Merge pull request #30 from Ondsel-Development/OutputASMT

Output asmt
2023-11-15 20:47:29 +01:00
parent 84762ac74e e135d26163
commit 9fae4cdc68
171 changed files with 30722 additions and 928 deletions
--- a/OndselSolver/ASMTAnimationParameters.h
+++ b/OndselSolver/ASMTAnimationParameters.h
@@ -18,7 +18,7 @@ namespace MbD {
        void parseASMT(std::vector<std::string>& lines) override;
        void storeOnLevel(std::ofstream& os, int level) override;

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


--- a/OndselSolver/ASMTAssembly.cpp
+++ b/OndselSolver/ASMTAssembly.cpp
@@ -940,7 +940,7 @@ void MbD::ASMTAssembly::createMbD(std::shared_ptr<System> mbdSys, std::shared_pt
 void MbD::ASMTAssembly::outputFile(std::string filename)
 {
 	std::ofstream os(filename);
-	os << std::setprecision(std::numeric_limits<double>::digits10 + 1);
+	os << std::setprecision(static_cast<std::streamsize>(std::numeric_limits<double>::digits10) + 1);
 	//	try {
 	os << "OndselSolver" << std::endl;
 	storeOnLevel(os, 0);
@@ -1144,7 +1144,7 @@ std::shared_ptr<ASMTPart> MbD::ASMTAssembly::partPartialNamed(std::string partia
 		auto fullName = prt->fullName("");
 		return fullName.find(partialName) != std::string::npos;
 		});
-	auto part = *it;
+	auto& part = *it;
 	return part;
 }

@@ -1212,6 +1212,7 @@ void MbD::ASMTAssembly::storeOnLevelGeneralConstraintSets(std::ofstream& os, int

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

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

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

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

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

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

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

--- a/OndselSolver/ASMTPointInPlaneJoint.cpp
+++ b/OndselSolver/ASMTPointInPlaneJoint.cpp
@@ -25,11 +25,14 @@ void MbD::ASMTPointInPlaneJoint::parseASMT(std::vector<std::string>& lines)

 void MbD::ASMTPointInPlaneJoint::readOffset(std::vector<std::string>& lines)
 {
-	assert(lines[0].find("offset") != std::string::npos);
-	lines.erase(lines.begin());
-	offset = readDouble(lines[0]);
-	lines.erase(lines.begin());
-
+	if (lines[0].find("offset") == std::string::npos) {
+		offset = 0.0;
+	}
+	else {
+		lines.erase(lines.begin());
+		offset = readDouble(lines[0]);
+		lines.erase(lines.begin());
+	}
 }

 void MbD::ASMTPointInPlaneJoint::createMbD(std::shared_ptr<System> mbdSys, std::shared_ptr<Units> mbdUnits)
--- a/OndselSolver/ASMTPrincipalMassMarker.cpp
+++ b/OndselSolver/ASMTPrincipalMassMarker.cpp
@@ -12,6 +12,11 @@

 using namespace MbD;

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

 #include "ASMTSpatialItem.h"

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

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

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

-    };
+	};
 }

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

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

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

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

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

 using namespace MbD;

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

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

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

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

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

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

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

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

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

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

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

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

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

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

 double MbD::ArcTan2::getValue()
 {
-    return std::atan2(y->getValue(), x->getValue());;
+    return std::atan2(y->getValue(), x->getValue());
 }
--- a/OndselSolver/Array.h
+++ b/OndselSolver/Array.h
@@ -121,7 +121,7 @@ namespace MbD {
 	{
 		for (int ii = 0; ii < this->size(); ii++)
 		{
-			this->at(ii) = array->at(i + ii);
+			this->at(ii) = array->at((size_t)i + ii);
 		}
 	}
 	//template<>
@@ -182,4 +182,4 @@ namespace MbD {
 	{
 		this->at(i) *= factor;
 	}
-}
+}
--- a/OndselSolver/AtPointConstraintIqcJc.cpp
+++ b/OndselSolver/AtPointConstraintIqcJc.cpp
@@ -45,7 +45,7 @@ void AtPointConstraintIqcJc::useEquationNumbers()
 void AtPointConstraintIqcJc::fillPosICError(FColDsptr col)
 {
 	Constraint::fillPosICError(col);
-	col->at(iqXIminusOnePlusAxis) -= lam;
+	col->atiminusNumber(iqXIminusOnePlusAxis, lam);
 	col->atiplusFullVectortimes(iqEI, pGpEI, lam);
 }

--- a/OndselSolver/AtPointConstraintIqcJqc.cpp
+++ b/OndselSolver/AtPointConstraintIqcJqc.cpp
@@ -46,7 +46,7 @@ void AtPointConstraintIqcJqc::useEquationNumbers()
 void AtPointConstraintIqcJqc::fillPosICError(FColDsptr col)
 {
 	AtPointConstraintIqcJc::fillPosICError(col);
-	col->at(iqXJminusOnePlusAxis) += lam;
+	col->atiplusNumber(iqXJminusOnePlusAxis, lam);
 	col->atiplusFullVectortimes(iqEJ, pGpEJ, lam);
 }

--- a/OndselSolver/BasicIntegrator.cpp
+++ b/OndselSolver/BasicIntegrator.cpp
@@ -5,7 +5,7 @@
 *                                                                         *
 *   See LICENSE file for details about copyright.                         *
 ***************************************************************************/
- 
+
 #include "BasicIntegrator.h"
 #include "CREATE.h"
 #include "StableBackwardDifference.h"
--- a/OndselSolver/BasicQuasiIntegrator.cpp
+++ b/OndselSolver/BasicQuasiIntegrator.cpp
@@ -14,15 +14,15 @@ using namespace MbD;
 void BasicQuasiIntegrator::firstStep()
 {
 	istep = 0;
-	this->preFirstStep();
+	preFirstStep();
 	iTry = 1;
 	orderNew = 1;
-	this->selectFirstStepSize();
-	this->incrementTime();
-	this->runInitialConditionTypeSolution();
-	//this->reportTrialStepStats();
-	this->postFirstStep();
-	//this->reportStepStats();
+	selectFirstStepSize();
+	incrementTime();
+	runInitialConditionTypeSolution();
+	//reportTrialStepStats();
+	postFirstStep();
+	//reportStepStats();
 }

 bool BasicQuasiIntegrator::isRedoingFirstStep()
@@ -32,15 +32,15 @@ bool BasicQuasiIntegrator::isRedoingFirstStep()

 void BasicQuasiIntegrator::nextStep()
 {
-	this->preStep();
+	preStep();
 	iTry = 1;
-	this->selectOrder();
-	this->selectStepSize();
-	this->incrementTime();
-	this->runInitialConditionTypeSolution();
-	//this->reportTrialStepStats();
-	this->postStep();
-	//this->reportStepStats();
+	selectOrder();
+	selectStepSize();
+	incrementTime();
+	runInitialConditionTypeSolution();
+	//reportTrialStepStats();
+	postStep();
+	//reportStepStats();
 }

 void BasicQuasiIntegrator::runInitialConditionTypeSolution()
--- a/OndselSolver/CREATE.h
+++ b/OndselSolver/CREATE.h
@@ -78,7 +78,7 @@ namespace MbD {
 				else {
 					inst = std::make_shared<AtPointConstraintIqcJqc>(frmi, frmj, axis);
 				}
-			} // "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);
--- a/OndselSolver/ClassDiagram.cd
+++ b/OndselSolver/ClassDiagram.cd
@@ -1,2 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<ClassDiagram /> 
--- a/OndselSolver/ClassDiagram1.cd
+++ b/OndselSolver/ClassDiagram1.cd
@@ -1,11 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<ClassDiagram MajorVersion="1" MinorVersion="1">
-  <Class Name="MbD::Solver" Collapsed="true">
-    <Position X="0.5" Y="0.5" Width="1.5" />
-    <TypeIdentifier>
-      <HashCode>AKAAAgAAAAAAgAAAEAEAAIABAAAAAAAACIAAIAAAAAI=</HashCode>
-      <FileName>Solver.h</FileName>
-    </TypeIdentifier>
-  </Class>
-  <Font Name="Segoe UI" Size="9" />
-</ClassDiagram>
--- a/OndselSolver/ConstVelConstraintIJ.cpp
+++ b/OndselSolver/ConstVelConstraintIJ.cpp
@@ -52,40 +52,40 @@ void ConstVelConstraintIJ::postInput()
 {
 	aA01IeJe->postInput();
 	aA10IeJe->postInput();
-	Constraint::postInput();
+	ConstraintIJ::postInput();
 }

 void ConstVelConstraintIJ::postPosICIteration()
 {
 	aA01IeJe->postPosICIteration();
 	aA10IeJe->postPosICIteration();
-	Item::postPosICIteration();
+	ConstraintIJ::postPosICIteration();
 }

 void ConstVelConstraintIJ::preAccIC()
 {
 	aA01IeJe->preAccIC();
 	aA10IeJe->preAccIC();
-	Constraint::preAccIC();
+	ConstraintIJ::preAccIC();
 }

 void ConstVelConstraintIJ::prePosIC()
 {
 	aA01IeJe->prePosIC();
 	aA10IeJe->prePosIC();
-	Constraint::prePosIC();
+	ConstraintIJ::prePosIC();
 }

 void ConstVelConstraintIJ::preVelIC()
 {
 	aA01IeJe->preVelIC();
 	aA10IeJe->preVelIC();
-	Item::preVelIC();
+	ConstraintIJ::preVelIC();
 }

 void ConstVelConstraintIJ::simUpdateAll()
 {
 	aA01IeJe->simUpdateAll();
 	aA10IeJe->simUpdateAll();
-	Item::simUpdateAll();
+	ConstraintIJ::simUpdateAll();
 }
--- a/OndselSolver/ConstVelConstraintIqcJc.cpp
+++ b/OndselSolver/ConstVelConstraintIqcJc.cpp
@@ -5,7 +5,7 @@
 *                                                                         *
 *   See LICENSE file for details about copyright.                         *
 ***************************************************************************/
- 
+
 #include <memory>

 #include "ConstVelConstraintIqcJc.h"
--- a/OndselSolver/Constant.cpp
+++ b/OndselSolver/Constant.cpp
@@ -9,6 +9,7 @@
 #include "Constant.h"
 #include "System.h"
 #include "Units.h"
+#include "Polynomial.h"

 using namespace MbD;

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

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

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

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

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

        std::ostream& printOn(std::ostream& s) const override;
    };
--- a/OndselSolver/ConstantGravity.cpp
+++ b/OndselSolver/ConstantGravity.cpp
@@ -15,6 +15,6 @@ using namespace MbD;
 void MbD::ConstantGravity::fillAccICIterError(FColDsptr col)
 {
 	for (auto& part : *(root()->parts)) {
-		col->atiplusFullColumn(part->iqX(), gXYZ->times(part->m));
+		col->atiplusFullColumntimes(part->iqX(), gXYZ, part->m);
 	}
 }
--- a/OndselSolver/Constraint.cpp
+++ b/OndselSolver/Constraint.cpp
@@ -104,7 +104,7 @@ void Constraint::setqsudotlam(FColDsptr col)

 void Constraint::fillPosICError(FColDsptr col)
 {
-	col->at(iG) += aG;
+	col->atiplusNumber(iG, aG);
 }

 void Constraint::removeRedundantConstraints(std::shared_ptr<std::vector<int>> redundantEqnNos)
--- a/OndselSolver/Constraint.h
+++ b/OndselSolver/Constraint.h
@@ -5,7 +5,7 @@
 *                                                                         *
 *   See LICENSE file for details about copyright.                         *
 ***************************************************************************/
- 
+
 #pragma once

 #include <memory>
--- a/OndselSolver/Cosine.cpp
+++ b/OndselSolver/Cosine.cpp
@@ -26,8 +26,13 @@ Symsptr MbD::Cosine::differentiateWRTx()
    return std::make_shared<Negative>(std::make_shared<Sine>(xx));
 }

