Merge branch '252-impact-of-cleaning-invynared-dirdynared-flags' into 'dev'

Resolve "Impact of cleaning INVYNARED/DIRDYNARED flags"

Closes #252

See merge request robotran/mbsysc!390

MBsysC/mbs_common/mbs_module/mbs_aux.c

@@ -161,20 +161,6 @@ MbsAux * initMbsAux(MbsData *s)
     mbs_aux->Rruc = get_dvec_1(nquc);
     mbs_aux->Rred = get_dvec_1(nqu);
 
-
-#ifndef MBS_SIMULINK
-    mbs_aux->y = get_dvec_1(2 * nqu);
-    mbs_aux->dydx = get_dvec_1(2 * nqu);
-
-    for (i = 1; i <= s->nqu; i++)
-    {
-        mbs_aux->y[i - 1] = s->q[s->qu[i]];
-        mbs_aux->y[i + s->nqu - 1] = s->qd[s->qu[i]];
-        mbs_aux->dydx[i - 1] = s->qd[s->qu[i]];
-        mbs_aux->dydx[i + s->nqu - 1] = s->udd[i];
-    }
-#endif
-    /**/
     return mbs_aux;
 }
 
@@ -260,12 +246,5 @@ void freeMbsAux(MbsAux *mbs_aux, MbsData *s)
     free_dvec_1(mbs_aux->Rruc);
     free_dvec_1(mbs_aux->Rred);
 
-
-
-#ifndef MBS_SIMULINK
-    free_dvec_1(mbs_aux->y);
-    free_dvec_1(mbs_aux->dydx);
-#endif
-
     free(mbs_aux);
 }

MBsysC/mbs_common/mbs_struct/mbs_aux.h

@@ -24,7 +24,7 @@ typedef struct MbsAux_tag
         double NRerr;
         int MAX_NR_ITER; //!< max number of iteration for NR procedure
         int n_iter_close_loop; //!< number of iterations after closing loop procedure in mbs_close_geo
-        //!< initialized at 0; if n_iter_close_loop<0 => en error has occured ! 
+        //!< initialized at 0; if n_iter_close_loop<0 => en error has occured !
 
         double *h, **Jac;
         double *huserc, **Juserc;
@@ -86,9 +86,6 @@ typedef struct MbsAux_tag
         double *Rruc;  //!< vector of size [nqu+nqc x 1] that contains the reduced residue for the equations of motions after the first reduction (dependent variables)
         double *Rred;  //!< vector of size [nqu x 1] that contains the reduced residue of the equations of motion after the second reduction (driven variables)
 
-#ifndef MBS_SIMULINK
-        double x, *y, *dydx;
-#endif
 } MbsAux;
 
 

MBsysC/mbs_interface/MBsysPy/_mbsysc_loader/callback.py

 # -*- coding: utf-8 -*-
-"""
--------------------------------
-(c) Universite catholique de Louvain, 2019
+"""Definition of CFUNCTYPE needed for callback functions."""
+# (c) Universite catholique de Louvain, 2019
 
-Creation : 2019 by O. Lantsoght
-Last update : 2019
-
-version MBsysC v1.11.2
-
--------------------------------
-Portable Python interface to MBsysC using Ctypes.
-
-Definition of CFUNCTYPE needed for callback functions.
-
-"""
 
 import ctypes
 
 # importing MBsysC related classes
 from .forward_decl import MbsData_c
 from .forward_decl import MbsDirdyn_c
+from .forward_decl import MbsInvdyn_c
 from .forward_decl import MbsEquil_c
 from .forward_decl import UserIoInfo_c
 from .forward_decl import UserIO_c
@@ -28,21 +17,24 @@ from .forward_decl import MbsInfos_c
 from .forward_decl import MbsSensor_c
 
 
-#==============================================================================
+# =============================================================================
 # Global parameter of the current module
-#==============================================================================
+# =============================================================================
 __DEBUG__ = False
 
