$Header: /var/cvs/mbdyn/mbdyn/mbdyn-1.0/CHANGES,v 1.889 2017/10/15 00:12:15 masarati Exp $

MBDyn (C) is a multibody analysis code.
http://www.mbdyn.org

Copyright (C) 1996-2017

Pierangelo Masarati     <masarati@aero.polimi.it>
Paolo Mantegazza        <mantegazza@aero.polimi.it>


MBDyn 1.7.3
	Enhancements:
		- added network byte order to drivers & element output streams
		- added width/format for eigenanalysis output files
		  (noted by Reinhard Resch)
		- added relative output of follower force/couple
		- refactored communication code (stream drivers and output
		  elements) to support user-defined communicators (Luca Conti
		  for GSoC 2017)
		- added module-flightgear (Luca Conti for GSoC 2017)
		- added automatic derivatives coefficient estimation
		  (Reinhard Resch)
	Backward compatibility issues:
		- got rid of adams and motionview output support
		- deprecated "drees 2" inflow model (identical to "dreese")
	Known issues:
	Bug fixes:
		- fixed (harmless?) off-by-one read in fixed step drive
		- fixed bugs in timestep control (Reinhard Resch)
		- fixed default max time step (Reinard Resch)
		- fixed build without libmbc (noted by Richard Crozier)
		- fixed test if residual is NaN (Reinard Resch)
		- fixed error message in strext (Richard Crozier)
		- fixed typos and strengthened inflow models

MBDyn 1.7.2
	Enhancements:
		- added contrib/Post (Marco Morandini)
		- added python input file pre-processing (Marco Morandini)
		- added support for Functional Mockup Interface (FMI) model
		  exchange and co-simulation standard (with the contribution
		  of Devyesh Tandon during Google Summer of Code 2016)
		- added "raw" variants of buffer drive and output elem
		- added private data to electric motor (Reinhard Resch)
		- added initial current to electric motor (Reinhard Resch)
		- added printing the CPU time used for each iteration
		  (Reinhard Resch)
		- reduce memory usage during initial assembly (Reinhard Resch)
		- added netcdf output for eigenanalysis (Andrea Zanoni)
		- added range checks to parsing (noted by Reinhard Resch)
		- added several improvements related to automatic
		  differentiation (Reinhard Resch)
		- updated support for CodeAster modal element database
		  generation (Reinhard Resch)
		- improved electric motor (Reinhard Resch)
		- improved module-hydrodynamic_plain_bearing (Reinhard Resch)
			1) Multiple Gauss Points can be used in combination
			   with axial movement of the shaft
			2) It is possible to have eccentricities larger than
			   one (Sommerfeld numbers are extrapolated linear).
			3) Output can be generated for selected Gauss points
			   only
		- added support for user-defined time step control code
		  (With the contribution of Ankit Aggarwal during Google Summer
		  of Code 2016)
	Backward compatibility issues:
		- reworked output elements syntax
	Known issues:
		- aeromodal with rigid-body motion needs work
		- deformable displacement joint initial assembly broken
		- modal joint initial assembly with initial modal disp. broken
	Bug fixes:
		- fixed "log" of total* family
		- fixed build of bufferstream* when sockets are not present
		- fixed build with RTAI
		- fixed output of drive callers (Reinhard Resch)
		- fixed read check for excessive channel number in fixed
		  step driver (noted by Davide Ivone)
		- fixed time-dependent output meter
		- fixed missing "forever" in double ramp descent final time
		  (Reinhard Resch)
		- fixed modal body assembly (Reinhard Resch)
		- fixed solver initialization after first step
		- fixed compilation in FreeBSD (Pedro Giffuni)
		- fix Gauss integration with > 5 points (Reinhard Resch)

MBDyn 1.7.1
	Enhancements:
		- added ModalBody: body connected to modal node
		  (Reinhard Resch)
		- added sprintf function to math parser
		- added "single factor damping" to modal joint
		- added "Rayleigh damping" to modal joint
		  (suggested by Reinhard Resch)
		- added check for symmetric/diagonal mass/stiffness
		  matrices in modal joint
		- added initial distance as "current" in distance joint
		- added "buffer" stream drive and output element
		- added skeleton for embedding solver(s)
	Backward compatibility issues:
		- "proportional damping" in modal joint replaced by
		  "single factor damping"
	Known issues:
	Bug fixes:
		- fixed possibility to turn off output of aero elements
		- fixed structural forces in inverse dynamics
		  (Andrea Zanoni, noted by Davide Ivone)
		- fixed off-by-one bug in socket stream drive
		- fixed invalid memory access bug in viscoelastic
		  displacement joint Jacobian matrix initial assembly
		  (Reinhard Resch); assembly still needs work
		- fixed bug in EasyAnim post-processing of total joints
		- fixed bug in strain gage priv data (noted by Jason)
		- fixed EOF handling on arm
		- fixed check for body connected to modal node
		  (noted by Reinhard Resch)
		- fixed parsing of modal joint "origin node" in string format
		  (noted by Reinhard Resch)
		- fixed bug in deformable displacement joint Jacobian
		  matrix (Andrea Zanoni)
		- fixed bug in stream drive echo, writing old instead of new