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

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

--- a/OndselSolver/CrankSlider2.mbd
+++ b/OndselSolver/CrankSlider2.mbd
@@ -0,0 +1,297 @@
+-----------------------------------------------------------------------------
+ # [Data Block]
+
+ begin: data;
+     problem: initial value;
+ end: data;
+
+ #-----------------------------------------------------------------------------
+ # [Problem Block]
+
+ begin: initial value;
+     initial time: 0.0;
+     final time: 8.0;
+     time step: 0.01;
+     max iterations: 100;
+     tolerance: 1e-06;
+     derivatives tolerance: 0.0001;
+     derivatives max iterations: 100;
+     derivatives coefficient: auto;
+ end: initial value;
+
+ #-----------------------------------------------------------------------------
+ # [Control Data Block]
+
+ begin: control data;
+     max iterations: 1000;
+     default orientation: euler321;
+     omega rotates: no;
+     print: none;
+     initial stiffness: 1.0, 1.0;
+     structural nodes: 4;
+     rigid bodies: 3;
+     joints: 6;
+ end: control data;
+
+ #-----------------------------------------------------------------------------
+ # [Design Variables]
+
+     #Generic bodies
+
+         #body: 2
+             set: integer body_2 = 2; #body label
+             set: real mass_2 = 3.805252376198168; #mass [kg]
+             set: real volume_2 = 0.0004816775159744516; #volume [m^3]
+
+         #body: 3
+             set: integer body_3 = 3; #body label
+             set: real mass_3 = 15.238784954845523; #mass [kg]
+             set: real volume_3 = 0.0019289601208665218; #volume [m^3]
+
+         #body: 4
+             set: integer body_4 = 4; #body label
+             set: real mass_4 = 2.865603331977783; #mass [kg]
+             set: real volume_4 = 0.0003627345989845295; #volume [m^3]
+
+     #Nodes
+
+         #node: 1
+             set: integer structural_node_1 = 1; #node label
+
+         #node: 2
+             set: integer structural_node_2 = 2; #node label
+
+         #node: 3
+             set: integer structural_node_3 = 3; #node label
+
+         #node: 4
+             set: integer structural_node_4 = 4; #node label
+
+     #Joints
+
+         #joint: 1
+             set: integer joint_1 = 1; #joint label
+
+         #joint: 2
+             set: integer joint_2 = 2; #joint label
+
+         #joint: 3
+             set: integer joint_3 = 3; #joint label
+
+         #joint: 4
+             set: integer joint_4 = 4; #joint label
+
+         #joint: 5
+             set: integer joint_5 = 5; #joint label
+
+         #joint: 6
+             set: integer joint_6 = 6; #joint label
+
+     #Nodes: initial conditions
+
+         #node: 1
+             set: real Px_1 = -0.06210573361337854; #X component of the absolute position [m]
+             set: real Py_1 = 0.048526435375479564; #Y component of the absolute position [m]
+             set: real Pz_1 = -4.033966837940965e-17; #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 = 0.011666006676941875; #X component of the absolute position [m]
+             set: real Py_2 = 0.15999999999999778; #Y component of the absolute position [m]
+             set: real Pz_2 = -1.2084363289349542e-19; #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 = 0.2111281366952498; #X component of the absolute position [m]
+             set: real Py_3 = 0.16; #Y component of the absolute position [m]
+             set: real Pz_3 = -2.0217697810416158e-18; #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 = -0.1812239275015207; #X component of the absolute position [m]
+             set: real Py_4 = 0.16000000169909329; #Y component of the absolute position [m]
+             set: real Pz_4 = -4.340477856936436e-12; #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 = 0.031674420620509; #moment of inertia [kg*m^2]
+             set: real Iyy_2 = 0.029604112147595; #moment of inertia [kg*m^2]
+             set: real Izz_2 = 0.002867529429125; #moment of inertia [kg*m^2]
+
+             set: real Rx_2 = 0.0; #X component of the relative center of mass [m]
+             set: real Ry_2 = 0.0; #Y component of the relative center of mass [m]
+             set: real Rz_2 = 2.0843632893495426e-20; #Z component of the relative center of mass [m]
+
+         #body 3: 
+             set: real Ixx_3 = 0.09813066341583701; #moment of inertia [kg*m^2]
+             set: real Iyy_3 = 0.095433846761275; #moment of inertia [kg*m^2]
+             set: real Izz_3 = 0.077043262824289; #moment of inertia [kg*m^2]
+
+             set: real Rx_3 = 0.0; #X component of the relative center of mass [m]
+             set: real Ry_3 = 0.0; #Y component of the relative center of mass [m]
+             set: real Rz_3 = 2.1769781041615487e-20; #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 = 0.0; #X component of the relative center of mass [m]
+             set: real Ry_4 = 0.0; #Y component of the relative center of mass [m]
+             set: real Rz_4 = -4.306356366563123e-20; #Z component of the relative center of mass [m]
+
+ #-----------------------------------------------------------------------------
+ # [Nodes Block]
+
+ begin: nodes;
+
+     structural: structural_node_1,
+                 static,
+                 Px_1, Py_1, Pz_1, #<absolute_position> [m]
+                 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<absolute_orientation_matrix>
+                 Vx_1, Vy_1, Vz_1, #<absolute_velocity> [m/s]
+                 Wx_1, Wy_1, Wz_1; #<absolute_angular_velocity> [rad/s]
+
+     structural: structural_node_2,
+                 dynamic,
+                 Px_2, Py_2, Pz_2, #<absolute_position> [m]
+                 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<absolute_orientation_matrix>
+                 Vx_2, Vy_2, Vz_2, #<absolute_velocity> [m/s]
+                 Wx_2, Wy_2, Wz_2; #<absolute_angular_velocity> [rad/s]
+
+     structural: structural_node_3,
+                 dynamic,
+                 Px_3, Py_3, Pz_3, #<absolute_position> [m]
+                 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<absolute_orientation_matrix>
+                 Vx_3, Vy_3, Vz_3, #<absolute_velocity> [m/s]
+                 Wx_3, Wy_3, Wz_3; #<absolute_angular_velocity> [rad/s]
+
+     structural: structural_node_4,
+                 dynamic,
+                 Px_4, Py_4, Pz_4, #<absolute_position> [m]
+                 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<absolute_orientation_matrix>
+                 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, 1.0, 0.0, 0.0, 2, 0.0, 0.9999999999999999, 9.62964972193618e-35; 
+
+         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, 0.0, 0.0, 1.0, 2, 1.0, 0.0, 0.0; 
+
+         body: body_4,
+               structural_node_4, #<node_label> 
+               mass_4, #<mass> [kg]
+               Rx_4, Ry_4, Rz_4, #<relative_center_of_mass> [m]
+               diag, Ixx_4, Iyy_4, Izz_4, #<inertia matrix> [kg*m^2]
+               orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; 
+
+     #-----------------------------------------------------------------------------
+     # [Joints]
+
+     joint: joint_1,
+         clamp,
+         structural_node_1, #<node_label>
+             -0.06210573361337854, 0.048526435375479564, -4.033966837940965e-17, #<absolute_pin_position> [m]
+             3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; #<absolute_orientation_matrix> 
+
+     joint: joint_2,
+         axial rotation,
+         structural_node_1, #<node_1_label>
+             0.2521057336133785, 0.11147356462452043, 0.13500000000000004, #<relative_offset_1> [m]
+             orientation, 3, 0.0, 0.0, 1.0, 2, -1.0, 2.220446049250313e-16, 0.0, #<relative_orientation_matrix_1>
+         structural_node_3, #<node_2_label>
+             -0.021128136695249794, 0.0, 0.135, #<relative_offset_2> [m]
+             orientation, 3, 0.0, 0.0, 1.0, 2, -1.0, 2.220446049250313e-16, 0.0, #<relative_orientation_matrix_2>
+         string, "model::drive(1, Time)"; #<angular_velocity> [rad/s]
+
+     joint: joint_3,
+         revolute hinge,
+         structural_node_2, #<node_1_label>
+             0.08833399332305812, 2.2168933355715126e-15, 0.065, #<relative_position_1> [m]
+             orientation, 3, 0.0, 0.0, 1.0, 2, -1.0, 2.220446049250313e-16, 0.0, #<relative_pin_orientation_matrix_1>
+         structural_node_3, #<node_2_label>
+            -0.11112813669524979, 0.0, 0.065, #<relative_position_2> [m]
+            orientation, 3, 0.0, 0.0, 1.0, 2, -1.0, 2.220446049250313e-16, 0.0; #<relative_pin_orientation_matrix_2>
+
+     joint: joint_4,
+         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_5,
+         in line,
+         structural_node_1, #<node_1_label>
+             0.0, 0.11147355803101042, 2.4118673970779456e-17, #<relative_line_position> [m]
+             3, -1.0, 1.1102230246251565e-16, -2.220446049250313e-16, 2, -1.1102230246251565e-16, 0.0, 1.0, #<relative_orientation>
+         structural_node_4, #<node_2_label>
+             offset, 0.0, -8.292603282173139e-09, 4.340448411165876e-12; #<relative_offset> [m]
+
+     joint: joint_6,
+         in line,
+         structural_node_2, #<node_1_label>
+             -0.1616660066769419, 2.2168933355715126e-15, 0.0, #<relative_line_position> [m]
+             3, 0.0, -0.0, -1.0, 2, -1.0, -2.220446049250313e-16, 0.0, #<relative_orientation>
+         structural_node_4, #<node_2_label>
+             offset, 0.031223927501520705, -1.69909327496498e-09, 7.275957614183426e-15; #<relative_offset> [m]
+
+     #-----------------------------------------------------------------------------
+     # [Drive callers]
+
+     drive caller: 1, name,"drive:1", ramp, 10.0, 0.0, 1.0, 0.0;
+
+ end: elements;
+
--- a/OndselSolver/CrankSlider2.mov
+++ b/OndselSolver/CrankSlider2.mov
--- a/OndselSolver/DiagonalMatrix.h
+++ b/OndselSolver/DiagonalMatrix.h
@@ -25,7 +25,7 @@ namespace MbD {
 		DiagonalMatrix(int count, const double& value) : Array<double>(count, value) {}
 		DiagonalMatrix(std::initializer_list<double> list) : Array<double>{ list } {}
 		void atiputDiagonalMatrix(int i, std::shared_ptr<DiagonalMatrix> diagMat);
-        DiagMatDsptr times(double factor);
+		DiagMatDsptr times(double factor);
 		FColsptr<double> timesFullColumn(FColsptr<double> fullCol);
 		FMatDsptr timesFullMatrix(FMatDsptr fullMat);
 		int nrow() {
--- a/OndselSolver/DifferenceOperator.cpp
+++ b/OndselSolver/DifferenceOperator.cpp
@@ -5,7 +5,7 @@
 *                                                                         *
 *   See LICENSE file for details about copyright.                         *
 ***************************************************************************/
- 
+
 #include <cmath>

 #include "DifferenceOperator.h"
@@ -20,7 +20,7 @@ FRowDsptr DifferenceOperator::OneOverFactorials = []() {
 	auto oneOverFactorials = std::make_shared<FullRow<double>>(10);
 	for (int i = 0; i < oneOverFactorials->size(); i++)
 	{
-		oneOverFactorials->at(i) = 1.0 / std::tgamma(i+1);
+		oneOverFactorials->at(i) = 1.0 / std::tgamma(i + 1);
 	}
 	return oneOverFactorials;
 }();
@@ -42,6 +42,12 @@ void DifferenceOperator::calcOperatorMatrix()

 void DifferenceOperator::initialize()
 {
+	//Do nothing
+}
+
+void MbD::DifferenceOperator::initializeLocally()
+{
+	assert(false);
 }

 void DifferenceOperator::setiStep(int i)
@@ -75,9 +81,8 @@ void DifferenceOperator::formTaylorRowwithTimeNodederivative(int i, int ii, int
 	for (int j = k + 1; j < order + 1; j++)
 	{
 		hipower = hipower * hi;
-		assert(false);
-		//aij = hipower * (OneOverFactorials at : j - k - 1);
-		//rowi at : j put : aij
+		auto aij = hipower * OneOverFactorials->at((size_t)j - k);
+		rowi->atiput(j, aij);
 	}
 }

--- a/OndselSolver/DifferenceOperator.h
+++ b/OndselSolver/DifferenceOperator.h
@@ -19,6 +19,7 @@ namespace MbD {
 	public:
 		void calcOperatorMatrix();
 		virtual void initialize();
+		virtual void initializeLocally();
 		virtual void setiStep(int i);
 		virtual void setorder(int o);
 		virtual void formTaylorMatrix() = 0;
@@ -29,7 +30,7 @@ namespace MbD {
 		int iStep = 0, order = 0;
 		FMatDsptr taylorMatrix, operatorMatrix;
 		double time = 0.0;
-		std::shared_ptr<std::vector<double>> timeNodes;
+		std::shared_ptr<std::vector<double>> timeNodes;	//"Row of past times in order of increasing past."
 		static FRowDsptr OneOverFactorials;
 	};
 }
--- a/OndselSolver/DifferentiatedGeneralSpline.cpp
+++ b/OndselSolver/DifferentiatedGeneralSpline.cpp
@@ -34,6 +34,6 @@ Symsptr MbD::DifferentiatedGeneralSpline::clonesptr()

 std::ostream& MbD::DifferentiatedGeneralSpline::printOn(std::ostream& s) const
 {
-	s << "deriv(" << generalSpline << ", " << derivativeOrder << ")";
+	s << "deriv(" << *generalSpline << ", " << derivativeOrder << ")";
 	return s;
 }
--- a/OndselSolver/DirectionCosineConstraintIJ.cpp
+++ b/OndselSolver/DirectionCosineConstraintIJ.cpp
@@ -59,7 +59,7 @@ void DirectionCosineConstraintIJ::prePosIC()
 void DirectionCosineConstraintIJ::postPosICIteration()
 {
 	aAijIeJe->postPosICIteration();
-	Item::postPosICIteration();
+	ConstraintIJ::postPosICIteration();
 }

 ConstraintType DirectionCosineConstraintIJ::type()
@@ -70,7 +70,7 @@ ConstraintType DirectionCosineConstraintIJ::type()
 void DirectionCosineConstraintIJ::preVelIC()
 {
 	aAijIeJe->preVelIC();
-	Item::preVelIC();
+	ConstraintIJ::preVelIC();
 }

 void MbD::DirectionCosineConstraintIJ::simUpdateAll()
--- a/OndselSolver/EndFrameqct.cpp
+++ b/OndselSolver/EndFrameqct.cpp
@@ -321,4 +321,3 @@ namespace MbD {
        ppAOeptpt = aAOm->timesFullMatrix(ppAmeptpt);
    }
 }
-
--- a/OndselSolver/Exponential.cpp
+++ b/OndselSolver/Exponential.cpp
@@ -19,8 +19,13 @@ double MbD::Exponential::getValue()
    return std::log(xx->getValue());
 }

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

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

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

 using namespace MbD;

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

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

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

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

--- a/OndselSolver/FullColumn.cpp
+++ b/OndselSolver/FullColumn.cpp
@@ -169,5 +169,36 @@ namespace MbD {
    // instantiate on purpose to make visible in library api:
    template class FullColumn<double>;
    template class FullColumn<int>;
+    template<typename T>
+    double FullColumn<T>::dot(std::shared_ptr<FullVector<T>> vec)
+    {
+        int n = (int)this->size();
+        double answer = 0.0;
+        for (int i = 0; i < n; i++) {
+            answer += this->at(i) * vec->at(i);
+        }
+        return answer;
+    }
+    template<typename T>
+    std::shared_ptr<FullVector<T>> FullColumn<T>::dot(std::shared_ptr<std::vector<std::shared_ptr<FullColumn<T>>>> vecvec)
+    {
+        int ncol = (int)this->size();
+        auto nelem = vecvec->at(0)->size();
+        auto answer = std::make_shared<FullVector<T>>(nelem);
+        for (int k = 0; k < nelem; k++) {
+            auto sum = 0.0;
+            for (int i = 0; i < ncol; i++)
+            {
+                sum += this->at(i) * vecvec->at(i)->at(k);
+            }
+            answer->at(k) = sum;
+        }
+        return answer;
+    }
+    template<typename T>
+    std::shared_ptr<FullColumn<T>> FullColumn<T>::clonesptr()
+    {
+        return std::make_shared<FullColumn<T>>(*this);
+    }

 }
--- a/OndselSolver/FullColumn.h
+++ b/OndselSolver/FullColumn.h
@@ -5,7 +5,7 @@
 *                                                                         *
 *   See LICENSE file for details about copyright.                         *
 ***************************************************************************/
- 
+
 #pragma once

 #include <string>
@@ -31,6 +31,7 @@ namespace MbD {
 		FullColumn(typename std::vector<T>::iterator begin, typename std::vector<T>::iterator end) : FullVector<T>(begin, end) {}
 		FullColumn(std::initializer_list<T> list) : FullVector<T>{ list } {}
 		FColsptr<T> plusFullColumn(FColsptr<T> fullCol);
+		FColsptr<T> plusFullColumntimes(FColsptr<T> fullCol, double factor);
 		FColsptr<T> minusFullColumn(FColsptr<T> fullCol);
 		FColsptr<T> times(T a);
 		FColsptr<T> negated();
@@ -42,10 +43,13 @@ namespace MbD {
 		FColsptr<T> copy();
 		FRowsptr<T> transpose();
 		void atiplusFullColumntimes(int i, FColsptr<T> fullCol, T factor);
-		T transposeTimesFullColumn(const FColsptr<T> fullCol);		
+		T transposeTimesFullColumn(const FColsptr<T> fullCol);
 		void equalSelfPlusFullColumntimes(FColsptr<T> fullCol, T factor);
 		FColsptr<T> cross(FColsptr<T> fullCol);
 		FColsptr<T> simplified();
+		std::shared_ptr<FullColumn<T>> clonesptr();
+		double dot(std::shared_ptr<FullVector<T>> vec);
+		std::shared_ptr<FullVector<T>> dot(std::shared_ptr<std::vector<std::shared_ptr<FullColumn<T>>>> vecvec);

 		std::ostream& printOn(std::ostream& s) const override;
 	};
--- a/OndselSolver/FullRow.cpp
+++ b/OndselSolver/FullRow.cpp
@@ -22,6 +22,18 @@ namespace MbD {
        }
        return answer;
    }
+    //template<typename T>
+    //inline FMatDsptr FullRow<T>::transposeTimesFullRow(FRowDsptr fullRow)
+    //{
+    //    //"a*b = a(i)b(j)"
+    //    auto nrow = (int)this->size();
+    //    auto answer = std::make_shared<FullMatrixDouble>(nrow);
+    //    for (int i = 0; i < nrow; i++)
+    //    {
+    //        answer->atiput(i, fullRow->times(this->at(i)));
+    //    }
+    //    return answer;
+    //}

    template<>
    FRowsptr<double> FullRow<double>::timesTransposeFullMatrix(std::shared_ptr<FullMatrixDouble> fullMat)
--- a/OndselSolver/FullRow.h
+++ b/OndselSolver/FullRow.h
@@ -35,9 +35,16 @@ namespace MbD {
 		FColsptr<T> transpose();
 		FRowsptr<T> copy();
 		void atiplusFullRow(int j, FRowsptr<T> fullRow);
+		FMatDsptr transposeTimesFullRow(FRowDsptr fullRow);
+		std::shared_ptr<FullRow<T>> clonesptr();
+		//double dot(std::shared_ptr<FullColumn<T>> vec);
+		//double dot(std::shared_ptr<FullRow<T>> vec);
+		double dot(std::shared_ptr<FullVector<T>> vec);
+		std::shared_ptr<FullVector<T>> dot(std::shared_ptr<std::vector<std::shared_ptr<FullColumn<T>>>> vecvec);
+
+		
 		std::ostream& printOn(std::ostream& s) const override;