 
-#==============================================================================
+# =============================================================================
 # Declaration of function to be linked with the libraries
-#==============================================================================
+# =============================================================================
 # User
 user_JointForces_wrap = ctypes.CFUNCTYPE(None, ctypes.POINTER(MbsData_c), ctypes.c_double)
 user_load_post_wrap = ctypes.CFUNCTYPE(None, ctypes.POINTER(MbsData_c))
 user_dirdyn_init_wrap = ctypes.CFUNCTYPE(ctypes.c_void_p, ctypes.POINTER(MbsData_c), ctypes.POINTER(MbsDirdyn_c))
 user_dirdyn_loop_wrap = ctypes.CFUNCTYPE(ctypes.c_void_p, ctypes.POINTER(MbsData_c), ctypes.POINTER(MbsDirdyn_c))
 user_dirdyn_finish_wrap = ctypes.CFUNCTYPE(ctypes.c_void_p, ctypes.POINTER(MbsData_c), ctypes.POINTER(MbsDirdyn_c))
+user_invdyn_init_wrap = ctypes.CFUNCTYPE(None, ctypes.POINTER(MbsData_c), ctypes.POINTER(MbsInvdyn_c))
+user_invdyn_loop_wrap = ctypes.CFUNCTYPE(None, ctypes.POINTER(MbsData_c), ctypes.POINTER(MbsInvdyn_c))
+user_invdyn_finish_wrap = ctypes.CFUNCTYPE(None, ctypes.POINTER(MbsData_c), ctypes.POINTER(MbsInvdyn_c))
 user_equil_init_wrap = ctypes.CFUNCTYPE(None, ctypes.POINTER(MbsData_c), ctypes.POINTER(MbsEquil_c))
 user_equil_loop_wrap = ctypes.CFUNCTYPE(None, ctypes.POINTER(MbsData_c), ctypes.POINTER(MbsEquil_c))
 user_equil_finish_wrap = ctypes.CFUNCTYPE(None, ctypes.POINTER(MbsData_c), ctypes.POINTER(MbsEquil_c))
@@ -63,11 +55,11 @@ mbs_new_user_model_wrap = ctypes.CFUNCTYPE(ctypes.POINTER(UserModel_c))
 mbs_delete_user_model_wrap = ctypes.CFUNCTYPE(None, ctypes.POINTER(UserModel_c))
 mbs_delete_user_IO_wrap = ctypes.CFUNCTYPE(None, ctypes.POINTER(UserIO_c))
 mbs_get_user_IO_size_wrap = ctypes.CFUNCTYPE(None, ctypes.POINTER(ctypes.c_int), ctypes.POINTER(ctypes.c_int), ctypes.POINTER(ctypes.c_int))
-mbs_load_user_model_xml_wrap= ctypes.CFUNCTYPE(None, ctypes.POINTER(MbsInfos_c), ctypes.POINTER(UserModel_c))
+mbs_load_user_model_xml_wrap = ctypes.CFUNCTYPE(None, ctypes.POINTER(MbsInfos_c), ctypes.POINTER(UserModel_c))
 mbs_bind_user_model_wrap = ctypes.CFUNCTYPE(None, ctypes.POINTER(MbsInfos_c), ctypes.POINTER(UserModel_c))
 mbs_print_user_model_wrap = ctypes.CFUNCTYPE(None, ctypes.POINTER(UserModel_c))
 mbs_get_user_model_size_wrap = ctypes.CFUNCTYPE(None, ctypes.POINTER(ctypes.c_int))
-mbs_get_user_model_list_wrap = ctypes.CFUNCTYPE(None, ctypes.POINTER(ctypes.c_int)) 
+mbs_get_user_model_list_wrap = ctypes.CFUNCTYPE(None, ctypes.POINTER(ctypes.c_int))
 