MBDyn 1.7.0
	Enhancements:
		- (optional) new handling of math expressions and
		  "string" drive caller (With the contribution
		  of Ankit Aggarwal during Google Summer of Code 2015)
	Backward compatibility issues:
		- (input and) output of "remarks" changed
	Known issues:
		- aeromodal with rigid-body motion needs work
		- deformable displacement joint initial assembly broken
		- modal joint initial assembly with initial modal disp. broken
	Bug fixes:
		- fixed math parser bug with undefined vare at beginning
		  of expression (noted by Andrea Zanoni)
		- fixed potential buffer overflow when parsing long numbers
		- fixed use of 'reference' for absolute/relative vector drives
		  (noted by Doug Baldwin)

MBDyn 1.6.1
	Enhancements:
		- added hostname support to utils
		- added module for file drive input from LeapMotion device
		- rod without offset now works with displacement nodes
		- added several modules (Reinhard Resch)
		- added autodiff vectorialization (Reinhard Resch)
		- added support for OpenBLAS (Reinhard Resch)
		- added support for UDP to socket-based communication
		- added configurable types to socket-based communication
		- added Bezier-based rod joint (Andrea Zanoni)
	Backward compatibility issues:
	Known issues:
		- aeromodal with rigid-body motion needs work
		- deformable displacement joint initial assembly broken
		- modal joint initial assembly with initial modal disp. broken
	Bug fixes:
		- fixed build with RTAI configured without inlining
		- fixed math parser bug with function calls in expressions
		- fixed deadlock in recursive string parser calls
		- fixed echo of modal joint record 12 (noted by Timothy Jim)
		- fixed Windows build of mbdyn_util_oct.oct (Reinhard Resch)
		- fixed mode label in ModalExt output (noted by Timothy Jim)
		- fixed (multithread) build in MinGW64 (Reinhard Resch)

MBDyn 1.6.0
	Enhancements:
		- added central gravity field (suggested by Linh H. Phan)
		- added automatic differentiation support to drive callers
		  and constitutive laws (Reinhard Resch)
		- added (optional) modal joint reaction forces output
		- added runtime loadable file drivers
		- added generic joystick driver (module-hid)
		- added run-time loadable "description" registration
		- added "namespace" stmt (module-namespace)
		- added symbol table in namespaces (module-namespace)
	Backward compatibility issues:
	Known issues:
		- Schur solver is broken
		- TotalPinJoint inverse dynamics support is broken
		- RTAI and multithread support incompatible
		- module-octave and multithread support incompatible
	Bug fixes:
		- fix module-octave build and scripts installation
		  (Reinhard Resch)
		- fix initial assembly of viscoelastic deformable joint
		  (noted by Reinhard Resch)
		- fix python detection (David Verelst)
		- fix SparseSuite_config detection
		  (Marco Morandini; noted by David Verelst)
		- fixed (harmless) stmt parsing bug

MBDyn 1.5.6
	Enhancements:
		- added explicit cast to math parser
		- added loads fade-in in module-aerodyn
		  (Jens van Schelve, Patrick Rix)
		- added "drivep" (derivative) function to model namespace
		- added measures in aircraft instruments
		- added axial constitutive law wrapper
		- added simple gear joint (Eduardo Okabe)
		- added kinetic energy in automatic structural element
		  private data
		- added "postponed" drive caller capability
		- added max time step as drive (Reinhard Resch)
		- added min/max drive caller (Reinhard Resch)
		- added output of drive callers (Reinhard Resch)
		- added tracing of drive callers (Reinhard Resch)
		- added improved scaling (Reinhard Resch)
		- added support for automatic differentiation (Reinhard Resch)
		- improved step size control (Reinhard Resch)
		- improved hydrodynamic plain bearing (Reinhard Resch)
		- improved module-octave (Reinhard Resch)
		- added check for symmetry of inertia tensor
		- added several modules by Eduardo Okabe (module-fab-*/)
		- added algebraic equations scaling (Reinhard Resch)
		- added support for octave 3.8.1 (Reinhard Resch)
		- more joints with NetCDF support (Louis Gagnon)
		- added output of electric nodes (Eduardo Okabe)
		- added check for finite test (Reinhard Resch)
	Backward compatibility issues:
		- "overwrite" option of "setenv" changed
		- incompatible module-aerodyn syntax change
		- reference systems of aircraft instruments changed
		- reworked orientation description within node input
		  according to documentation (was inconsistent)
	Known issues:
		- Schur solver is broken
		- TotalPinJoint inverse dynamics support is broken
		- RTAI and multithread support incompatible
		- module-octave and multithread support incompatible
	Bug fixes:
		- fixed rotor radius in module-aerodyn (Jens van Schelve)
		- fixed redeclaration without definition of already defined
		  ifndef vars
		- fixed reference orientation reset after initial assembly
		  (Reinhard Resch)
		- fixed inertia computation with structural displacement
		  nodes (noted by Mattia Alioli)
		- fixed data initialization in external struct mapping
		  with membrane elements
		- fixed bug in Cardano hinge initial assembly
		- fixed bug in driven element when internal states
		  are differential (Reinhard Resch)
		- fixed memory issue in eigenanalysis (Reinhard Resch)
		- fixed bug in acceleration computation
		  (noted by Reinhard Resch)
		- fixed bug in rigid body kinetic energy (Reinhard Resch)