-        std::shared_ptr<FullMatrixDouble> transposeTimesFullRow(FRowsptr<double> fullRow);
        FRowsptr<double> timesTransposeFullMatrix(std::shared_ptr<FullMatrixDouble> fullMat);
        // FRowsptr<std::shared_ptr<FullMatrixDouble>> timesTransposeFullMatrixForFMFMDsptr(std::shared_ptr<FullMatrixFullMatrixDouble> fullMat);
        FRowsptr<double> timesFullMatrix(std::shared_ptr<FullMatrixDouble> fullMat);
@@ -134,6 +141,37 @@ namespace MbD {
 		}
 	}
 	template<typename T>
+	inline std::shared_ptr<FullRow<T>> FullRow<T>::clonesptr()
+	{
+		return std::make_shared<FullRow<T>>(*this);
+	}
+	template<typename T>
+	inline double FullRow<T>::dot(std::shared_ptr<FullVector<T>> vec)
+	{
+		int n = (int)this->size();
+		double answer = 0.0;
+		for (int i = 0; i < n; i++) {
+			answer += this->at(i) * vec->at(i);
+		}
+		return answer;
+	}
+	template<typename T>
+	inline std::shared_ptr<FullVector<T>> FullRow<T>::dot(std::shared_ptr<std::vector<std::shared_ptr<FullColumn<T>>>> vecvec)
+	{
+		auto ncol = (int)this->size();
+		auto nelem = vecvec->at(0)->size();
+		auto answer = std::make_shared<FullVector<T>>(nelem);
+		for (int k = 0; k < nelem; k++) {
+			auto sum = 0.0;
+			for (int i = 0; i < ncol; i++)
+			{
+				sum += this->at(i) * vecvec->at(i)->at(k);
+			}
+			answer->at(k) = sum;
+		}
+		return answer;
+	}
+	template<typename T>
 	inline std::ostream& FullRow<T>::printOn(std::ostream& s) const
 	{
 		s << "FullRow{";
--- a/OndselSolver/FullVector.h
+++ b/OndselSolver/FullVector.h
@@ -37,7 +37,12 @@ namespace MbD {
 		void normalizeSelf();
 		double length();
 		virtual void conditionSelf();
-		void conditionSelfWithTol(double tol);
+		virtual void conditionSelfWithTol(double tol);
+		std::shared_ptr<FullVector<T>> clonesptr();
+		bool isIncreasing();
+		bool isIncreasingIfExceptionsAreLessThan(double tol);
+		bool isDecreasingIfExceptionsAreLessThan(double tol);
+		

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

@@ -183,6 +188,46 @@ namespace MbD {
 		return;                        // Visual Studio demands the unused return
 	}
 	template<typename T>
+	inline std::shared_ptr<FullVector<T>> FullVector<T>::clonesptr()
+	{
+		//Return shallow copy of *this wrapped in shared_ptr
+		assert(false);
+		return std::make_shared<FullVector<T>>(*this);
+	}
+	template<typename T>
+	inline bool FullVector<T>::isIncreasing()
+	{
+		return isIncreasingIfExceptionsAreLessThan(0.0);
+	}
+	template<typename T>
+	inline bool FullVector<T>::isIncreasingIfExceptionsAreLessThan(double tol)
+	{
+		//"Test if elements are increasing."
+		//"Ok if spoilers are less than tol."
+		auto next = this->at(0);
+		for (int i = 1; i < this->size(); i++)
+		{
+			auto previous = next;
+			next = this->at(i);
+			if (previous > next && (previous - tol > next)) return false;
+		}
+		return true;
+	}
+	template<typename T>
+	inline bool FullVector<T>::isDecreasingIfExceptionsAreLessThan(double tol)
+	{
+		//"Test if elements are increasing."
+		//"Ok if spoilers are less than tol."
+		auto next = this->at(0);
+		for (int i = 1; i < this->size(); i++)
+		{
+			auto previous = next;
+			next = this->at(i);
+			if (previous < next && (previous + tol < next)) return false;
+		}
+		return true;
+	}
+	template<typename T>
 	inline std::ostream& FullVector<T>::printOn(std::ostream& s) const
 	{
 		s << "FullVec{";
--- a/OndselSolver/FunctionX.cpp
+++ b/OndselSolver/FunctionX.cpp
@@ -5,7 +5,7 @@
 *                                                                         *
 *   See LICENSE file for details about copyright.                         *
 ***************************************************************************/
- 
+
 #include "FunctionX.h"
 #include "Constant.h"
 #include "Sum.h"
@@ -24,9 +24,43 @@ void MbD::FunctionX::arguments(Symsptr args)
 	xx = sum->terms->front();
 }

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

 		Symsptr xx;

--- a/OndselSolver/GearConstraintIJ.h
+++ b/OndselSolver/GearConstraintIJ.h
@@ -9,7 +9,7 @@
 #pragma once

 #include "ConstraintIJ.h"
-#include "OrbitAnglezIecJec.h"
+#include "OrbitAngleZIecJec.h"

 namespace MbD {
 	class GearConstraintIJ : public ConstraintIJ
--- a/OndselSolver/GearConstraintIqcJc.cpp
+++ b/OndselSolver/GearConstraintIqcJc.cpp
@@ -9,7 +9,7 @@
 #include "GearConstraintIqcJc.h"
 #include "EndFrameqc.h"
 #include "CREATE.h"
-#include "OrbitAnglezIeqcJec.h"
+#include "OrbitAngleZIeqcJec.h"

 using namespace MbD;

--- a/OndselSolver/GearConstraintIqcJqc.cpp
+++ b/OndselSolver/GearConstraintIqcJqc.cpp
@@ -8,7 +8,7 @@
 
 #include "GearConstraintIqcJqc.h"
 #include "EndFrameqc.h"
-#include "OrbitAnglezIeqcJeqc.h"
+#include "OrbitAngleZIeqcJeqc.h"
 #include "CREATE.h"

 using namespace MbD;
--- a/OndselSolver/GeneralSpline.cpp
+++ b/OndselSolver/GeneralSpline.cpp
@@ -249,15 +249,13 @@ std::ostream& MbD::GeneralSpline::printOn(std::ostream& s) const
 	{
 		s << ", " << xs->at(i);
 	}
-	s << "}" << std::endl;;
+	s << "}, " << std::endl;
 	s << "ys{";
 	s << ys->at(0);
 	for (int i = 1; i < ys->size(); i++)
 	{
 		s << ", " << ys->at(i);
 	}
-	s << "}";
-	s << ")";
-	s << std::endl;
+	s << "})" << std::endl;
 	return s;
 }
--- a/OndselSolver/InPlaneJoint.h
+++ b/OndselSolver/InPlaneJoint.h
@@ -21,7 +21,7 @@ namespace MbD {

 		void createInPlaneConstraint();

-		double offset;
+		double offset = 0.0;
 	};
 }

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

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

 using namespace MbD;

--- a/OndselSolver/Joint.cpp
+++ b/OndselSolver/Joint.cpp
@@ -5,7 +5,7 @@
 *                                                                         *
 *   See LICENSE file for details about copyright.                         *
 ***************************************************************************/
- 
+
 #include<algorithm>
 #include <memory>
 #include <typeinfo>
--- a/OndselSolver/LDUFullMat.cpp
+++ b/OndselSolver/LDUFullMat.cpp
@@ -5,7 +5,7 @@
 *                                                                         *
 *   See LICENSE file for details about copyright.                         *
 ***************************************************************************/
- 
+
 #include "LDUFullMat.h"

 using namespace MbD;
@@ -38,11 +38,11 @@ void LDUFullMat::forwardEliminateWithPivot(int p)
 	//"Save factors in lower triangle for LU decomposition."

 		//| rowp app rowi aip factor |
-	auto rowp = matrixA->at(p);
+	auto& rowp = matrixA->at(p);
 	auto app = rowp->at(p);
 	for (int i = p + 1; i < m; i++)
 	{
-		auto rowi = matrixA->at(i);
+		auto& rowi = matrixA->at(i);
 		auto aip = rowi->at(p);
 		auto factor = aip / app;
 		rowi->at(p) = factor;
@@ -138,9 +138,9 @@ void LDUFullMat::forwardSubstituteIntoL()
 	auto vectorc = std::make_shared<FullColumn<double>>(n);
 	for (int i = 0; i < n; i++)
 	{
-		auto rowi = matrixA->at(i);
+		auto& rowi = matrixA->at(i);
 		double sum = 0.0;
-		for (int j = 0; j < i - 1; j++)
+		for (int j = 0; j < i; j++)
 		{
 			sum += rowi->at(j) * vectorc->at(j);
 		}
@@ -155,11 +155,11 @@ void LDUFullMat::backSubstituteIntoDU()

 		//| rowi sum |
 	answerX = std::make_shared<FullColumn<double>>(n);
-	answerX->at(n - 1) = rightHandSideB->at(m - 1) / matrixA->at(m - 1)->at(n - 1);
+	answerX->at((size_t)n - 1) = rightHandSideB->at((size_t)m - 1) / matrixA->at((size_t)m - 1)->at((size_t)n - 1);
 	for (int i = n - 2; i >= 0; i--)
 	{
-		auto rowi = matrixA->at(i);
-		double sum = answerX->at(n - 1) * rowi->at(n - 1);
+		auto& rowi = matrixA->at(i);
+		double sum = answerX->at((size_t)n - 1) * rowi->at((size_t)n - 1);
 		for (int j = i + 1; j < n - 1; j++)
 		{
 			sum += answerX->at(j) * rowi->at(j);
--- a/OndselSolver/LinearMultiStepMethod.cpp
+++ b/OndselSolver/LinearMultiStepMethod.cpp
@@ -5,5 +5,52 @@
 *                                                                         *
 *   See LICENSE file for details about copyright.                         *
 ***************************************************************************/
- 
+
 #include "LinearMultiStepMethod.h"
+#include "FullColumn.h"
+
+using namespace MbD;
+
+FColDsptr MbD::LinearMultiStepMethod::derivativeatpresentpast(int n, double t, FColDsptr y, std::shared_ptr<std::vector<FColDsptr>> ypast)
+{
+	//"Interpolate or extrapolate."
+	//"dfdt(t) = df0dt + d2f0dt2*(t - t0) + d3f0dt3*(t - t0)^2 / 2! + ..."
+
+	auto answer = this->derivativepresentpast(n, y, ypast);
+	if (t != time) {
+		auto dt = t - time;
+		auto dtpower = 1.0;
+		for (int i = n + 1; i <= order; i++)
+		{
+			auto diydti = this->derivativepresentpast(i, y, ypast);
+			dtpower = dtpower * dt;
+			answer->equalSelfPlusFullColumntimes(diydti, dtpower * (OneOverFactorials->at((size_t)i - n)));
+		}
+	}
+	return answer;
+}
+
+FColDsptr MbD::LinearMultiStepMethod::derivativepresentpast(int order, FColDsptr y, std::shared_ptr<std::vector<FColDsptr>> ypast)
+{
+	assert(false);
+	return FColDsptr();
+}
+
+double MbD::LinearMultiStepMethod::pvdotpv()
+{
+	assert(false);
+	return 0.0;
+}
+
+double MbD::LinearMultiStepMethod::firstPastTimeNode()
+{
+	return timeNodes->at(0);
+}
+
+FColDsptr MbD::LinearMultiStepMethod::derivativepresentpastpresentDerivativepastDerivative(int n,
+	FColDsptr y, std::shared_ptr<std::vector<FColDsptr>> ypast,
+	FColDsptr ydot, std::shared_ptr<std::vector<FColDsptr>> ydotpast)
+{
+	assert(false);
+	return FColDsptr();
+}
--- a/OndselSolver/LinearMultiStepMethod.h
+++ b/OndselSolver/LinearMultiStepMethod.h
@@ -5,17 +5,24 @@
 *                                                                         *
 *   See LICENSE file for details about copyright.                         *
 ***************************************************************************/
- 
+
 #pragma once

 #include "DifferenceOperator.h"

 namespace MbD {
-    class LinearMultiStepMethod : public DifferenceOperator
-    {
-        //
-    public:
+	class LinearMultiStepMethod : public DifferenceOperator
+	{
+		//
+	public:
+		FColDsptr derivativeatpresentpast(int n, double t, FColDsptr y, std::shared_ptr<std::vector<FColDsptr>> ypast);
+		virtual FColDsptr derivativepresentpast(int order, FColDsptr y, std::shared_ptr<std::vector<FColDsptr>> ypast);
+		virtual double pvdotpv();
+		double firstPastTimeNode();
+		virtual FColDsptr derivativepresentpastpresentDerivativepastDerivative(int n,
+			FColDsptr y, std::shared_ptr<std::vector<FColDsptr>> ypast,
+			FColDsptr ydot, std::shared_ptr<std::vector<FColDsptr>> ydotpast);