 # Symbolic
 mbs_link_wrap = ctypes.CFUNCTYPE(None, ctypes.POINTER(ctypes.POINTER(ctypes.c_double)), ctypes.POINTER(ctypes.POINTER(ctypes.c_double)), ctypes.POINTER(ctypes.c_double), ctypes.POINTER(ctypes.c_double), ctypes.POINTER(ctypes.c_double), ctypes.POINTER(MbsData_c), ctypes.c_double)

MBsysC/mbs_interface/MBsysPy/_mbsysc_loader/forward_decl.py

 # -*- coding: utf-8 -*-
-"""
--------------------------------
-(c) Universite catholique de Louvain, 2019
-
-Creation : 2019 by O. Lantsoght
-Last update : 2019
-
-version MBsysC v1.11.2
-
--------------------------------
-Portable Python interface to MBsysC using Ctypes.
-
-Forward declaration of all required MBsysC structure.
-
-"""
+"""Forward declaration of all required MBsysC structure."""
+# (c) Universite catholique de Louvain, 2019
 
 import ctypes
 
 
-#==============================================================================
+# =============================================================================
 # Global parameter of the current module
-#==============================================================================
+# =============================================================================
 __DEBUG__ = False
 
 
-#==============================================================================
+# =============================================================================
 # forward declaration of structures (C) as class
-#==============================================================================
+# =============================================================================
 class MbsInfos_c(ctypes.Structure):
     pass
 class MbsInfoBase_c(ctypes.Structure):
@@ -103,6 +90,8 @@ class MbsGrowingBuffer_c(ctypes.Structure):
     pass
 class MbsAux_c(ctypes.Structure):
     pass
+class MbsInvdyn_c(ctypes.Structure):
+    pass
 class MbsEquil_c(ctypes.Structure):
     pass
 class MbsEquilOptions_c(ctypes.Structure):
@@ -120,4 +109,4 @@ class AnimInfo_c(ctypes.Structure):
 class MbsLpk_c(ctypes.Structure):
     pass
 class MbsSS_c(ctypes.Structure):
-    pass
\ No newline at end of file
+    pass

MBsysC/mbs_interface/MBsysPy/_mbsysc_loader/mbs_aux_c.py

 # -*- coding: utf-8 -*-
-"""
--------------------------------
-(c) Universite catholique de Louvain, 2019
-
-Creation : 2019 by O. Lantsoght
-Last update : 2019
-
-version MBsysC v1.11.2
-
--------------------------------
-Portable Python interface to MBsysC using Ctypes.
-While generating the libraries:
-  - SENSORKIN    MUST BE UNDEFINED
-  - REALTIME     MUST BE UNDEFINED
-  - ACCELRED     MUST BE UNDEFINED
-  - MBS_SIMULINK MUST BE UNDEFINED
-
-  - PRJ_FCT_PTR MUST BE DEFINED
-  - DIRDYNARED  MUST BE DEFINED
-  - INVDYNARED  MUST BE DEFINED
-
-Declaration of MBsysC structure related to mbs_aux.h file in MBsysC.
-
-"""
+"""Declaration of MBsysC structure related to mbs_aux.h file in MBsysC."""
+# (c) Universite catholique de Louvain, 2019
 
 import ctypes
 
@@ -31,86 +9,82 @@ from .forward_decl import MbsAux_c
 from .forward_decl import MbsSensor_c
 
 
-#==============================================================================
+# =============================================================================
 # Global parameter of the current module
-#==============================================================================
-__DEBUG__ = True
+# =============================================================================
+__DEBUG__ = False
 
 
-#==============================================================================
+# =============================================================================
 # MbsAux
-#==============================================================================
+# =============================================================================
 MbsAux_c._fields_ = [
-        ("norm_h",      ctypes.c_double),
-        ("NRerr",       ctypes.c_double),
+        ("norm_h", ctypes.c_double),
+        ("NRerr", ctypes.c_double),
         ("MAX_NR_ITER", ctypes.c_int),
 
