diff --git a/.gitignore b/.gitignore
index 774534a..6ead354 100644
--- a/.gitignore
+++ b/.gitignore
@@ -33,4 +33,7 @@
 
 .vs
 x64/
-*.bak
\ No newline at end of file
+*.bak
+
+cmake-build-debug
+.idea
diff --git a/CMakeLists.txt b/CMakeLists.txt
new file mode 100644
index 0000000..74cf91f
--- /dev/null
+++ b/CMakeLists.txt
@@ -0,0 +1,7 @@
+cmake_minimum_required(VERSION 3.26)
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED True)
+
+# add_library(some_target main.cpp)
+add_executable(ondsel-solver MbDCode/MbDCode.cpp)
+add_subdirectory(MbDCode)
diff --git a/MbDCode/ASMTAssembly.cpp b/MbDCode/ASMTAssembly.cpp
index af20a84..39418bc 100644
--- a/MbDCode/ASMTAssembly.cpp
+++ b/MbDCode/ASMTAssembly.cpp
@@ -30,9 +30,12 @@
 
 using namespace MbD;
 
-void MbD::ASMTAssembly::runFile(const char* chars)
+void MbD::ASMTAssembly::runFile(const char* fileName)
 {
-	std::ifstream stream(chars);
+	std::ifstream stream(fileName);
+    if(stream.fail()) {
+        throw std::invalid_argument("File not found.");
+    }
 	std::string line;
 	std::vector<std::string> lines;
 	while (std::getline(stream, line)) {
diff --git a/MbDCode/ASMTAssembly.h b/MbDCode/ASMTAssembly.h
index e7bba63..219d4ef 100644
--- a/MbDCode/ASMTAssembly.h
+++ b/MbDCode/ASMTAssembly.h
@@ -33,7 +33,7 @@ namespace MbD {
     {
         //
     public:
-        static void runFile(const char* chars);
+        static void runFile(const char* fileName);
         ASMTAssembly* root() override;
         void parseASMT(std::vector<std::string>& lines) override;
         void readNotes(std::vector<std::string>& lines);
diff --git a/MbDCode/AngleZIecJec.cpp b/MbDCode/AngleZIecJec.cpp
index 443d225..dbaa8fd 100644
--- a/MbDCode/AngleZIecJec.cpp
+++ b/MbDCode/AngleZIecJec.cpp
@@ -6,7 +6,7 @@
  *   See LICENSE file for details about copyright.                         *
  ***************************************************************************/
  
-#include <corecrt_math_defines.h>
+#include "corecrt_math_defines.h"
 