-    };
+	};
 }

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



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

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

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

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

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

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

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

-        std::string bodyString, name, nodeName;
+        std::string bodyString, nodeName;
        double mass;
        FColDsptr rPcmP;
        FMatDsptr aJmat;
--- a/OndselSolver/MBDynCase.mov
+++ b/OndselSolver/MBDynCase.mov
@@ -1,324 +1,324 @@
-1 0.121 8.796847998598882e-19 0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0 
-2 0.1853423520676719 -0.0003049963359123015 0.1415220993435272 0.9952959831601956 -0.0005372420906749178 -0.09687939551894122 -3.252606517456513e-19 0.9999846242181696 -0.005545387925678226 0.09688088513829464 0.005519302327492587 0.995280679706302 0 -0 -0 0 0 0 
-3 0.3222616402245218 -0.0002911328660981436 0.1799682739051885 0.9952948074630237 -0.001621407113303408 -0.09687939551894119 0.001089272628257954 0.9999840309514423 -0.005545387925678226 0.09688683977859862 0.005413767734014727 0.995280679706302 0 0 0 0 0 0 
-4 0.4640248981573186 -7.44074583944898e-17 0.1600000000000001 1 0 0 0 1 0 0 0 1 0 0 -0 0 0 0 
-1 0.121 8.796847998598882e-19 0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0 
-2 0.1853423520676719 -0.0003049963359123014 0.1415220993435272 0.9952959831601956 -0.0005372420906749176 -0.09687939551894111 2.168404344971009e-19 0.9999846242181696 -0.005545387925678225 0.09688088513829453 0.005519302327492586 0.995280679706302 0 -0 -0 0 0 0 
-3 0.3222616402245218 -0.0002911328660981437 0.1799682739051886 0.9952948074630237 -0.001621407113303408 -0.09687939551894117 0.001089272628257954 0.9999840309514423 -0.005545387925678226 0.0968868397785986 0.005413767734014727 0.995280679706302 0 0 0 0 0 0 
-4 0.4640248981573186 -7.44074583944898e-17 0.1600000000000001 1 0 0 0 1 0 0 0 1 0 0 -0 0 0 0 
-1 0.121 8.796847998598882e-19 0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0 
-2 0.1853423520676719 -0.0003049963359123014 0.1415220993435272 0.9952959831601956 -0.0005372420906749175 -0.09687939551894122 -6.505213034913027e-19 0.9999846242181696 -0.005545387925678225 0.09688088513829464 0.005519302327492586 0.995280679706302 0 -0 -0 0 0 0 
-3 0.3222616402245218 -0.0002911328660981436 0.1799682739051886 0.9952948074630237 -0.001621407113303408 -0.09687939551894117 0.001089272628257954 0.9999840309514423 -0.005545387925678226 0.0968868397785986 0.005413767734014727 0.995280679706302 0 0 0 0 0 0 
-4 0.4640248981573186 -7.44074583944898e-17 0.1600000000000001 1 0 0 0 1 0 0 0 1 0 0 -0 0 0 0 
-1 0.121 8.796847998598882e-19 0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0 
-2 0.1853423520676719 -0.0003049963359123015 0.1415220993435272 0.9952959831601956 -0.0005372420906749175 -0.09687939551894111 0 0.9999846242181696 -0.005545387925678225 0.09688088513829453 0.005519302327492586 0.995280679706302 0 -0 -0 0 0 0 
-3 0.3222616402245218 -0.0002911328660981436 0.1799682739051886 0.9952948074630237 -0.001621407113303408 -0.09687939551894117 0.001089272628257954 0.9999840309514423 -0.005545387925678226 0.0968868397785986 0.005413767734014727 0.995280679706302 0 0 0 0 0 0 
-4 0.4640248981573186 -7.44074583944898e-17 0.1600000000000001 1 0 0 0 1 0 0 0 1 0 0 -0 0 0 0 
-1 0.121 8.796847998598882e-19 0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0 
-2 0.1853423520676719 -0.0003049963359123015 0.1415220993435272 0.9952959831601956 -0.0005372420906749176 -0.09687939551894122 -4.336808689942018e-19 0.9999846242181696 -0.005545387925678225 0.09688088513829464 0.005519302327492586 0.995280679706302 0 -0 -0 0 0 0 
-3 0.3222616402245218 -0.0002911328660981436 0.1799682739051886 0.9952948074630237 -0.001621407113303408 -0.09687939551894117 0.001089272628257954 0.9999840309514423 -0.005545387925678226 0.0968868397785986 0.005413767734014727 0.995280679706302 0 0 0 0 0 0 
-4 0.4640248981573186 -7.44074583944898e-17 0.1600000000000001 1 0 0 0 1 0 0 0 1 0 0 -0 0 0 0 
-1 0.121 8.796847998598882e-19 0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0 
-2 0.1853423520676719 -0.0003049963359123014 0.1415220993435272 0.9952959831601956 -0.0005372420906749176 -0.09687939551894111 2.168404344971009e-19 0.9999846242181696 -0.005545387925678225 0.09688088513829453 0.005519302327492586 0.995280679706302 0 -0 -0 0 0 0 
-3 0.3222616402245218 -0.0002911328660981436 0.1799682739051886 0.9952948074630237 -0.001621407113303408 -0.09687939551894117 0.001089272628257954 0.9999840309514423 -0.005545387925678226 0.0968868397785986 0.005413767734014727 0.995280679706302 0 0 0 0 0 0 
-4 0.4640248981573186 -7.44074583944898e-17 0.1600000000000001 1 0 0 0 1 0 0 0 1 0 0 -0 0 0 0 
-1 0.121 8.796847998598882e-19 0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0 
-2 0.1853423520676719 -0.0003049963359123014 0.1415220993435272 0.9952959831601956 -0.0005372420906749175 -0.09687939551894122 -6.505213034913027e-19 0.9999846242181696 -0.005545387925678225 0.09688088513829464 0.005519302327492586 0.995280679706302 0 -0 -0 0 0 0 
-3 0.3222616402245218 -0.0002911328660981436 0.1799682739051886 0.9952948074630237 -0.001621407113303408 -0.09687939551894117 0.001089272628257954 0.9999840309514423 -0.005545387925678226 0.0968868397785986 0.005413767734014727 0.995280679706302 0 0 0 0 0 0 
-4 0.4640248981573186 -7.44074583944898e-17 0.1600000000000001 1 0 0 0 1 0 0 0 1 0 0 -0 0 0 0 
-1 0.121 8.796847998598882e-19 0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0 
-2 0.1853423520676719 -0.0003049963359123015 0.1415220993435272 0.9952959831601956 -0.0005372420906749175 -0.09687939551894111 0 0.9999846242181696 -0.005545387925678225 0.09688088513829453 0.005519302327492586 0.995280679706302 0 -0 -0 0 0 0 
-3 0.3222616402245218 -0.0002911328660981436 0.1799682739051886 0.9952948074630237 -0.001621407113303408 -0.09687939551894117 0.001089272628257954 0.9999840309514423 -0.005545387925678226 0.0968868397785986 0.005413767734014727 0.995280679706302 0 0 0 0 0 0 
-4 0.4640248981573186 -7.44074583944898e-17 0.1600000000000001 1 0 0 0 1 0 0 0 1 0 0 -0 0 0 0 
-1 0.121 8.796847998598882e-19 0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0 
-2 0.1853423520676719 -0.0003049963359123015 0.1415220993435272 0.9952959831601956 -0.0005372420906749176 -0.09687939551894122 -4.336808689942018e-19 0.9999846242181696 -0.005545387925678225 0.09688088513829464 0.005519302327492586 0.995280679706302 0 -0 -0 0 0 0 
-3 0.3222616402245218 -0.0002911328660981436 0.1799682739051886 0.9952948074630237 -0.001621407113303408 -0.09687939551894117 0.001089272628257954 0.9999840309514423 -0.005545387925678226 0.0968868397785986 0.005413767734014727 0.995280679706302 0 0 0 0 0 0 
-4 0.4640248981573186 -7.44074583944898e-17 0.1600000000000001 1 0 0 0 1 0 0 0 1 0 0 -0 0 0 0 
-1 0.121 8.796847998598882e-19 0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0 
-2 0.1853423520676719 -0.0003049963359123014 0.1415220993435272 0.9952959831601956 -0.0005372420906749176 -0.09687939551894111 2.168404344971009e-19 0.9999846242181696 -0.005545387925678225 0.09688088513829453 0.005519302327492586 0.995280679706302 0 -0 -0 0 0 0 
-3 0.3222616402245218 -0.0002911328660981436 0.1799682739051886 0.9952948074630237 -0.001621407113303408 -0.09687939551894117 0.001089272628257954 0.9999840309514423 -0.005545387925678226 0.0968868397785986 0.005413767734014727 0.995280679706302 0 0 0 0 0 0 
-4 0.4640248981573186 -7.44074583944898e-17 0.1600000000000001 1 0 0 0 1 0 0 0 1 0 0 -0 0 0 0 
-1 0.121 8.796847998598882e-19 0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0 
-2 0.1853423520676719 -0.0003049963359123014 0.1415220993435272 0.9952959831601956 -0.0005372420906749175 -0.09687939551894122 -6.505213034913027e-19 0.9999846242181696 -0.005545387925678225 0.09688088513829464 0.005519302327492586 0.995280679706302 0 -0 -0 0 0 0 
-3 0.3222616402245218 -0.0002911328660981436 0.1799682739051886 0.9952948074630237 -0.001621407113303408 -0.09687939551894117 0.001089272628257954 0.9999840309514423 -0.005545387925678226 0.0968868397785986 0.005413767734014727 0.995280679706302 0 0 0 0 0 0 
-4 0.4640248981573186 -7.44074583944898e-17 0.1600000000000001 1 0 0 0 1 0 0 0 1 0 0 -0 0 0 0 
-1 0.121 8.796847998598882e-19 0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0 
-2 0.1853423520676719 -0.0003049963359123015 0.1415220993435272 0.9952959831601956 -0.0005372420906749175 -0.09687939551894111 0 0.9999846242181696 -0.005545387925678225 0.09688088513829453 0.005519302327492586 0.995280679706302 0 -0 -0 0 0 0 
-3 0.3222616402245218 -0.0002911328660981436 0.1799682739051886 0.9952948074630237 -0.001621407113303408 -0.09687939551894117 0.001089272628257954 0.9999840309514423 -0.005545387925678226 0.0968868397785986 0.005413767734014727 0.995280679706302 0 0 0 0 0 0 
-4 0.4640248981573186 -7.44074583944898e-17 0.1600000000000001 1 0 0 0 1 0 0 0 1 0 0 -0 0 0 0 
-1 0.121 8.796847998598882e-19 0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0 
-2 0.1853423520676719 -0.0003049963359123015 0.1415220993435272 0.9952959831601956 -0.0005372420906749176 -0.09687939551894122 -4.336808689942018e-19 0.9999846242181696 -0.005545387925678225 0.09688088513829464 0.005519302327492586 0.995280679706302 0 -0 -0 0 0 0 
-3 0.3222616402245218 -0.0002911328660981436 0.1799682739051886 0.9952948074630237 -0.001621407113303408 -0.09687939551894117 0.001089272628257954 0.9999840309514423 -0.005545387925678226 0.0968868397785986 0.005413767734014727 0.995280679706302 0 0 0 0 0 0 
-4 0.4640248981573186 -7.44074583944898e-17 0.1600000000000001 1 0 0 0 1 0 0 0 1 0 0 -0 0 0 0 
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+2 -0.04869259570202728 -0.001985390890606622 -0.02810879162419696 0.9990678575462876 0.001558253989975217 0.04313916854059258 2.168404344971009e-18 0.9993482542271943 -0.03609801619284767 -0.04316730264761659 0.03606436769945952 0.9984167192933857 0 -0 -0 0 0 0 
+3 0.09225341065322783 -0.001895145850124542 -0.009155819605617063 0.9990537652981445 -0.005530477486285022 0.04313916854059258 0.00709068175216623 0.9993230986318842 -0.03609801619284766 -0.04291032831253397 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0 
+4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0 
+1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0 
+2 -0.04869259570202727 -0.001985390890606624 -0.02810879162419694 0.9990678575462876 0.00155825398997522 0.04313916854059252 -1.951563910473908e-18 0.9993482542271943 -0.03609801619284769 -0.04316730264761653 0.03606436769945954 0.9984167192933857 0 -0 -0 0 0 0 
+3 0.09225341065322781 -0.001895145850124542 -0.009155819605617049 0.9990537652981445 -0.005530477486285024 0.04313916854059253 0.007090681752166232 0.9993230986318842 -0.03609801619284766 -0.04291032831253393 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0 
+4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0 
+1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0 
+2 -0.0486925957020273 -0.001985390890606622 -0.02810879162419696 0.9990678575462876 0.001558253989975216 0.04313916854059258 3.903127820947816e-18 0.9993482542271943 -0.03609801619284767 -0.04316730264761659 0.03606436769945952 0.9984167192933857 0 -0 -0 0 0 0 
+3 0.0922534106532278 -0.001895145850124542 -0.009155819605617063 0.9990537652981445 -0.005530477486285022 0.04313916854059255 0.007090681752166229 0.9993230986318842 -0.03609801619284766 -0.04291032831253394 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0 
+4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0 
+1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0 
+2 -0.04869259570202728 -0.001985390890606622 -0.02810879162419696 0.9990678575462876 0.001558253989975217 0.04313916854059258 2.168404344971009e-18 0.9993482542271943 -0.03609801619284767 -0.04316730264761659 0.03606436769945952 0.9984167192933857 0 -0 -0 0 0 0 
+3 0.09225341065322783 -0.001895145850124542 -0.009155819605617063 0.9990537652981445 -0.005530477486285022 0.04313916854059258 0.00709068175216623 0.9993230986318842 -0.03609801619284766 -0.04291032831253397 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0 
+4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0 
+1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0 
+2 -0.04869259570202727 -0.001985390890606624 -0.02810879162419694 0.9990678575462876 0.00155825398997522 0.04313916854059252 -1.951563910473908e-18 0.9993482542271943 -0.03609801619284769 -0.04316730264761653 0.03606436769945954 0.9984167192933857 0 -0 -0 0 0 0 
+3 0.09225341065322781 -0.001895145850124542 -0.009155819605617049 0.9990537652981445 -0.005530477486285024 0.04313916854059253 0.007090681752166232 0.9993230986318842 -0.03609801619284766 -0.04291032831253393 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0 
+4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0 
+1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0 
+2 -0.0486925957020273 -0.001985390890606622 -0.02810879162419696 0.9990678575462876 0.001558253989975216 0.04313916854059258 3.903127820947816e-18 0.9993482542271943 -0.03609801619284767 -0.04316730264761659 0.03606436769945952 0.9984167192933857 0 -0 -0 0 0 0 
+3 0.0922534106532278 -0.001895145850124542 -0.009155819605617063 0.9990537652981445 -0.005530477486285022 0.04313916854059255 0.007090681752166229 0.9993230986318842 -0.03609801619284766 -0.04291032831253394 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0 
+4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0 
+1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0 
+2 -0.04869259570202728 -0.001985390890606622 -0.02810879162419696 0.9990678575462876 0.001558253989975217 0.04313916854059258 2.168404344971009e-18 0.9993482542271943 -0.03609801619284767 -0.04316730264761659 0.03606436769945952 0.9984167192933857 0 -0 -0 0 0 0 
+3 0.09225341065322783 -0.001895145850124542 -0.009155819605617063 0.9990537652981445 -0.005530477486285022 0.04313916854059258 0.00709068175216623 0.9993230986318842 -0.03609801619284766 -0.04291032831253397 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0 
+4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0 
+1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0 
+2 -0.04869259570202727 -0.001985390890606624 -0.02810879162419694 0.9990678575462876 0.00155825398997522 0.04313916854059252 -1.951563910473908e-18 0.9993482542271943 -0.03609801619284769 -0.04316730264761653 0.03606436769945954 0.9984167192933857 0 -0 -0 0 0 0 
+3 0.09225341065322781 -0.001895145850124542 -0.009155819605617049 0.9990537652981445 -0.005530477486285024 0.04313916854059253 0.007090681752166232 0.9993230986318842 -0.03609801619284766 -0.04291032831253393 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0 
+4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0 
+1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0 
+2 -0.0486925957020273 -0.001985390890606622 -0.02810879162419696 0.9990678575462876 0.001558253989975216 0.04313916854059258 3.903127820947816e-18 0.9993482542271943 -0.03609801619284767 -0.04316730264761659 0.03606436769945952 0.9984167192933857 0 -0 -0 0 0 0 
+3 0.0922534106532278 -0.001895145850124542 -0.009155819605617063 0.9990537652981445 -0.005530477486285022 0.04313916854059255 0.007090681752166229 0.9993230986318842 -0.03609801619284766 -0.04291032831253394 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0 
+4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0 
--- a/OndselSolver/MBDynCase2.mbd
+++ b/OndselSolver/MBDynCase2.mbd
@@ -0,0 +1,297 @@
+#-----------------------------------------------------------------------------
+ # [Data Block]
+
+ begin: data;
+     problem: initial value;
+ end: data;
+
+ #-----------------------------------------------------------------------------
+ # [Problem Block]
+
+ begin: initial value;
+     initial time: 0.0;
+     final time: 3.0;
+     time step: 0.01;
+     max iterations: 100;
+     tolerance: 1e-06;
+     derivatives tolerance: 0.0001;
+     derivatives max iterations: 100;
+     derivatives coefficient: auto;
+ end: initial value;
+
+ #-----------------------------------------------------------------------------
+ # [Control Data Block]
+
+ begin: control data;
+     max iterations: 1000;
+     default orientation: euler321;
+     omega rotates: no;
+     print: none;
+     initial stiffness: 1.0, 1.0;
+     structural nodes: 4;
+     rigid bodies: 3;
+     joints: 6;
+ end: control data;
+
+ #-----------------------------------------------------------------------------
+ # [Design Variables]
+
+     #Generic bodies
+
+         #body: 2
+             set: integer body_2 = 2; #body label
+             set: real mass_2 = 1.448636188351172; #mass [kg]
+             set: real volume_2 = 0.00018337166941154076; #volume [m^3]
+
+         #body: 3
+             set: integer body_3 = 3; #body label
+             set: real mass_3 = 2.8529486557067685; #mass [kg]
+             set: real volume_3 = 0.0003611327412287049; #volume [m^3]
+
+         #body: 4
+             set: integer body_4 = 4; #body label
+             set: real mass_4 = 10.859427202622141; #mass [kg]