-        ("h",           ctypes.POINTER(ctypes.c_double)),
-        ("Jac",         ctypes.POINTER(ctypes.POINTER(ctypes.c_double))),
-        ("huserc",      ctypes.POINTER(ctypes.c_double)),
-        ("Juserc",      ctypes.POINTER(ctypes.POINTER(ctypes.c_double))),
-        ("mJv",         ctypes.POINTER(ctypes.POINTER(ctypes.c_double))),
-        ("ind_mJv",     ctypes.POINTER(ctypes.c_int)),
-        ("Qc",          ctypes.POINTER(ctypes.c_double)),
+        ("h", ctypes.POINTER(ctypes.c_double)),
+        ("Jac", ctypes.POINTER(ctypes.POINTER(ctypes.c_double))),
+        ("huserc", ctypes.POINTER(ctypes.c_double)),
+        ("Juserc", ctypes.POINTER(ctypes.POINTER(ctypes.c_double))),
+        ("mJv", ctypes.POINTER(ctypes.POINTER(ctypes.c_double))),
+        ("ind_mJv", ctypes.POINTER(ctypes.c_int)),
+        ("Qc", ctypes.POINTER(ctypes.c_double)),
+
+        ("mJv_h", ctypes.POINTER(ctypes.c_double)),
 
-        ("mJv_h",       ctypes.POINTER(ctypes.c_double)),
+        ("nquc", ctypes.c_int),
+        ("iquc", ctypes.POINTER(ctypes.c_int)),
+        ("Juct", ctypes.POINTER(ctypes.POINTER(ctypes.c_double))),
 
-        ("nquc",        ctypes.c_int),
-        ("iquc",        ctypes.POINTER(ctypes.c_int)),
-        ("Juct",        ctypes.POINTER(ctypes.POINTER(ctypes.c_double))),
+        ("Bvuc", ctypes.POINTER(ctypes.POINTER(ctypes.c_double))),
 
-        ("Bvuc",        ctypes.POINTER(ctypes.POINTER(ctypes.c_double))),
+        ("Jvtlambda", ctypes.POINTER(ctypes.c_double)),
+        ("Jvt", ctypes.POINTER(ctypes.POINTER(ctypes.c_double))),
+        ("ind_Jvt", ctypes.POINTER(ctypes.c_int)),
 
-        ("Jvtlambda",   ctypes.POINTER(ctypes.c_double)),
-        ("Jvt",         ctypes.POINTER(ctypes.POINTER(ctypes.c_double))),
-        ("ind_Jvt",     ctypes.POINTER(ctypes.c_int)),
 
+        ("jdqd", ctypes.POINTER(ctypes.c_double)),
+        ("jdqduserc", ctypes.POINTER(ctypes.c_double)),
 
-        ("jdqd",        ctypes.POINTER(ctypes.c_double)),
-        ("jdqduserc",   ctypes.POINTER(ctypes.c_double)),
+        ("bp", ctypes.POINTER(ctypes.c_double)),
 
-        ("bp",          ctypes.POINTER(ctypes.c_double)),
+        ("psens", ctypes.POINTER(MbsSensor_c)),
 
-        ("psens",       ctypes.POINTER(MbsSensor_c)),
-        
-        ("q_save",      ctypes.POINTER(ctypes.c_double)),
-        ("close_anim",  ctypes.c_int),
-        
-        ("c",           ctypes.POINTER(ctypes.c_double)),
-        ("M",           ctypes.POINTER(ctypes.POINTER(ctypes.c_double))),
-        ("F",           ctypes.POINTER(ctypes.c_double)),
+        ("q_save", ctypes.POINTER(ctypes.c_double)),
+        ("close_anim", ctypes.c_int),
 