 #include "AngleZIecJec.h"
 #include "Numeric.h"
diff --git a/MbDCode/Array.h b/MbDCode/Array.h
index aaa4ca0..808e366 100644
--- a/MbDCode/Array.h
+++ b/MbDCode/Array.h
@@ -29,7 +29,7 @@ namespace MbD {
 		Array(std::vector<T> vec) : std::vector<T>(vec) {}
 		Array(int count) : std::vector<T>(count) {}
 		Array(int count, const T& value) : std::vector<T>(count, value) {}
-		Array(typename typename std::vector<T>::iterator begin, typename typename std::vector<T>::iterator end) : std::vector<T>(begin, end) {}
+		Array(typename std::vector<T>::iterator begin, typename std::vector<T>::iterator end) : std::vector<T>(begin, end) {}
 		Array(std::initializer_list<T> list) : std::vector<T>{ list } {}
 		virtual void initialize();
 		void copyFrom(std::shared_ptr<Array<T>> x);
@@ -180,4 +180,4 @@ namespace MbD {
 	{
 		this->at(i) *= factor;
 	}
-}
\ No newline at end of file
+}
diff --git a/MbDCode/CMakeLists.txt b/MbDCode/CMakeLists.txt
new file mode 100644
index 0000000..85c099a
--- /dev/null
+++ b/MbDCode/CMakeLists.txt
@@ -0,0 +1,268 @@
+target_sources(ondsel-solver PUBLIC
+        Abs.cpp
+        AbsConstraint.cpp
+        AccICKineNewtonRaphson.cpp
+        AccICNewtonRaphson.cpp
+        AccKineNewtonRaphson.cpp
+        AccNewtonRaphson.cpp
+        AngleJoint.cpp
+        AngleZIecJec.cpp
+        AngleZIeqcJec.cpp
+        AngleZIeqcJeqc.cpp
+        AnyGeneralSpline.cpp
+        AnyPosICNewtonRaphson.cpp
+        ArcTan.cpp
+        ArcTan2.cpp
+        Array.cpp
+        ASMTAnimationParameters.cpp
+        ASMTAssembly.cpp
+        ASMTConstantGravity.cpp
+        ASMTConstraintSet.cpp
+        ASMTCylindricalJoint.cpp
+        ASMTExtrusion.cpp
+        ASMTFixedJoint.cpp
+        ASMTForceTorque.cpp
+        ASMTGeneralMotion.cpp
+        ASMTItem.cpp
+        ASMTItemIJ.cpp
+        ASMTJoint.cpp
+        ASMTKinematicIJ.cpp
+        ASMTMarker.cpp
+        ASMTMotion.cpp
+        ASMTPart.cpp
+        ASMTPointInPlaneJoint.cpp
+        ASMTPrincipalMassMarker.cpp
+        ASMTRefCurve.cpp
+        ASMTRefItem.cpp
+        ASMTRefPoint.cpp
+        ASMTRefSurface.cpp
+        ASMTRevoluteJoint.cpp
+        ASMTRotationalMotion.cpp
+        ASMTSimulationParameters.cpp
+        ASMTSpatialContainer.cpp
+        ASMTSpatialItem.cpp
+        ASMTSphericalJoint.cpp
+        ASMTTime.cpp
+        ASMTTranslationalMotion.cpp
+        ASMTTranslationalJoint.cpp
+        ASMTUniversalJoint.cpp
+        AtPointConstraintIJ.cpp
+        AtPointConstraintIqcJc.cpp
+        AtPointConstraintIqcJqc.cpp
+        AtPointConstraintIqctJqc.cpp
+        AtPointJoint.cpp
+        BasicIntegrator.cpp
+        BasicQuasiIntegrator.cpp
+        BasicUserFunction.cpp
+        CADSystem.cpp
+        CartesianFrame.cpp
+        CompoundJoint.cpp
+        Constant.cpp
+        ConstantGravity.cpp
+        ConstantVelocityJoint.cpp
+        Constraint.cpp
+        ConstraintIJ.cpp
+        ConstVelConstraintIJ.cpp
+        ConstVelConstraintIqcJc.cpp
+        ConstVelConstraintIqcJqc.cpp
+        Cosine.cpp
+        CREATE.cpp
+        CylindricalJoint.cpp
+        CylSphJoint.cpp
+        DifferentiatedGeneralSpline.cpp
+        EndFrameqct2.cpp
+        EulerAngles.cpp
+        EulerAnglesDDot.cpp
+        EulerAnglesDot.cpp
+        Exponential.cpp
+        ExternalSystem.cpp
+        FunctionFromData.cpp
+        FunctionXcParameter.cpp
+        FunctionXY.cpp
+        GeneralSpline.cpp
+        Ln.cpp
+        Log10.cpp
+        LogN.cpp
+        Negative.cpp