MBDyn 1.5.5
	Enhancements:
		- added Umfpack solver iterative refinement support
		  (Reinhard Resch)
		- added built in drive callers interface to module-octave
		  (Reinhard Resch)
		- added scaling support to Naive, Umfpack and KLU solvers
		  (based on patch by Reinhard Resch)
	Backward compatibility issues:
		- old binary modal joint databases no longer supported
		- cyclocopter inflow models moved to module-cyclocopter
	Known issues:
		- Schur solver is broken
		- TotalPinJoint inverse dynamics support is broken
		- RTAI and multithread support incompatible
		- module-octave and multithread support incompatible
	Bug fixes:
		- fix binary modal joint database in MinGW
		- fix undefined const error message bug
		- fix libtool lang tag for run-time loadable modules
		  (noted by Jens van Schelve)
		- fix electric elements parsing (noted by Morten Ketelsen)
		- fix parsing on win32: MinGW/MSYS (Reinhard Resch)
		- fix naive multithread assembly bug

MBDyn 1.5.4
	Enhancements:
		- added '-N' command-line switch to set threads number
		- added module-nonsmooth-node: non-smooth dynamics support
		  using SICONOS <http://siconos.gforge.inria.fr/>
		  (Matteo Fancello)
		- added 3D variant of continuous contact constitutive law
		  (Matteo Fancello)
		- added line search nonlinear solver (Reinhard Resch)
		- added condition number output (Reinhard Resch)
		- added scalar support genel private data (Reinhard Resch)
	Backward compatibility issues:
	Known issues:
		- Schur solver is broken
		- TotalPinJoint inverse dynamics support is broken
		- RTAI and multithread support incompatible
		- module-octave and multithread support incompatible
	Bug fixes:
		- simplify escaping of delimiter in input
		- fix deformable hinge early Jacobian assembly
		  (noted by Filippo Tunesi)
		- fix conjugate transpose of `X' in pod.m
		- fix modal element when origin redefined
		  (noted by Sebastiano Fichera)
		- fix block 11 one row too much in output of femgen
		  (noted by Sebastiano Fichera)
		- fix arpack memory issue (noted by Reinhard Resch)
		- fixed NaivePermMatrixHandler resize
		  (noted by Reinhard Resch)
		- fix array drive caller derivative bug
		- fix missing space in mode output for matlab/octave
		  (Reinhard Resch)

MBDyn 1.5.3
	Enhancements:
		- added forces NetCDF support (Louis Gagnon)
		- added support for modal damping matrix in modal joint db
		- femgen(1) more user friendly (and documented)
	Backward compatibility issues:
		- nodes and elements now handled in strict input order
	Known issues:
		- Schur solver is broken
		- TotalPinJoint inverse dynamics support is broken
		- RTAI and multithread support incompatible
		- module-octave and multithread support incompatible
	Bug fixes:
		- fix multiple statements bug in string drive caller
		- fix (harmless) memory issue in structural mapping force
		- fix integer division bug in aeromodal element

MBDyn 1.5.2
	Enhancements:
		- added AfterPredict & Restart to module-octave
		  (Reinhard Resch)
		- added inverse square constitutive law
	Backward compatibility issues:
		- "index" form for priv data is deprecated
	Known issues:
		- Schur solver is broken
		- TotalPinJoint inverse dynamics support is broken
		- RTAI and multithread support incompatible
		- module-octave and multithread support incompatible
	Bug fixes:
		- fix restart bug (Reinhard Resch)
		- fix initialization issues (Marco Morandini)
		- fix dist of mbc_py_interface.py (noted by Gaël Ecorchard)

MBDyn 1.5.1
	Enhancements:
		- added "ifndef" declaration modifier for var redefinition
		- added module-nodedistdrive (Reinhold Resch)
	Backward compatibility issues:
		- moved GRAALL damper to module-damper-graall
	Known issues:
		- Schur solver is broken
		- TotalPinJoint inverse dynamics support is broken
		- RTAI and multithread support incompatible
		- module-octave and multithread support incompatible
	Bug fixes:
		- fix build when sched_setaffinity() is unavailable
		- fix file name handling in windows (mingw)