+             set: real volume_4 = 0.0013746110383066003; #volume [m^3]
+
+     #Nodes
+
+         #node: 1
+             set: integer structural_node_1 = 1; #node label
+
+         #node: 2
+             set: integer structural_node_2 = 2; #node label
+
+         #node: 3
+             set: integer structural_node_3 = 3; #node label
+
+         #node: 4
+             set: integer structural_node_4 = 4; #node label
+
+     #Joints
+
+         #joint: 1
+             set: integer joint_1 = 1; #joint label
+
+         #joint: 2
+             set: integer joint_2 = 2; #joint label
+
+         #joint: 3
+             set: integer joint_3 = 3; #joint label
+
+         #joint: 4
+             set: integer joint_4 = 4; #joint label
+
+         #joint: 5
+             set: integer joint_5 = 5; #joint label
+
+         #joint: 6
+             set: integer joint_6 = 6; #joint label
+
+     #Nodes: initial conditions
+
+         #node: 1
+             set: real Px_1 = -0.121; #X component of the absolute position [m]
+             set: real Py_1 = -1.218180697837851e-18; #Y component of the absolute position [m]
+             set: real Pz_1 = -0.08; #Z component of the absolute position [m]
+
+             set: real Vx_1 = 0.0; #X component of the absolute velocity [m/s]
+             set: real Vy_1 = 0.0; #Y component of the absolute velocity [m/s]
+             set: real Vz_1 = 0.0; #Z component of the absolute velocity [m/s]
+
+             set: real Wx_1 = 0.0; #X component of the absolute angular velocity [rad/s]
+             set: real Wy_1 = 0.0; #Y component of the absolute angular velocity [rad/s]
+             set: real Wz_1 = 0.0; #Z component of the absolute angular velocity [rad/s]
+
+         #node: 2
+             set: real Px_2 = -0.047537048944738425; #X component of the absolute position [m]
+             set: real Py_2 = 0.09742200410568831; #Y component of the absolute position [m]
+             set: real Pz_2 = -0.030293476812230588; #Z component of the absolute position [m]
+
+             set: real Vx_2 = 0.0; #X component of the absolute velocity [m/s]
+             set: real Vy_2 = 0.0; #Y component of the absolute velocity [m/s]
+             set: real Vz_2 = 0.0; #Z component of the absolute velocity [m/s]
+
+             set: real Wx_2 = 0.0; #X component of the absolute angular velocity [rad/s]
+             set: real Wy_2 = 0.0; #Y component of the absolute angular velocity [rad/s]
+             set: real Wz_2 = 0.0; #Z component of the absolute angular velocity [rad/s]
+
+         #node: 3
+             set: real Px_3 = 0.07099630277370235; #X component of the absolute position [m]
+             set: real Py_3 = -0.07364765799707981; #Y component of the absolute position [m]
+             set: real Pz_3 = 0.058407900823760565; #Z component of the absolute position [m]
+
+             set: real Vx_3 = 0.0; #X component of the absolute velocity [m/s]
+             set: real Vy_3 = 0.0; #Y component of the absolute velocity [m/s]
+             set: real Vz_3 = 0.0; #Z component of the absolute velocity [m/s]
+
+             set: real Wx_3 = 0.0; #X component of the absolute angular velocity [rad/s]
+             set: real Wy_3 = 0.0; #Y component of the absolute angular velocity [rad/s]
+             set: real Wz_3 = 0.0; #Z component of the absolute angular velocity [rad/s]
+
+         #node: 4
+             set: real Px_4 = 0.3723079639890564; #X component of the absolute position [m]
+             set: real Py_4 = 0.04333150035096042; #Y component of the absolute position [m]
+             set: real Pz_4 = 0.008140985321785409; #Z component of the absolute position [m]
+
+             set: real Vx_4 = 0.0; #X component of the absolute velocity [m/s]
+             set: real Vy_4 = 0.0; #Y component of the absolute velocity [m/s]
+             set: real Vz_4 = 0.0; #Z component of the absolute velocity [m/s]
+
+             set: real Wx_4 = 0.0; #X component of the absolute angular velocity [rad/s]
+             set: real Wy_4 = 0.0; #Y component of the absolute angular velocity [rad/s]
+             set: real Wz_4 = 0.0; #Z component of the absolute angular velocity [rad/s]
+
+ #-----------------------------------------------------------------------------
+ # [Intermediate Variables]
+
+     #Moments of inertia and relative center of mass
+
+         #body 2: 
+             set: real Ixx_2 = 0.0028717510150880004; #moment of inertia [kg*m^2]
+             set: real Iyy_2 = 0.002864447840812; #moment of inertia [kg*m^2]
+             set: real Izz_2 = 0.0007089594589930001; #moment of inertia [kg*m^2]
+
+             set: real Rx_2 = 7.105427357601002e-18; #X component of the relative center of mass [m]
+             set: real Ry_2 = 0.0; #Y component of the relative center of mass [m]
+             set: real Rz_2 = 7.105427357601002e-18; #Z component of the relative center of mass [m]
+
+         #body 3: 
+             set: real Ixx_3 = 0.033837921987970004; #moment of inertia [kg*m^2]
+             set: real Iyy_3 = 0.033715148099504; #moment of inertia [kg*m^2]
+             set: real Izz_3 = 0.001956310318013; #moment of inertia [kg*m^2]
+
+             set: real Rx_3 = 2.842170943040401e-17; #X component of the relative center of mass [m]
+             set: real Ry_3 = -1.4210854715202004e-17; #Y component of the relative center of mass [m]
+             set: real Rz_3 = 0.0; #Z component of the relative center of mass [m]
+
+         #body 4: 
+             set: real Ixx_4 = 0.07706742098794901; #moment of inertia [kg*m^2]
+             set: real Iyy_4 = 0.066351815798527; #moment of inertia [kg*m^2]
+             set: real Izz_4 = 0.061792350456255; #moment of inertia [kg*m^2]
+
+             set: real Rx_4 = 2.842170943040401e-16; #X component of the relative center of mass [m]
+             set: real Ry_4 = 2.1316282072803006e-17; #Y component of the relative center of mass [m]
+             set: real Rz_4 = 2.2737367544323206e-16; #Z component of the relative center of mass [m]
+
+ #-----------------------------------------------------------------------------
+ # [Nodes Block]
+
+ begin: nodes;
+
+     structural: structural_node_1,
+                 static,
+                 Px_1, Py_1, Pz_1, #<absolute_position> [m]
+                 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<absolute_orientation_matrix>
+                 Vx_1, Vy_1, Vz_1, #<absolute_velocity> [m/s]
+                 Wx_1, Wy_1, Wz_1; #<absolute_angular_velocity> [rad/s]
+
+     structural: structural_node_2,
+                 dynamic,
+                 Px_2, Py_2, Pz_2, #<absolute_position> [m]
+                 3, 0.28116838555915347, -0.12674940821214617, 0.9512512425641977, 2, -0.12674940821214617, 0.9776506595433675, 0.16773125949652098, #<absolute_orientation_matrix>
+                 Vx_2, Vy_2, Vz_2, #<absolute_velocity> [m/s]
+                 Wx_2, Wy_2, Wz_2; #<absolute_angular_velocity> [rad/s]
+
+     structural: structural_node_3,
+                 dynamic,
+                 Px_3, Py_3, Pz_3, #<absolute_position> [m]
+                 3, -0.27178893568691503, -0.25783416049630004, 0.9271743741709766, 2, 0.014330116918634624, 0.9622501868990581, 0.271788935686915, #<absolute_orientation_matrix>
+                 Vx_3, Vy_3, Vz_3, #<absolute_velocity> [m/s]
+                 Wx_3, Wy_3, Wz_3; #<absolute_angular_velocity> [rad/s]
+
+     structural: structural_node_4,
+                 dynamic,
+                 Px_4, Py_4, Pz_4, #<absolute_position> [m]
+                 3, 0.2588190451025211, 0.0, 0.9659258262890682, 2, 0.0, 1.0, 0.0, #<absolute_orientation_matrix>
+                 Vx_4, Vy_4, Vz_4, #<absolute_velocity> [m/s]
+                 Wx_4, Wy_4, Wz_4; #<absolute_angular_velocity> [rad/s]
+
+ end: nodes;
+
+ #-----------------------------------------------------------------------------
+ # [Elements Block]
+
+ begin: elements;
+
+     #-----------------------------------------------------------------------------
+     # [Bodies]
+
+         body: body_2,
+               structural_node_2, #<node_label> 
+               mass_2, #<mass> [kg]
+               Rx_2, Ry_2, Rz_2, #<relative_center_of_mass> [m]
+               diag, Ixx_2, Iyy_2, Izz_2, #<inertia matrix> [kg*m^2]
+               orientation, 3, -0.0054384608129255385, 0.8559103374577453, 0.5150405937686557, 2, 0.9969290667160357, -0.0024978913689130133, 0.0023196850194898005; 
+
+         body: body_3,
+               structural_node_3, #<node_label> 
+               mass_3, #<mass> [kg]
+               Rx_3, Ry_3, Rz_3, #<relative_center_of_mass> [m]
+               diag, Ixx_3, Iyy_3, Izz_3, #<inertia matrix> [kg*m^2]
+               orientation, 3, 0.9973238325492868, 0.0012847690482160057, -0.002629529780301787, 2, -0.00011328308715380375, 1.0027304733964244, 0.004450235157436283; 
+
+         body: body_4,
+               structural_node_4, #<node_label> 
+               mass_4, #<mass> [kg]
+               Rx_4, Ry_4, Rz_4, #<relative_center_of_mass> [m]
+               diag, Ixx_4, Iyy_4, Izz_4, #<inertia matrix> [kg*m^2]
+               orientation, 3, -8.551421488581235e-05, 0.0, 0.9957768995806164, 2, 0.0, 1.0, 0.0; 
+
+     #-----------------------------------------------------------------------------
+     # [Joints]
+
+     joint: joint_1,
+         clamp,
+         structural_node_1, #<node_label>
+             -0.121, -1.218180697837851e-18, -0.08, #<absolute_pin_position> [m]
+             3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; #<absolute_orientation_matrix> 
+
+     joint: joint_2,
+         axial rotation,
+         structural_node_1, #<node_1_label>
+             0.0, 1.218180697837851e-18, 0.05, #<relative_offset_1> [m]
+             orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<relative_orientation_matrix_1>
+         structural_node_2, #<node_2_label>
+             -0.03739853284269051, 0.0, 0.0032867622552210634, #<relative_offset_2> [m]
+             orientation, 3, 5.204170427930421e-18, 0.0, 1.0, 2, guess, #<relative_orientation_matrix_2>
+         string, "model::drive(1, Time)"; #<angular_velocity> [rad/s]
+
+     joint: joint_3,
+            revolute hinge,
+             structural_node_2, #<node_1_label>
+                 0.03260146715730949, 1.4210854715202004e-17, 0.05328676225522106, #<relative_position_1> [m]
+                 orientation, 3, 5.204170427930421e-18, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<relative_pin_orientation_matrix_1>
+             structural_node_3, #<node_2_label>
+                -0.1400000000000079, -1.0444978215673472e-15, 0.024999999999998038, #<relative_position_2> [m]
+                orientation, 3, -5.551115123125784e-17, -5.984795992119986e-17, 1.0, 2, guess; #<relative_pin_orientation_matrix_2>
+
+     joint: joint_4,
+         in line,
+         structural_node_3, #<node_1_label>
+             0.13999999999999133, 4.4231285301066236e-16, 9.79127889877418e-15, #<relative_line_position> [m]
+             3, 2.7195091690402506e-15, 1.2586758486779817e-14, 1.0, 2, 0.6882367162699149, 0.7254861972346578, -1.1003185610451133e-14, #<relative_orientation>
+         structural_node_4, #<node_2_label>
+             offset, -0.045580834634119244, -2.0299354019925886e-10, 1.2562251640702015e-08; #<relative_offset> [m]
+
+     joint: joint_5,
+         in line,
+         structural_node_1, #<node_1_label>
+             0.0, 1.2181806978377854e-18, 0.08, #<relative_line_position> [m]
+             3, 1.0, -2.220446049250313e-16, 2.220446049250313e-16, 2, -2.220446049250313e-16, 0.0, 1.0, #<relative_orientation>
+         structural_node_4, #<node_2_label>
+             offset, -0.045580834634119244, -2.0299354019925886e-10, 1.2562251640702015e-08; #<relative_offset> [m]
+
+     joint: joint_6,
+         prismatic,
+         structural_node_1, #<node_1_label>
+             orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #relative_orientation_matrix_1>
+         structural_node_4, #<node_2_label>
+             orientation, 3, 0, 0, 1, 2, 0, 1, 0; #relative_orientation_matrix_2>
+
+     #-----------------------------------------------------------------------------
+     # [Drive callers]
+
+     drive caller: 1, name,"drive:1", ramp, 6.28, 0.0, 1.0, 0.0;
+
+ end: elements;
+
--- a/OndselSolver/MBDynCase2.mov
+++ b/OndselSolver/MBDynCase2.mov
--- a/OndselSolver/MBDynCase2orig.mbd
+++ b/OndselSolver/MBDynCase2orig.mbd
@@ -0,0 +1,297 @@
+#-----------------------------------------------------------------------------
+ # [Data Block]
+
+ begin: data;
+     problem: initial value;
+ end: data;
+
+ #-----------------------------------------------------------------------------
+ # [Problem Block]
+
+ begin: initial value;
+     initial time: 0.0;
+     final time: 8.0;
+     time step: 0.01;
+     max iterations: 100;
+     tolerance: 1e-06;
+     derivatives tolerance: 0.0001;
+     derivatives max iterations: 100;
+     derivatives coefficient: auto;
+ end: initial value;
+
+ #-----------------------------------------------------------------------------
+ # [Control Data Block]
+
+ begin: control data;
+     max iterations: 1000;
+     default orientation: euler321;
+     omega rotates: no;
+     print: none;
+     initial stiffness: 1.0, 1.0;
+     structural nodes: 4;
+     rigid bodies: 3;
+     joints: 6;
+ end: control data;
+
+ #-----------------------------------------------------------------------------
+ # [Design Variables]
+
+     #Generic bodies
+
+         #body: 2
+             set: integer body_2 = 2; #body label
+             set: real mass_2 = 1.448636188351172; #mass [kg]
+             set: real volume_2 = 0.00018337166941154076; #volume [m^3]
+
+         #body: 3
+             set: integer body_3 = 3; #body label
+             set: real mass_3 = 2.8529486557067685; #mass [kg]
+             set: real volume_3 = 0.0003611327412287049; #volume [m^3]
+
+         #body: 4
+             set: integer body_4 = 4; #body label
+             set: real mass_4 = 10.859427202622141; #mass [kg]
+             set: real volume_4 = 0.0013746110383066003; #volume [m^3]
+
+     #Nodes
+
+         #node: 1
+             set: integer structural_node_1 = 1; #node label
+
+         #node: 2
+             set: integer structural_node_2 = 2; #node label
+
+         #node: 3
+             set: integer structural_node_3 = 3; #node label
+
+         #node: 4
+             set: integer structural_node_4 = 4; #node label
+
+     #Joints
+
+         #joint: 1
+             set: integer joint_1 = 1; #joint label
+
+         #joint: 2
+             set: integer joint_2 = 2; #joint label
+
+         #joint: 3
+             set: integer joint_3 = 3; #joint label
+
+         #joint: 4
+             set: integer joint_4 = 4; #joint label
+
+         #joint: 5
+             set: integer joint_5 = 5; #joint label
+
+         #joint: 6
+             set: integer joint_6 = 6; #joint label
+
+     #Nodes: initial conditions
+
+         #node: 1
+             set: real Px_1 = -0.121; #X component of the absolute position [m]
+             set: real Py_1 = -1.218180697837851e-18; #Y component of the absolute position [m]
+             set: real Pz_1 = -0.08; #Z component of the absolute position [m]
+
+             set: real Vx_1 = 0.0; #X component of the absolute velocity [m/s]
+             set: real Vy_1 = 0.0; #Y component of the absolute velocity [m/s]
+             set: real Vz_1 = 0.0; #Z component of the absolute velocity [m/s]
+
+             set: real Wx_1 = 0.0; #X component of the absolute angular velocity [rad/s]
+             set: real Wy_1 = 0.0; #Y component of the absolute angular velocity [rad/s]
+             set: real Wz_1 = 0.0; #Z component of the absolute angular velocity [rad/s]
+
+         #node: 2
+             set: real Px_2 = -0.047537048944738425; #X component of the absolute position [m]
+             set: real Py_2 = 0.09742200410568831; #Y component of the absolute position [m]
+             set: real Pz_2 = -0.030293476812230588; #Z component of the absolute position [m]
+
+             set: real Vx_2 = 0.0; #X component of the absolute velocity [m/s]
+             set: real Vy_2 = 0.0; #Y component of the absolute velocity [m/s]
+             set: real Vz_2 = 0.0; #Z component of the absolute velocity [m/s]
+
+             set: real Wx_2 = 0.0; #X component of the absolute angular velocity [rad/s]
+             set: real Wy_2 = 0.0; #Y component of the absolute angular velocity [rad/s]
+             set: real Wz_2 = 0.0; #Z component of the absolute angular velocity [rad/s]
+
+         #node: 3
+             set: real Px_3 = 0.07099630277370235; #X component of the absolute position [m]
+             set: real Py_3 = -0.07364765799707981; #Y component of the absolute position [m]
+             set: real Pz_3 = 0.058407900823760565; #Z component of the absolute position [m]
+
+             set: real Vx_3 = 0.0; #X component of the absolute velocity [m/s]
+             set: real Vy_3 = 0.0; #Y component of the absolute velocity [m/s]
+             set: real Vz_3 = 0.0; #Z component of the absolute velocity [m/s]
+
+             set: real Wx_3 = 0.0; #X component of the absolute angular velocity [rad/s]
+             set: real Wy_3 = 0.0; #Y component of the absolute angular velocity [rad/s]