+        PosVelAccData.cpp
+        DiagonalMatrix.cpp
+        DifferenceOperator.cpp
+        DirectionCosineConstraintIJ.cpp
+        DirectionCosineConstraintIqcJc.cpp
+        DirectionCosineConstraintIqcJqc.cpp
+        DirectionCosineConstraintIqctJqc.cpp
+        DirectionCosineIecJec.cpp
+        DirectionCosineIeqcJec.cpp
+        DirectionCosineIeqcJeqc.cpp
+        DirectionCosineIeqctJeqc.cpp
+        DiscontinuityError.cpp
+        DispCompIecJecIe.cpp
+        DispCompIecJecKec.cpp
+        DispCompIecJecKeqc.cpp
+        DispCompIecJecO.cpp
+        DispCompIeqcJecIe.cpp
+        DispCompIeqcJecKeqc.cpp
+        DispCompIeqcJecO.cpp
+        DispCompIeqcJeqcIe.cpp
+        DispCompIeqcJeqcKeqc.cpp
+        DispCompIeqcJeqcKeqct.cpp
+        DispCompIeqcJeqcO.cpp
+        DispCompIeqctJeqcIe.cpp
+        DispCompIeqctJeqcKeqct.cpp
+        DispCompIeqctJeqcO.cpp
+        DistanceConstraintIJ.cpp
+        DistanceConstraintIqcJc.cpp
+        DistanceConstraintIqcJqc.cpp
+        DistanceConstraintIqctJqc.cpp
+        DistancexyConstraintIJ.cpp
+        DistancexyConstraintIqcJc.cpp
+        DistancexyConstraintIqcJqc.cpp
+        DistIecJec.cpp
+        DistIeqcJec.cpp
+        DistIeqcJeqc.cpp
+        DistIeqctJeqc.cpp
+        DistxyIecJec.cpp
+        DistxyIeqcJec.cpp
+        DistxyIeqcJeqc.cpp
+        DistxyIeqctJeqc.cpp
+        EndFramec.cpp
+        EndFrameqc.cpp
+        EndFrameqct.cpp
+        EulerAngleszxz.cpp
+        EulerAngleszxzDDot.cpp
+        EulerAngleszxzDot.cpp
+        EulerArray.cpp
+        EulerConstraint.cpp
+        EulerParameters.cpp
+        EulerParametersDDot.cpp
+        EulerParametersDot.cpp
+        ExpressionX.cpp
+        FixedJoint.cpp
+        ForceTorqueData.cpp
+        ForceTorqueItem.cpp
+        FullColumn.cpp
+        FullMatrix.cpp
+        FullMotion.cpp
+        FullRow.cpp
+        Function.cpp
+        FunctionWithManyArgs.cpp
+        FunctionX.cpp
+        GearConstraintIJ.cpp
+        GearConstraintIqcJc.cpp
+        GearConstraintIqcJqc.cpp
+        GearJoint.cpp
+        GEFullMat.cpp
+        GEFullMatFullPv.cpp
+        GEFullMatParPv.cpp
+        GESpMat.cpp
+        GESpMatFullPv.cpp
+        GESpMatFullPvPosIC.cpp
+        GESpMatParPv.cpp
+        GESpMatParPvMarko.cpp
+        GESpMatParPvMarkoFast.cpp
+        GESpMatParPvPrecise.cpp
+        ICKineIntegrator.cpp
+        IndependentVariable.cpp
+        InLineJoint.cpp
+        InPlaneJoint.cpp
+        Integrator.cpp
+        IntegratorInterface.cpp
+        Item.cpp
+        Joint.cpp
+        KineIntegrator.cpp
+        KinematicIeJe.cpp
+        LDUFullMatParPv.cpp
+        LDUSpMat.cpp
+        LDUSpMatParPv.cpp
+        LDUSpMatParPvMarko.cpp
+        LDUSpMatParPvPrecise.cpp
+        LinearMultiStepMethod.cpp
+        LineInPlaneJoint.cpp
+        MarkerFrame.cpp
+        Math.cpp
+        MatrixDecomposition.cpp
+        MatrixGaussElimination.cpp
+        MatrixLDU.cpp
+        MatrixSolver.cpp
+        MaximumIterationError.cpp
+        NewtonRaphson.cpp
+        NewtonRaphsonError.cpp
+        NoRotationJoint.cpp
+        NotKinematicError.cpp
+        Numeric.cpp
+        OrbitAnglezIecJec.cpp
+        OrbitAnglezIeqcJec.cpp
+        OrbitAnglezIeqcJeqc.cpp
+        Orientation.cpp
+        ParallelAxesJoint.cpp
+        Part.cpp
+        PartFrame.cpp
+        PerpendicularJoint.cpp
+        PlanarJoint.cpp
+        PointInLineJoint.cpp
+        PointInPlaneJoint.cpp
+        PosICKineNewtonRaphson.cpp
+        PosICNewtonRaphson.cpp
