h b/OndselSolver/MBDynClampJoint.h
new file mode 100644
index 0000000..b57cf3b
--- /dev/null
+++ b/OndselSolver/MBDynClampJoint.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 "MBDynJoint.h"
+
+namespace MbD {
+    class ASMTJoint;
+    
+    class MBDynClampJoint : public MBDynJoint
+    {
+    public:
+        void parseMBDyn(std::string line) override;
+        void createASMT() override;
+        void readMarkerI(std::vector<std::string>& args);
+        void readMarkerJ(std::vector<std::string>& args);
+        std::shared_ptr<ASMTJoint> asmtClassNew() override;
+    };
+}
\ No newline at end of file
diff --git a/OndselSolver/MBDynDrive.cpp b/OndselSolver/MBDynDrive.cpp
index f116f54..6ca485f 100644
--- a/OndselSolver/MBDynDrive.cpp
+++ b/OndselSolver/MBDynDrive.cpp
@@ -7,25 +7,7 @@ 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;
-		}
-	}
+	arguments = collectArgumentsFor("drive caller", line);
 	auto iss = std::istringstream(arguments.at(0));
 	iss >> name;
 	arguments.erase(arguments.begin());
@@ -41,11 +23,8 @@ void MbD::MBDynDrive::parseMBDyn(std::string line)
 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 str = readStringOffTop(args);
+	if (str == "ramp") {
 		std::string slope, initValue, initTime, finalTime;
 		slope = popOffTop(args);
 		initTime = popOffTop(args);
@@ -67,6 +46,100 @@ void MbD::MBDynDrive::readFunction(std::vector<std::string>& args)
 			<< initValue << " + " << slope << "*(" << finalTime << " - " << initTime << "))";
 		formula = ss.str();
 	}
+	else if (str == "cosine") {
+		std::string initial_time, angular_velocity, amplitude, number_of_cycles, initial_value;
+		initial_time = popOffTop(args);
+		angular_velocity = popOffTop(args);
+		amplitude = popOffTop(args);
+		number_of_cycles = popOffTop(args);
+		initial_value = popOffTop(args);
+		initial_time.erase(remove_if(initial_time.begin(), initial_time.end(), isspace), initial_time.end());
+		angular_velocity.erase(remove_if(angular_velocity.begin(), angular_velocity.end(), isspace), angular_velocity.end());
+		amplitude.erase(remove_if(amplitude.begin(), amplitude.end(), isspace), amplitude.end());
+		number_of_cycles.erase(remove_if(number_of_cycles.begin(), number_of_cycles.end(), isspace), number_of_cycles.end());
+		initial_value.erase(remove_if(initial_value.begin(), initial_value.end(), isspace), initial_value.end());
+		//f(t) = initial_value + amplitude * (1 ? cos (angular_velocity * (t ? initial_time)))
+
+		double nCycle;
+		if (number_of_cycles.find("forever") != std::string::npos) {
+			nCycle = 1.0e9;
+		}
+		else if (number_of_cycles.find("one") != std::string::npos) {
+			nCycle = 1.0;
+		}
+		else if (number_of_cycles.find("half") != std::string::npos) {
+			nCycle = 0.5;
+		}
+		else {
+			nCycle = stod(number_of_cycles);
+		}
+		double x0 = stod(initial_time);
+		double y0 = stod(initial_value);
+		double omega = stod(angular_velocity);
+		double amp = stod(amplitude);
+		double x1 = x0 + (2 * OS_M_PI * nCycle / omega);
+		double y1 = y0 + amp * (1.0 - std::cos(omega * (x1 - x0)));
+		double f1 = y0;
+		auto ss = std::stringstream();
+		ss << "(" << y0 << " + " << amp << "*(1.0 - cos(" << omega << "*(time - " << x0 << "))))";
+		std::string f2 = ss.str();
+		double f3 = y1;
+		double t1 = x0;
+		double t2 = x1;
+		ss = std::stringstream();
+		ss << "piecewise(time, functions(" << f1 << ", " << f2 << ", " << f3 << "), transitions(" << t1 << ", " << t2 << "))";
+		formula = ss.str();
+	}
+	else if (str == "sine") {
+		std::string initial_time, angular_velocity, amplitude, number_of_cycles, initial_value;
+		initial_time = popOffTop(args);
+		angular_velocity = popOffTop(args);
+		amplitude = popOffTop(args);
+		number_of_cycles = popOffTop(args);
+		initial_value = popOffTop(args);
+		initial_time.erase(remove_if(initial_time.begin(), initial_time.end(), isspace), initial_time.end());
+		angular_velocity.erase(remove_if(angular_velocity.begin(), angular_velocity.end(), isspace), angular_velocity.end());
+		amplitude.erase(remove_if(amplitude.begin(), amplitude.end(), isspace), amplitude.end());
+		number_of_cycles.erase(remove_if(number_of_cycles.begin(), number_of_cycles.end(), isspace), number_of_cycles.end());
+		initial_value.erase(remove_if(initial_value.begin(), initial_value.end(), isspace), initial_value.end());
+		//f(t) = initial_value + amplitude · sin (angular_velocity · (t − initial_time))
+
+		double nCycle;
+		if (number_of_cycles.find("forever") != std::string::npos) {
+			nCycle = 1.0e9;
+		}
+		else if (number_of_cycles.find("one") != std::string::npos) {
+			nCycle = 0.5;	//Different from cosine
+		}
+		else if (number_of_cycles.find("half") != std::string::npos) {
+			nCycle = 0.25;	//Different from cosine
+		}
+		else {
+			nCycle = stod(number_of_cycles);
+			if (nCycle < 0.0) {
+				nCycle -= 0.75;
+			}
+			else if (nCycle > 0.0) {
+				nCycle -= 0.5;
+			}
+		}
+		double x0 = stod(initial_time);
+		double y0 = stod(initial_value);
+		double omega = stod(angular_velocity);
+		double amp = stod(amplitude);
+		double x1 = x0 + (2 * OS_M_PI * nCycle / omega);
+		double y1 = y0 + amp * std::sin(omega * (x1 - x0));
+		double f1 = y0;
+		auto ss = std::stringstream();
+		ss << "(" << y0 << " + " << amp << "*sin(" << omega << "*(time - " << x0 << ")))";
+		std::string f2 = ss.str();
+		double f3 = y1;
+		double t1 = x0;
+		double t2 = x1;
+		ss = std::stringstream();
+		ss << "piecewise(time, functions(" << f1 << ", " << f2 << ", " << f3 << "), transitions(" << t1 << ", " << t2 << "))";
+		formula = ss.str();
+	}
 	else {
 		assert(false);
 	}
diff --git a/OndselSolver/MBDynDriveHingeJoint.cpp b/OndselSolver/MBDynDriveHingeJoint.cpp
new file mode 100644
index 0000000..06f10b9
--- /dev/null
+++ b/OndselSolver/MBDynDriveHingeJoint.cpp
@@ -0,0 +1,41 @@
+/***************************************************************************
+ *   Copyright (c) 2023 Ondsel, Inc.                                       *
+ *                                                                         *
+ *   This file is part of OndselSolver.                                    *
+ *                                                                         *
+ *   See LICENSE file for details about copyright.                         *
+ ***************************************************************************/
+
+#include "MBDynDriveHingeJoint.h"
+#include "ASMTMarker.h"
+#include "ASMTJoint.h"
+#include "ASMTRotationalMotion.h"
+#include "ASMTAssembly.h"
+
+using namespace MbD;
+
+void MbD::MBDynDriveHingeJoint::parseMBDyn(std::string line)
+{
+	MBDynJoint::parseMBDyn(line);
+	readFunction(arguments);
+}
+
+void MbD::MBDynDriveHingeJoint::createASMT()
+{
+	mkr1->createASMT();
+	if (mkr2) mkr2->createASMT();
+	auto asmtAsm = asmtAssembly();
+	auto asmtMotion = std::make_shared<ASMTRotationalMotion>();
+	asmtItem = asmtMotion;
+	asmtMotion->setName(name);
+	asmtMotion->setMarkerI(mkr1->asmtItem->fullName(""));
+	asmtMotion->setMarkerJ(mkr2->asmtItem->fullName(""));
+	asmtMotion->setRotationZ(formula);
+	asmtAsm->addMotion(asmtMotion);
+	return;
+}
+
+std::shared_ptr<ASMTJoint> MbD::MBDynDriveHingeJoint::asmtClassNew()
+{
+	return std::make_shared<ASMTJoint>();
+}
diff --git a/OndselSolver/MBDynDriveHingeJoint.h b/OndselSolver/MBDynDriveHingeJoint.h
new file mode 100644
index 0000000..388b442
--- /dev/null
+++ b/OndselSolver/MBDynDriveHingeJoint.h
@@ -0,0 +1,23 @@
+/***************************************************************************
+ *   Copyright (c) 2023 Ondsel, Inc.                                       *
+ *                                                                         *
+ *   This file is part of OndselSolver.                                    *
+ *                                                                         *
+ *   See LICENSE file for details about copyright.                         *
+ ***************************************************************************/
+
+#pragma once
+#include "MBDynJoint.h"
+
+namespace MbD {
+    class ASMTJoint;
+
+    class MBDynDriveHingeJoint : public MBDynJoint
+    {
+    public:
+        void parseMBDyn(std::string line) override;
+        void createASMT() override;
+        std::shared_ptr<ASMTJoint> asmtClassNew() override;
+    };
+
+}
\ No newline at end of file
diff --git a/OndselSolver/MBDynGravity.cpp b/OndselSolver/MBDynGravity.cpp
index 0fdbe45..0ee74b8 100644
--- a/OndselSolver/MBDynGravity.cpp
+++ b/OndselSolver/MBDynGravity.cpp
@@ -9,25 +9,7 @@ using namespace MbD;
 void MbD::MBDynGravity::parseMBDyn(std::string line)
 {
 	gravityString = line;
-	size_t previousPos = 0;
-	auto pos = line.find(":");
-	auto front = line.substr(previousPos, pos - previousPos);
-	assert(front.find("gravity") != 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;
-		}
-	}
+	arguments = collectArgumentsFor("gravity", line);
 	assert(arguments.at(0).find("uniform") != std::string::npos);
 	arguments.erase(arguments.begin());
 	gvec = readPosition(arguments);
diff --git a/OndselSolver/MBDynInLineJoint.cpp b/OndselSolver/MBDynInLineJoint.cpp
new file mode 100644
index 0000000..ef57b98
--- /dev/null
+++ b/OndselSolver/MBDynInLineJoint.cpp
@@ -0,0 +1,27 @@
+/***************************************************************************
+ *   Copyright (c) 2023 Ondsel, Inc.                                       *
+ *                                                                         *
+ *   This file is part of OndselSolver.                                    *
+ *                                                                         *
+ *   See LICENSE file for details about copyright.                         *
+ ***************************************************************************/
+
+#include "MBDynInLineJoint.h"
+#include "ASMTPointInLineJoint.h"
+
+using namespace MbD;
+
+void MbD::MBDynInLineJoint::parseMBDyn(std::string line)
+{
+	MBDynJoint::parseMBDyn(line);
+}
+
+void MbD::MBDynInLineJoint::createASMT()
+{
+	MBDynJoint::createASMT();
+}
+
+std::shared_ptr<ASMTJoint> MbD::MBDynInLineJoint::asmtClassNew()
+{
+	return std::make_shared<ASMTPointInLineJoint>();
+}
diff --git a/OndselSolver/MBDynInLineJoint.h b/OndselSolver/MBDynInLineJoint.h
new file mode 100644
index 0000000..4a4b785
--- /dev/null
+++ b/OndselSolver/MBDynInLineJoint.h
@@ -0,0 +1,22 @@
+/***************************************************************************
+ *   Copyright (c) 2023 Ondsel, Inc.                                       *
+ *                                                                         *
+ *   This file is part of OndselSolver.                                    *
+ *                                                                         *
+ *   See LICENSE file for details about copyright.                         *
+ ***************************************************************************/
+
+#pragma once
+#include "MBDynJoint.h"
+
+namespace MbD {
+	class ASMTJoint;
+
+	class MBDynInLineJoint : public MBDynJoint
+	{
+	public:
+		void parseMBDyn(std::string line) override;
+		void createASMT() override;
+		std::shared_ptr<ASMTJoint> asmtClassNew() override;
+	};
+}
diff --git a/OndselSolver/MBDynInPlaneJoint.cpp b/OndselSolver/MBDynInPlaneJoint.cpp
new file mode 100644
index 0000000..9ada014
--- /dev/null
+++ b/OndselSolver/MBDynInPlaneJoint.cpp
@@ -0,0 +1,27 @@
+/***************************************************************************
+ *   Copyright (c) 2023 Ondsel, Inc.                                       *
+ *                                                                         *
+ *   This file is part of OndselSolver.                                    *
+ *                                                                         *
+ *   See LICENSE file for details about copyright.                         *
+ ***************************************************************************/
+
+#include "MBDynInPlaneJoint.h"
+#include "ASMTPointInPlaneJoint.h"
+
+using namespace MbD;
+
+void MbD::MBDynInPlaneJoint::parseMBDyn(std::string line)
+{
+	MBDynJoint::parseMBDyn(line);
+}
+
+void MbD::MBDynInPlaneJoint::createASMT()
+{
+	MBDynJoint::createASMT();
+}
+
+std::shared_ptr<ASMTJoint> MbD::MBDynInPlaneJoint::asmtClassNew()
+{
+	return std::make_shared<ASMTPointInPlaneJoint>();
+}
diff --git a/OndselSolver/MBDynInPlaneJoint.h b/OndselSolver/MBDynInPlaneJoint.h
new file mode 100644
index 0000000..1706530
--- /dev/null
+++ b/OndselSolver/MBDynInPlaneJoint.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 "MBDynJoint.h"
+
+namespace MbD {
+    class ASMTJoint;
+
+    class MBDynInPlaneJoint : public MBDynJoint
+    {
+    public:
+        void parseMBDyn(std::string line) override;
+        void createASMT() override;
+        std::shared_ptr<ASMTJoint> asmtClassNew() override;
+
+    };
+}
+
diff --git a/OndselSolver/MBDynItem.cpp b/OndselSolver/MBDynItem.cpp
index 60e7ee8..1f3964b 100644
--- a/OndselSolver/MBDynItem.cpp
+++ b/OndselSolver/MBDynItem.cpp
@@ -263,7 +263,10 @@ FMatDsptr MbD::MBDynItem::readOrientation(std::vector<std::string>& args)
 		aAOf = readOrientation(args);
 	}
 	else if (str.find("position") != std::string::npos) {
-		//Do nothing
+		if (str.find("orientation") != std::string::npos) {
+			args.erase(args.begin());
+			aAOf = readOrientation(args);
+		}
 	}
 	else if (str.find("orientation") != std::string::npos) {
 		args.erase(args.begin());
@@ -283,7 +286,7 @@ FMatDsptr MbD::MBDynItem::readBasicOrientation(std::vector<std::string>& args)
 	if (str.find("euler") != std::string::npos) {
 		args.erase(args.begin());
 		auto euler = std::make_shared<EulerAngles<Symsptr>>();
-		euler->rotOrder = std::make_shared<FullColumn<int>>(std::initializer_list<int>{ 1, 2, 3 });
+		euler->rotOrder = std::make_shared<std::vector<int>>(std::initializer_list<int>{ 1, 2, 3 });
 		for (int i = 0; i < 3; i++)
 		{
 			auto userFunc = std::make_shared<BasicUserFunction>(popOffTop(args), 1.0);
@@ -432,6 +435,26 @@ std::string MbD::MBDynItem::readStringOffTop(std::vector<std::string>& args)
 	return str;
 }
 