+             set: real Wz_3 = 0.0; #Z component of the absolute angular velocity [rad/s]
+
+         #node: 4
+             set: real Px_4 = 0.3723079639890564; #X component of the absolute position [m]
+             set: real Py_4 = 0.04333150035096042; #Y component of the absolute position [m]
+             set: real Pz_4 = 0.008140985321785409; #Z component of the absolute position [m]
+
+             set: real Vx_4 = 0.0; #X component of the absolute velocity [m/s]
+             set: real Vy_4 = 0.0; #Y component of the absolute velocity [m/s]
+             set: real Vz_4 = 0.0; #Z component of the absolute velocity [m/s]
+
+             set: real Wx_4 = 0.0; #X component of the absolute angular velocity [rad/s]
+             set: real Wy_4 = 0.0; #Y component of the absolute angular velocity [rad/s]
+             set: real Wz_4 = 0.0; #Z component of the absolute angular velocity [rad/s]
+
+ #-----------------------------------------------------------------------------
+ # [Intermediate Variables]
+
+     #Moments of inertia and relative center of mass
+
+         #body 2: 
+             set: real Ixx_2 = 0.0028717510150880004; #moment of inertia [kg*m^2]
+             set: real Iyy_2 = 0.002864447840812; #moment of inertia [kg*m^2]
+             set: real Izz_2 = 0.0007089594589930001; #moment of inertia [kg*m^2]
+
+             set: real Rx_2 = 7.105427357601002e-18; #X component of the relative center of mass [m]
+             set: real Ry_2 = 0.0; #Y component of the relative center of mass [m]
+             set: real Rz_2 = 7.105427357601002e-18; #Z component of the relative center of mass [m]
+
+         #body 3: 
+             set: real Ixx_3 = 0.033837921987970004; #moment of inertia [kg*m^2]
+             set: real Iyy_3 = 0.033715148099504; #moment of inertia [kg*m^2]
+             set: real Izz_3 = 0.001956310318013; #moment of inertia [kg*m^2]
+
+             set: real Rx_3 = 2.842170943040401e-17; #X component of the relative center of mass [m]
+             set: real Ry_3 = -1.4210854715202004e-17; #Y component of the relative center of mass [m]
+             set: real Rz_3 = 0.0; #Z component of the relative center of mass [m]
+
+         #body 4: 
+             set: real Ixx_4 = 0.07706742098794901; #moment of inertia [kg*m^2]
+             set: real Iyy_4 = 0.066351815798527; #moment of inertia [kg*m^2]
+             set: real Izz_4 = 0.061792350456255; #moment of inertia [kg*m^2]
+
+             set: real Rx_4 = 2.842170943040401e-16; #X component of the relative center of mass [m]
+             set: real Ry_4 = 2.1316282072803006e-17; #Y component of the relative center of mass [m]
+             set: real Rz_4 = 2.2737367544323206e-16; #Z component of the relative center of mass [m]
+
+ #-----------------------------------------------------------------------------
+ # [Nodes Block]
+
+ begin: nodes;
+
+     structural: structural_node_1,
+                 static,
+                 Px_1, Py_1, Pz_1, #<absolute_position> [m]
+                 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<absolute_orientation_matrix>
+                 Vx_1, Vy_1, Vz_1, #<absolute_velocity> [m/s]
+                 Wx_1, Wy_1, Wz_1; #<absolute_angular_velocity> [rad/s]
+
+     structural: structural_node_2,
+                 dynamic,
+                 Px_2, Py_2, Pz_2, #<absolute_position> [m]
+                 3, 0.28116838555915347, -0.12674940821214617, 0.9512512425641977, 2, -0.12674940821214617, 0.9776506595433675, 0.16773125949652098, #<absolute_orientation_matrix>
+                 Vx_2, Vy_2, Vz_2, #<absolute_velocity> [m/s]
+                 Wx_2, Wy_2, Wz_2; #<absolute_angular_velocity> [rad/s]
+
+     structural: structural_node_3,
+                 dynamic,
+                 Px_3, Py_3, Pz_3, #<absolute_position> [m]
+                 3, -0.27178893568691503, -0.25783416049630004, 0.9271743741709766, 2, 0.014330116918634624, 0.9622501868990581, 0.271788935686915, #<absolute_orientation_matrix>
+                 Vx_3, Vy_3, Vz_3, #<absolute_velocity> [m/s]
+                 Wx_3, Wy_3, Wz_3; #<absolute_angular_velocity> [rad/s]
+
+     structural: structural_node_4,
+                 dynamic,
+                 Px_4, Py_4, Pz_4, #<absolute_position> [m]
+                 3, 0.2588190451025211, 0.0, 0.9659258262890682, 2, 0.0, 1.0, 0.0, #<absolute_orientation_matrix>
+                 Vx_4, Vy_4, Vz_4, #<absolute_velocity> [m/s]
+                 Wx_4, Wy_4, Wz_4; #<absolute_angular_velocity> [rad/s]
+
+ end: nodes;
+
+ #-----------------------------------------------------------------------------
+ # [Elements Block]
+
+ begin: elements;
+
+     #-----------------------------------------------------------------------------
+     # [Bodies]
+
+         body: body_2,
+               structural_node_2, #<node_label> 
+               mass_2, #<mass> [kg]
+               Rx_2, Ry_2, Rz_2, #<relative_center_of_mass> [m]
+               diag, Ixx_2, Iyy_2, Izz_2, #<inertia matrix> [kg*m^2]
+               orientation, 3, -0.0054384608129255385, 0.8559103374577453, 0.5150405937686557, 2, 0.9969290667160357, -0.0024978913689130133, 0.0023196850194898005; 
+
+         body: body_3,
+               structural_node_3, #<node_label> 
+               mass_3, #<mass> [kg]
+               Rx_3, Ry_3, Rz_3, #<relative_center_of_mass> [m]
+               diag, Ixx_3, Iyy_3, Izz_3, #<inertia matrix> [kg*m^2]
+               orientation, 3, 0.9973238325492868, 0.0012847690482160057, -0.002629529780301787, 2, -0.00011328308715380375, 1.0027304733964244, 0.004450235157436283; 
+
+         body: body_4,
+               structural_node_4, #<node_label> 
+               mass_4, #<mass> [kg]
+               Rx_4, Ry_4, Rz_4, #<relative_center_of_mass> [m]
+               diag, Ixx_4, Iyy_4, Izz_4, #<inertia matrix> [kg*m^2]
+               orientation, 3, -8.551421488581235e-05, 0.0, 0.9957768995806164, 2, 0.0, 1.0, 0.0; 
+
+     #-----------------------------------------------------------------------------
+     # [Joints]
+
+     joint: joint_1,
+         clamp,
+         structural_node_1, #<node_label>
+             -0.121, -1.218180697837851e-18, -0.08, #<absolute_pin_position> [m]
+             3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; #<absolute_orientation_matrix> 
+
+     joint: joint_2,
+         axial rotation,
+         structural_node_1, #<node_1_label>
+             0.0, 1.218180697837851e-18, 0.05, #<relative_offset_1> [m]
+             orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<relative_orientation_matrix_1>
+         structural_node_2, #<node_2_label>
+             -0.03739853284269051, 0.0, 0.0032867622552210634, #<relative_offset_2> [m]
+             orientation, 3, 5.204170427930421e-18, 0.0, 1.0, 2, guess, #<relative_orientation_matrix_2>
+         string, "model::drive(1, Time)"; #<angular_velocity> [rad/s]
+
+     joint: joint_3,
+            revolute hinge,
+             structural_node_2, #<node_1_label>
+                 0.03260146715730949, 1.4210854715202004e-17, 0.05328676225522106, #<relative_position_1> [m]
+                 orientation, 3, 5.204170427930421e-18, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<relative_pin_orientation_matrix_1>
+             structural_node_3, #<node_2_label>
+                -0.1400000000000079, -1.0444978215673472e-15, 0.024999999999998038, #<relative_position_2> [m]
+                orientation, 3, -5.551115123125784e-17, -5.984795992119986e-17, 1.0, 2, guess; #<relative_pin_orientation_matrix_2>
+
+     joint: joint_4,
+         in line,
+         structural_node_3, #<node_1_label>
+             0.13999999999999133, 4.4231285301066236e-16, 9.79127889877418e-15, #<relative_line_position> [m]
+             3, 2.7195091690402506e-15, 1.2586758486779817e-14, 1.0, 2, 0.6882367162699149, 0.7254861972346578, -1.1003185610451133e-14, #<relative_orientation>
+         structural_node_4, #<node_2_label>
+             offset, -0.045580834634119244, -2.0299354019925886e-10, 1.2562251640702015e-08; #<relative_offset> [m]
+
+     joint: joint_5,
+         in line,
+         structural_node_1, #<node_1_label>
+             0.0, 1.2181806978377854e-18, 0.08, #<relative_line_position> [m]
+             3, 1.0, -2.220446049250313e-16, 2.220446049250313e-16, 2, -2.220446049250313e-16, 0.0, 1.0, #<relative_orientation>
+         structural_node_4, #<node_2_label>
+             offset, -0.045580834634119244, -2.0299354019925886e-10, 1.2562251640702015e-08; #<relative_offset> [m]
+
+     joint: joint_6,
+         prismatic,
+         structural_node_1, #<node_1_label>
+             orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #relative_orientation_matrix_1>
+         structural_node_4, #<node_2_label>
+             orientation, 3, 0, 0, 1, 2, 0, 1, 0; #relative_orientation_matrix_2>
+
+     #-----------------------------------------------------------------------------
+     # [Drive callers]
+
+     drive caller: 1, name,"drive:1", ramp, 6.28, 0.0, 1.0, 0.0;
+
+ end: elements;
+
--- a/OndselSolver/MBDynCase2orig.mov
+++ b/OndselSolver/MBDynCase2orig.mov
--- a/OndselSolver/MBDynCaseDebug1.mbd
+++ b/OndselSolver/MBDynCaseDebug1.mbd
@@ -0,0 +1,321 @@
+#-----------------------------------------------------------------------------
+ # [Data Block]
+
+ begin: data;
+     problem: initial value;
+ end: data;
+
+ #-----------------------------------------------------------------------------
+ # [Problem Block]
+
+ begin: initial value;
+     initial time: 0.0;
+     final time: 8.0;
+     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: 5;
+     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 = 0.24147734685710437; #mass [kg]
+             set: real volume_2 = 3.056675276672207e-05; #volume [m^3]
+
+         #body: 4
+             set: integer body_4 = 4; #body label
+             set: real mass_4 = 0.11253654770310718; #mass [kg]
+             set: real volume_4 = 1.4245132620646478e-05; #volume [m^3]
+
+         #body: 5
+             set: integer body_5 = 5; #body label
+             set: real mass_5 = 0.11253654770310723; #mass [kg]
+             set: real volume_5 = 1.4245132620646483e-05; #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
+
+         #node: 5
+             set: integer structural_node_5 = 5; #node label
+
+     #Joints
+
+         #joint: 1
+             set: integer joint_1 = 1; #joint label
+
+         #joint: 2
+             set: integer joint_2 = 2; #joint label
+
+         #joint: 3
+             set: integer joint_3 = 3; #joint label
+
+         #joint: 4
+             set: integer joint_4 = 4; #joint label
+
+         #joint: 5
+             set: integer joint_5 = 5; #joint label
+
+         #joint: 7
+             set: integer joint_7 = 7; #joint label
+
+     #Nodes: initial conditions
+
+         #node: 1
+             set: real Px_1 = 0.16912189837562464; #X component of the absolute position [m]
+             set: real Py_1 = -0.10055206743263254; #Y component of the absolute position [m]
+             set: real Pz_1 = 0.07867737409397452; #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 = 0.018683478687078307; #X component of the absolute position [m]
+             set: real Py_2 = -0.05533171845235879; #Y component of the absolute position [m]
+             set: real Pz_2 = 0.1768528076947657; #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 = 0.2890983348369078; #X component of the absolute position [m]
+             set: real Py_3 = -0.06156645049450425; #Y component of the absolute position [m]
+             set: real Pz_3 = 0.09724597715885096; #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 = 0.11637356459110539; #X component of the absolute position [m]
+             set: real Py_4 = -0.019655254070140387; #Y component of the absolute position [m]
+             set: real Pz_4 = 0.20651079866339145; #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]
+
+         #node: 5
+             set: real Px_5 = 0.15064540729834192; #X component of the absolute position [m]
+             set: real Py_5 = -0.020536937096322302; #Y component of the absolute position [m]
+             set: real Pz_5 = 0.06548008210568429; #Z component of the absolute position [m]
+
+             set: real Vx_5 = 0.0; #X component of the absolute velocity [m/s]
+             set: real Vy_5 = 0.0; #Y component of the absolute velocity [m/s]
+             set: real Vz_5 = 0.0; #Z component of the absolute velocity [m/s]
+
+             set: real Wx_5 = 0.0; #X component of the absolute angular velocity [rad/s]
+             set: real Wy_5 = 0.0; #Y component of the absolute angular velocity [rad/s]
+             set: real Wz_5 = 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 = 6.927961737800001e-05; #moment of inertia [kg*m^2]
+             set: real Iyy_2 = 5.6689424982e-05; #moment of inertia [kg*m^2]
+             set: real Izz_2 = 2.9053392577e-05; #moment of inertia [kg*m^2]
+
+             set: real Rx_2 = 0.0; #X component of the relative center of mass [m]
+             set: real Ry_2 = 0.0; #Y component of the relative center of mass [m]
+             set: real Rz_2 = 0.0; #Z component of the relative center of mass [m]
+
+         #body 4: 
+             set: real Ixx_4 = 7.9157004521e-05; #moment of inertia [kg*m^2]
+             set: real Iyy_4 = 7.769349168e-05; #moment of inertia [kg*m^2]
+             set: real Izz_4 = 3.339121993e-06; #moment of inertia [kg*m^2]
+
+             set: real Rx_4 = 0.0; #X component of the relative center of mass [m]
+             set: real Ry_4 = 0.0; #Y component of the relative center of mass [m]
+             set: real Rz_4 = 0.0; #Z component of the relative center of mass [m]
+
+         #body 5: 
+             set: real Ixx_5 = 7.9157004521e-05; #moment of inertia [kg*m^2]
+             set: real Iyy_5 = 7.769349168e-05; #moment of inertia [kg*m^2]
+             set: real Izz_5 = 3.339121993e-06; #moment of inertia [kg*m^2]
+
+             set: real Rx_5 = 0.0; #X component of the relative center of mass [m]
+             set: real Ry_5 = 0.0; #Y component of the relative center of mass [m]
+             set: real Rz_5 = 0.0; #Z component of the relative center of mass [m]
+
+ #-----------------------------------------------------------------------------
+ # [Nodes Block]
+
+ begin: nodes;
+
+     structural: structural_node_1,
+                 static,
+                 Px_1, Py_1, Pz_1, #<absolute_position> [m]
+                 3, -0.3539135011019427, 0.9158836712023025, 0.18947911379030236, 2, -0.5084786583487672, -0.018385530501657588, -0.8608782877224926, #<absolute_orientation_matrix>
+                 Vx_1, Vy_1, Vz_1, #<absolute_velocity> [m/s]
+                 Wx_1, Wy_1, Wz_1; #<absolute_angular_velocity> [rad/s]
+
+     structural: structural_node_2,
+                 dynamic,
+                 Px_2, Py_2, Pz_2, #<absolute_position> [m]
+                 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<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,
+                 static,
+                 Px_3, Py_3, Pz_3, #<absolute_position> [m]
+                 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<absolute_orientation_matrix>
+                 Vx_3, Vy_3, Vz_3, #<absolute_velocity> [m/s]
+                 Wx_3, Wy_3, Wz_3; #<absolute_angular_velocity> [rad/s]
+
+     structural: structural_node_4,
+                 dynamic,
+                 Px_4, Py_4, Pz_4, #<absolute_position> [m]
+                 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<absolute_orientation_matrix>
+                 Vx_4, Vy_4, Vz_4, #<absolute_velocity> [m/s]
+                 Wx_4, Wy_4, Wz_4; #<absolute_angular_velocity> [rad/s]
+
+     structural: structural_node_5,
+                 dynamic,
+                 Px_5, Py_5, Pz_5, #<absolute_position> [m]
+                 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<absolute_orientation_matrix>
+                 Vx_5, Vy_5, Vz_5, #<absolute_velocity> [m/s]
+                 Wx_5, Wy_5, Wz_5; #<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, -0.35, 0.91, 0.21, 2, 0.78, 0.4, -0.47; 
+
+         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, 0.78, 0.4, -0.47, 2, -0.36, 0.91, 0.19; 
+
+         body: body_5,
+               structural_node_5, #<node_label> 
+               mass_5, #<mass> [kg]
+               Rx_5, Ry_5, Rz_5, #<relative_center_of_mass> [m]
+               diag, Ixx_5, Iyy_5, Izz_5, #<inertia matrix> [kg*m^2]
+               orientation, 3, -0.36, 0.91, 0.19, 2, 0.78, 0.4, -0.47; 
+
+     #-----------------------------------------------------------------------------
+     # [Joints]
+
+     joint: joint_1,
+         clamp,
+         structural_node_1, #<node_label>
+             0.16912189837562464, -0.10055206743263254, 0.07867737409397452, #<absolute_pin_position> [m]
+             3, -0.3539135011019427, 0.9158836712023025, 0.18947911379030236, 2, -0.5084786583487672, -0.018385530501657588, -0.8608782877224926; #<absolute_orientation_matrix> 
+
+     joint: joint_2,
+         axial rotation,
+         structural_node_1, #<node_1_label>
+             1.0407603667772492e-11, -0.05247682460581396, -0.00025357557055826873, #<relative_offset_1> [m]
+             orientation, 3, 1.1102230246251565e-16, -1.0, 0.0, 2, guess, #<relative_orientation_matrix_1>
