[Fix] update dd->tsim in integrators functions

MBsysC/mbs_common/mbs_module/mbs_dirdyn.c

@@ -465,7 +465,7 @@ void mbs_dirdyn_init(MbsDirdyn* dd, MbsData* mbs_data)
 
        // Save first state of the system
         mbs_fct_dirdyn(dd->tsim, dd->y, dd->yd, mbs_data, dd);
-        mbs_dirdyn_save(dd, mbs_data, mbs_data->tsim);
+        mbs_dirdyn_save(dd, mbs_data, dd->tsim);
 
 
         // release memory

MBsysC/mbs_common/mbs_numerics/mbs_integrators/bader.c

@@ -131,6 +131,8 @@ void bader(double y[], double dydx[], int nv, double *xx, double htry, double ep
 		reduct = 1;
 	}		// try again.
 
+    dd->tsim = xnew; // Update of tsim
+
 	*xx = xnew;		// Successful step taken
 	*hdid = h;
 	first = 0;

MBsysC/mbs_common/mbs_numerics/mbs_integrators/dopri5.c

@@ -416,6 +416,8 @@ static int dopcor(unsigned n, FcnEqDiff fcn, double x, double* y, double xend,
             xold = x;
             x = xph;
 
+            dd->tsim = x; // Update of tsim
+
             if (iout)
             {
                 hout = h;
@@ -456,7 +458,7 @@ static int dopcor(unsigned n, FcnEqDiff fcn, double x, double* y, double xend,
                 nrejct = nrejct + 1;
             last = 0;
         }
-
+        
         h = hnew;
         last_hnew = hnew; // modif: line added
     }

MBsysC/mbs_common/mbs_numerics/mbs_integrators/mbs_rosenbrock.c

@@ -87,6 +87,7 @@ void loop_rosenbrock(double t0, double tf, MbsData *mbs_data, MbsDirdyn *mbs_dd,
 
         mbs_fct_dirdyn(t, mbs_dd->y, mbs_dd->yd, mbs_data, mbs_dd);
         
+        mbs_dd->tsim = t; // Update of tsim
 
         h_cur = (hnext < tf - t) ? hnext : tf - t;
         h_max = (mbs_dd->options->dt_max < tf - t) ? mbs_dd->options->dt_max : tf - t;

MBsysC/mbs_common/mbs_numerics/mbs_integrators/mbs_w_methods.c

@@ -69,10 +69,10 @@ void loop_w_methods(double t0, double tf, MbsData *mbs_data, MbsDirdyn *mbs_dd,
 		// Call the W Method function
 		w_methods(mbs_dd->y, mbs_dd->yd, mbs_dd->nState, mbs_dd->tsim, h, mbs_dd->yout, mbs_fct_dirdyn, mbs_data, mbs_dd);
 
+        mbs_dd->tsim += h;
+
         mbs_fct_dirdyn(mbs_dd->tsim, mbs_dd->y, mbs_dd->yd, mbs_data, mbs_dd); // next f'
 		     
-		mbs_dd->tsim += h;
-
         if (((!mbs_dd->options->flag_solout_wp) || (mbs_dd->options->flag_solout_wp && mbs_dd->tsim == tf))) {
             save_realtime_update(mbs_dd, mbs_data);
         }