+void MbD::MBDynItem::readName(std::vector<std::string>& args)
+{
+	name = readStringOffTop(args);
+}
+
+std::string MbD::MBDynItem::readJointTypeOffTop(std::vector<std::string>& args)
+{
+	auto ss = std::stringstream();
+	auto iss = std::istringstream(popOffTop(args));
+	std::string str;
+	iss >> str;
+	ss << str;
+	while (!iss.eof()) {
+		ss << ' ';
+		iss >> str;
+		ss << str;
+	}
+	return ss.str();
+}
+
 std::string MbD::MBDynItem::readToken(std::string& line)
 {
 	auto iss = std::istringstream(line);
diff --git a/OndselSolver/MBDynItem.h b/OndselSolver/MBDynItem.h
index c8082ec..5745220 100644
--- a/OndselSolver/MBDynItem.h
+++ b/OndselSolver/MBDynItem.h
@@ -34,7 +34,7 @@ namespace MbD {
 		virtual void parseMBDyn(std::string line);
 		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);
+		static 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();
@@ -57,11 +57,14 @@ 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);
+		void readName(std::vector<std::string>& args);
+		std::string readJointTypeOffTop(std::vector<std::string>& args);
 		std::string readToken(std::string& line);
 
 		std::string name;
 		MBDynItem* owner = nullptr;
 		std::shared_ptr<ASMTItem> asmtItem;
+		std::vector<std::string> arguments;
 
 
 	};
diff --git a/OndselSolver/MBDynJoint.cpp b/OndselSolver/MBDynJoint.cpp
index 17a677e..fe8b22f 100644
--- a/OndselSolver/MBDynJoint.cpp
+++ b/OndselSolver/MBDynJoint.cpp
@@ -1,8 +1,17 @@
+/***************************************************************************
+ *   Copyright (c) 2023 Ondsel, Inc.                                       *
+ *                                                                         *
+ *   This file is part of OndselSolver.                                    *
+ *                                                                         *
+ *   See LICENSE file for details about copyright.                         *
+ ***************************************************************************/
+
 #include <regex>
 
 #include "MBDynJoint.h"
 #include "ASMTMarker.h"
 #include "ASMTPart.h"
+#include "ASMTJoint.h"
 #include "ASMTAssembly.h"
 #include "ASMTRevoluteJoint.h"
 #include "ASMTRotationalMotion.h"
@@ -10,9 +19,67 @@
 #include "ASMTNoRotationJoint.h"
 #include "ASMTFixedJoint.h"
 #include "ASMTSphericalJoint.h"
+#include "MBDynTotalJoint.h"
+#include "MBDynClampJoint.h"
+#include "MBDynAxialRotationJoint.h"
+#include "MBDynDriveHingeJoint.h"
+#include "MBDynInLineJoint.h"
+#include "MBDynInPlaneJoint.h"
+#include "MBDynPrismaticJoint.h"
+#include "MBDynRevoluteHingeJoint.h"
+#include "MBDynRevolutePinJoint.h"
+#include "MBDynSphericalHingeJoint.h"
 
 using namespace MbD;
 
+std::shared_ptr<MBDynJoint> MbD::MBDynJoint::newJoint(std::string statement)
+{
+	//std::shared_ptr<MBDynJoint> joint;
+	//std::vector<std::string> tokens{ "total", "joint" };
+	std::vector<std::string> tokens;
+	tokens = { "axial", "rotation" };
+	if (lineHasTokens(statement, tokens)) {
+		return std::make_shared<MBDynAxialRotationJoint>();
+	}
+	tokens = { "clamp" };
+	if (lineHasTokens(statement, tokens)) {
+		return std::make_shared<MBDynClampJoint>();
+	}
+	tokens = { "drive", "hinge" };
+	if (lineHasTokens(statement, tokens)) {
+		return std::make_shared<MBDynDriveHingeJoint>();
+	}
+	tokens = { "in", "line" };
+	if (lineHasTokens(statement, tokens)) {
+		return std::make_shared<MBDynInLineJoint>();
+	}
+	tokens = { "in", "plane" };
+	if (lineHasTokens(statement, tokens)) {
+		return std::make_shared<MBDynInPlaneJoint>();
+	}
+	tokens = { "prismatic" };
+	if (lineHasTokens(statement, tokens)) {
+		return std::make_shared<MBDynPrismaticJoint>();
+	}
+	tokens = { "revolute", "hinge" };
+	if (lineHasTokens(statement, tokens)) {
+		return std::make_shared<MBDynRevoluteHingeJoint>();
+	}
+	tokens = { "revolute", "pin" };
+	if (lineHasTokens(statement, tokens)) {
+		return std::make_shared<MBDynRevolutePinJoint>();
+	}
+	tokens = { "spherical", "hinge" };
+	if (lineHasTokens(statement, tokens)) {
+		return std::make_shared<MBDynSphericalHingeJoint>();
+	}
+	tokens = { "total", "joint" };
+	if (lineHasTokens(statement, tokens)) {
+		return std::make_shared<MBDynTotalJoint>();
+	}
+	return std::make_shared<MBDynJoint>();
+}
+
 void MbD::MBDynJoint::initialize()
 {
 }
@@ -20,120 +87,131 @@ void MbD::MBDynJoint::initialize()
 void MbD::MBDynJoint::parseMBDyn(std::string line)
 {
 	jointString = line;
-	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;
-	arguments.erase(arguments.begin());
-	iss = std::istringstream(arguments.at(0));
-	iss >> joint_type;
-	if (joint_type == "axial") {
-		ss << joint_type;
-		iss >> joint_type;
-		if (joint_type == "rotation") {
-			ss << " " << joint_type;
-			joint_type = ss.str();
-		}
-		else {
-			assert(false);
-		}
-		arguments.erase(arguments.begin());
-		readMarkerI(arguments);
-		readMarkerJ(arguments);
-		readFunction(arguments);
-		return;
-	}
-	else if (joint_type == "revolute") {
-		ss << joint_type;
-		iss >> joint_type;
-		if (joint_type == "hinge") {
-			ss << " " << joint_type;
-			joint_type = ss.str();
-		}
-		else {
-			assert(false);
-		}
-	}
-	else if (joint_type == "spherical") {
-		ss << joint_type;
-		iss >> joint_type;
-		if (joint_type == "hinge") {
-			ss << " " << joint_type;
-			joint_type = ss.str();
-		}
-		else {
-			assert(false);
-		}
-	}
-	else if (joint_type == "drive") {
-		ss << joint_type;
-		iss >> joint_type;
-		if (joint_type == "hinge") {
-			ss << " " << joint_type;
-			joint_type = ss.str();
-		}
-		else {
-			assert(false);
-		}
-		arguments.erase(arguments.begin());
-		readMarkerI(arguments);
-		readMarkerJ(arguments);
-		readFunction(arguments);
-		return;
-	}
-	else if (joint_type == "in") {
-		ss << joint_type;
-		iss >> joint_type;
-		if (joint_type == "line") {
-			ss << " " << joint_type;
-			joint_type = ss.str();
-		}
-		else {
-			assert(false);
-		}
-	}
-	else if (joint_type == "clamp") {
-		//mkr1 should be on assembly which doesn't exist in MBDyn
-		//mkr2 is on the node
-		arguments.erase(arguments.begin());
-		mkr1 = std::make_shared<MBDynMarker>();
-		mkr1->owner = this;
-		mkr1->nodeStr = "Assembly";
-		mkr1->rPmP = std::make_shared<FullColumn<double>>(3);
-		mkr1->aAPm = FullMatrix<double>::identitysptr(3);
-		readClampMarkerJ(arguments);
-		return;
-	}
-	else if (joint_type == "prismatic") {
-		noop();
-	}
-	else {
-		assert(false);
-	}
-	arguments.erase(arguments.begin());
+	arguments = collectArgumentsFor("joint", line);
+	readName(arguments);
+	readJointType(arguments);
 	readMarkerI(arguments);
 	readMarkerJ(arguments);
+
 }
 
+void MbD::MBDynJoint::readJointType(std::vector<std::string>& args)
+{
+	joint_type = readJointTypeOffTop(args);
+}
+
+//void MbD::MBDynJoint::parseMBDyn0(std::string line)
+//{
+//	jointString = line;
+//	arguments = collectArgumentsFor("joint", line);
+//	auto ss = std::stringstream();
+//	name = readStringOffTop(arguments);
+//	auto iss = std::istringstream(arguments.at(0));
+//	iss >> joint_type;
+//	if (joint_type == "axial") {
+//		ss << joint_type;
+//		iss >> joint_type;
+//		if (joint_type == "rotation") {
+//			ss << " " << joint_type;
+//			joint_type = ss.str();
+//		}
+//		else {
+//			assert(false);
+//		}
+//		arguments.erase(arguments.begin());
+//		readMarkerI(arguments);
+//		readMarkerJ(arguments);
+//		readFunction(arguments);
+//		return;
+//	}
+//	else if (joint_type == "revolute") {
+//		ss << joint_type;
+//		iss >> joint_type;
+//		if (joint_type == "hinge") {
+//			ss << " " << joint_type;
+//			joint_type = ss.str();
+//		}
+//		else {
+//			assert(false);
+//		}
+//	}
+//	else if (joint_type == "spherical") {
+//		ss << joint_type;
+//		iss >> joint_type;
+//		if (joint_type == "hinge") {
+//			ss << " " << joint_type;
+//			joint_type = ss.str();
+//		}
+//		else {
+//			assert(false);
+//		}
+//	}
+//	else if (joint_type == "drive") {
+//		ss << joint_type;
+//		iss >> joint_type;
+//		if (joint_type == "hinge") {
+//			ss << " " << joint_type;
+//			joint_type = ss.str();
+//		}
+//		else {
+//			assert(false);
+//		}
+//		arguments.erase(arguments.begin());
+//		readMarkerI(arguments);
+//		readMarkerJ(arguments);
+//		readFunction(arguments);
+//		return;
+//	}
+//	else if (joint_type == "in") {
+//		ss << joint_type;
+//		iss >> joint_type;
+//		if (joint_type == "line") {
+//			ss << " " << joint_type;
+//			joint_type = ss.str();
+//		}
+//		else {
+//			assert(false);
+//		}
+//	}
+//	else if (joint_type == "total") {
+//		ss << joint_type;
+//		iss >> joint_type;
+//		if (joint_type == "joint") {
+//			ss << " " << joint_type;
+//			joint_type = ss.str();
+//		}
+//		else {
+//			assert(false);
+//		}
+//		arguments.erase(arguments.begin());
+//		readTotalJointMarkerI(arguments);
+//		readTotalJointMarkerJ(arguments);
+//		readTotalJointFunction(arguments);
+//		return;
+//	}
+//	else if (joint_type == "clamp") {
+//		//mkr1 should be on assembly which doesn't exist in MBDyn
+//		//mkr2 is on the node
+//		arguments.erase(arguments.begin());
+//		mkr1 = std::make_shared<MBDynMarker>();
+//		mkr1->owner = this;
+//		mkr1->nodeStr = "Assembly";
+//		mkr1->rPmP = std::make_shared<FullColumn<double>>(3);
+//		mkr1->aAPm = FullMatrix<double>::identitysptr(3);
+//		readClampMarkerJ(arguments);
+//		return;
+//	}
+//	else if (joint_type == "prismatic") {
+//		noop();
+//	}
+//	else {
+//		assert(false);
+//	}
+//	arguments.erase(arguments.begin());
+//	readMarkerI(arguments);
+//	readMarkerJ(arguments);
+//}
+
 void MbD::MBDynJoint::readMarkerI(std::vector<std::string>& args)
 {
 	mkr1 = std::make_shared<MBDynMarker>();
@@ -161,6 +239,33 @@ void MbD::MBDynJoint::readMarkerJ(std::vector<std::string>& args)
 	mkr2->parseMBDyn(args);
 }
 
+void MbD::MBDynJoint::readTotalJointMarkerI(std::vector<std::string>& args)
+{
+	mkr1 = std::make_shared<MBDynMarker>();
+	mkr1->owner = this;
+	mkr1->nodeStr = readStringOffTop(args);
+	auto _nodeNames = nodeNames();
+	std::string nodeName;
+	auto it = std::find_if(args.begin(), args.end(), [&](const std::string& s) {
+		auto iss = std::istringstream(s);
+		iss >> nodeName;
+		if (std::find(_nodeNames.begin(), _nodeNames.end(), nodeName) != _nodeNames.end()) return true;
+		return false;
+		});
+	auto markerArgs = std::vector<std::string>(args.begin(), it);
+	args.erase(args.begin(), it);
+	mkr1->parseMBDynTotalJointMarker(markerArgs);
+}
+
+void MbD::MBDynJoint::readTotalJointMarkerJ(std::vector<std::string>& args)
+{
+	if (args.empty()) return;
+	mkr2 = std::make_shared<MBDynMarker>();
+	mkr2->owner = this;
+	mkr2->nodeStr = readStringOffTop(args);
+	mkr2->parseMBDynTotalJointMarker(args);
+}
+
 void MbD::MBDynJoint::readClampMarkerJ(std::vector<std::string>& args)
 {
 	if (args.empty()) return;
@@ -206,69 +311,106 @@ void MbD::MBDynJoint::readFunction(std::vector<std::string>& args)
 	}
 }
 