-        ("BtMvu",       ctypes.POINTER(ctypes.POINTER(ctypes.c_double))),
-        ("BtMvv",       ctypes.POINTER(ctypes.POINTER(ctypes.c_double))),
-        ("BtMB",        ctypes.POINTER(ctypes.POINTER(ctypes.c_double))),
-        ("BtFv",        ctypes.POINTER(ctypes.c_double)),
-        ("MBMb",        ctypes.POINTER(ctypes.c_double)),
+        ("c", ctypes.POINTER(ctypes.c_double)),
+        ("M", ctypes.POINTER(ctypes.POINTER(ctypes.c_double))),
+        ("F", ctypes.POINTER(ctypes.c_double)),
 
-        ("Mruc",        ctypes.POINTER(ctypes.POINTER(ctypes.c_double))),
-        ("Fruc",        ctypes.POINTER(ctypes.c_double)),
+        ("BtMvu", ctypes.POINTER(ctypes.POINTER(ctypes.c_double))),
+        ("BtMvv", ctypes.POINTER(ctypes.POINTER(ctypes.c_double))),
+        ("BtMB", ctypes.POINTER(ctypes.POINTER(ctypes.c_double))),
+        ("BtFv", ctypes.POINTER(ctypes.c_double)),
+        ("MBMb", ctypes.POINTER(ctypes.c_double)),
 
-        ("Mr",          ctypes.POINTER(ctypes.POINTER(ctypes.c_double))),
-        ("Fr",          ctypes.POINTER(ctypes.c_double)),
+        ("Mruc", ctypes.POINTER(ctypes.POINTER(ctypes.c_double))),
+        ("Fruc", ctypes.POINTER(ctypes.c_double)),
 
-        ("p_Mr",        ctypes.POINTER(ctypes.c_double)),
+        ("Mr", ctypes.POINTER(ctypes.POINTER(ctypes.c_double))),
+        ("Fr", ctypes.POINTER(ctypes.c_double)),
+
+        ("p_Mr", ctypes.POINTER(ctypes.c_double)),
 
         ("compute_Qc_vec", ctypes.POINTER(ctypes.c_int)),
-        
-        ("Qact",        ctypes.POINTER(ctypes.c_double)),
-        ("A",           ctypes.POINTER(ctypes.POINTER(ctypes.c_double))),
-        ("ind_A",       ctypes.POINTER(ctypes.c_int)),
-
-        ("b",           ctypes.POINTER(ctypes.c_double)),
-
-        ("w",           ctypes.POINTER(ctypes.c_double)), 
-        ("v",           ctypes.POINTER(ctypes.POINTER(ctypes.c_double))),
-        
-        
-        ("phi",         ctypes.POINTER(ctypes.c_double)),
-        ("R",           ctypes.POINTER(ctypes.c_double)),
-        ("Rruc",        ctypes.POINTER(ctypes.c_double)),
-        ("Rred",        ctypes.POINTER(ctypes.c_double)),
-        
-        ("x",           ctypes.c_double),
-        ("y",           ctypes.POINTER(ctypes.c_double)),
-        ("dydx",        ctypes.POINTER(ctypes.c_double))]
+
+        ("Qact", ctypes.POINTER(ctypes.c_double)),
+        ("A", ctypes.POINTER(ctypes.POINTER(ctypes.c_double))),
+        ("ind_A", ctypes.POINTER(ctypes.c_int)),
+
+        ("b", ctypes.POINTER(ctypes.c_double)),
+
+        ("w", ctypes.POINTER(ctypes.c_double)),
+        ("v", ctypes.POINTER(ctypes.POINTER(ctypes.c_double))),
+
+
+        ("phi", ctypes.POINTER(ctypes.c_double)),
+        ("R", ctypes.POINTER(ctypes.c_double)),
+        ("Rruc", ctypes.POINTER(ctypes.c_double)),
+        ("Rred", ctypes.POINTER(ctypes.c_double)), ]