MBDyn 1.5.0
	Enhancements:
		- added displacement-only nodes and selected basic elements
		- added membrane element (Marco Morandini & Tommaso Solcia)
		- added continuous contact constitutive law (Matteo Fancello)
		- added inverse dynamics body for weight tailoring
		- added "other" specifier to total pin joint input
		- added dof stats output to file (Reinhard Resch)
		- added '-E' to enable fpe checking
		- added module-octave and related modules (Reinhard Resch)
		- drive drive made differentiable (Reinhard Resch)
		- added "m" (mass) to body private data (Louis Gagnon)
		- added module-eu2phi TplDriveCaller wrapper
		  (suggested by Tingnan Zhang)
		- added built-in 'TRUE' and 'FALSE' boolean const vars
		- added built-in int/real limit const vars
		- added module-wheel4 (Louis Gagnon)
	Backward compatibility issues:
	Known issues:
		- Schur solver is broken
		- TotalPinJoint inverse dynamics support is broken
		- RTAI and multithread support incompatible
		- module-octave and multithread support incompatible
	Bug fixes:
		- fix output file name ext. issue (noted by Jens van Schelve)
		- fix totalj rel. rot. priv data (noted by Jens van Schelve)
		- fix beam default output (noted by Reinhard Resch)
		- fix linear/angular acceleration joint initialization
		- fix initial assembly required by userelem (Reinhard Resch)
		- fix "wrong type" diagnostic message in math parser
		- fix initial assembly matrix reset (noted by Reinhard Resch)
		- fix uninitialized array in modal joint parsing
		  (noted by Domenico Capobianco)
		- fix 'print: all'
		- fix linking of NetCDF 4.X (noted by Patrick Rix)

MBDyn 1.4.3
	Enhancements:
	Backward compatibility issues:
	Known issues:
		- Schur solver is broken
		- TotalPinJoint inverse dynamics support is broken
		- RTAI and multithread support incompatible
	Bug fixes:
		- fix build with RTAI support
		- fix build with g++ < 4.5 (noted by Reinhard Resch)

MBDyn 1.4.2
	Enhancements:
		- added simple hydraulic damper model (Giuseppe Quaranta)
		- added Hunt-Crossley impact model (Matteo Fancello)
		- added private data to generic aerodynamic force
		- added 'array' constitutive law wrapper
		- added generic 'bistop' constitutive law wrapper
		- added 'imu' and 'imu constraint' user-defined elements
	Backward compatibility issues:
	Known issues:
		- Schur solver is broken
		- TotalPinJoint inverse dynamics support is broken
	Bug fixes:
		- fix structural nodes accel output (Reinhard Resch)
		- fix variable mass body (noted by Francesco Castellini)
		- fix 'use binary' in modal joint
		- fix bug in deformable axial joint residual
		- fix driven aerodynamic elements (noted by Phil Geoghegan)
		- fix total(pin)joint when orientations are partially imposed
		- fix struct node accels during update (noted by Camille Yvin)
		- fix struct node accels computation when needed by plugins

MBDyn 1.4.1
	Enhancements:
		- log relative frame dummy nodes (Reinhard Resch)
		- log struct node momentum dofs (Reinhard Resch)
		- added support for octave (Reinhard Resch)
		- improved modal analysis output (Reinhard Resch)
		- added basic support for NREL airfoil data format
		- added airfoil "flip" capability
		- added referenceable template drive callers
		- added "deformable axial joint"
		- added elastomeric damper (from Gandhi, Chopra, JAHS 1994)
		- added muscle constitutive laws (from Pennestri, JB 2007)
		- log structural forces (Reinhard Resch)
		- log missing joint types
		- allow boolean in node/element output flag (Reinhard Resch)
		- added support for 'counter' output flag (Reinhard Resch)
		- added generic rotor trim genel
		- added basic support for underdetermined inverse dynamics
		- added MLS files for domain mapping (Giuseppe Quaranta)
		- added periodic drive caller
		- added node/element private data funcs to model namespace
		- added "current" func to model namespace
		- added partial driven element support to inverse dynamics
		- added support for Mat3x3 & Mat6x6 template drive callers
		- added variable properties body
		- allow Euler angles input in degrees
		- refactor NetCDF support
		- added support for references using Denavit-Hartenberg 
		- added switch to suppress inertia output
		- added NetCDF for total joint (Louis Gagnon, with changes)
	Backward compatibility issues:
		- the (undocumented) output of the total (pin) joint changed
		- the induced velocity element internal API changed
	Known issues:
		- Schur solver is broken
		- TotalPinJoint inverse dynamics support is broken
	Bug fixes:
		- fix node label in external structural force output
		- fix typo in eigenanalysis documentation (Patrick Rix)
		- fix working directory setting
		- fix input/output file name inconsistencies
		- fix crash in eigenvectors output (noted by Reinhard Resch)
		- fix build with Intel's icpc
		- fix parameter node use in elems (noted by Reinhard Resch)
		- fix arpack counter for non terminal (Reinhard Resch)
		- fix label alignment in strext (noted by Mirco Valentini)
		- fix index in full submatrix add to full matrix (unused)
		- fix rigid-body inertia of modal joint (record 12)
		  when modal node is not in CM (noted by Paolo Zaltron)
		- fix gravity in inverse dynamics (noted by Andrea Zanoni)
		- fix SIGSEGV when binding to loadable elem (Reinhard Resch)
		- fix near-zero velocity in asynch. motor (Reinhard Resch)
		- fix missing <errno.h> in Simulink interface
		  (noted by Francesco Castellini)
		- fix (and document) total internal force
		- fix namespace clashes when building with mingw
		- fix naive pivot error message (noted by Tommaso Solcia)
		- fix viscous constitutive laws input