+void MbD::MBDynJoint::readTotalJointFunction(std::vector<std::string>& args)
+{
+	std::vector<std::string> tokens{ "position", "constraint" };
+	assert(lineHasTokens(args[0], tokens));
+	args.erase(args.begin());
+	assert(readStringOffTop(args) == "active");
+	assert(readStringOffTop(args) == "active");
+	assert(readStringOffTop(args) == "active");
+	assert(readStringOffTop(args) == "null");
+	std::vector<std::string> tokens1{ "orientation", "constraint" };
+	assert(lineHasTokens(args[0], tokens1));
+	args.erase(args.begin());
+	assert(readStringOffTop(args) == "active");
+	assert(readStringOffTop(args) == "active");
+	assert(readStringOffTop(args) == "rotation");
+	readFunction(args);
+}
+
 void MbD::MBDynJoint::createASMT()
 {
 	mkr1->createASMT();
 	if (mkr2) mkr2->createASMT();
-	std::shared_ptr<ASMTJoint> asmtJoint;
-	if (joint_type == "clamp") {
-		auto asmtAsm = asmtAssembly();
-		asmtJoint = std::make_shared<ASMTFixedJoint>();
-		asmtJoint->setName(name);
-		asmtJoint->setMarkerI(mkr1->asmtItem->fullName(""));
-		asmtJoint->setMarkerJ(mkr2->asmtItem->fullName(""));
-		asmtAsm->addJoint(asmtJoint);
-		return;
-	}
-	if (joint_type == "axial rotation") {
-		auto asmtAsm = asmtAssembly();
-		asmtJoint = std::make_shared<ASMTRevoluteJoint>();
-		asmtItem = asmtJoint;
-		asmtJoint->setName(name);
-		asmtJoint->setMarkerI(mkr1->asmtItem->fullName(""));
-		asmtJoint->setMarkerJ(mkr2->asmtItem->fullName(""));
-		asmtAsm->addJoint(asmtJoint);
-		auto asmtMotion = std::make_shared<ASMTRotationalMotion>();
-		asmtItem = asmtMotion;
-		asmtMotion->setName(name.append("Motion"));
-		asmtMotion->setMotionJoint(asmtJoint->fullName(""));
-		asmtMotion->setRotationZ(asmtFormulaIntegral());
-		asmtAsm->addMotion(asmtMotion);
-		return;
-	}
-	if (joint_type == "drive hinge") {
-		auto asmtAsm = asmtAssembly();
-		auto asmtMotion = std::make_shared<ASMTRotationalMotion>();
-		asmtItem = asmtMotion;
-		asmtMotion->setName(name);
-		asmtMotion->setMarkerI(mkr1->asmtItem->fullName(""));
-		asmtMotion->setMarkerJ(mkr2->asmtItem->fullName(""));
-		asmtMotion->setRotationZ(formula);
-		asmtAsm->addMotion(asmtMotion);
-		return;
-	}
-	if (joint_type == "revolute hinge") {
-		asmtJoint = std::make_shared<ASMTRevoluteJoint>();
-	}
-	else if (joint_type == "spherical hinge") {
-		asmtJoint = std::make_shared<ASMTSphericalJoint>();
-	}
-	else if (joint_type == "in line") {
-		asmtJoint = std::make_shared<ASMTPointInLineJoint>();
-	}
-	else if (joint_type == "prismatic") {
-		asmtJoint = std::make_shared<ASMTNoRotationJoint>();
-	}
-	else {
-		assert(false);
-	}
+	auto asmtAsm = asmtAssembly();
+	auto asmtJoint = asmtClassNew();
 	asmtItem = asmtJoint;
 	asmtJoint->setName(name);
 	asmtJoint->setMarkerI(mkr1->asmtItem->fullName(""));
 	asmtJoint->setMarkerJ(mkr2->asmtItem->fullName(""));
-	asmtAssembly()->addJoint(asmtJoint);
+	asmtAsm->addJoint(asmtJoint);
 }
 
+std::shared_ptr<ASMTJoint> MbD::MBDynJoint::asmtClassNew()
+{
+	assert(false);
+	return std::make_shared<ASMTJoint>();
+}
+
+//void MbD::MBDynJoint::createASMT()
+//{
+//	mkr1->createASMT();
+//	if (mkr2) mkr2->createASMT();
+//	std::shared_ptr<ASMTJoint> asmtJoint;
+//	if (joint_type == "clamp") {
+//		auto asmtAsm = asmtAssembly();
+//		asmtJoint = std::make_shared<ASMTFixedJoint>();
+//		asmtJoint->setName(name);
+//		asmtJoint->setMarkerI(mkr1->asmtItem->fullName(""));
+//		asmtJoint->setMarkerJ(mkr2->asmtItem->fullName(""));
+//		asmtAsm->addJoint(asmtJoint);
+//		return;
+//	}
+//	if (joint_type == "axial rotation") {
+//		auto asmtAsm = asmtAssembly();
+//		asmtJoint = std::make_shared<ASMTRevoluteJoint>();
+//		asmtItem = asmtJoint;
+//		asmtJoint->setName(name);
+//		asmtJoint->setMarkerI(mkr1->asmtItem->fullName(""));
+//		asmtJoint->setMarkerJ(mkr2->asmtItem->fullName(""));
+//		asmtAsm->addJoint(asmtJoint);
+//		auto asmtMotion = std::make_shared<ASMTRotationalMotion>();
+//		asmtItem = asmtMotion;
+//		asmtMotion->setName(name.append("Motion"));
+//		asmtMotion->setMotionJoint(asmtJoint->fullName(""));
+//		asmtMotion->setRotationZ(asmtFormulaIntegral());
+//		asmtAsm->addMotion(asmtMotion);
+//		return;
+//	}
+//	if (joint_type == "drive hinge") {
+//		auto asmtAsm = asmtAssembly();
+//		auto asmtMotion = std::make_shared<ASMTRotationalMotion>();
+//		asmtItem = asmtMotion;
+//		asmtMotion->setName(name);
+//		asmtMotion->setMarkerI(mkr1->asmtItem->fullName(""));
+//		asmtMotion->setMarkerJ(mkr2->asmtItem->fullName(""));
+//		asmtMotion->setRotationZ(formula);
+//		asmtAsm->addMotion(asmtMotion);
+//		return;
+//	}
+//	if (joint_type == "revolute hinge") {
+//		asmtJoint = std::make_shared<ASMTRevoluteJoint>();
+//	}
+//	else if (joint_type == "spherical hinge") {
+//		asmtJoint = std::make_shared<ASMTSphericalJoint>();
+//	}
+//	else if (joint_type == "in line") {
+//		asmtJoint = std::make_shared<ASMTPointInLineJoint>();
+//	}
+//	else if (joint_type == "prismatic") {
+//		asmtJoint = std::make_shared<ASMTNoRotationJoint>();
+//	}
+//	else {
+//		assert(false);
+//	}
+//	asmtItem = asmtJoint;
+//	asmtJoint->setName(name);
+//	asmtJoint->setMarkerI(mkr1->asmtItem->fullName(""));
+//	asmtJoint->setMarkerJ(mkr2->asmtItem->fullName(""));
+//	asmtAssembly()->addJoint(asmtJoint);
+//}
+
 std::string MbD::MBDynJoint::asmtFormula()
 {
 	auto ss = std::stringstream();
@@ -296,6 +438,33 @@ std::string MbD::MBDynJoint::asmtFormula()
 	return ss.str();
 }
 
+std::string MbD::MBDynJoint::asmtFormula(std::string mbdynFormula)
+{
+	auto ss = std::stringstream();
+	std::string drivestr = "model::drive";
+	size_t previousPos = 0;
+	auto pos = mbdynFormula.find(drivestr);
+	ss << mbdynFormula.substr(previousPos, pos - previousPos);
+	while (pos != std::string::npos) {
+		previousPos = pos;
+		pos = mbdynFormula.find('(', pos + 1);
+		previousPos = pos;
+		pos = mbdynFormula.find(',', pos + 1);
+		auto driveName = mbdynFormula.substr(previousPos + 1, pos - previousPos - 1);
+		driveName = readToken(driveName);
+		previousPos = pos;
+		pos = mbdynFormula.find(')', pos + 1);
+		auto varName = mbdynFormula.substr(previousPos + 1, pos - previousPos - 1);
+		varName = readToken(varName);
+		//Insert drive mbdynFormula
+		ss << formulaFromDrive(driveName, varName);
+		previousPos = pos;
+		pos = mbdynFormula.find(drivestr, pos + 1);
+		ss << mbdynFormula.substr(previousPos + 1, pos - previousPos);
+	}
+	return ss.str();
+}
+
 std::string MbD::MBDynJoint::asmtFormulaIntegral()
 {
 	auto ss = std::stringstream();
diff --git a/OndselSolver/MBDynJoint.h b/OndselSolver/MBDynJoint.h
index ccca9a1..c5b794a 100644
--- a/OndselSolver/MBDynJoint.h
+++ b/OndselSolver/MBDynJoint.h
@@ -11,20 +11,29 @@
 #include "MBDynMarker.h"
 
 namespace MbD {
+    class ASMTJoint;
+
     class MBDynJoint : public MBDynElement
     {
     public:
+        static std::shared_ptr<MBDynJoint> newJoint(std::string line);
         void initialize() override;
         void parseMBDyn(std::string line) override;
-        void readMarkerI(std::vector<std::string>& args);
-        void readMarkerJ(std::vector<std::string>& args);
+        virtual void readJointType(std::vector<std::string>& args);
+        virtual void readMarkerI(std::vector<std::string>& args);
+        virtual void readMarkerJ(std::vector<std::string>& args);
+        void readTotalJointMarkerI(std::vector<std::string>& args);
+        void readTotalJointMarkerJ(std::vector<std::string>& args);
         void readClampMarkerJ(std::vector<std::string>& args);
-        void readFunction(std::vector<std::string>& args);
+        virtual void readFunction(std::vector<std::string>& args);
+        void readTotalJointFunction(std::vector<std::string>& args);
         void createASMT() override;
+        virtual std::shared_ptr<ASMTJoint> asmtClassNew();
         std::string asmtFormula();
+        std::string asmtFormula(std::string mbdynFormula);
         std::string asmtFormulaIntegral();
 
-        std::string jointString, joint_type, node_1_label, node_2_label;
+        std::string jointString, joint_type;
         std::shared_ptr<MBDynMarker> mkr1, mkr2;
         std::string formula;
     };
diff --git a/OndselSolver/MBDynMarker.cpp b/OndselSolver/MBDynMarker.cpp
index 758933e..6101bce 100644
--- a/OndselSolver/MBDynMarker.cpp
+++ b/OndselSolver/MBDynMarker.cpp
@@ -32,6 +32,13 @@ void MbD::MBDynMarker::parseMBDyn(std::vector<std::string>& args)
 	}
 }
 
+void MbD::MBDynMarker::parseMBDynTotalJointMarker(std::vector<std::string>& args)
+{
+	parseMBDyn(args);
+	aAPm2 = readOrientation(args);
+	assert(aAPm->equaltol(aAPm2, 1.0e-9));
+}
+
 void MbD::MBDynMarker::parseMBDynClamp(std::vector<std::string>& args)
 {
 	//rOmO = rOPO + aAOP*rPmP
diff --git a/OndselSolver/MBDynMarker.h b/OndselSolver/MBDynMarker.h
index 307ca16..a69e0fc 100644
--- a/OndselSolver/MBDynMarker.h
+++ b/OndselSolver/MBDynMarker.h
@@ -15,11 +15,12 @@ namespace MbD {
 	{
 	public:
 		void parseMBDyn(std::vector<std::string>& args) override;
+		void parseMBDynTotalJointMarker(std::vector<std::string>& args);
 		void parseMBDynClamp(std::vector<std::string>& args);
 		void createASMT() override;
 