+        PosKineNewtonRaphson.cpp
+        PosNewtonRaphson.cpp
+        Power.cpp
+        PrescribedMotion.cpp
+        Product.cpp
+        QuasiIntegrator.cpp
+        RackPinConstraintIJ.cpp
+        RackPinConstraintIqcJc.cpp
+        RackPinConstraintIqcJqc.cpp
+        RackPinJoint.cpp
+        Reciprocal.cpp
+        RedundantConstraint.cpp
+        RevCylJoint.cpp
+        RevoluteJoint.cpp
+        RowTypeMatrix.cpp
+        ScalarNewtonRaphson.cpp
+        ScrewConstraintIJ.cpp
+        ScrewConstraintIqcJc.cpp
+        ScrewConstraintIqcJqc.cpp
+        ScrewJoint.cpp
+        SimulationStoppingError.cpp
+        Sine.cpp
+        SingularMatrixError.cpp
+        Solver.cpp
+        SparseColumn.cpp
+        SparseMatrix.cpp
+        SparseRow.cpp
+        SparseVector.cpp
+        SphericalJoint.cpp
+        SphSphJoint.cpp
+        StableBackwardDifference.cpp
+        LDUFullMat.cpp
+        StateData.cpp
+        Sum.cpp
+        Symbolic.cpp
+        SymbolicParser.cpp
+        SyntaxError.cpp
+        System.cpp
+        SystemNewtonRaphson.cpp
+        SystemSolver.cpp
+        Time.cpp
+        TooManyTriesError.cpp
+        TooSmallStepSizeError.cpp
+        Translation.cpp
+        TranslationalJoint.cpp
+        TranslationConstraintIJ.cpp
+        TranslationConstraintIqcJc.cpp
+        TranslationConstraintIqcJqc.cpp
+        TranslationConstraintIqctJqc.cpp
+        Units.cpp
+        UniversalJoint.cpp
+        UserFunction.cpp
+        Variable.cpp
+        FullVector.cpp
+        VectorNewtonRaphson.cpp
+        VelICKineSolver.cpp
+        VelICSolver.cpp
+        VelKineSolver.cpp
+        VelSolver.cpp
+        ZRotation.cpp
+        ZTranslation.cpp
+        ASMTAssembly.cpp
+)
diff --git a/MbDCode/CREATE.h b/MbDCode/CREATE.h
index 8afb8a3..67bdf9a 100644
--- a/MbDCode/CREATE.h
+++ b/MbDCode/CREATE.h
@@ -71,15 +71,15 @@ namespace MbD {
 		static std::shared_ptr<Constraint> ConstraintWith(std::shared_ptr<EndFramec> frmi, std::shared_ptr<EndFramec> frmj, int axis) {
 			std::shared_ptr<Constraint> inst;
 			std::string str = typeid(T(frmi, frmj, axis)).name();
-			if (str == "class MbD::AtPointConstraintIJ") {
+			if (str.find("AtPointConstraintIJ") != std::string::npos) {
 				if (std::dynamic_pointer_cast<EndFrameqct>(frmi)) {
 					inst = std::make_shared<AtPointConstraintIqctJqc>(frmi, frmj, axis);
 				}
 				else {
 					inst = std::make_shared<AtPointConstraintIqcJqc>(frmi, frmj, axis);
 				}
-			}
-			else if(str == "class MbD::TranslationConstraintIJ") {
+			} // "class MbD::Tran
+			else if(str.find("TranslationConstraintIJ") != std::string::npos) {
 				if (std::dynamic_pointer_cast<EndFrameqct>(frmi)) {
 					inst = std::make_shared<TranslationConstraintIqctJqc>(frmi, frmj, axis);
 				}
@@ -98,7 +98,7 @@ namespace MbD {
 		static std::shared_ptr<Constraint> ConstraintWith(std::shared_ptr<EndFramec> frmi, std::shared_ptr<EndFramec> frmj, int axisi, int axisj) {
 			std::shared_ptr<Constraint> inst;
 			std::string str = typeid(T(frmi, frmj, axisi, axisj)).name();
-			if (str == "class MbD::DirectionCosineConstraintIJ") {
+			if (str.find("DirectionCosineConstraintIJ") != std::string::npos) {
 				if (std::dynamic_pointer_cast<EndFrameqct>(frmi)) {
 					inst = std::make_shared<DirectionCosineConstraintIqctJqc>(frmi, frmj, axisi, axisj);
 				}
diff --git a/MbDCode/FullMatrix.h b/MbDCode/FullMatrix.h
index fd792a7..0b2817e 100644
--- a/MbDCode/FullMatrix.h
+++ b/MbDCode/FullMatrix.h
@@ -8,7 +8,7 @@
  