MBDyn 1.4.0
	Enhancements:
		- added shell element (Marco Morandini, Riccardo Vescovini)
		- added more verbose info to mapping file generated by
		  create_mls_interface
		- added multiple flavors of Glauert inflow
		- added output flag to .out file
		- added GiNaC-based symbolic drive caller
		- log "body" data (Reinhard Resch)
		- improve umfpack version detection (supports >= 5 only)
		- potential energy private data for rigid bodies
		  (Louis Gagnon)
		- allow meta-data in fixed-step file drive input file
		- added more functions to model namespace
		- added previous time step functions to model namespace
		- added support for f95 modules (Reinhard Resch)
		- added gravity element output (noted by Patrick Rix)
		- added module-asynchronous_machine (Reinhard Resch)
		- added getaddrinfo support
		- added struct node labels logging (Reinhard Resch)
		- added module-hydrodynamic_plain_bearing (Reinhard Resch)
	Backward compatibility issues:
		- output of reference node forces changed in modal mapping
	Known issues:
		- Schur solver is broken
	Bug fixes:
		- fix numpy include path in libmbc (Olivier Ricou)
		- import fixes to kd_* by Ilia Zveda
		  <http://www.mathworks.com/matlabcentral/fileexchange/26649-kdtree-implementation-in-matlab>
		- fix swig detection (noted by Ria Malhan)
		- fix initialization of mbc handlers in C++ wrappers
		- fix loose coupling in external force
		  (noted by Tingnan Zhang)
		- fix handling of KLU refactor (partial)
		  (noted by Romuald Noret)
		- fix math parser recursive call (noted by Doug Baldwin)
		- fix initial assembly dof init (noted by Doug Baldwin)
		- fix residual initial assembly of deformable displacement
		  joint; Jacobian still broken (noted by Louis Gagnon)
		- fix Euler 313 matrix computation (noted by Doug Baldwin)
		- fix joint regularization when joint is driven
		  (noted by Romuald Noret)
		- fix reference angular acceleration in abs2rel.awk
		  (Patrick Rix)
		- clean up after scanning with cppckeck
		- fix total (pin) joint private data

MBDyn 1.3.18
	Enhancements:
		- added initial values for socket stream drive
	Backward compatibility issues:
		- fixed typo in angular velocity priv data string selection
		  in total joint family
	Known issues:
	Bug fixes:
		- fixed dof/eq description of driven elements
		- added missing mbc_py_interface.py file

MBDyn 1.3.17
	Enhancements:
		- improved sanity checks when using arpack for eigenanalysis
		- improved error checking in fixed/variable step file driver
		  (noted by Stefan van't'Hoff)
		- added alpha-first generic aerodynamic element
		- allow to fine-tune when initial eigenanalysis is performed
		- added C++ interface to external forces peer library
		- added "sample and hold" (Mattia Mattaboni)
	Backward compatibility issues:
	Known issues:
	Bug fixes:
		- loosely/not coupled ext force needs not set convergence
		  (noted by Tingnan Zhang)
		- fixed data manager cleanup
		- fixed revolute joint private data "rz" computation
		  (noted by Stefan van't'Hoff)
		- fixed 2D mesh all-nodes automatic selection
		  in CodeAster CMS macro
		- fixed external structural mapping when no mapping required
		- fixed viscous/viscoelastic symbolic constitutive laws
		- fixed VHUB computation in module-aerodyn (Fanzhong Meng)
		- fixed minor issues in external structural mapping
		- fixed PrivDriveCaller ("element", "node") when used with arg
		- fixed output flag in module-wheel2
		- fixed case detection in structural node private data
		  (noted by Louis Gagnon)
		- fixed "log" scalar function arg positiveness check

MBDyn 1.3.16
	Enhancements:
		- optimized full matrix handler operations
		- support multiple eigenanalyses per simulation
		- added "receive first" option to stream input
		- added structural mapping scripts (Giuseppe Quaranta)
		- improved external structural mapping force
		  (Giuseppe Quaranta)
		- allow user-defined induced velocity models
		- allow induced velocity models based on sectional forces
		- added "slug2kg" and "kg2slug" constants to symbol table
		- reworked input manual
		- added sanity checks in c81 data
		- added "at most" max iterations feature
		- added "timestep" drive caller
		- added "mult" drive caller
	Backward compatibility issues:
		- edge interface changed, to conform to EDGE 5.1
		- changed GenericAerodynamicForce input format
		- aeromodal element syntax changed
		- precision of some built-in symbol table constants increased
		- TCL plugin fixed and moved to run-time loadable module
	Known issues:
	Bug fixes:
		- fix EDGE communication (noted by Luca Cavagna)
		- fix output meter initial output (noted by Doug Baldwin)
		- fix "output every" in stream output (noted by Doug Baldwin)
		- fix "input every" in stream input (noted by Doug Baldwin)
		- fix GenericAerodynamicForce (noted by Stefan van't'Hoff)
		- fixed max iterations count (off-by-one)