 		std::string nodeStr;
 		FColDsptr rPmP; //part to marker
-		FMatDsptr aAPm;
+		FMatDsptr aAPm, aAPm2;
 	};
 }
diff --git a/OndselSolver/MBDynPrismaticJoint.cpp b/OndselSolver/MBDynPrismaticJoint.cpp
new file mode 100644
index 0000000..49371dd
--- /dev/null
+++ b/OndselSolver/MBDynPrismaticJoint.cpp
@@ -0,0 +1,27 @@
+/***************************************************************************
+ *   Copyright (c) 2023 Ondsel, Inc.                                       *
+ *                                                                         *
+ *   This file is part of OndselSolver.                                    *
+ *                                                                         *
+ *   See LICENSE file for details about copyright.                         *
+ ***************************************************************************/
+
+#include "MBDynPrismaticJoint.h"
+#include "ASMTNoRotationJoint.h"
+
+using namespace MbD;
+
+void MbD::MBDynPrismaticJoint::parseMBDyn(std::string line)
+{
+	MBDynJoint::parseMBDyn(line);
+}
+
+void MbD::MBDynPrismaticJoint::createASMT()
+{
+	MBDynJoint::createASMT();
+}
+
+std::shared_ptr<ASMTJoint> MbD::MBDynPrismaticJoint::asmtClassNew()
+{
+	return std::make_shared<ASMTNoRotationJoint>();
+}
diff --git a/OndselSolver/MBDynPrismaticJoint.h b/OndselSolver/MBDynPrismaticJoint.h
new file mode 100644
index 0000000..f770d69
--- /dev/null
+++ b/OndselSolver/MBDynPrismaticJoint.h
@@ -0,0 +1,23 @@
+/***************************************************************************
+ *   Copyright (c) 2023 Ondsel, Inc.                                       *
+ *                                                                         *
+ *   This file is part of OndselSolver.                                    *
+ *                                                                         *
+ *   See LICENSE file for details about copyright.                         *
+ ***************************************************************************/
+
+#pragma once
+#include "MBDynJoint.h"
+
+namespace MbD {
+    class ASMTJoint;
+
+    class MBDynPrismaticJoint : public MBDynJoint
+    {
+    public:
+        void parseMBDyn(std::string line) override;
+        void createASMT() override;
+        std::shared_ptr<ASMTJoint> asmtClassNew() override;
+
+    };
+}
diff --git a/OndselSolver/MBDynReference.cpp b/OndselSolver/MBDynReference.cpp
index 2a9c3ed..0162a5d 100644
--- a/OndselSolver/MBDynReference.cpp
+++ b/OndselSolver/MBDynReference.cpp
@@ -12,25 +12,7 @@ void MbD::MBDynReference::initialize()
 void MbD::MBDynReference::parseMBDyn(std::string line)
 {
 	refString = line;
-	size_t previousPos = 0;
-	auto pos = line.find(":");
-	auto front = line.substr(previousPos, pos - previousPos);
-	assert(front.find("reference") != 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;
-		}
-	}
+	arguments = collectArgumentsFor("reference", line);
 	std::istringstream iss(arguments.at(0));
 	iss >> name;
 	arguments.erase(arguments.begin());
diff --git a/OndselSolver/MBDynRevoluteHingeJoint.cpp b/OndselSolver/MBDynRevoluteHingeJoint.cpp
new file mode 100644
index 0000000..2e23a44
--- /dev/null
+++ b/OndselSolver/MBDynRevoluteHingeJoint.cpp
@@ -0,0 +1,27 @@
+/***************************************************************************
+ *   Copyright (c) 2023 Ondsel, Inc.                                       *
+ *                                                                         *
+ *   This file is part of OndselSolver.                                    *
+ *                                                                         *
+ *   See LICENSE file for details about copyright.                         *
+ ***************************************************************************/
+
+#include "MBDynRevoluteHingeJoint.h"
+#include "ASMTRevoluteJoint.h"
+
+using namespace MbD;
+
+void MbD::MBDynRevoluteHingeJoint::parseMBDyn(std::string line)
+{
+	MBDynJoint::parseMBDyn(line);
+}
+
+void MbD::MBDynRevoluteHingeJoint::createASMT()
+{
+	MBDynJoint::createASMT();
+}
+
+std::shared_ptr<ASMTJoint> MbD::MBDynRevoluteHingeJoint::asmtClassNew()
+{
+	return std::make_shared<ASMTRevoluteJoint>();
+}
diff --git a/OndselSolver/MBDynRevoluteHingeJoint.h b/OndselSolver/MBDynRevoluteHingeJoint.h
new file mode 100644
index 0000000..c87e8a6
--- /dev/null
+++ b/OndselSolver/MBDynRevoluteHingeJoint.h
@@ -0,0 +1,23 @@
+/***************************************************************************
+ *   Copyright (c) 2023 Ondsel, Inc.                                       *
+ *                                                                         *
+ *   This file is part of OndselSolver.                                    *
+ *                                                                         *
+ *   See LICENSE file for details about copyright.                         *
+ ***************************************************************************/
+
+#pragma once
+#include "MBDynJoint.h"
+
+namespace MbD {
+    class ASMTJoint;
+
+    class MBDynRevoluteHingeJoint : public MBDynJoint
+    {
+    public:
+        void parseMBDyn(std::string line) override;
+        void createASMT() override;
+        std::shared_ptr<ASMTJoint> asmtClassNew() override;
+
+    };
+}
diff --git a/OndselSolver/MBDynRevolutePinJoint.cpp b/OndselSolver/MBDynRevolutePinJoint.cpp
new file mode 100644
index 0000000..ee00bb0
--- /dev/null
+++ b/OndselSolver/MBDynRevolutePinJoint.cpp
@@ -0,0 +1,28 @@
+/***************************************************************************
+ *   Copyright (c) 2023 Ondsel, Inc.                                       *
+ *                                                                         *
+ *   This file is part of OndselSolver.                                    *
+ *                                                                         *
+ *   See LICENSE file for details about copyright.                         *
+ ***************************************************************************/
+
+#include "MBDynRevolutePinJoint.h"
+#include "ASMTJoint.h"
+
+using namespace MbD;
+
+void MbD::MBDynRevolutePinJoint::parseMBDyn(std::string line)
+{
+	MBDynJoint::parseMBDyn(line);
+}
+
+void MbD::MBDynRevolutePinJoint::createASMT()
+{
+	MBDynJoint::createASMT();
+}
+
+std::shared_ptr<ASMTJoint> MbD::MBDynRevolutePinJoint::asmtClassNew()
+{
+	assert(false);
+	return std::make_shared<ASMTJoint>();
+}
diff --git a/OndselSolver/MBDynRevolutePinJoint.h b/OndselSolver/MBDynRevolutePinJoint.h
new file mode 100644
index 0000000..471cafd
--- /dev/null
+++ b/OndselSolver/MBDynRevolutePinJoint.h
@@ -0,0 +1,26 @@
+/***************************************************************************
+ *   Copyright (c) 2023 Ondsel, Inc.                                       *
+ *                                                                         *
+ *   This file is part of OndselSolver.                                    *
+ *                                                                         *
+ *   See LICENSE file for details about copyright.                         *
+ ***************************************************************************/
+
+#pragma once
+#include "MBDynJoint.h"
+
+namespace MbD {
+    class ASMTJoint;
+
+    class MBDynRevolutePinJoint : public MBDynJoint
+    {
+        //Note: this is equivalent to a revolute hinge (see Section 8.12.38) when one node is grounded.
+
+    public:
+        void parseMBDyn(std::string line) override;
+        void createASMT() override;
+        std::shared_ptr<ASMTJoint> asmtClassNew() override;
+
+    };
+}
+
diff --git a/OndselSolver/MBDynSphericalHingeJoint.cpp b/OndselSolver/MBDynSphericalHingeJoint.cpp
new file mode 100644
index 0000000..6fc1973
--- /dev/null
+++ b/OndselSolver/MBDynSphericalHingeJoint.cpp
@@ -0,0 +1,27 @@
+/***************************************************************************
+ *   Copyright (c) 2023 Ondsel, Inc.                                       *
+ *                                                                         *
+ *   This file is part of OndselSolver.                                    *
+ *                                                                         *
+ *   See LICENSE file for details about copyright.                         *
+ ***************************************************************************/
+
+#include "MBDynSphericalHingeJoint.h"
+#include "ASMTSphericalJoint.h"
+
+using namespace MbD;
+
+void MbD::MBDynSphericalHingeJoint::parseMBDyn(std::string line)
+{
+	MBDynJoint::parseMBDyn(line);
+}
+
+void MbD::MBDynSphericalHingeJoint::createASMT()
+{
+	MBDynJoint::createASMT();
+}
+
+std::shared_ptr<ASMTJoint> MbD::MBDynSphericalHingeJoint::asmtClassNew()
+{
+	return std::make_shared<ASMTSphericalJoint>();
+}
diff --git a/OndselSolver/MBDynSphericalHingeJoint.h b/OndselSolver/MBDynSphericalHingeJoint.h
new file mode 100644
index 0000000..d342b30
--- /dev/null
+++ b/OndselSolver/MBDynSphericalHingeJoint.h
@@ -0,0 +1,23 @@
+/***************************************************************************
+ *   Copyright (c) 2023 Ondsel, Inc.                                       *
+ *                                                                         *
+ *   This file is part of OndselSolver.                                    *
+ *                                                                         *
+ *   See LICENSE file for details about copyright.                         *
+ ***************************************************************************/
+
+#pragma once
+#include "MBDynJoint.h"
+
+namespace MbD {
+    class ASMTJoint;
+
+    class MBDynSphericalHingeJoint : public MBDynJoint
+    {
+    public:
+        void parseMBDyn(std::string line) override;
+        void createASMT() override;
+        std::shared_ptr<ASMTJoint> asmtClassNew() override;
+
+    };
+}
diff --git a/OndselSolver/MBDynStructural.cpp b/OndselSolver/MBDynStructural.cpp
index ab666d3..c1c8a94 100644
--- a/OndselSolver/MBDynStructural.cpp
+++ b/OndselSolver/MBDynStructural.cpp
@@ -20,25 +20,7 @@ MbD::MBDynStructural::MBDynStructural()
 void MbD::MBDynStructural::parseMBDyn(std::string line)
 {
 	strucString = line;
-	size_t previousPos = 0;
-	auto pos = line.find(":");
-	auto front = line.substr(previousPos, pos - previousPos);
-	assert(front.find("structural") != 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;
-		}
-	}
+	arguments = collectArgumentsFor("structural", line);
 	std::istringstream iss(arguments.at(0));
 	iss >> name;
 	arguments.erase(arguments.begin());
diff --git a/OndselSolver/MBDynSystem.cpp b/OndselSolver/MBDynSystem.cpp
index bcde364..ec20d9c 100644
--- a/OndselSolver/MBDynSystem.cpp
+++ b/OndselSolver/MBDynSystem.cpp
@@ -346,7 +346,8 @@ void MbD::MBDynSystem::parseMBDynElements(std::vector<std::string>& lines)
 		}
 		it = findLineWith(lines, jointTokens);
 		if (it != lines.end()) {
-			auto joint = std::make_shared<MBDynJoint>();
+			//auto joint = std::make_shared<MBDynJoint>();
+			auto joint = MBDynJoint::newJoint(*it);
 			joint->owner = this;
 			joint->parseMBDyn(*it);
 			joints->push_back(joint);
diff --git a/OndselSolver/MBDynTotalJoint.cpp b/OndselSolver/MBDynTotalJoint.cpp
new file mode 100644
index 0000000..2b8884f
--- /dev/null
+++ b/OndselSolver/MBDynTotalJoint.cpp
@@ -0,0 +1,123 @@
+/***************************************************************************
+ *   Copyright (c) 2023 Ondsel, Inc.                                       *
+ *                                                                         *
+ *   This file is part of OndselSolver.                                    *
+ *                                                                         *
+ *   See LICENSE file for details about copyright.                         *
+ ***************************************************************************/
+
+#include <regex>
+
+#include "MBDynTotalJoint.h"
+#include "ASMTAssembly.h"
+#include "ASMTJoint.h"
+#include "ASMTGeneralMotion.h"
+
+using namespace MbD;
+
+void MbD::MBDynTotalJoint::parseMBDyn(std::string statement)
+{
+	MBDynJoint::parseMBDyn(statement);
+	readPositionConstraints(arguments);
+	readOrientationConstraints(arguments);
+	return;
+}
+
+void MbD::MBDynTotalJoint::readMarkerI(std::vector<std::string>& args)
+{
+	mkr1 = std::make_shared<MBDynMarker>();
+	mkr1->owner = this;
+	mkr1->nodeStr = readStringOffTop(args);
+	auto _nodeNames = nodeNames();
+	std::string nodeName;
+	auto it = std::find_if(args.begin(), args.end(), [&](const std::string& s) {
+		auto iss = std::istringstream(s);
+		iss >> nodeName;
+		if (std::find(_nodeNames.begin(), _nodeNames.end(), nodeName) != _nodeNames.end()) return true;
+		return false;
+		});
+	auto markerArgs = std::vector<std::string>(args.begin(), it);
+	args.erase(args.begin(), it);
+	mkr1->parseMBDynTotalJointMarker(markerArgs);
+}
+
+void MbD::MBDynTotalJoint::readMarkerJ(std::vector<std::string>& args)
+{
+	if (args.empty()) return;
+	mkr2 = std::make_shared<MBDynMarker>();
+	mkr2->owner = this;
+	mkr2->nodeStr = readStringOffTop(args);
+	mkr2->parseMBDynTotalJointMarker(args);
+}
+
+void MbD::MBDynTotalJoint::readPositionConstraints(std::vector<std::string>& args)
+{
+	std::vector<std::string> tokens{ "position", "constraint" };
+	assert(lineHasTokens(popOffTop(args), tokens));
+	positionConstraints = std::vector<std::string>();
+	positionConstraints.push_back(readStringOffTop(args));
+	positionConstraints.push_back(readStringOffTop(args));
+	positionConstraints.push_back(readStringOffTop(args));
+	readPositionFormulas(args);
+}
+
+void MbD::MBDynTotalJoint::readOrientationConstraints(std::vector<std::string>& args)
+{
+	std::vector<std::string> tokens{ "orientation", "constraint" };