 #pragma once
 
-#include <corecrt_math_defines.h>
+#include "corecrt_math_defines.h"
 #include <memory>
 
 #include "RowTypeMatrix.h"
@@ -296,6 +296,13 @@ namespace MbD {
 		row2->atiput(2, 0.0);
 		return rotMat;
 	}
+    template<>
+    inline void FullMatrix<double>::zeroSelf()
+    {
+        for (int i = 0; i < this->size(); i++) {
+            this->at(i)->zeroSelf();
+        }
+    }
 	template<>
 	inline void FullMatrix<double>::identity() {
 		this->zeroSelf();
@@ -452,13 +459,6 @@ namespace MbD {
 		assert(false);
 		return 0.0;
 	}
-	template<>
-	inline void FullMatrix<double>::zeroSelf()
-	{
-		for (int i = 0; i < this->size(); i++) {
-			this->at(i)->zeroSelf();
-		}
-	}
 	template<typename T>
 	inline void FullMatrix<T>::zeroSelf()
 	{
diff --git a/MbDCode/FullRow.h b/MbDCode/FullRow.h
index 2ed2052..b4df0bd 100644
--- a/MbDCode/FullRow.h
+++ b/MbDCode/FullRow.h
@@ -35,7 +35,7 @@ namespace MbD {
 		FullRow(std::vector<T> vec) : FullVector<T>(vec) {}
 		FullRow(int count) : FullVector<T>(count) {}
 		FullRow(int count, const T& value) : FullVector<T>(count, value) {}
-		FullRow(typename std::vector<T>::iterator begin, typename std::vector<T>::iterator end) : FullVector<T>(begin, end) {}
+		FullRow(typename std::vector<T>::const_iterator begin, typename std::vector<T>::const_iterator end) : FullVector<T>(begin, end) {}
 		FullRow(std::initializer_list<T> list) : FullVector<T>{ list } {}
 		FRowsptr<T> times(T a);
 		FRowsptr<T> negated();
diff --git a/MbDCode/FullVector.h b/MbDCode/FullVector.h
index 0216460..8959c2b 100644
--- a/MbDCode/FullVector.h
+++ b/MbDCode/FullVector.h
@@ -9,6 +9,7 @@
 #pragma once
 
 #include <ostream>
+#include <limits>
 
 #include "Array.h"
 
diff --git a/MbDCode/GESpMatFullPv.cpp b/MbDCode/GESpMatFullPv.cpp
index dc81fda..ff30ba3 100644
--- a/MbDCode/GESpMatFullPv.cpp
+++ b/MbDCode/GESpMatFullPv.cpp
@@ -108,6 +108,12 @@ void GESpMatFullPv::backSubstituteIntoDU()
 	double sum, duij, duii;
 	//answerX = rightHandSideB->copyEmpty();
 	assert(m == n);
+
+    // TODO: temp
+//    assert(n > 0);
+//    auto localLen = colOrder->numberOfElements();
+//    assert(n < localLen);
+
 	answerX = std::make_shared<FullColumn<double>>(m);
 	auto jn = colOrder->at(n);
 	answerX->at(jn) = rightHandSideB->at(m) / matrixA->at(m)->at(jn);
diff --git a/MbDCode/GearConstraintIJ.h b/MbDCode/GearConstraintIJ.h
index 4092d59..7ffd8b7 100644
--- a/MbDCode/GearConstraintIJ.h
+++ b/MbDCode/GearConstraintIJ.h
@@ -9,7 +9,7 @@
 #pragma once
 
 #include "ConstraintIJ.h"
-#include "OrbitAngleZIecJec.h"
+#include "OrbitAnglezIecJec.h"
 
 namespace MbD {
 	class GearConstraintIJ : public ConstraintIJ
diff --git a/MbDCode/GearConstraintIqcJc.cpp b/MbDCode/GearConstraintIqcJc.cpp
index dd01774..cd348ff 100644
--- a/MbDCode/GearConstraintIqcJc.cpp
+++ b/MbDCode/GearConstraintIqcJc.cpp
@@ -9,7 +9,7 @@
 #include "GearConstraintIqcJc.h"
 #include "EndFrameqc.h"
 #include "CREATE.h"
-#include "OrbitAngleZIeqcJec.h"
+#include "OrbitAnglezIeqcJec.h"
 
 using namespace MbD;
 
diff --git a/MbDCode/GearConstraintIqcJqc.cpp b/MbDCode/GearConstraintIqcJqc.cpp
index 0793ed6..717c815 100644
--- a/MbDCode/GearConstraintIqcJqc.cpp
+++ b/MbDCode/GearConstraintIqcJqc.cpp
@@ -8,7 +8,7 @@
  
 #include "GearConstraintIqcJqc.h"
 #include "EndFrameqc.h"
-#include "OrbitAngleZIeqcJeqc.h"
+#include "OrbitAnglezIeqcJeqc.h"
 #include "CREATE.h"
 
 using namespace MbD;
diff --git a/MbDCode/Item.cpp b/MbDCode/Item.cpp
index e20f225..820b2e6 100644
--- a/MbDCode/Item.cpp
+++ b/MbDCode/Item.cpp
@@ -6,9 +6,9 @@
  *   See LICENSE file for details about copyright.                         *
  ***************************************************************************/
  