	The features related to fluid-structure interaction introduced in this
	release were partially supported by the School of Energy Resources of
	the University of Wyoming

MBDyn 1.3.15
	Enhancements:
		- added support for KLU (Marco Morandini)
		- added "closest next" drive caller support
		- added nodal external force support to peer library (mbc.h)
		- added relative frame external force support
		- added peer library libmbc with python wrapping
		- added solver diagnostics output meter
		- added external structural mapping force
		- reworked user-defined element support
	Backward compatibility issues:
		- "run.time" is now "time" in NetCDF output
		- scalar variables dropped "1" dimension in NetCDF output
		- syntax of external structural force changed
	Known issues:
	Bug fixes:
		- fixed external modal mapping force with reference node
		- fixed socket cleanup in case of error

MBDyn 1.3.14
	Enhancements:
		- added c81 data interpolation w/ Theodorsen unsteady aero
	Backward compatibility issues:
		- structural nodes "accelerations" needs "yes" or "no"
		- Theodorsen unsteady aero needs be followed by "c81" keyword
	Known issues:
	Bug fixes:

MBDyn 1.3.13
	Enhancements:
		- math symbol table reworked with STL
		- added "direct" drive caller
		- added NetCDF support to aerodynamic body & beam2/3
		- added c81 data interpolation
		- added reference configuration & indexes to eig output
		- added extra info to inertia private data (Mattia Mattaboni)
	Backward compatibility issues:
		- TypedValue no longer inherits const'ness in assignments
	Known issues:
	Bug fixes:
		- fixed type detection in GiNaC constitutive law

	The features introduced in this release were partially sponsored
	by REpower Systems AG

MBDyn 1.3.12
	Enhancements:
		- added gust models for basic wind profiles
		- added drop tolerance (Umfpack)
		- added matrix scaling (Naive)
	Backward compatibility issues:
	Known issues:
	Bug fixes:
		- fixed build without sockets (noted by Subhasis Sarkar)
		- fixed scalar filter when order == 1

MBDyn 1.3.11
	Enhancements:
		- added peer libraries for modal external force (mbc.h)
		- added NetCDF support to beam2/3
		- added support for run-time loading of gust models
		- added piecewise constant shape
		- added tip loss handling to aerodynamic elements
		- added referenced direction capability to rigid body
		  kinematics
		- added external modal mapping force element
		  (partially supported by PRIN 20078TJFZE)
	Backward compatibility issues:
		- syntax of "modal" joint "diag damping" changed
	Known issues:
	Bug fixes:
		- fixed nonzero angular velocity modal joint initial assembly
		- fixed socket-based external force loose coupling
		- fixed Theodorsen unsteady aero handling of multiple points
		- fixed AerodynamicBeam2/3 AfterConvergence w/ int. states
		- fixed "inertia" element when inertia tensor is singular
		- fixed "diag damping" in "modal" joint
		- fixed issues with rotor inflows at very low angular speed
		  (Mattia Mattaboni; noted by Jinwei Shen)
		- fixed preconditioning issue in matrix free solver
		- fixed index bug in GenelStateSpaceMIMO::AssJac()
		- fixed invalid density issue in rotor (noted by Jinwei Shen)
		- fixed sanity check in transpose sparse matrix-vector mult.
		- fixed realloc issue in subvector

MBDyn 1.3.10
	Enhancements:
		- added accelerations output to dummy structural nodes
		- added experimental cycloidal rotor inflow models
		  (Mattia Mattaboni)
		- added better Fortran compiler detection
		- added referenced direction capability to "total joint"
		  and "total pin joint" elements
		- added support for variable step file driver
		- added "const" variant of fixed/variable step file drivers
		- added "echo" of socket stream file drivers
		  (all three above suggested by Doug Baldwin)
		- added "echo" of stream output elements
		- added socket support to external force
		- added general external modal force
		- added viscous body element
		- added accelerations priv data to dummy structural nodes
		- added Jacobian matrix contribution of state space SISO/MIMO
		  elements when input is a ScalarNode
		- added embryonic Scicos interface (by Tommaso Solcia)
	Backward compatibility issues:
		- the "imposed displacement", "imposed displacement pin"
		  and "imposed orientation" joints are now mimicked
		  by "total joint" and "total pin joint"
		- allow "position" in deformable hinge (ignored by now)
		- the (implicit) label of "air properties" is now "1".
		- "jacobian" in aerodynamic elements needs yes/no/<bool> arg
	Known issues:
	Bug fixes:
		- fix error message when math parser unable to cast value
		  (noted by Romuald Noret)
		- only output valid frequencies if permuting with LAPACK
		- fix non-blocking socket stream drivers/output elements
		  (noted by Doug Baldwin)
		- fix endless loop detection using "change" variable time
		  step strategy (noted by Patrick Rix)
		- detect whether "jacobian" is needed in aero elements
		  (noted by Patrick Rix)
		- fix strain output of deformable joint
		- wait for creation of unix sockets