+	assert(lineHasTokens(popOffTop(args), tokens));
+	orientationConstraints = std::vector<std::string>();
+	orientationConstraints.push_back(readStringOffTop(args));
+	orientationConstraints.push_back(readStringOffTop(args));
+	orientationConstraints.push_back(readStringOffTop(args));
+	readOrientationFormulas(args);
+}
+
+void MbD::MBDynTotalJoint::readPositionFormulas(std::vector<std::string>& args)
+{
+	std::string str = readStringOffTop(args);
+	if (str == "null") return;
+	assert(false);
+}
+
+void MbD::MBDynTotalJoint::readOrientationFormulas(std::vector<std::string>& args)
+{
+	std::string str = readStringOffTop(args);
+	if (str == "null") { return; }
+	else if (str == "single") {
+		auto vec3 = readVector3(args);
+		assert(vec3->at(0) == 0 && vec3->at(1) == 0 && vec3->at(2) == 1);
+		assert(readStringOffTop(args) == "string");
+		formula = popOffTop(args);
+		formula = std::regex_replace(formula, std::regex("\""), "");
+		orientationFormulas = std::vector<std::string>();
+		for (auto& status : orientationConstraints) {
+			if (status == "active") {
+				orientationFormulas.push_back("");
+			}
+			else if (status == "rotation") {
+				orientationFormulas.push_back(formula);
+			}
+			else { assert(false); }
+		}
+		return;
+	}
+	assert(false);
+}
+
+void MbD::MBDynTotalJoint::createASMT()
+{
+	mkr1->createASMT();
+	if (mkr2) mkr2->createASMT();
+	auto asmtAsm = asmtAssembly();
+	auto asmtMotion = std::make_shared<ASMTGeneralMotion>();
+	asmtItem = asmtMotion;
+	asmtMotion->setName(name);
+	asmtMotion->setMarkerI(mkr1->asmtItem->fullName(""));
+	asmtMotion->setMarkerJ(mkr2->asmtItem->fullName(""));
+	asmtAsm->addMotion(asmtMotion);
+	for (int i = 0; i < 3; i++)
+	{
+		asmtMotion->rIJI->atiput(i, asmtFormula(positionFormulas.at(i)));
+		asmtMotion->angIJJ->atiput(i, asmtFormula(orientationFormulas.at(i)));
+	}
+}
diff --git a/OndselSolver/MBDynTotalJoint.h b/OndselSolver/MBDynTotalJoint.h
new file mode 100644
index 0000000..e484385
--- /dev/null
+++ b/OndselSolver/MBDynTotalJoint.h
@@ -0,0 +1,30 @@
+/***************************************************************************
+ *   Copyright (c) 2023 Ondsel, Inc.                                       *
+ *                                                                         *
+ *   This file is part of OndselSolver.                                    *
+ *                                                                         *
+ *   See LICENSE file for details about copyright.                         *
+ ***************************************************************************/
+
+#pragma once
+#include "MBDynJoint.h"
+
+namespace MbD {
+    class MBDynTotalJoint : public MBDynJoint
+    {
+    public:
+        void parseMBDyn(std::string line) override;
+        void readMarkerI(std::vector<std::string>& args);
+        void readMarkerJ(std::vector<std::string>& args);
+        void readPositionConstraints(std::vector<std::string>& args);
+        void readOrientationConstraints(std::vector<std::string>& args);
+        void readPositionFormulas(std::vector<std::string>& args);
+        void readOrientationFormulas(std::vector<std::string>& args);
+        void createASMT() override;
+
+        std::vector<std::string> positionConstraints = std::vector<std::string>(3);
+        std::vector<std::string> orientationConstraints = std::vector<std::string>(3);
+        std::vector<std::string> positionFormulas = std::vector<std::string>(3);
+        std::vector<std::string> orientationFormulas = std::vector<std::string>(3);
+    };
+}
diff --git a/OndselSolver/OndselSolver.vcxproj b/OndselSolver/OndselSolver.vcxproj
index a869c2f..aab8de3 100644
--- a/OndselSolver/OndselSolver.vcxproj
+++ b/OndselSolver/OndselSolver.vcxproj
@@ -150,6 +150,7 @@
     <ClCompile Include="ArcSine.cpp" />
     <ClCompile Include="ArcTan.cpp" />
     <ClCompile Include="ArcTan2.cpp" />
+    <ClCompile Include="Arguments.cpp" />
     <ClCompile Include="Array.cpp" />
     <ClCompile Include="ASMTAngleJoint.cpp" />
     <ClCompile Include="ASMTAnimationParameters.cpp" />
@@ -233,6 +234,7 @@
     <ClCompile Include="Exponential.cpp" />
     <ClCompile Include="ExternalSystem.cpp" />
     <ClCompile Include="FunctionFromData.cpp" />
+    <ClCompile Include="Functions.cpp" />
     <ClCompile Include="FunctionXcParameter.cpp" />
     <ClCompile Include="FunctionXY.cpp" />
     <ClCompile Include="GeneralSpline.cpp" />
@@ -240,21 +242,31 @@
     <ClCompile Include="Ln.cpp" />
     <ClCompile Include="Log10.cpp" />
     <ClCompile Include="LogN.cpp" />
+    <ClCompile Include="MBDynAxialRotationJoint.cpp" />
     <ClCompile Include="MBDynBlock.cpp" />
     <ClCompile Include="MBDynBody.cpp" />
+    <ClCompile Include="MBDynClampJoint.cpp" />
     <ClCompile Include="MBDynControlData.cpp" />
     <ClCompile Include="MBDynData.cpp" />
     <ClCompile Include="MBDynDrive.cpp" />
+    <ClCompile Include="MBDynDriveHingeJoint.cpp" />
     <ClCompile Include="MBDynElement.cpp" />
     <ClCompile Include="MBDynGravity.cpp" />
     <ClCompile Include="MBDynInitialValue.cpp" />
+    <ClCompile Include="MBDynInLineJoint.cpp" />
+    <ClCompile Include="MBDynInPlaneJoint.cpp" />
     <ClCompile Include="MBDynItem.cpp" />
     <ClCompile Include="MBDynJoint.cpp" />
     <ClCompile Include="MBDynMarker.cpp" />
     <ClCompile Include="MBDynNode.cpp" />
+    <ClCompile Include="MBDynPrismaticJoint.cpp" />
     <ClCompile Include="MBDynReference.cpp" />
+    <ClCompile Include="MBDynRevoluteHingeJoint.cpp" />
+    <ClCompile Include="MBDynRevolutePinJoint.cpp" />
+    <ClCompile Include="MBDynSphericalHingeJoint.cpp" />
     <ClCompile Include="MBDynStructural.cpp" />
     <ClCompile Include="MBDynSystem.cpp" />
+    <ClCompile Include="MBDynTotalJoint.cpp" />
     <ClCompile Include="MomentOfInertiaSolver.cpp" />
     <ClCompile Include="Negative.cpp" />
     <ClCompile Include="PiecewiseFunction.cpp" />
@@ -423,6 +435,7 @@
     <ClCompile Include="Time.cpp" />
     <ClCompile Include="TooManyTriesError.cpp" />
     <ClCompile Include="TooSmallStepSizeError.cpp" />
+    <ClCompile Include="Transitions.cpp" />
     <ClCompile Include="Translation.cpp" />
     <ClCompile Include="TranslationalJoint.cpp" />
     <ClCompile Include="TranslationConstraintIJ.cpp" />
@@ -459,6 +472,7 @@
     <ClInclude Include="ArcSine.h" />
     <ClInclude Include="ArcTan.h" />
     <ClInclude Include="ArcTan2.h" />
+    <ClInclude Include="Arguments.h" />
     <ClInclude Include="Array.h" />
     <ClInclude Include="ASMTAngleJoint.h" />
     <ClInclude Include="ASMTAnimationParameters.h" />
@@ -542,6 +556,7 @@
     <ClInclude Include="Exponential.h" />
     <ClInclude Include="ExternalSystem.h" />
     <ClInclude Include="FunctionFromData.h" />
+    <ClInclude Include="Functions.h" />
     <ClInclude Include="FunctionXcParameter.h" />
     <ClInclude Include="FunctionXY.h" />
     <ClInclude Include="GeneralSpline.h" />
@@ -549,21 +564,31 @@
     <ClInclude Include="Ln.h" />
     <ClInclude Include="Log10.h" />
     <ClInclude Include="LogN.h" />
+    <ClInclude Include="MBDynAxialRotationJoint.h" />
     <ClInclude Include="MBDynBlock.h" />
     <ClInclude Include="MBDynBody.h" />
+    <ClInclude Include="MBDynClampJoint.h" />
     <ClInclude Include="MBDynControlData.h" />
     <ClInclude Include="MBDynData.h" />
     <ClInclude Include="MBDynDrive.h" />
+    <ClInclude Include="MBDynDriveHingeJoint.h" />
     <ClInclude Include="MBDynElement.h" />
     <ClInclude Include="MBDynGravity.h" />
     <ClInclude Include="MBDynInitialValue.h" />
+    <ClInclude Include="MBDynInLineJoint.h" />
+    <ClInclude Include="MBDynInPlaneJoint.h" />
     <ClInclude Include="MBDynItem.h" />
     <ClInclude Include="MBDynJoint.h" />
     <ClInclude Include="MBDynMarker.h" />
     <ClInclude Include="MBDynNode.h" />
+    <ClInclude Include="MBDynPrismaticJoint.h" />
     <ClInclude Include="MBDynReference.h" />
+    <ClInclude Include="MBDynRevoluteHingeJoint.h" />
+    <ClInclude Include="MBDynRevolutePinJoint.h" />
+    <ClInclude Include="MBDynSphericalHingeJoint.h" />
     <ClInclude Include="MBDynStructural.h" />
     <ClInclude Include="MBDynSystem.h" />
+    <ClInclude Include="MBDynTotalJoint.h" />
     <ClInclude Include="MomentOfInertiaSolver.h" />
     <ClInclude Include="Negative.h" />
     <ClInclude Include="PiecewiseFunction.h" />
@@ -734,6 +759,7 @@
     <ClInclude Include="Time.h" />
     <ClInclude Include="TooManyTriesError.h" />
     <ClInclude Include="TooSmallStepSizeError.h" />
+    <ClInclude Include="Transitions.h" />
     <ClInclude Include="Translation.h" />
     <ClInclude Include="TranslationalJoint.h" />
     <ClInclude Include="TranslationConstraintIJ.h" />
@@ -772,6 +798,8 @@
     <None Include="..\testapp\Gears.asmt" />
     <None Include="..\testapp\gyro.asmt" />
     <None Include="..\testapp\InitialConditions.mbd" />
+    <None Include="..\testapp\MBDynCase(Cosine-half drive).mbd" />
+    <None Include="..\testapp\MBDynCase(Sine-forever drive).mbd" />
     <None Include="..\testapp\MBDynCase.mbd" />
     <None Include="..\testapp\MBDynCase2.mbd" />
     <None Include="..\testapp\MBDynCase2orig.mbd" />
@@ -779,6 +807,7 @@
     <None Include="..\testapp\MBDynCase4orig.mbd" />
     <None Include="..\testapp\MBDynCase5orig.mbd" />
     <None Include="..\testapp\MBDynCase6orig.mbd" />
+    <None Include="..\testapp\MBDynCaseBird.mbd" />
     <None Include="..\testapp\MBDynCaseDebug1.mbd" />
     <None Include="..\testapp\MBDynCaseDebug2.mbd" />
     <None Include="..\testapp\piston.asmt" />
@@ -793,6 +822,8 @@
     <Media Include="..\testapp\CrankSlider2.mov" />
     <Media Include="..\testapp\InitialConditionsMBDyn.mov" />
     <Media Include="..\testapp\InitialConditionsOndselSolver.mov" />
+    <Media Include="..\testapp\MBDynCase(Cosine-half drive).mov" />
+    <Media Include="..\testapp\MBDynCase(Sine-forever drive).mov" />
     <Media Include="..\testapp\MBDynCase.mov" />
     <Media Include="..\testapp\MBDynCase2.mov" />
     <Media Include="..\testapp\SphericalHinge.mov" />
diff --git a/OndselSolver/OndselSolver.vcxproj.filters b/OndselSolver/OndselSolver.vcxproj.filters
index 1e5a4bb..3acfe84 100644
--- a/OndselSolver/OndselSolver.vcxproj.filters
+++ b/OndselSolver/OndselSolver.vcxproj.filters
@@ -936,6 +936,45 @@
     <ClCompile Include="ASMTCompoundJoint.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
+    <ClCompile Include="MBDynAxialRotationJoint.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="MBDynClampJoint.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="MBDynDriveHingeJoint.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="MBDynInLineJoint.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="MBDynInPlaneJoint.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="MBDynPrismaticJoint.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="MBDynRevoluteHingeJoint.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="MBDynRevolutePinJoint.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="MBDynSphericalHingeJoint.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="MBDynTotalJoint.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="Functions.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="Transitions.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="Arguments.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
   </ItemGroup>
   <ItemGroup>
     <ClInclude Include="Array.h">
@@ -1865,6 +1904,45 @@
     <ClInclude Include="ASMTCompoundJoint.h">
       <Filter>Header Files</Filter>
     </ClInclude>
+    <ClInclude Include="MBDynAxialRotationJoint.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="MBDynClampJoint.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="MBDynDriveHingeJoint.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="MBDynInLineJoint.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="MBDynInPlaneJoint.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="MBDynPrismaticJoint.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="MBDynRevoluteHingeJoint.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="MBDynRevolutePinJoint.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="MBDynSphericalHingeJoint.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="MBDynTotalJoint.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="Functions.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="Transitions.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="Arguments.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
   </ItemGroup>
   <ItemGroup>
     <ResourceCompile Include="OndselSolver.rc">
@@ -1903,6 +1981,9 @@
     <None Include="..\testapp\MBDynCase3orig.mbd" />
     <None Include="..\testapp\MBDynCase5orig.mbd" />
     <None Include="..\testapp\MBDynCase6orig.mbd" />
+    <None Include="..\testapp\MBDynCase(Cosine-half drive).mbd" />
+    <None Include="..\testapp\MBDynCase(Sine-forever drive).mbd" />
+    <None Include="..\testapp\MBDynCaseBird.mbd" />
   </ItemGroup>
   <ItemGroup>
     <Media Include="..\testapp\CrankSlider2.mov" />
@@ -1911,6 +1992,8 @@
     <Media Include="..\testapp\MBDynCase.mov" />
     <Media Include="..\testapp\MBDynCase2.mov" />
     <Media Include="..\testapp\SphericalHinge.mov" />
+    <Media Include="..\testapp\MBDynCase(Cosine-half drive).mov" />
+    <Media Include="..\testapp\MBDynCase(Sine-forever drive).mov" />
   </ItemGroup>
   <ItemGroup>
     <Text Include="..\CMakeLists.txt" />
diff --git a/OndselSolver/PiecewiseFunction.cpp b/OndselSolver/PiecewiseFunction.cpp
index 71454e4..23d6e30 100644
--- a/OndselSolver/PiecewiseFunction.cpp
+++ b/OndselSolver/PiecewiseFunction.cpp
@@ -94,6 +94,14 @@ double MbD::PiecewiseFunction::getValue()
 	return functions->back()->getValue();
 }
 