-#include <windows.h>
+//#include <windows.h>
 #include <assert.h>
-#include <debugapi.h>
+//#include <debugapi.h>
 #include <sstream> 
 
 #include "Item.h"
diff --git a/MbDCode/MbDCode.cpp b/MbDCode/MbDCode.cpp
index 710feb8..4adb2f3 100644
--- a/MbDCode/MbDCode.cpp
+++ b/MbDCode/MbDCode.cpp
@@ -26,20 +26,20 @@ void runSpMat();
 
 int main()
 {
-	//ASMTAssembly::runFile("piston.asmt");
-	//ASMTAssembly::runFile("00backhoe.asmt");
-	//ASMTAssembly::runFile("circular.asmt");
+	ASMTAssembly::runFile("piston.asmt");
+	ASMTAssembly::runFile("00backhoe.asmt");
+	ASMTAssembly::runFile("circular.asmt");
 	//ASMTAssembly::runFile("cirpendu.asmt");	//Under constrained. Testing ICKine.
-	//ASMTAssembly::runFile("engine1.asmt");
-	//ASMTAssembly::runFile("fourbar.asmt");
-	//ASMTAssembly::runFile("fourbot.asmt");
-	//ASMTAssembly::runFile("wobpump.asmt");
+	ASMTAssembly::runFile("engine1.asmt");
+	ASMTAssembly::runFile("fourbar.asmt");
+	ASMTAssembly::runFile("fourbot.asmt");
+	ASMTAssembly::runFile("wobpump.asmt");
 
 	auto cadSystem = std::make_shared<CADSystem>();
 	cadSystem->runOndselDoublePendulum();
-	////cadSystem->runOndselPiston();
-	//cadSystem->runPiston();
-	//runSpMat();
+	cadSystem->runOndselPiston();
+	cadSystem->runPiston();
+	runSpMat();
 }
 
 void runSpMat() {
@@ -58,4 +58,4 @@ void runSpMat() {
 	auto matSolver = CREATE<GESpMatParPvPrecise>::With();
 	auto answer = matSolver->solvewithsaveOriginal(spMat, fullCol, true);
 	auto aAx = spMat->timesFullColumn(answer);
-}
\ No newline at end of file
+}
diff --git a/MbDCode/Numeric.cpp b/MbDCode/Numeric.cpp
index e78ee3c..b1fc9a2 100644
--- a/MbDCode/Numeric.cpp
+++ b/MbDCode/Numeric.cpp
@@ -7,7 +7,7 @@
  ***************************************************************************/
  
 #include <cmath>
-#include <corecrt_math_defines.h>
+#include "corecrt_math_defines.h"
 #include <stdexcept>
 
 #include "Numeric.h"
diff --git a/MbDCode/OrbitAnglezIecJec.cpp b/MbDCode/OrbitAnglezIecJec.cpp
index c53166e..3a1ec8b 100644
--- a/MbDCode/OrbitAnglezIecJec.cpp
+++ b/MbDCode/OrbitAnglezIecJec.cpp
@@ -6,9 +6,9 @@
  *   See LICENSE file for details about copyright.                         *
  ***************************************************************************/
  
-#include <corecrt_math_defines.h>
+#include "corecrt_math_defines.h"
 
-#include "OrbitAngleZIecJec.h"
+#include "OrbitAnglezIecJec.h"
 #include "Numeric.h"
 
 using namespace MbD;
diff --git a/MbDCode/OrbitAnglezIeqcJec.cpp b/MbDCode/OrbitAnglezIeqcJec.cpp
index 1dd5298..b9bb400 100644
--- a/MbDCode/OrbitAnglezIeqcJec.cpp
+++ b/MbDCode/OrbitAnglezIeqcJec.cpp
@@ -6,7 +6,7 @@
  *   See LICENSE file for details about copyright.                         *
  ***************************************************************************/
  
-#include "OrbitAngleZIeqcJec.h"
+#include "OrbitAnglezIeqcJec.h"
 #include "CREATE.h"
 #include "DispCompIeqcJecIe.h"
 
diff --git a/MbDCode/OrbitAnglezIeqcJec.h b/MbDCode/OrbitAnglezIeqcJec.h
index 65610f3..2788bad 100644
--- a/MbDCode/OrbitAnglezIeqcJec.h
+++ b/MbDCode/OrbitAnglezIeqcJec.h
@@ -8,7 +8,7 @@
  