MBsysC/mbs_interface/MBsysPy/_mbsysc_loader/mbs_data_c.py

 # -*- coding: utf-8 -*-
-"""
--------------------------------
-(c) Universite catholique de Louvain, 2019
-
-Creation : 2019 by O. Lantsoght
-Last update : 2019
-
-version MBsysC v1.11.2
-
--------------------------------
-Portable Python interface to MBsysC using Ctypes.
-
-While generating the libraries:
-  - SENSORKIN MUST BE UNDEFINED
-  - REALTIME  MUST BE UNDEFINED
-
-  - PRJ_FCT_PTR MUST BE DEFINED
-
-Declaration of MBsysC structure related to mbs_data.h header file in MBsysC.
-
-"""
+"""Declaration of MBsysC structure related to mbs_data.h header file in MBsysC."""
+# (c) Universite catholique de Louvain, 2019
 
 import ctypes
 
@@ -39,6 +20,9 @@ from .callback import user_load_post_wrap
 from .callback import user_dirdyn_init_wrap
 from .callback import user_dirdyn_loop_wrap
 from .callback import user_dirdyn_finish_wrap
+from .callback import user_invdyn_init_wrap
+from .callback import user_invdyn_loop_wrap
+from .callback import user_invdyn_finish_wrap
 from .callback import user_equil_init_wrap
 from .callback import user_equil_loop_wrap
 from .callback import user_equil_finish_wrap
@@ -73,186 +57,193 @@ from .callback import mbs_sensor_wrap
 from .callback import mbs_gensensor_wrap
 