+void MbD::PiecewiseFunction::arguments(Symsptr args)
+{
+	auto arguments = args->getTerms();
+	xx = arguments->at(0);
+	functions = arguments->at(1)->getTerms();
+	transitions = arguments->at(2)->getTerms();
+}
+
 std::ostream& MbD::PiecewiseFunction::printOn(std::ostream& s) const
 {
 	s << "PiecewiseFunction(" << *xx << ", " << std::endl;
diff --git a/OndselSolver/PiecewiseFunction.h b/OndselSolver/PiecewiseFunction.h
index 06a02cb..1fcac7f 100644
--- a/OndselSolver/PiecewiseFunction.h
+++ b/OndselSolver/PiecewiseFunction.h
@@ -26,6 +26,7 @@ namespace MbD {
         Symsptr differentiateWRTx() override;
         Symsptr integrateWRT(Symsptr var) override;
         double getValue() override;
+        void arguments(Symsptr args) override;
 
         std::ostream& printOn(std::ostream& s) const override;
 
diff --git a/OndselSolver/SymbolicParser.cpp b/OndselSolver/SymbolicParser.cpp
index 4110547..162061a 100644
--- a/OndselSolver/SymbolicParser.cpp
+++ b/OndselSolver/SymbolicParser.cpp
@@ -27,6 +27,9 @@
 #include "ArcSine.h"
 #include "Integral.h"
 #include "RampStepFunction.h"
+#include "Arguments.h"
+#include "Functions.h"
+#include "Transitions.h"
 