 #pragma once
 
-#include "OrbitAngleZIecJec.h"
+#include "OrbitAnglezIecJec.h"
 
 namespace MbD {
 	class OrbitAngleZIeqcJec : public OrbitAngleZIecJec
diff --git a/MbDCode/OrbitAnglezIeqcJeqc.cpp b/MbDCode/OrbitAnglezIeqcJeqc.cpp
index 79709c6..b8e689c 100644
--- a/MbDCode/OrbitAnglezIeqcJeqc.cpp
+++ b/MbDCode/OrbitAnglezIeqcJeqc.cpp
@@ -6,7 +6,7 @@
  *   See LICENSE file for details about copyright.                         *
  ***************************************************************************/
  
-#include "OrbitAngleZIeqcJeqc.h"
+#include "OrbitAnglezIeqcJeqc.h"
 #include "CREATE.h"
 #include "DispCompIeqcJeqcIe.h"
 
diff --git a/MbDCode/OrbitAnglezIeqcJeqc.h b/MbDCode/OrbitAnglezIeqcJeqc.h
index ec0f843..8455372 100644
--- a/MbDCode/OrbitAnglezIeqcJeqc.h
+++ b/MbDCode/OrbitAnglezIeqcJeqc.h
@@ -8,7 +8,7 @@
  
 #pragma once
 
-#include "OrbitAngleZIeqcJec.h"
+#include "OrbitAnglezIeqcJec.h"
 
 namespace MbD {
 	class OrbitAngleZIeqcJeqc : public OrbitAngleZIeqcJec
diff --git a/MbDCode/PosICNewtonRaphson.cpp b/MbDCode/PosICNewtonRaphson.cpp
index 1f84e4a..b894656 100644
--- a/MbDCode/PosICNewtonRaphson.cpp
+++ b/MbDCode/PosICNewtonRaphson.cpp
@@ -103,13 +103,13 @@ void PosICNewtonRaphson::handleSingularMatrix()
 	}
 	else {
 		std::string str = typeid(*matrixSolver).name();
-		if (str == "class GESpMatParPvMarkoFast") {
+		if (str.find("GESpMatParPvMarkoFast") != std::string::npos) {
 		matrixSolver = CREATE<GESpMatParPvPrecise>::With();
 		this->solveEquations();
 		}
 		else {
 			str = typeid(*matrixSolver).name();
-			if (str == "class GESpMatParPvPrecise") {
+			if (str.find("GESpMatParPvPrecise") != std::string::npos) {
 				this->lookForRedundantConstraints();
 				matrixSolver = this->matrixSolverClassNew();
 			}
diff --git a/MbDCode/ScrewConstraintIJ.cpp b/MbDCode/ScrewConstraintIJ.cpp
index c63e537..cbfd4e7 100644
--- a/MbDCode/ScrewConstraintIJ.cpp
+++ b/MbDCode/ScrewConstraintIJ.cpp
@@ -6,7 +6,7 @@
  *   See LICENSE file for details about copyright.                         *
  ***************************************************************************/
  
-#include <corecrt_math_defines.h>
+#include "corecrt_math_defines.h"
 
 #include "ScrewConstraintIJ.h"
 
diff --git a/MbDCode/ScrewConstraintIqcJc.cpp b/MbDCode/ScrewConstraintIqcJc.cpp
index 74cb241..463954f 100644
--- a/MbDCode/ScrewConstraintIqcJc.cpp
+++ b/MbDCode/ScrewConstraintIqcJc.cpp
@@ -6,7 +6,7 @@
  *   See LICENSE file for details about copyright.                         *
  ***************************************************************************/
  
-#include <corecrt_math_defines.h>
+#include "corecrt_math_defines.h"
 
 #include "ScrewConstraintIqcJc.h"
 #include "EndFrameqc.h"
diff --git a/MbDCode/ScrewConstraintIqcJqc.cpp b/MbDCode/ScrewConstraintIqcJqc.cpp
index 1ee6649..e02d7fe 100644
--- a/MbDCode/ScrewConstraintIqcJqc.cpp
+++ b/MbDCode/ScrewConstraintIqcJqc.cpp
@@ -6,7 +6,7 @@
  *   See LICENSE file for details about copyright.                         *
  ***************************************************************************/
  
-#include <corecrt_math_defines.h>
+#include "corecrt_math_defines.h"
 