+         structural_node_2, #<node_2_label>
+             0.006998226646402806, -0.00490348349806041, 0.007426083408032554, #<relative_offset_2> [m]
+             orientation, 3, 0.5084786344413901, 0.01838554762064229, 0.8608783014778036, 2, guess, #<relative_orientation_matrix_2>
+         string, "model::drive(1, Time)"; #<angular_velocity> [rad/s]
+
+     joint: joint_3,
+         clamp,
+         structural_node_3, #<node_label>
+             0.2890983348369078, -0.06156645049450425, 0.09724597715885096, #<absolute_pin_position> [m]
+             3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; #<absolute_orientation_matrix> 
+
+     joint: joint_4,
+         revolute hinge,
+         structural_node_2, #<node_1_label>
+             -0.0011629534118987692, 0.02262071327533141, 0.01746668757489371, #<relative_position_1> [m]
+             orientation, 3, 0.5084786344412178, 0.018385547620640152, 0.8608783014779054, 2, guess, #<relative_pin_orientation_matrix_1>
+         structural_node_4, #<node_2_label>
+            -0.031347177833029705, -0.01617494903756937, 0.018860685712244078, #<relative_position_2> [m]
+            orientation, 3, 0.5084786455601428, 0.018385495401303797, 0.860878296025734, 2, guess; #<relative_pin_orientation_matrix_2>
+
+     joint: joint_5,
+         revolute hinge,
+         structural_node_4, #<node_1_label>
+             0.03388957106083931, 0.016266876514581658, -0.01455629423212079, #<relative_position_1> [m]
+             orientation, 3, 0.50847864556046, 0.0183854954014063, 0.8608782960255446, 2, guess, #<relative_pin_orientation_matrix_1>
+         structural_node_5, #<node_2_label>
+            -0.016813818553224735, 0.036484433510506876, 0.003343892503690739, #<relative_position_2> [m]
+            orientation, 3, 0.5084787180221569, 0.01838550036990011, 0.8608782531198544, 2, guess; #<relative_pin_orientation_matrix_2>
+
+     joint: joint_7,
+         revolute hinge,
+         structural_node_3, #<node_1_label>
+             1.1368683772161603e-16, 0.0, -1.4210854715202004e-17, #<relative_position_1> [m]
+             orientation, 3, 0.5094306516594838, 0.018659363391322903, 0.8603093858070039, 2, guess, #<relative_pin_orientation_matrix_1>
+         structural_node_5, #<node_2_label>
+            0.014271424963118534, -0.03657636101236503, -0.007648283769292526, #<relative_position_2> [m]
+            orientation, 3, 0.5084787180221835, 0.018385500369866165, 0.8608782531198396, 2, guess; #<relative_pin_orientation_matrix_2>
+
+     #-----------------------------------------------------------------------------
+     # [Drive callers]
+
+     drive caller: 1, name,"drive:1", ramp, 5.0, 0.25, 4.0, 0.0;
+
+ end: elements;
+
--- a/OndselSolver/MBDynCaseDebug1.mov
+++ b/OndselSolver/MBDynCaseDebug1.mov
--- a/OndselSolver/MBDynCaseDebug2.mbd
+++ b/OndselSolver/MBDynCaseDebug2.mbd
@@ -0,0 +1,320 @@
+#-----------------------------------------------------------------------------
+ # [Data Block]
+
+ begin: data;
+     problem: initial value;
+ end: data;
+
+ #-----------------------------------------------------------------------------
+ # [Problem Block]
+
+ begin: initial value;
+     initial time: 0.0;
+     final time: 8.0;
+     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: 5;
+     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 = 0.24147734685710437; #mass [kg]
+             set: real volume_2 = 3.056675276672207e-05; #volume [m^3]
+
+         #body: 4
+             set: integer body_4 = 4; #body label
+             set: real mass_4 = 0.11253654770310718; #mass [kg]
+             set: real volume_4 = 1.4245132620646478e-05; #volume [m^3]
+
+         #body: 5
+             set: integer body_5 = 5; #body label
+             set: real mass_5 = 0.11253654770310723; #mass [kg]
+             set: real volume_5 = 1.4245132620646483e-05; #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
+
+         #node: 5
+             set: integer structural_node_5 = 5; #node label
+
+     #Joints
+
+         #joint: 1
+             set: integer joint_1 = 1; #joint label
+
+         #joint: 2
+             set: integer joint_2 = 2; #joint label
+
+         #joint: 3
+             set: integer joint_3 = 3; #joint label
+
+         #joint: 4
+             set: integer joint_4 = 4; #joint label
+
+         #joint: 5
+             set: integer joint_5 = 5; #joint label
+
+         #joint: 6
+             set: integer joint_6 = 6; #joint label
+
+     #Nodes: initial conditions
+
+         #node: 1
+             set: real Px_1 = 0.16912189837562464; #X component of the absolute position [m]
+             set: real Py_1 = -0.10055206743263254; #Y component of the absolute position [m]
+             set: real Pz_1 = 0.07867737409397452; #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 = 0.018683478687078307; #X component of the absolute position [m]
+             set: real Py_2 = -0.05533171845235879; #Y component of the absolute position [m]
+             set: real Pz_2 = 0.1768528076947657; #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 = 0.2890983348369078; #X component of the absolute position [m]
+             set: real Py_3 = -0.06156645049450425; #Y component of the absolute position [m]
+             set: real Pz_3 = 0.09724597715885096; #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 = 0.11637356459110539; #X component of the absolute position [m]
+             set: real Py_4 = -0.019655254070140387; #Y component of the absolute position [m]
+             set: real Pz_4 = 0.20651079866339145; #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]
+
+         #node: 5
+             set: real Px_5 = 0.15064540729834192; #X component of the absolute position [m]
+             set: real Py_5 = -0.020536937096322302; #Y component of the absolute position [m]
+             set: real Pz_5 = 0.06548008210568429; #Z component of the absolute position [m]
+
+             set: real Vx_5 = 0.0; #X component of the absolute velocity [m/s]
+             set: real Vy_5 = 0.0; #Y component of the absolute velocity [m/s]
+             set: real Vz_5 = 0.0; #Z component of the absolute velocity [m/s]
+
+             set: real Wx_5 = 0.0; #X component of the absolute angular velocity [rad/s]
+             set: real Wy_5 = 0.0; #Y component of the absolute angular velocity [rad/s]
+             set: real Wz_5 = 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 = 6.927961737800001e-05; #moment of inertia [kg*m^2]
+             set: real Iyy_2 = 5.6689424982e-05; #moment of inertia [kg*m^2]
+             set: real Izz_2 = 2.9053392577e-05; #moment of inertia [kg*m^2]
+
+             set: real Rx_2 = 0.0; #X component of the relative center of mass [m]
+             set: real Ry_2 = 0.0; #Y component of the relative center of mass [m]
+             set: real Rz_2 = 0.0; #Z component of the relative center of mass [m]
+
+         #body 4: 
+             set: real Ixx_4 = 7.9157004521e-05; #moment of inertia [kg*m^2]
+             set: real Iyy_4 = 7.769349168e-05; #moment of inertia [kg*m^2]
+             set: real Izz_4 = 3.339121993e-06; #moment of inertia [kg*m^2]
+
+             set: real Rx_4 = 0.0; #X component of the relative center of mass [m]
+             set: real Ry_4 = 0.0; #Y component of the relative center of mass [m]
+             set: real Rz_4 = 0.0; #Z component of the relative center of mass [m]
+
+         #body 5: 
+             set: real Ixx_5 = 7.9157004521e-05; #moment of inertia [kg*m^2]
+             set: real Iyy_5 = 7.769349168e-05; #moment of inertia [kg*m^2]
+             set: real Izz_5 = 3.339121993e-06; #moment of inertia [kg*m^2]
+
+             set: real Rx_5 = 0.0; #X component of the relative center of mass [m]
+             set: real Ry_5 = 0.0; #Y component of the relative center of mass [m]
+             set: real Rz_5 = 0.0; #Z component of the relative center of mass [m]
+
+ #-----------------------------------------------------------------------------
+ # [Nodes Block]
+
+ begin: nodes;
+
+     structural: structural_node_1,
+                 static,
+                 Px_1, Py_1, Pz_1, #<absolute_position> [m]
+                 3, -0.3539135011019427, 0.9158836712023025, 0.18947911379030236, 2, -0.5084786583487672, -0.018385530501657588, -0.8608782877224926, #<absolute_orientation_matrix>
+                 Vx_1, Vy_1, Vz_1, #<absolute_velocity> [m/s]
+                 Wx_1, Wy_1, Wz_1; #<absolute_angular_velocity> [rad/s]
+
+     structural: structural_node_2,
+                 dynamic,
+                 Px_2, Py_2, Pz_2, #<absolute_position> [m]
+                 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<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,
+                 static,
+                 Px_3, Py_3, Pz_3, #<absolute_position> [m]
+                 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<absolute_orientation_matrix>
+                 Vx_3, Vy_3, Vz_3, #<absolute_velocity> [m/s]
+                 Wx_3, Wy_3, Wz_3; #<absolute_angular_velocity> [rad/s]
+
+     structural: structural_node_4,
+                 dynamic,
+                 Px_4, Py_4, Pz_4, #<absolute_position> [m]
+                 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<absolute_orientation_matrix>
+                 Vx_4, Vy_4, Vz_4, #<absolute_velocity> [m/s]
+                 Wx_4, Wy_4, Wz_4; #<absolute_angular_velocity> [rad/s]
+
+     structural: structural_node_5,
+                 dynamic,
+                 Px_5, Py_5, Pz_5, #<absolute_position> [m]
+                 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<absolute_orientation_matrix>
+                 Vx_5, Vy_5, Vz_5, #<absolute_velocity> [m/s]
+                 Wx_5, Wy_5, Wz_5; #<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, -0.35, 0.91, 0.21, 2, 0.78, 0.4, -0.47; 
+
+         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, 0.78, 0.4, -0.47, 2, -0.36, 0.91, 0.19; 
+
+         body: body_5,
+               structural_node_5, #<node_label> 
+               mass_5, #<mass> [kg]
+               Rx_5, Ry_5, Rz_5, #<relative_center_of_mass> [m]
+               diag, Ixx_5, Iyy_5, Izz_5, #<inertia matrix> [kg*m^2]
+               orientation, 3, -0.36, 0.91, 0.19, 2, 0.78, 0.4, -0.47; 
+
+     #-----------------------------------------------------------------------------
+     # [Joints]
+
+     joint: joint_1,
+         clamp,
+         structural_node_1, #<node_label>
+             0.16912189837562464, -0.10055206743263254, 0.07867737409397452, #<absolute_pin_position> [m]
+             3, -0.3539135011019427, 0.9158836712023025, 0.18947911379030236, 2, -0.5084786583487672, -0.018385530501657588, -0.8608782877224926; #<absolute_orientation_matrix> 
+
+     joint: joint_2,
+         axial rotation,
+         structural_node_1, #<node_1_label>
+             1.0407603667772492e-11, -0.05247682460581396, -0.00025357557055826873, #<relative_offset_1> [m]
+             orientation, 3, 1.1102230246251565e-16, -1.0, 0.0, 2, guess, #<relative_orientation_matrix_1>
+         structural_node_2, #<node_2_label>
+             0.006998226646402806, -0.00490348349806041, 0.007426083408032554, #<relative_offset_2> [m]
+             orientation, 3, 0.5084786344413901, 0.01838554762064229, 0.8608783014778036, 2, guess, #<relative_orientation_matrix_2>
+         string, "model::drive(1, Time)"; #<angular_velocity> [rad/s]
+
+     joint: joint_3,
+         clamp,
+         structural_node_3, #<node_label>
+             0.2890983348369078, -0.06156645049450425, 0.09724597715885096, #<absolute_pin_position> [m]
+             3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; #<absolute_orientation_matrix> 
+
+     joint: joint_4,
+         revolute hinge,
+         structural_node_2, #<node_1_label>
+             -0.0011629534118987692, 0.02262071327533141, 0.01746668757489371, #<relative_position_1> [m]
+             orientation, 3, 0.5084786344412178, 0.018385547620640152, 0.8608783014779054, 2, guess, #<relative_pin_orientation_matrix_1>
+         structural_node_4, #<node_2_label>
+            -0.031347177833029705, -0.01617494903756937, 0.018860685712244078, #<relative_position_2> [m]
+            orientation, 3, 0.5084786455601428, 0.018385495401303797, 0.860878296025734, 2, guess; #<relative_pin_orientation_matrix_2>
+
+     joint: joint_5,
+         revolute hinge,
+         structural_node_4, #<node_1_label>
+             0.03388957106083931, 0.016266876514581658, -0.01455629423212079, #<relative_position_1> [m]
+             orientation, 3, 0.50847864556046, 0.0183854954014063, 0.8608782960255446, 2, guess, #<relative_pin_orientation_matrix_1>
+         structural_node_5, #<node_2_label>
+            -0.016813818553224735, 0.036484433510506876, 0.003343892503690739, #<relative_position_2> [m]
+            orientation, 3, 0.5084787180221569, 0.01838550036990011, 0.8608782531198544, 2, guess; #<relative_pin_orientation_matrix_2>
+
+     joint: joint_6,
+         in line,
+         structural_node_3, #<node_1_label>
+             0.0, 0.0, 0.0, #<relative_line_position> [m]
+             3, 0.5094306516594838, 0.018659363391322903, 0.8603093858070039, 2, guess, #<relative_orientation>
+         structural_node_5, #<node_2_label>
+             offset, 0.014271424963118534, -0.03657636101236503, -0.007648283769292526; #<relative_offset> [m]
+
+     #-----------------------------------------------------------------------------
+     # [Drive callers]
+
+     drive caller: 1, name,"drive:1", ramp, 5.0, 0.25, 4.0, 0.0;
+
+ end: elements;
+
--- a/OndselSolver/MBDynCaseDebug2.mov
+++ b/OndselSolver/MBDynCaseDebug2.mov
--- a/OndselSolver/MBDynDrive.cpp
+++ b/OndselSolver/MBDynDrive.cpp
@@ -0,0 +1,78 @@
+#include <regex>
+
+#include "MBDynDrive.h"
+
+using namespace MbD;
+
+void MbD::MBDynDrive::parseMBDyn(std::string line)
+{
+	driveString = line;
+	size_t previousPos = 0;
+	auto pos = line.find(":");
+	auto front = line.substr(previousPos, pos - previousPos);
+	assert(front.find("drive caller") != std::string::npos);
+	auto arguments = std::vector<std::string>();
+	std::string argument;
+	while (true) {
+		previousPos = pos;
+		pos = line.find(",", pos + 1);
+		if (pos != std::string::npos) {
+			argument = line.substr(previousPos + 1, pos - previousPos - 1);
+			arguments.push_back(argument);
+		}
+		else {
+			argument = line.substr(previousPos + 1);
+			arguments.push_back(argument);
+			break;
+		}
+	}
+	auto iss = std::istringstream(arguments.at(0));
+	iss >> name;
+	arguments.erase(arguments.begin());
+	assert(arguments.at(0).find("name") != std::string::npos);
+	arguments.erase(arguments.begin());
+	iss = std::istringstream(arguments.at(0));
+	iss >> driveName;
+	driveName = std::regex_replace(driveName, std::regex("\""), "");
+	arguments.erase(arguments.begin());
+	readFunction(arguments);
+}
+
+void MbD::MBDynDrive::readFunction(std::vector<std::string>& args)
+{
+	if (args.empty()) return;
+	std::string str;
+	auto iss = std::istringstream(args.at(0));
+	iss >> str;
+	if (str.find("ramp") != std::string::npos) {
+		args.erase(args.begin());
+		std::string slope, initValue, initTime, finalTime;
+		slope = popOffTop(args);
+		initTime = popOffTop(args);
+		finalTime = popOffTop(args);
+		initValue = popOffTop(args);
+		slope.erase(remove_if(slope.begin(), slope.end(), isspace), slope.end());
+		initTime.erase(remove_if(initTime.begin(), initTime.end(), isspace), initTime.end());
+		finalTime.erase(remove_if(finalTime.begin(), finalTime.end(), isspace), finalTime.end());
+		initValue.erase(remove_if(initValue.begin(), initValue.end(), isspace), initValue.end());
+
+		//f = slope*(time - t0) + f0
+		//rampstep(time, t0, f0, t1, f1)
+		//t0 = initTime
+		//f0 = initValue
+		//t1 = finalTime
+		//f1 = initValue + slope * (finalTime - initTime)
+		auto ss = std::stringstream();
+		ss << "rampstep(time, " << initTime << ", " << initValue << ", " << finalTime << ", "
+			<< initValue << " + " << slope << "*(" << finalTime << " - " << initTime << "))";
+		formula = ss.str();
+	}
+	else {
+		assert(false);
+	}
+}
+
+void MbD::MBDynDrive::createASMT()
+{
+	assert(false);
+}
--- a/OndselSolver/MBDynDrive.h
+++ b/OndselSolver/MBDynDrive.h
@@ -0,0 +1,24 @@
+/***************************************************************************
+ *   Copyright (c) 2023 Ondsel, Inc.                                       *
+ *                                                                         *
+ *   This file is part of OndselSolver.                                    *
+ *                                                                         *
+ *   See LICENSE file for details about copyright.                         *
+ ***************************************************************************/
+
+#pragma once
+#include "MBDynElement.h"
+
+namespace MbD {
+	class MBDynDrive : public MBDynElement
+	{
+	public:
+        void parseMBDyn(std::string line);
+		void readFunction(std::vector<std::string>& args);
+		void createASMT() override;
+
+        std::string driveString, driveName, formula;
+
+	};
+}
+
--- a/OndselSolver/MBDynItem.cpp
+++ b/OndselSolver/MBDynItem.cpp
@@ -32,6 +32,55 @@ void MbD::MBDynItem::parseMBDyn(std::vector<std::string>& lines)
 	assert(false);
 }