 
-#==============================================================================
+# =============================================================================
 # user_c
-#==============================================================================
-user_c._fields_ =[# REAL_TIME cannot be defined
-    ("user_JointForces",        user_JointForces_wrap),
-    # user load
-    ("user_load_post",          user_load_post_wrap),
-    # user dirdyn
-    ("user_dirdyn_init",        user_dirdyn_init_wrap),
-    ("user_dirdyn_loop",        user_dirdyn_loop_wrap),
-    ("user_dirdyn_finish",      user_dirdyn_finish_wrap),
-    # user equil
-    ("user_equil_init",         user_equil_init_wrap),
-    ("user_equil_loop",         user_equil_loop_wrap),
-    ("user_equil_finish",       user_equil_finish_wrap),
-    ("user_equil_fxe",          user_equil_fxe_wrap),
-    # Generalities
-    ("user_Derivative",         user_Derivative_wrap),
-    ("user_DrivenJoints",       user_DrivenJoints_wrap),
-    ("user_cons_hJ",            user_cons_hJ_wrap),
-    ("user_cons_jdqd",          user_cons_jdqd_wrap),
-    ("user_LinkForces",         user_LinkForces_wrap),
-    ("user_Link3DForces",       user_Link3DForces_wrap),
-    ("user_ExtForces",          user_ExtForces_wrap),
-    # data exchange
-    ("mbs_new_user_IO",         mbs_new_user_IO_wrap),
-    ("mbs_new_user_model",      mbs_new_user_model_wrap),
-    ("mbs_delete_user_model",   mbs_delete_user_model_wrap),
-    ("mbs_delete_user_IO",      mbs_delete_user_IO_wrap),
-    ("mbs_get_user_IO_size",    mbs_get_user_IO_size_wrap),
-    ("mbs_load_user_model_xml", mbs_load_user_model_xml_wrap),
-    ("mbs_bind_user_model",     mbs_bind_user_model_wrap),
-    ("mbs_print_user_model",    mbs_print_user_model_wrap),
-    ("mbs_get_user_model_size", mbs_get_user_model_size_wrap),
-    ("mbs_get_user_model_list", mbs_get_user_model_list_wrap)
-    ]
-
-
-#==============================================================================
+# =============================================================================
+user_c._fields_ = [
+                   ("user_JointForces", user_JointForces_wrap),
+                   # user load
+                   ("user_load_post", user_load_post_wrap),
+                   # user dirdyn
+                   ("user_dirdyn_init", user_dirdyn_init_wrap),
+                   ("user_dirdyn_loop", user_dirdyn_loop_wrap),
+                   ("user_dirdyn_finish", user_dirdyn_finish_wrap),
+                   # user invdyn
+                   ("user_invdyn_init", user_invdyn_init_wrap),
+                   ("user_invdyn_loop", user_invdyn_loop_wrap),
+                   ("user_invdyn_finish", user_invdyn_finish_wrap),
+                   # user equil
+                   ("user_equil_init", user_equil_init_wrap),
+                   ("user_equil_loop", user_equil_loop_wrap),
+                   ("user_equil_finish", user_equil_finish_wrap),
+                   ("user_equil_fxe", user_equil_fxe_wrap),
+                   # Generalities
+                   ("user_Derivative", user_Derivative_wrap),
+                   ("user_DrivenJoints", user_DrivenJoints_wrap),
+                   ("user_cons_hJ", user_cons_hJ_wrap),
+                   ("user_cons_jdqd", user_cons_jdqd_wrap),
+                   ("user_LinkForces", user_LinkForces_wrap),
+                   ("user_Link3DForces", user_Link3DForces_wrap),
+                   ("user_ExtForces", user_ExtForces_wrap),
+                   # data exchange
+                   ("mbs_new_user_IO", mbs_new_user_IO_wrap),
+                   ("mbs_new_user_model", mbs_new_user_model_wrap),
+                   ("mbs_delete_user_model", mbs_delete_user_model_wrap),
+                   ("mbs_delete_user_IO", mbs_delete_user_IO_wrap),
+                   ("mbs_get_user_IO_size", mbs_get_user_IO_size_wrap),
+                   ("mbs_load_user_model_xml", mbs_load_user_model_xml_wrap),
+                   ("mbs_bind_user_model", mbs_bind_user_model_wrap),
+                   ("mbs_print_user_model", mbs_print_user_model_wrap),
+                   ("mbs_get_user_model_size", mbs_get_user_model_size_wrap),
+                   ("mbs_get_user_model_list", mbs_get_user_model_list_wrap)
+                  ]
+
+
+# =============================================================================
 # symb_c
-#==============================================================================