MBDyn 1.3.9
	Enhancements:
		- allow initialization of SISO/MIMO state
		- added mbd.vim syntax file
		- added time-variant viscoelastic constitutive law
		- added support for Euler 313 & 321 orientations
	Backward compatibility issues:
	Known issues:
	Bug fixes:
		- fix differential abstract node parsing of derivative
		  initial value
		- fix total joint describe dof/equation
		- fix viscoelastic deformable joint jacobian

MBDyn 1.3.8
	Enhancements:
		- permute and scale matrix for lapack eigenanalysis
		- add frequency range for partial eigenanalysis output
		- add (experimental) support for eigensolution with JDQZ
		- allow setting initial value in modal joint card
		- add incomplete FEM file detection to modal joint
		  (noted by Luca Cavagna)
		- add "attached" viscous/viscoelastic deformable joint
		  and "invariant" elastic deformable joint
		  (partially contributed by Doug Baldwin)
		- add Jacobian of aerodynamic body/beam2/beam3
		  (contributions by Alessandro Fumagalli)
		- add 2D unsteady Theodorsen model (Mattia Mattaboni)
		- add internal states support in aerodynamic body/beam2/beam3
		- add support for scalar values to discrete control elem
		- honor default output orientation for reference frames
		- add echo of C81 data
		- add '%' operator to math parser
		- add over/underflow check in math parser
		  (noted by Patrick Rix)
	Backward compatibility issues:
		- the format of the modal joint output changed
		- the format of the modal force input changed
		- the "imposed displacement" and "imposed orientation"
		  joints have been removed; use the "total joint" instead
	Known issues:
		- RTAI mailboxes have problems...
	Bug fixes:
		- fixed naive solver default pivot factor
		  (noted by Kristopher Ellis)
		- fixed consistency checks in modal joint/force input
		  (noted by Luca Cavagna)
		- fixed modal joint SetValue() (noted by Luca Cavagna)
		- fixed electric elements input
		- fixed consistently honor drive caller references
		- try to reduce time step in case of divergence
		  (Marco Morandini, noted by Patrick Rix)

MBDyn 1.3.7
	Enhancements:
		- add {xyz}unitvec function to model namespace
		- release module-aerodyn for wind-turbine modeling
		- struct force/couple with 3D drive (supersedes original)
		- downgrade linear viscoelastic const. laws as appropriate
	Backward compatibility issues:
		- runtime loadable modules now loaded as libmodule-<name>.la
		- syntax of force/couple elements changed
		- output format of force elements changed
		- naive is the default solver unless umfpack is available;
		  y12 is optional, built by default unless explicitly disabled
	Known issues:
	Bug fixes:
		- fix libtool handling of modules (Marco Morandini)
		- fix absolute internal force output
		- fix Code Aster macros install path (noted by Tomislav Maric)
		- fix exception handling in GiNaC constitutive law
		  (noted by Christophe Trophime)
		- write file/line number in error when a variable is redefined
		- fix eigenvalue postprocessing
		- fix sqrt() arg checking (0 is valid)

MBDyn 1.3.6
	Enhancements:
	Backward compatibility issues:
	Known issues:
	Bug fixes:
		- fix plane hinge family eq. description
		- fix (hacked) build on Mac 10.5.X (Leopard)
		  (noted by Min Mao)
		- fix LAPACK detection (noted Shreyas Ananthan)
		- fix type in aerod2.f (noted Shreyas Ananthan)
		- fix build error in GPC-related elements
		- fix and improve eigenanalysis options detection
		- fix MSYS/MinGW build

MBDyn 1.3.5
	Enhancements:
		- rework exception handling
		- allow to control convergence test
		- allow interrupt within iterations (CTRL^C twice)
		- add support for generic external forces
		- add file-based interface with EDGE
		- allow socket stream element to output all kinematics
		- add POSIX soft real-time support
		- add "other {position,orientation,node}" reference types
		- add "abort if broken" keyword to stream output elements
		- add RTAI-based motion output
		- add embryonic relative frame dynamics & aerodynamics
		- clamp joint more resilient to large transient violations
		- add direct eigensolution based on LAPACK & ARPACK
		- use HP's atomic_ops for spinlock in multithread
		  (by Marco Morandini)
	Backward compatibility issues:
		- now immediate abort requires CTRL^C three times
		- changed real-time args order (not backward compatible)
		- changed stream output elements default port (to 9011)
	Known issues:
	Bug fixes:
		- fix "cardano hinge" keyword detection (Marco Morandini)
		- fix radial flow correction
		- fix structural node acceleration priv data
		  (noted by Alessandro Colombo)
		- fix check for file drivers early dereferencing
		  (noted by Doug Baldwin)
		- do not remove module dir while making distclean
		- fix check for module load early call
		  (noted by Riccardo Gori)
		- minor fix to clamp joint inverse dynamics