 #include "ScrewConstraintIqcJqc.h"
 #include "EndFrameqc.h"
diff --git a/MbDCode/SymbolicParser.cpp b/MbDCode/SymbolicParser.cpp
index ed54b44..ca0c160 100644
--- a/MbDCode/SymbolicParser.cpp
+++ b/MbDCode/SymbolicParser.cpp
@@ -6,7 +6,7 @@
  *   See LICENSE file for details about copyright.                         *
  ***************************************************************************/
  
-#include <corecrt_math_defines.h>
+#include "corecrt_math_defines.h"
 #include <sstream>
 #include <iomanip>
 
diff --git a/MbDCode/SystemNewtonRaphson.cpp b/MbDCode/SystemNewtonRaphson.cpp
index 47d813a..d569297 100644
--- a/MbDCode/SystemNewtonRaphson.cpp
+++ b/MbDCode/SystemNewtonRaphson.cpp
@@ -52,13 +52,13 @@ void SystemNewtonRaphson::basicSolveEquations()
 void SystemNewtonRaphson::handleSingularMatrix()
 {
 	std::string str = typeid(*matrixSolver).name();
-	if (str == "class GESpMatParPvMarkoFast") {
+	if (str.find("GESpMatParPvMarkoFast") != std::string::npos) {
 		matrixSolver = CREATE<GESpMatParPvPrecise>::With();
 		this->solveEquations();
 	}
 	else {
 		str = typeid(*matrixSolver).name();
-		if (str == "class GESpMatParPvPrecise") {
+		if (str.find("GESpMatParPvPrecise") != std::string::npos) {
 			str = "MbD: Singular Matrix Error. ";
 			system->logString(str);
 			matrixSolver = this->matrixSolverClassNew();
diff --git a/MbDCode/VelSolver.cpp b/MbDCode/VelSolver.cpp
index b4be203..e85d4db 100644
--- a/MbDCode/VelSolver.cpp
+++ b/MbDCode/VelSolver.cpp
@@ -25,13 +25,13 @@ void VelSolver::basicSolveEquations()
 void VelSolver::handleSingularMatrix()
 {
 	std::string str = typeid(*matrixSolver).name();
-	if (str == "class GESpMatParPvMarkoFast") {
+	if (str.find("GESpMatParPvMarkoFast") != std::string::npos) {
 		matrixSolver = CREATE<GESpMatParPvPrecise>::With();
 		this->solveEquations();
 	}
 	else {
 		str = typeid(*matrixSolver).name();
-		if (str == "class GESpMatParPvPrecise") {
+		if (str.find("GESpMatParPvPrecise") != std::string::npos) {
 			this->logSingularMatrixMessage();
 			matrixSolver = this->matrixSolverClassNew();
 		}
diff --git a/MbDCode/corecrt_math_defines.h b/MbDCode/corecrt_math_defines.h
new file mode 100644
index 0000000..d8c0560
--- /dev/null
+++ b/MbDCode/corecrt_math_defines.h
@@ -0,0 +1,30 @@
+//
+// corecrt_math_defines.h
+//
+//      Copyright (c) Microsoft Corporation. All rights reserved.
+//
+// Definitions of useful mathematical constants
+//
+#pragma once
+
+#ifndef _MATH_DEFINES_DEFINED
+#define _MATH_DEFINES_DEFINED
+// Definitions of useful mathematical constants
+//
+// Define _USE_MATH_DEFINES before including <math.h> to expose these macro
+// definitions for common math constants.  These are placed under an #ifdef
+// since these commonly-defined names are not part of the C or C++ standards
+// #define M_E        2.71828182845904523536   // e
+// #define M_LOG2E    1.44269504088896340736   // log2(e)
+// #define M_LOG10E   0.434294481903251827651  // log10(e)
+// #define M_LN2      0.693147180559945309417  // ln(2)
+// #define M_LN10     2.30258509299404568402   // ln(10)
+#define M_PI       3.14159265358979323846   // pi
+// #define M_PI_2     1.57079632679489661923   // pi/2
+// #define M_PI_4     0.785398163397448309616  // pi/4
+// #define M_1_PI     0.318309886183790671538  // 1/pi
+// #define M_2_PI     0.636619772367581343076  // 2/pi
+#define M_2_SQRTPI 1.12837916709551257390   // 2/sqrt(pi)
+#define M_SQRT2    1.41421356237309504880   // sqrt(2)
+// #define M_SQRT1_2  0.707106781186547524401  // 1/sqrt(2)
+#endif
\ No newline at end of file