-symb_c._fields_ =[# REAL_TIME cannot be defined
-    ("mbs_link",                mbs_link_wrap),
-    ("mbs_link3D",              mbs_link3D_wrap),
-    ("mbs_extforces",           mbs_extforces_wrap),
-    ("mbs_accelred",            mbs_accelred_wrap),
-    ("mbs_dirdyna",             mbs_dirdyna_wrap),
-    ("mbs_invdyna",             mbs_invdyna_wrap),
-    ("mbs_cons_hJ",             mbs_cons_hJ_wrap),
-    ("mbs_cons_jdqd",           mbs_cons_jdqd_wrap),
-    ("mbs_sensor",              mbs_sensor_wrap),
-    ("mbs_gensensor",           mbs_gensensor_wrap)]
-
-
-#==============================================================================
+# =============================================================================
+symb_c._fields_ = [
+                   ("mbs_link", mbs_link_wrap),
+                   ("mbs_link3D", mbs_link3D_wrap),
+                   ("mbs_extforces", mbs_extforces_wrap),
+                   ("mbs_accelred", mbs_accelred_wrap),
+                   ("mbs_dirdyna", mbs_dirdyna_wrap),
+                   ("mbs_invdyna", mbs_invdyna_wrap),
+                   ("mbs_cons_hJ", mbs_cons_hJ_wrap),
+                   ("mbs_cons_jdqd", mbs_cons_jdqd_wrap),
+                   ("mbs_sensor", mbs_sensor_wrap),
+                   ("mbs_gensensor", mbs_gensensor_wrap)
+                  ]
+
+
+# =============================================================================
 # Functions_c
-#==============================================================================
-Functions_c._anonymous_ = ("user","symb")
-Functions_c._fields_ =[
-    ("symbolicLibHandle",   ctypes.POINTER(MbsDataLibInfo_c)),
-    ("userfctLibHandle",    ctypes.POINTER(MbsDataLibInfo_c)),
-    ("symb",                symb_c),
-    ("user",                user_c)]
-
-#==============================================================================
+# =============================================================================
+Functions_c._anonymous_ = ("user", "symb")
+Functions_c._fields_ = [
+                        ("symbolicLibHandle", ctypes.POINTER(MbsDataLibInfo_c)),
+                        ("userfctLibHandle", ctypes.POINTER(MbsDataLibInfo_c)),
+                        ("symb", symb_c),
+                        ("user", user_c)
+                       ]
+
+# =============================================================================
 # MbsData_c
-#==============================================================================
+# =============================================================================
 MbsData_c._anonymous_ = ("fct",)
-MbsData_c._fields_ =[
+MbsData_c._fields_ = [
     # Geometric and dynamic datas
-    ("npt",     ctypes.c_int),
-    ("dpt",     ctypes.POINTER(ctypes.POINTER(ctypes.c_double))),
-    ("l",       ctypes.POINTER(ctypes.POINTER(ctypes.c_double))),
-    ("m",       ctypes.POINTER(ctypes.c_double)),
-    ("In",      ctypes.POINTER(ctypes.POINTER(ctypes.c_double))),
-    ("g",       ctypes.c_double*(3+1)),
-    
-    ("nbody",   ctypes.c_int),
-    ("njoint",  ctypes.c_int),
-    
+    ("npt", ctypes.c_int),
+    ("dpt", ctypes.POINTER(ctypes.POINTER(ctypes.c_double))),
+    ("l", ctypes.POINTER(ctypes.POINTER(ctypes.c_double))),
+    ("m", ctypes.POINTER(ctypes.c_double)),
+    ("In", ctypes.POINTER(ctypes.POINTER(ctypes.c_double))),
+    ("g", ctypes.c_double * (3 + 1)),
+
+    ("nbody", ctypes.c_int),
+    ("njoint", ctypes.c_int),
+
     # Coordinate partiotionning datas
-    ("nqu",     ctypes.c_int),
-    ("nqc",     ctypes.c_int),
-    ("nqlocked",ctypes.c_int),
-    ("nqdriven",ctypes.c_int),
-    ("nqa",     ctypes.c_int),
-    ("nqv",     ctypes.c_int),
-    ("nhu",     ctypes.c_int),
-        
-    ("qu",      ctypes.POINTER(ctypes.c_int)),
-    ("qc",      ctypes.POINTER(ctypes.c_int)),
+    ("nqu", ctypes.c_int),
+    ("nqc", ctypes.c_int),
+    ("nqlocked", ctypes.c_int),
+    ("nqdriven", ctypes.c_int),
+    ("nqa", ctypes.c_int),
+    ("nqv", ctypes.c_int),
+    ("nhu", ctypes.c_int),
+
+    ("qu", ctypes.POINTER(ctypes.c_int)),
+    ("qc", ctypes.POINTER(ctypes.c_int)),
     ("qlocked", ctypes.POINTER(ctypes.c_int)),
     ("qdriven", ctypes.POINTER(ctypes.c_int)),
-    ("qa",      ctypes.POINTER(ctypes.c_int)),
-    ("qv",      ctypes.POINTER(ctypes.c_int)),
-    ("hu",      ctypes.POINTER(ctypes.c_int)),
-    
+    ("qa", ctypes.POINTER(ctypes.c_int)),
+    ("qv", ctypes.POINTER(ctypes.c_int)),
+    ("hu", ctypes.POINTER(ctypes.c_int)),
+