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

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

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

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

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

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

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

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

+void MbD::MBDynMarker::parseMBDynClamp(std::vector<std::string>& args)
+{
+	//rOmO = rOPO + aAOP*rPmP
+	//aAOm = aAOP * aAPm
+	auto rOmO = std::make_shared<FullColumn<double>>(3);
+	auto aAOm = FullMatrixDouble::identitysptr(3);
+	auto rOPO = readPosition(args);
+	auto aAOP = readOrientation(args);
+	rPmP = aAOP->transposeTimesFullColumn(rOmO->minusFullColumn(rOPO));
+	aAPm = aAOP->transposeTimesFullMatrix(aAOm);
+}
+
 void MbD::MBDynMarker::createASMT()
 {
 	auto asmtAsm = asmtAssembly();
--- a/OndselSolver/MBDynMarker.h
+++ b/OndselSolver/MBDynMarker.h
@@ -14,7 +14,8 @@ namespace MbD {
 	class MBDynMarker : public MBDynItem
 	{
 	public:
-		void parseMBDyn(std::vector<std::string>& args) override;
+		void parseMBDyn(std::vector<std::string>& args);
+		void parseMBDynClamp(std::vector<std::string>& args);
 		void createASMT() override;

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

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

 using namespace MbD;

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

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

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

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

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

 std::shared_ptr<MBDynBody> MbD::MBDynSystem::bodyWithNode(std::string nodeName)
 {
-	for (auto& element : *elements) {
-		std::string str = typeid(element).name();
-		if (str.find("MBDynBody") != std::string::npos) {
-			auto body = std::static_pointer_cast<MBDynBody>(element);
-			if (body->nodeName == nodeName) return body;
-		}
+	for (auto& body : *bodies) {
+		if (body->nodeName == nodeName) return body;
 	}
 	return nullptr;
 }
@@ -122,8 +134,11 @@ std::vector<std::string> MbD::MBDynSystem::nodeNames()
 void MbD::MBDynSystem::runKINEMATIC()
 {
 	createASMT();
+	asmtAssembly()->outputFile("assembly.asmt");
 	std::static_pointer_cast<ASMTAssembly>(asmtItem)->runKINEMATIC();
 	outputFiles();
+	asmtAssembly()->outputFile("assembly2.asmt");
+	asmtAssembly()->outputFile("smalltalk.asmt");
 }

 void MbD::MBDynSystem::outputFiles()
@@ -302,31 +317,47 @@ void MbD::MBDynSystem::parseMBDynNodes(std::vector<std::string>& lines)

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

 void MbD::MBDynSystem::parseMBDynVariables(std::vector<std::string>& lines)
@@ -349,6 +380,7 @@ void MbD::MBDynSystem::parseMBDynVariables(std::vector<std::string>& lines)
 			auto userFunc = std::make_shared<BasicUserFunction>(str, 1.0);
 			parser->parseUserFunction(userFunc);
 			auto sym = parser->stack->top();
+			auto val = sym->getValue();
 			variables->insert(std::make_pair(variable, sym));
 			lines.erase(it);
 		}
--- a/OndselSolver/MBDynSystem.h
+++ b/OndselSolver/MBDynSystem.h
@@ -11,6 +11,7 @@
 #include <string>

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

 namespace MbD {
    class MBDynData;
@@ -37,6 +38,9 @@ namespace MbD {
        void parseMBDynLabels(std::vector<std::string>& lines);
        void parseMBDynReferences(std::vector<std::string>& lines);
        std::shared_ptr<std::vector<std::shared_ptr<MBDynNode>>> mbdynNodes() override;
+        std::shared_ptr<std::vector<std::shared_ptr<MBDynBody>>> mbdynBodies() override;
+        std::shared_ptr<std::vector<std::shared_ptr<MBDynJoint>>> mbdynJoints() override;
+        std::shared_ptr<std::vector<std::shared_ptr<MBDynDrive>>> mbdynDrives() override;
        std::shared_ptr<std::map<std::string, Symsptr>> mbdynVariables() override;
        std::shared_ptr<std::map<std::string, std::shared_ptr<MBDynReference>>> mbdynReferences() override;
        void createASMT() override;
@@ -63,7 +67,9 @@ namespace MbD {
        std::shared_ptr<MBDynInitialValue> initialValue;
        std::shared_ptr<MBDynControlData> controlData;
        std::shared_ptr<std::vector<std::shared_ptr<MBDynNode>>> nodes;
-        std::shared_ptr<std::vector<std::shared_ptr<MBDynElement>>> elements;
+        std::shared_ptr<std::vector<std::shared_ptr<MBDynBody>>> bodies;
+        std::shared_ptr<std::vector<std::shared_ptr<MBDynJoint>>> joints;
+        std::shared_ptr<std::vector<std::shared_ptr<MBDynDrive>>> drives;
        std::shared_ptr<std::map<std::string, Symsptr>> variables;
        std::shared_ptr<std::map<std::string, int>> labels;
        std::shared_ptr<std::map<std::string, std::shared_ptr<MBDynReference>>> references;
--- a/OndselSolver/MarkerFrame.cpp
+++ b/OndselSolver/MarkerFrame.cpp
@@ -61,7 +61,7 @@ void MarkerFrame::initializeGlobally()

 void MarkerFrame::postInput()
 {
-	Item::postInput();
+	CartesianFrame::postInput();
 	endFramesDo([](EndFrmsptr endFrame) { endFrame->postInput(); });
 }

@@ -82,7 +82,7 @@ void MarkerFrame::calcPostDynCorrectorIteration()

 void MarkerFrame::prePosIC()
 {
-	Item::prePosIC();
+	CartesianFrame::prePosIC();
 	endFramesDo([](EndFrmsptr endFrame) { endFrame->prePosIC(); });
 }

@@ -153,7 +153,7 @@ void MarkerFrame::setqsudotlam(FColDsptr col)

 void MarkerFrame::postPosICIteration()
 {
-	Item::postPosICIteration();
+	CartesianFrame::postPosICIteration();
 	endFramesDo([](EndFrmsptr endFrame) { endFrame->postPosICIteration(); });
 }

@@ -174,7 +174,7 @@ void MarkerFrame::storeDynState()

 void MarkerFrame::preVelIC()
 {
-	Item::preVelIC();
+	CartesianFrame::preVelIC();
 	endFramesDo([](EndFrmsptr endFrame) { endFrame->preVelIC(); });
 }

@@ -185,7 +185,7 @@ void MarkerFrame::postVelIC()

 void MarkerFrame::preAccIC()
 {
-	Item::preAccIC();
+	CartesianFrame::preAccIC();
 	endFramesDo([](EndFrmsptr endFrame) { endFrame->preAccIC(); });
 }

--- a/OndselSolver/MarkerFrame.h
+++ b/OndselSolver/MarkerFrame.h
@@ -38,9 +38,7 @@ namespace MbD {
 		void addEndFrame(EndFrmsptr x);
 		void initializeLocally() override;
 		void initializeGlobally() override;
-		void postInput() override;
 		void calcPostDynCorrectorIteration() override;
-		void prePosIC() override;
 		int iqX();
 		int iqE();
 		void endFramesDo(const std::function <void(EndFrmsptr)>& f);
@@ -55,12 +53,14 @@ namespace MbD {
 		void setqsudot(FColDsptr col) override;
 		void setqsudotlam(FColDsptr col) override;
 		void setqsuddotlam(FColDsptr col) override;
+		void storeDynState() override;
+		void postInput() override;
 		void postPosICIteration() override;
+		void postVelIC() override;
 		void postPosIC() override;
 		void preDyn() override;
-		void storeDynState() override;
+		void prePosIC() override;
 		void preVelIC() override;
-		void postVelIC() override;
 		void preAccIC() override;
 		FColDsptr qXdot();
 		std::shared_ptr<EulerParametersDot<double>> qEdot();
--- a/Show More
+++ b/Show More