 MbD::SymbolicParser::SymbolicParser()
 {
@@ -283,6 +286,11 @@ bool MbD::SymbolicParser::symfunction()
 
 bool MbD::SymbolicParser::expression()
 {
+	if (token == "" && tokenType == "end") {
+		auto symNum = std::make_shared<Constant>(0.0);
+		stack->push(symNum);
+		return true;
+	}
 	auto sum = std::make_shared<Sum>();
 	stack->push(sum);
 	if (plusTerm() || minusTerm() || plainTerm()) {
@@ -369,6 +377,15 @@ bool MbD::SymbolicParser::intrinsic()
 	else if (peekForTypevalue("word", "rampstep")) {
 		symfunc = std::make_shared<RampStepFunction>();
 	}
+	else if (peekForTypevalue("word", "piecewise")) {
+		symfunc = std::make_shared<PiecewiseFunction>();
+	}
+	else if (peekForTypevalue("word", "functions")) {
+		symfunc = std::make_shared<Functions>();
+	}
+	else if (peekForTypevalue("word", "transitions")) {
+		symfunc = std::make_shared<Transitions>();
+	}
 	if (symfunc != nullptr) {
 		stack->push(symfunc);
 		if (peekForTypeNoPush("(")) {
@@ -493,7 +510,7 @@ void MbD::SymbolicParser::combineStackTo(int pos)
 		args->push_back(arg);
 	}
 	std::reverse(args->begin(), args->end());
-	auto sum = std::make_shared<Sum>();
+	auto sum = std::make_shared<Arguments>();
 	sum->terms = args;
 	stack->push(sum);
 }
diff --git a/OndselSolver/Transitions.cpp b/OndselSolver/Transitions.cpp
new file mode 100644
index 0000000..7971b5c
--- /dev/null
+++ b/OndselSolver/Transitions.cpp
@@ -0,0 +1,2 @@
+#include "Transitions.h"
+
diff --git a/OndselSolver/Transitions.h b/OndselSolver/Transitions.h
new file mode 100644
index 0000000..47ce921
--- /dev/null
+++ b/OndselSolver/Transitions.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 "Arguments.h"
+
+namespace MbD {
+	class Transitions : public Arguments
+	{
+	public:
+
+	};
+}
+
+
diff --git a/testapp/MBDynCase(Cosine-half drive).mov b/testapp/MBDynCase(Cosine-half drive).mov
index 749f531..d8dd293 100644
--- a/testapp/MBDynCase(Cosine-half drive).mov	
+++ b/testapp/MBDynCase(Cosine-half drive).mov	
@@ -1,804 +1,802 @@
-       1 -1.322131e-01 4.215395e-02 2.000000e-01 1.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 1.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 1.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00
-       2 7.099998e-02 1.600000e-01 2.000000e-01 1.000000e+00 1.457853e-05 -1.807527e-06 -1.457853e-05 1.000000e+00 -4.155410e-07 1.807521e-06 4.155674e-07 1.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00
-       1 -1.322131e-01 4.215395e-02 2.000000e-01 1.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 1.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 1.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00
-       2 7.099998e-02 1.600000e-01 2.000000e-01 1.000000e+00 2.550188e-16 -4.928461e-17 -2.697431e-16 1.000000e+00 2.598614e-16 1.577917e-17 -2.194709e-16 1.000000e+00 0.000000e+00 2.145094e-21 -1.332278e-16 -8.311084e-05 3.615049e-04 2.915706e-03
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-       2 7.099998e-02 1.600000e-01 2.000000e-01 9.222000e-01 -3.867133e-01 -2.325913e-17 3.867133e-01 9.222000e-01 2.592911e-16 -1.123270e-16 -2.077219e-16 1.000000e+00 4.675973e-15 2.711169e-17 -9.118890e-16 -1.057877e-16 2.126136e-15 8.757985e+00
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diff --git a/testapp/MBDynCase(Cosine-half drive)debug1.asmt b/testapp/MBDynCase(Cosine-half drive)debug1.asmt
new file mode 100644
index 0000000..3fd8c8c
--- /dev/null
+++ b/testapp/MBDynCase(Cosine-half drive)debug1.asmt	
@@ -0,0 +1,200 @@
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diff --git a/testapp/MBDynCase(Cosine-half drive)debug2.asmt b/testapp/MBDynCase(Cosine-half drive)debug2.asmt
new file mode 100644
index 0000000..6609da4
--- /dev/null
+++ b/testapp/MBDynCase(Cosine-half drive)debug2.asmt	
@@ -0,0 +1,274 @@
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diff --git a/testapp/MBDynCase(Sine-forever drive).mov b/testapp/MBDynCase(Sine-forever drive).mov
index 16fb10a..b303d9d 100644
--- a/testapp/MBDynCase(Sine-forever drive).mov	
+++ b/testapp/MBDynCase(Sine-forever drive).mov	
@@ -1,804 +1,802 @@
-       1 -1.322131e-01 4.215395e-02 2.000000e-01 1.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 1.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 1.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00
-       2 7.099998e-02 1.600000e-01 2.000000e-01 1.000000e+00 1.457853e-05 -1.807527e-06 -1.457853e-05 1.000000e+00 -4.155410e-07 1.807521e-06 4.155674e-07 1.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00
-       1 -1.322131e-01 4.215395e-02 2.000000e-01 1.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 1.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 1.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00
-       2 7.099998e-02 1.600000e-01 2.000000e-01 1.000000e+00 2.550188e-16 -4.928461e-17 -2.697431e-16 1.000000e+00 2.598614e-16 1.577917e-17 -2.194709e-16 1.000000e+00 0.000000e+00 2.145094e-21 -1.332278e-16 -8.311084e-05 3.615049e-04 2.915706e-03
-       1 -1.322131e-01 4.215395e-02 2.000000e-01 1.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 1.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 1.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00
-       2 7.099998e-02 1.600000e-01 2.000000e-01 1.000000e+00 -7.091671e-15 8.615977e-16 7.076953e-15 1.000000e+00 4.692762e-16 -8.951021e-16 -4.288854e-16 1.000000e+00 -8.580377e-21 1.287057e-20 -1.165742e-15 2.077771e-05 -9.037622e-05 -7.289265e-04
-       1 -1.322131e-01 4.215395e-02 2.000000e-01 1.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 1.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 1.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00
-       2 7.099998e-02 1.600000e-01 2.000000e-01 1.000000e+00 -1.679973e-14 2.065256e-15 1.678501e-14 1.000000e+00 7.460018e-16 -2.098761e-15 -7.056108e-16 1.000000e+00 -1.372860e-19 9.223905e-20 -1.765324e-15 -3.103811e-14 1.350049e-13 1.088874e-12
-       1 -1.322131e-01 4.215395e-02 2.000000e-01 1.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 1.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 1.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00
-       2 7.099998e-02 1.600000e-01 2.000000e-01 1.000000e+00 1.207403e-15 -1.673665e-16 -1.222120e-15 1.000000e+00 2.327152e-16 1.338613e-16 -1.923242e-16 1.000000e+00 -1.119739e-18 8.151358e-19 7.654579e-16 9.082929e-14 -3.950764e-13 -3.186472e-12
-       1 -1.322131e-01 4.215395e-02 2.000000e-01 1.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 1.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 1.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00
-       2 7.099998e-02 1.600000e-01 2.000000e-01 1.000000e+00 -7.358453e-18 -1.675245e-17 -7.358222e-18 1.000000e+00 2.673412e-16 -1.675279e-17 -2.269503e-16 1.000000e+00 -9.630431e-18 6.971196e-18 1.360458e-15 -3.085824e-14 1.342232e-13 1.082571e-12
-       1 -1.322131e-01 4.215395e-02 2.000000e-01 1.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 1.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 1.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00
-       2 7.099998e-02 1.600000e-01 2.000000e-01 1.000000e+00 -7.359976e-18 -1.675271e-17 -7.356698e-18 1.000000e+00 2.673408e-16 -1.675253e-17 -2.269498e-16 1.000000e+00 -8.264048e-17 5.984529e-17 -2.042309e-15 1.731365e-15 -7.530742e-15 -6.073787e-14
-       1 -1.322131e-01 4.215395e-02 2.000000e-01 1.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 1.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 1.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00
-       2 7.099998e-02 1.600000e-01 2.000000e-01 1.000000e+00 -3.285369e-14 4.055718e-15 3.283897e-14 1.000000e+00 1.203612e-15 -4.089223e-15 -1.163221e-15 1.000000e+00 -7.092760e-16 5.136183e-16 -9.536179e-15 -1.404408e-13 6.108706e-13 4.926950e-12
-       1 -1.322131e-01 4.215395e-02 2.000000e-01 1.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 1.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 1.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00
-       2 7.099998e-02 1.600000e-01 2.000000e-01 1.000000e+00 -4.177787e-14 5.162184e-15 4.176315e-14 1.000000e+00 1.457992e-15 -5.195689e-15 -1.417601e-15 1.000000e+00 -6.087410e-15 4.408173e-15 -2.965756e-14 8.656655e-15 -3.765361e-14 -3.036899e-13
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diff --git a/testapp/MBDynCase(Sine-forever drive)debug1.asmt b/testapp/MBDynCase(Sine-forever drive)debug1.asmt
new file mode 100644
index 0000000..3fd8c8c
--- /dev/null
+++ b/testapp/MBDynCase(Sine-forever drive)debug1.asmt	
@@ -0,0 +1,200 @@
+OndselSolver
+Assembly
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diff --git a/testapp/MBDynCase(Sine-forever drive)debug2.asmt b/testapp/MBDynCase(Sine-forever drive)debug2.asmt
new file mode 100644
index 0000000..abc0b5e
--- /dev/null
+++ b/testapp/MBDynCase(Sine-forever drive)debug2.asmt	
@@ -0,0 +1,274 @@
+OndselSolver
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diff --git a/testapp/MBDynSliderCrankTotalJoint.mbd b/testapp/MBDynSliderCrankTotalJoint.mbd
new file mode 100644
index 0000000..9bcdc07
--- /dev/null
+++ b/testapp/MBDynSliderCrankTotalJoint.mbd
@@ -0,0 +1,317 @@
+#-----------------------------------------------------------------------------
+ # [Data Block]
+
+ begin: data;
+     problem: initial value;
+ end: data;
+
+ #-----------------------------------------------------------------------------
+ # [Problem Block]
+
+ begin: initial value;
+     initial time: 0.0;
+     final time: 4.0;
+     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: orientation matrix;
+     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 = 12.635833504434364; #mass [kg]
+             set: real volume_2 = 0.0015994725954980207; #volume [m^3]
+
+         #body: 3
+             set: integer body_3 = 3; #body label
+             set: real mass_3 = 4.761616622776476; #mass [kg]
+             set: real volume_3 = 0.0006027362813641108; #volume [m^3]
+
+         #body: 4
+             set: integer body_4 = 4; #body label
+             set: real mass_4 = 2.8656033319778023; #mass [kg]
+             set: real volume_4 = 0.00036273459898453187; #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_3
+             set: integer joint_2 = 2; #joint label
+
+             set: integer joint_3 = 3; #joint label
+
+         #joint: 4_5
+             set: integer joint_4 = 4; #joint label
+
+             set: integer joint_5 = 5; #joint label
+
+         #joint: 6_7_8
+             set: integer joint_6 = 6; #joint label
+
+             set: integer joint_7 = 7; #joint label
+
+             set: integer joint_8 = 8; #joint label
+
+         #joint: 9
+             set: integer joint_9 = 9; #joint label
+
+     #Nodes: initial conditions
+
+         #node: 1
+             set: real Px_1 = -0.419; #X component of the absolute position [m]
+             set: real Py_1 = 0.09000000999999999; #Y component of the absolute position [m]
+             set: real Pz_1 = 0.2; #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 = 0.07099999999999991; #X component of the absolute position [m]
+             set: real Py_2 = 0.16; #Y component of the absolute position [m]
+             set: real Pz_2 = 0.19999999999999996; #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 = -0.017337619999999984; #X component of the absolute position [m]
+             set: real Py_3 = 0.20686650000000006; #Y component of the absolute position [m]
+             set: real Pz_3 = 0.2; #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 = -0.29363859999999997; #X component of the absolute position [m]
+             set: real Py_4 = 0.09000000999999998; #Y component of the absolute position [m]
+             set: real Pz_4 = 0.19999999999999982; #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 = 0.08708924866282601; #moment of inertia [kg*m^2]
+             set: real Iyy_2 = 0.085370944710882; #moment of inertia [kg*m^2]
+             set: real Izz_2 = 0.064597123189377; #moment of inertia [kg*m^2]
+
+             set: real Rx_2 = 0.23369760691597463; #X component of the relative center of mass [m]
+             set: real Ry_2 = -0.017056058774585096; #Y component of the relative center of mass [m]
+             set: real Rz_2 = 0.02412068691121374; #Z component of the relative center of mass [m]
+
+         #body 3: 
+             set: real Ixx_3 = 0.052187573112937; #moment of inertia [kg*m^2]
+             set: real Iyy_3 = 0.049571280557501; #moment of inertia [kg*m^2]
+             set: real Izz_3 = 0.0035529543779500004; #moment of inertia [kg*m^2]
+
+             set: real Rx_3 = 0.10067231525120601; #X component of the relative center of mass [m]
+             set: real Ry_3 = 0.1919853054998222; #Y component of the relative center of mass [m]
+             set: real Rz_3 = 0.04071350992502829; #Z component of the relative center of mass [m]
+
+         #body 4: 
+             set: real Ixx_4 = 0.010133521085753; #moment of inertia [kg*m^2]
+             set: real Iyy_4 = 0.006853402672398001; #moment of inertia [kg*m^2]
+             set: real Izz_4 = 0.00669113151275; #moment of inertia [kg*m^2]
+
+             set: real Rx_4 = -0.0330388768314067; #X component of the relative center of mass [m]
+             set: real Ry_4 = -0.010904342272327113; #Y component of the relative center of mass [m]
+             set: real Rz_4 = -0.26627346364210613; #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, 1.0, -2.220446049250313e-16, 2.220446049250313e-16, 2, -2.220446049250313e-16, 0.0, 1.0, #<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, 3.0728199502890935e-08, -8.312621051592148e-09, 0.9999999999999994, 2, 9.860761315262648e-32, 1.0, 8.312621051592151e-09, #<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, 1.2241820623870575e-07, -7.110463684512068e-09, 0.9999999999999925, 2, -0.9983174164285165, 0.057985653876428844, 1.2262453226214997e-07, #<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, 1.0, -2.220446049250313e-16, 2.220446049250313e-16, 2, -2.220446049250313e-16, 0.0, 1.0, #<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, -0.12000003011363553, -0.1699999918536315, 0.9799999977257611, 2, 0.8099999999999996, -0.5899999999999999, 2.9794288017781016e-08; 
+
+         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, 0.05682594079890069, -0.9783510423487942, 0.21000011996984053, 2, 0.9977375598897598, 0.06796883662443129, 0.06999999166535376; 
+
+         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, -0.010000000000000047, 0.98, -0.20999999999999977, 2, 0.98, -0.029999999999999954, -0.21000000000000021; 
+
+     #-----------------------------------------------------------------------------
+     # [Joints]
+
+     joint: joint_1,
+         clamp,
+         structural_node_1, #<node_label>
+             -0.419, 0.09000000999999999, 0.2, #<absolute_pin_position> [m]
+             3, 1.0, -2.220446049250313e-16, 2.220446049250313e-16, 2, -2.220446049250313e-16, 0.0, 1.0; #<absolute_orientation_matrix> 
+
+     joint: joint_2,
+         total joint,
+         structural_node_1, #<node_1_label>
+             position, 0.07000000000000012, -5.684341886080802e-17, 0.48999999999999994, #<relative_position_1> [m]
+             position orientation, 3, 3.885780586188048e-16, 1.0, 1.1102230246251565e-16, 2, 1.0, -4.440892098500626e-16, -1.6653345369377348e-16, #<relative_pin_orientation_matrix_1>
+             rotation orientation, 3, 3.885780586188048e-16, 1.0, 1.1102230246251565e-16, 2, 1.0, -4.440892098500626e-16, -1.6653345369377348e-16, #<relative_pin_orientation_matrix_1>
+         structural_node_2, #<node_2_label>
+             position, 8.526512829121202e-17, 9.999999974752426e-09, 2.842170943040401e-17, #<relative_position_2> [m]
+             position orientation, 3, -3.0728199502890935e-08, 8.312621298737451e-09, 0.9999999999999994, 2, 2.554318856595847e-16, 1.0, -8.312621298737448e-09, #<relative_pin_orientation_matrix_2>
+             rotation orientation, 3, -3.0728199502890935e-08, 8.312621298737451e-09, 0.9999999999999994, 2, 2.554318856595847e-16, 1.0, -8.312621298737448e-09, #<relative_pin_orientation_matrix_2>
+         position constraint,
+             active, active, active,
+             null,
+         orientation constraint,
+             active, active, angular velocity,
+             single, 0., 0., 1., string, "0.0+model::drive(1, Time)"; #<angle> [rad]
+
+     joint: joint_4,
+         total joint,
+         structural_node_2, #<node_1_label>
+             position, -0.08833762115250354, 0.0468664559052288, 2.842170943040401e-17, #<relative_position_1> [m]
+             position orientation, 3, -3.7239980926641352e-16, 1.6936012837021416e-16, 1.0, 2, 5.204131742837832e-24, 1.0, -1.6936012837021416e-16, #<relative_pin_orientation_matrix_1>
+             rotation orientation, 3, -3.7239980926641352e-16, 1.6936012837021416e-16, 1.0, 2, 5.204131742837832e-24, 1.0, -1.6936012837021416e-16, #<relative_pin_orientation_matrix_1>
+         structural_node_3, #<node_2_label>
+             position, -4.408740682038115e-08, -1.4062993436425586e-09, 3.1040392514114503e-09, #<relative_position_2> [m]
+             position orientation, 3, -6.51683948387302e-09, 9.146602313741393e-08, 0.9999999999999958, 2, 0.9983174164285239, 0.057985653876430066, 1.2021571977199034e-09, #<relative_pin_orientation_matrix_2>
+             rotation orientation, 3, -6.51683948387302e-09, 9.146602313741393e-08, 0.9999999999999958, 2, 0.9983174164285239, 0.057985653876430066, 1.2021571977199034e-09, #<relative_pin_orientation_matrix_2>
+         position constraint,
+             active, active, active,
+             null,
+         orientation constraint,
+             active, active, inactive,
+             null;
+
+     joint: joint_6,
+         in line,
+         structural_node_1, #<node_1_label>
+             0.0, 0.0, 0.0, #<relative_line_position> [m]
+             3, 0.0, 0.0, 1.0, 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]
+
+     joint: joint_7,
+         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_9,
+         in line,
+         structural_node_3, #<node_1_label>
+             -0.13269133782709974, 0.26905948945475705, 1.4177195929807734e-15, #<relative_line_position> [m]
+             3, 1.3390417087237118e-16, -2.3053784001404156e-15, 1.0, 2, -1.0919852799773366e-09, 1.0, 2.3053784002866372e-15, #<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;
+
+ end: elements;
+
diff --git a/testapp/MBDynSliderCrankTotalJointorig.mov b/testapp/MBDynSliderCrankTotalJointorig.mov
new file mode 100644
index 0000000..beecbda
--- /dev/null
+++ b/testapp/MBDynSliderCrankTotalJointorig.mov
@@ -0,0 +1,1608 @@
+       1 -4.190000e-01 9.000001e-02 2.000000e-01 2.220446e-16 -2.220446e-16 1.000000e+00 1.000000e+00 0.000000e+00 -2.220446e-16 4.930381e-32 1.000000e+00 2.220446e-16 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00
+       2 7.100000e-02 1.600000e-01 2.000000e-01 1.000000e+00 1.479114e-31 3.072820e-08 2.554319e-16 1.000000e+00 -8.312621e-09 -3.072820e-08 8.312621e-09 1.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00
+       3 -1.733762e-02 2.068665e-01 2.000000e-01 5.798565e-02 -9.983174e-01 1.224182e-07 9.983174e-01 5.798565e-02 -7.110464e-09 3.308722e-24 1.226245e-07 1.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00
+       4 -2.936386e-01 9.000001e-02 2.000000e-01 2.220446e-16 -2.220446e-16 1.000000e+00 1.000000e+00 0.000000e+00 -2.220446e-16 4.930381e-32 1.000000e+00 2.220446e-16 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00
+       1 -4.190000e-01 9.000001e-02 2.000000e-01 2.220446e-16 -2.220446e-16 1.000000e+00 1.000000e+00 0.000000e+00 -2.220446e-16 4.930381e-32 1.000000e+00 2.220446e-16 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00
+       2 7.100000e-02 1.600000e-01 2.000000e-01 1.000000e+00 -4.077962e-23 3.072820e-08 2.554319e-16 1.000000e+00 -8.312621e-09 -3.072820e-08 8.312621e-09 1.000000e+00 -1.110223e-14 5.551111e-15 -7.105262e-16 -2.828654e-14 -2.220446e-14 7.971348e-21
+       3 -1.733762e-02 2.068665e-01 2.000000e-01 5.798563e-02 -9.983174e-01 1.224182e-07 9.983174e-01 5.798563e-02 -7.110461e-09 6.394889e-16 1.226245e-07 1.000000e+00 -2.274655e-13 8.503178e-15 1.190604e-15 1.244241e-13 -6.351590e-14 4.969724e-06
+       4 -2.936386e-01 9.000001e-02 2.000000e-01 2.220446e-16 -2.220446e-16 1.000000e+00 1.000000e+00 0.000000e+00 -2.220446e-16 4.930381e-32 1.000000e+00 2.220446e-16 2.907655e-06 -2.791608e-15 4.442497e-14 -4.861731e-61 0.000000e+00 2.189529e-45
+       1 -4.190000e-01 9.000001e-02 2.000000e-01 2.220446e-16 -2.220446e-16 1.000000e+00 1.000000e+00 0.000000e+00 -2.220446e-16 4.930381e-32 1.000000e+00 2.220446e-16 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00
+       2 7.100000e-02 1.600000e-01 2.000000e-01 1.000000e+00 1.539735e-15 3.072820e-08 -1.284303e-15 1.000000e+00 -8.312621e-09 -3.072820e-08 8.312621e-09 1.000000e+00 -3.801190e-15 -1.148740e-14 -2.053764e-15 7.071680e-15 5.551332e-15 -2.309603e-13
+       3 -1.733762e-02 2.068665e-01 2.000000e-01 5.798563e-02 -9.983174e-01 1.224182e-07 9.983174e-01 5.798563e-02 -7.110461e-09 6.394889e-16 1.226245e-07 1.000000e+00 6.200626e-14 5.794482e-15 2.091123e-15 -3.110602e-14 1.587920e-14 -1.242432e-06
+       4 -2.936386e-01 9.000001e-02 2.000000e-01 2.220446e-16 -2.220446e-16 1.000000e+00 1.000000e+00 0.000000e+00 -2.220446e-16 4.930381e-32 1.000000e+00 2.220446e-16 -7.269138e-07 1.926277e-16 -1.207202e-14 -4.254014e-60 0.000000e+00 1.915838e-44
+       1 -4.190000e-01 9.000001e-02 2.000000e-01 2.220446e-16 -2.220446e-16 1.000000e+00 1.000000e+00 0.000000e+00 -2.220446e-16 4.930381e-32 1.000000e+00 2.220446e-16 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00
+       2 7.100000e-02 1.600000e-01 2.000000e-01 1.000000e+00 1.165148e-15 3.072820e-08 -9.097164e-16 1.000000e+00 -8.312621e-09 -3.072820e-08 8.312621e-09 1.000000e+00 1.412070e-14 3.054575e-14 3.010553e-16 -2.204015e-19 -2.258246e-19 1.331748e-13
+       3 -1.733762e-02 2.068665e-01 2.000000e-01 5.798563e-02 -9.983174e-01 1.224182e-07 9.983174e-01 5.798563e-02 -7.110461e-09 6.394873e-16 1.226245e-07 1.000000e+00 9.491610e-15 1.250542e-14 2.758272e-15 -2.458865e-19 -2.206966e-19 -7.145673e-13
+       4 -2.936386e-01 9.000001e-02 2.000000e-01 2.220446e-16 -2.220446e-16 1.000000e+00 1.000000e+00 0.000000e+00 -2.220446e-16 4.930381e-32 1.000000e+00 2.220446e-16 -6.527155e-15 6.095497e-17 6.606782e-16 -3.682761e-59 0.000000e+00 1.658568e-43
+       1 -4.190000e-01 9.000001e-02 2.000000e-01 2.220446e-16 -2.220446e-16 1.000000e+00 1.000000e+00 0.000000e+00 -2.220446e-16 4.930381e-32 1.000000e+00 2.220446e-16 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00
+       2 7.100000e-02 1.600000e-01 2.000000e-01 1.000000e+00 1.259418e-15 3.072820e-08 -1.003986e-15 1.000000e+00 -8.312621e-09 -3.072820e-08 8.312621e-09 1.000000e+00 -1.008082e-15 -4.475356e-15 -6.662007e-17 4.302896e-19 1.603617e-19 -3.286983e-14
+       3 -1.733762e-02 2.068665e-01 2.000000e-01 5.798563e-02 -9.983174e-01 1.224182e-07 9.983174e-01 5.798563e-02 -7.110461e-09 6.394902e-16 1.226245e-07 1.000000e+00 -3.701486e-15 3.749777e-15 1.080661e-16 5.125566e-19 1.406330e-19 2.750019e-12
+       4 -2.936386e-01 9.000001e-02 2.000000e-01 2.220446e-16 -2.220446e-16 1.000000e+00 1.000000e+00 0.000000e+00 -2.220446e-16 4.930381e-32 1.000000e+00 2.220446e-16 1.196576e-13 -6.429268e-16 -9.392417e-16 -3.162556e-58 0.000000e+00 1.424289e-42
+       1 -4.190000e-01 9.000001e-02 2.000000e-01 2.220446e-16 -2.220446e-16 1.000000e+00 1.000000e+00 0.000000e+00 -2.220446e-16 4.930381e-32 1.000000e+00 2.220446e-16 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00
+       2 7.100000e-02 1.600000e-01 2.000000e-01 1.000000e+00 1.813225e-15 3.072820e-08 -1.557793e-15 1.000000e+00 -8.312621e-09 -3.072820e-08 8.312621e-09 1.000000e+00 -1.367449e-14 -3.249557e-14 4.394162e-16 -3.866561e-19 -3.396517e-19 -7.835752e-14
+       3 -1.733762e-02 2.068665e-01 2.000000e-01 5.798563e-02 -9.983174e-01 1.224182e-07 9.983174e-01 5.798563e-02 -7.110461e-09 6.394886e-16 1.226245e-07 1.000000e+00 -1.116430e-14 -2.208270e-14 -1.104526e-15 -3.960605e-19 -3.372173e-19 -3.935592e-13
+       4 -2.936386e-01 9.000001e-02 2.000000e-01 2.220446e-16 -2.220446e-16 1.000000e+00 1.000000e+00 0.000000e+00 -2.220446e-16 4.930381e-32 1.000000e+00 2.220446e-16 -4.728670e-14 -6.873405e-16 -3.516856e-17 -2.714547e-57 0.000000e+00 1.222523e-41
+       1 -4.190000e-01 9.000001e-02 2.000000e-01 2.220446e-16 -2.220446e-16 1.000000e+00 1.000000e+00 0.000000e+00 -2.220446e-16 4.930381e-32 1.000000e+00 2.220446e-16 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00
+       2 7.100000e-02 1.600000e-01 2.000000e-01 1.000000e+00 1.997827e-15 3.072820e-08 -1.742395e-15 1.000000e+00 -8.312621e-09 -3.072820e-08 8.312621e-09 1.000000e+00 2.178803e-14 2.757744e-14 -1.514021e-15 1.537721e-19 2.368107e-19 2.273120e-21
+       3 -1.733762e-02 2.068665e-01 2.000000e-01 5.798563e-02 -9.983174e-01 1.224182e-07 9.983174e-01 5.798563e-02 -7.110461e-09 6.394890e-16 1.226245e-07 1.000000e+00 1.730513e-14 3.193370e-14 9.237257e-16 1.520596e-19 2.382111e-19 -6.487219e-14
+       4 -2.936386e-01 9.000001e-02 2.000000e-01 2.220446e-16 -2.220446e-16 1.000000e+00 1.000000e+00 0.000000e+00 -2.220446e-16 4.930381e-32 1.000000e+00 2.220446e-16 1.672859e-14 -3.987224e-16 -8.021831e-16 -2.329802e-56 0.000000e+00 1.049250e-40
+       1 -4.190000e-01 9.000001e-02 2.000000e-01 2.220446e-16 -2.220446e-16 1.000000e+00 1.000000e+00 0.000000e+00 -2.220446e-16 4.930381e-32 1.000000e+00 2.220446e-16 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00
+       2 7.100000e-02 1.600000e-01 2.000000e-01 1.000000e+00 3.194461e-15 3.072820e-08 -2.939029e-15 1.000000e+00 -8.312621e-09 -3.072820e-08 8.312621e-09 1.000000e+00 -7.755050e-15 -5.554512e-14 -9.915088e-15 -1.223235e-18 -8.956517e-19 -1.702649e-13
+       3 -1.733762e-02 2.068665e-01 2.000000e-01 5.798563e-02 -9.983174e-01 1.224182e-07 9.983174e-01 5.798563e-02 -7.110461e-09 6.394808e-16 1.226245e-07 1.000000e+00 -2.751457e-14 -2.547422e-14 1.867175e-15 -1.307283e-18 -8.762466e-19 -3.007191e-12
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+       2 7.100001e-02 1.600000e-01 2.000000e-01 2.456739e-01 -9.693525e-01 1.560698e-08 9.693525e-01 2.456739e-01 2.774426e-08 -3.072820e-08 8.312621e-09 1.000000e+00 5.047601e-08 1.975069e-07 -5.287935e-16 -2.237616e-15 7.674947e-15 2.000000e+01
+       3 3.867662e-03 8.588362e-02 2.000000e-01 4.545690e-01 -8.907115e-01 1.000389e-07 8.907115e-01 4.545690e-01 -8.028549e-09 -3.832348e-08 9.275536e-08 1.000000e+00 1.508166e+00 -1.371538e+00 5.851085e-15 -3.903547e-07 -6.948144e-07 -4.563759e+00
+       4 -2.961041e-01 9.000001e-02 2.000000e-01 2.220446e-16 -2.220446e-16 1.000000e+00 1.000000e+00 0.000000e+00 -2.220446e-16 4.930437e-32 1.000000e+00 2.220446e-16 1.539462e+00 1.678526e-16 -7.933558e-16 3.851860e-34 -2.140837e-30 1.101632e-30
+       1 -4.190000e-01 9.000001e-02 2.000000e-01 2.220446e-16 -2.220446e-16 1.000000e+00 1.000000e+00 0.000000e+00 -2.220446e-16 4.930381e-32 1.000000e+00 2.220446e-16 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00
+       2 7.100001e-02 1.600000e-01 2.000000e-01 4.701885e-02 -9.988940e-01 9.748232e-09 9.988940e-01 4.701885e-02 3.030336e-08 -3.072820e-08 8.312621e-09 1.000000e+00 9.991318e-09 2.036099e-07 4.236321e-16 -2.237159e-15 7.793313e-15 2.000000e+01
+       3 2.003188e-02 7.396374e-02 2.000000e-01 4.896133e-01 -8.719397e-01 9.269158e-08 8.719397e-01 4.896133e-01 -8.797233e-09 -3.771238e-08 8.512871e-08 1.000000e+00 1.751816e+00 -1.042508e+00 7.703987e-15 -2.320409e-07 -7.260330e-07 -3.476867e+00
+       4 -2.795392e-01 9.000001e-02 2.000000e-01 2.220527e-16 -2.220446e-16 1.000000e+00 1.000000e+00 -7.090746e-22 -2.220527e-16 7.090746e-22 1.000000e+00 2.220446e-16 1.820214e+00 -1.954420e-15 3.187577e-15 1.063612e-19 5.666943e-22 -1.213737e-18
+       1 -4.190000e-01 9.000001e-02 2.000000e-01 2.220446e-16 -2.220446e-16 1.000000e+00 1.000000e+00 0.000000e+00 -2.220446e-16 4.930381e-32 1.000000e+00 2.220446e-16 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00
+       2 7.100001e-02 1.600000e-01 2.000000e-01 -1.535328e-01 -9.881436e-01 3.496277e-09 9.881436e-01 -1.535328e-01 3.164013e-08 -3.072820e-08 8.312621e-09 1.000000e+00 -3.089641e-08 2.014999e-07 -1.367593e-15 -2.190578e-15 7.829466e-15 2.000000e+01
+       3 3.825197e-02 6.551426e-02 2.000000e-01 5.140301e-01 -8.577721e-01 8.530293e-08 8.577721e-01 5.140301e-01 -9.786170e-09 -3.545397e-08 7.820086e-08 1.000000e+00 1.924803e+00 -6.714271e-01 1.723172e-14 -7.696715e-08 -7.185937e-07 -2.246043e+00
+       4 -2.607471e-01 9.000001e-02 2.000000e-01 2.220446e-16 -2.220446e-16 1.000000e+00 1.000000e+00 0.000000e+00 -2.220446e-16 4.930437e-32 1.000000e+00 2.220446e-16 1.990572e+00 1.125374e-15 5.046562e-15 -1.418149e-19 -7.555924e-22 1.618316e-18
+       1 -4.190000e-01 9.000001e-02 2.000000e-01 2.220446e-16 -2.220446e-16 1.000000e+00 1.000000e+00 0.000000e+00 -2.220446e-16 4.930381e-32 1.000000e+00 2.220446e-16 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00
+       2 7.100001e-02 1.600000e-01 2.000000e-01 -3.478915e-01 -9.375348e-01 -2.896706e-09 9.375348e-01 -3.478915e-01 3.170065e-08 -3.072820e-08 8.312621e-09 1.000000e+00 -7.053787e-08 1.912622e-07 -2.604484e-15 -2.233920e-15 7.755067e-15 2.000000e+01
+       3 5.779300e-02 6.087602e-02 2.000000e-01 5.272829e-01 -8.496898e-01 7.825710e-08 8.496898e-01 5.272829e-01 -1.099056e-08 -3.192507e-08 7.228939e-08 1.000000e+00 2.020151e+00 -2.732630e-01 1.083983e-14 6.512710e-08 -6.767273e-07 -9.168033e-01
+       4 -2.407900e-01 9.000001e-02 2.000000e-01 2.220446e-16 -2.220446e-16 1.000000e+00 1.000000e+00 0.000000e+00 -2.220446e-16 4.930437e-32 1.000000e+00 2.220446e-16 2.053965e+00 2.194784e-15 5.112884e-15 3.545373e-20 1.888981e-22 -4.045790e-19
+       1 -4.190000e-01 9.000001e-02 2.000000e-01 2.220446e-16 -2.220446e-16 1.000000e+00 1.000000e+00 0.000000e+00 -2.220446e-16 4.930381e-32 1.000000e+00 2.220446e-16 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00
+       2 7.100001e-02 1.600000e-01 2.000000e-01 -5.282174e-01 -8.491092e-01 -9.172846e-09 8.491092e-01 -5.282174e-01 3.048247e-08 -3.072820e-08 8.312621e-09 1.000000e+00 -1.073341e-07 1.733096e-07 -6.421744e-16 -2.233344e-15 7.774703e-15 2.000000e+01
+       3 7.786676e-02 6.023609e-02 2.000000e-01 5.291029e-01 -8.485576e-01 7.188931e-08 8.485576e-01 5.291029e-01 -1.238261e-08 -2.752949e-08 6.755390e-08 1.000000e+00 2.034012e+00 1.359235e-01 1.756422e-14 1.868329e-07 -6.073595e-07 4.546519e-01
+       4 -2.206531e-01 9.000001e-02 2.000000e-01 2.220446e-16 -2.220446e-16 1.000000e+00 1.000000e+00 0.000000e+00 -2.220446e-16 4.930418e-32 1.000000e+00 2.220446e-16 2.022674e+00 -1.156534e-15 -3.195637e-15 0.000000e+00 -1.652952e-32 1.570018e-30
+       1 -4.190000e-01 9.000001e-02 2.000000e-01 2.220446e-16 -2.220446e-16 1.000000e+00 1.000000e+00 0.000000e+00 -2.220446e-16 4.930381e-32 1.000000e+00 2.220446e-16 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00
+       2 7.100001e-02 1.600000e-01 2.000000e-01 -6.872369e-01 -7.264334e-01 -1.507899e-08 7.264334e-01 -6.872369e-01 2.803473e-08 -3.072820e-08 8.312621e-09 1.000000e+00 -1.398008e-07 1.483662e-07 -2.989891e-15 -2.181453e-15 7.805598e-15 2.000000e+01
+       3 9.766354e-02 6.362030e-02 2.000000e-01 5.194546e-01 -8.544980e-01 6.646368e-08 8.544980e-01 5.194546e-01 -1.390915e-08 -2.263953e-08 6.401826e-08 1.000000e+00 1.965829e+00 5.396274e-01 2.066677e-14 2.838608e-07 -5.189118e-07 1.806713e+00
+       4 -2.011744e-01 9.000001e-02 2.000000e-01 2.220446e-16 -2.220446e-16 1.000000e+00 1.000000e+00 0.000000e+00 -2.220446e-16 4.930418e-32 1.000000e+00 2.220446e-16 1.914963e+00 -4.150627e-15 5.977976e-16 0.000000e+00 3.080365e-31 -3.065310e-30
+       1 -4.190000e-01 9.000001e-02 2.000000e-01 2.220446e-16 -2.220446e-16 1.000000e+00 1.000000e+00 0.000000e+00 -2.220446e-16 4.930381e-32 1.000000e+00 2.220446e-16 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00
+       2 7.100001e-02 1.600000e-01 2.000000e-01 -8.185356e-01 -5.744558e-01 -2.037689e-08 5.744558e-01 -8.185356e-01 2.445617e-08 -3.072820e-08 8.312622e-09 1.000000e+00 -1.666285e-07 1.174383e-07 -3.842588e-16 -2.248020e-15 7.705444e-15 2.000000e+01
+       3 1.163848e-01 7.089213e-02 2.000000e-01 4.985303e-01 -8.668723e-01 6.216127e-08 8.668723e-01 4.985303e-01 -1.549320e-08 -1.755865e-08 6.160971e-08 1.000000e+00 1.818351e+00 9.215646e-01 2.265927e-14 3.551819e-07 -4.198426e-07 3.079684e+00
+       4 -1.830061e-01 9.000001e-02 2.000000e-01 2.220446e-16 -2.220446e-16 1.000000e+00 1.000000e+00 9.453811e-49 -2.220446e-16 4.930418e-32 1.000000e+00 2.220446e-16 1.751315e+00 8.808331e-16 3.591811e-15 -5.335905e-61 -1.669357e-30 -6.386429e-31
+       1 -4.190000e-01 9.000001e-02 2.000000e-01 2.220446e-16 -2.220446e-16 1.000000e+00 1.000000e+00 0.000000e+00 -2.220446e-16 4.930381e-32 1.000000e+00 2.220446e-16 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00
+       2 7.100000e-02 1.600000e-01 2.000000e-01 -9.168174e-01 -3.993067e-01 -2.485286e-08 3.993067e-01 -9.168174e-01 1.989113e-08 -3.072820e-08 8.312622e-09 1.000000e+00 -1.867349e-07 8.177339e-08 -3.263626e-15 -2.216695e-15 7.805749e-15 2.000000e+01
+       3 1.332754e-01 8.175827e-02 2.000000e-01 4.667766e-01 -8.843753e-01 5.907932e-08 8.843753e-01 4.667766e-01 -1.703978e-08 -1.250729e-08 6.020205e-08 1.000000e+00 1.597527e+00 1.266329e+00 1.841047e-14 4.024717e-07 -3.173414e-07 4.222521e+00
+       4 -1.666114e-01 9.000001e-02 2.000000e-01 2.220446e-16 -2.220446e-16 1.000000e+00 1.000000e+00 -3.283301e-48 -2.220446e-16 4.930418e-32 1.000000e+00 2.220446e-16 1.550787e+00 1.401605e-15 2.898439e-15 -1.059261e-33 1.776232e-30 1.620437e-30
diff --git a/testapp/OndselSolver.cpp b/testapp/OndselSolver.cpp
index f3ccc5a..aade7e6 100644
--- a/testapp/OndselSolver.cpp
+++ b/testapp/OndselSolver.cpp
@@ -26,6 +26,8 @@ void sharedptrTest();
 
 int main()
 {
+	//MBDynSystem::runFile("../testapp/MBDynCase(Cosine-half drive).mbd");
+	//MBDynSystem::runFile("../testapp/MBDynCase(Sine-forever drive).mbd");
 	MBDynSystem::runFile("../testapp/MBDynCase9orig.mbd");	//SimulationStoppingError
 	MBDynSystem::runFile("../testapp/MBDynCase8orig.mbd");	//Incompatible geometry at t=3.15
 	MBDynSystem::runFile("../testapp/MBDynCase5orig.mbd");	//Test Product::integrateWRT