MBDyn 1.3.4-Beta
	Enhancements:
		- configurable orientation output for gimbal rotation joint
		- more beam private data available
		- add run-time computation of sets' inertia properties
		- abs2rel.awk handles accelerations and RefOnly mode
		- preliminary support for substructure output
		  (by Michele Frumusa)
		- RTAI output uses stream output syntax for values
		- allow drives as input to scalar filter/state space genels
		- allow state space filters in descriptor form
		- add "TimeStep" and "Step" vars to math parser
		- allow fixed step driver to count steps
		- add provisions to combine multiple gust models
		- allow binding to air properties
		- add bailout support to drives (Marco Morandini)
		- allow controllable/observable canonical forms
		  of scalar filters
		- add balancing of state space filter matrices
		- allow to use strings for FEM labels in modal joint
		- add "from file" keyword for FEM node number in modal joint
	Backward compatibility issues:
		- the binary format of modal fem data changed;
		  old files "should" be still usable
	Known issues:
		- odd operator precedence for power/unary minus
	Bug fixes:
		- MSYS/MinGW needs to explicitly include stdint.h
		- MSG_WAITALL is not defined on Cygwin
		- driven joints need to be used in initial assembly
		- fix uninitialized parameter in beam2 initial assembly
		- fix variable init and assignment in math parser
		  (thanks to Alessandro Fumagalli)
		- fix "allow nonroot" in RTAI support
		- fix tic count initialization in RTAI support
		- fix optional log process execution in RTAI support
		- fix linear scalar function input
		- fix crash when using model namespace too early
		- fix nested elements usage during initial assembly
		- fix scalar filter (using state space SISO)
		- fix one-time leak in modal joint
		- fix crasher in revolute hinge friction dof/eq description
		- fix one-time leak in elements with friction
		- fix Crank-Nicolson spelling

MBDyn 1.3.3-Beta
	Enhancements:
		- add OpenMPI support
		- allow accelerations in external force output
		- allow accelerations in external modal force output
		- add support for nested elements
		- add elastic and viscous variants of nlsf/nlp const. laws
		- add dof/equation description to solution/residual output
		- add dof description to linear solver diagnostics
		- add support for octave-compatible sparse matrix output
	Backward compatibility issues:
	Known issues:
		- document limitation of invariant angular const. law wrapper
	Bug fixes:
		- fix Schur matrix/vector handlers destructors
		- fix solver first step with Schur data manager
		- fix array allocation when --enable-debug
		- fix Jacobian of invariant angular const. law wrapper
		- allow references in invariant angular const. law wrapper
		- fix c81 table lookup

MBDyn 1.3.2-Beta
	Enhancements:
		- added "tanh" drive caller
		- allow elastic/viscous variants of nlsf/nlp const. laws
		  (suggested by Rudi Jaeger)
		- rework logical operators on math data structures
		- add relative private data to structural nodes
		- allow using drives as output values in streams
		  (noted by Rudi Jaeger)
		- add framework for joint regularization
		  (suggested by Alessandro Fumagalli)
		- add select timeout to stream drives (patch by Rudi Jaeger)
		- add invariant angular constitutive law wrapper
		- add temperature and training dependent const. law wrapper
		- add modal force
		- add external modal force (file-based)
		- add boolean type to math parser
		- better handling of boolean expressions
		- NetCDF output of inertia
		- NetCDF listing of node/element labels
	Backward compatibility issues:
		- removed (useless) '-a' and '-n' options
	Known issues:
	Bug fixes:
		- fix "remark" in combination with -s
		- only default to linear elastic for 1D constitutive laws
		  (noted by Rudi Jaeger)
		- fix ann viscoelastic constitutive law
		- fix symbolic viscoelastic/symbolic 1D constitutive law
		  (noted by Mattia Mattaboni)
		- reset ANN structure (noted by Mattia Mattaboni)
		- allow accelerations in dynamic node's private data
		  even if not explicitly enabled (noted by Rudi Jaeger)
		- fix gimbal formulation (noted by Marco Morandini,
		  thanks to CppAd)
		- fix accelerations output (noted by Michele Frumusa)
		- matrix handlers: copy constructor must be private
		- fix issue with external force (file-based)
		- fix sign(0) (= 0) in math parser

MBDyn 1.3.1-Alpha
	Enhancements:
		- added simple thermo framework (Marco Morandini)
		- added (experimental) third order step solver
		  (by Marco Morandini)
		- added TAUCS linear solver (experimental) (by Marco Morandini)
		- added "ad hoc" (Radau IIA) third-order integrator
		- automated installation of share data in $prefix/share
		- reworked support for EasyAnim
		- added drive displacement and drive displacement pin joints
		- added cubic elastic and viscoelastic constitutive laws
		- added capability to run static analyses with gravity
		  and reference centrifugal forces
		- added access to modal element FEM nodes position,
		  velocity and acceleration as private data
		- added truncated Fourier series drive
		- added generic external forces for loose/tight coupling
		  with external software via files
		- added support for user-defined drives
		- added drive derivative where appropriate
		- added support for user-defined constitutive laws
		- added scalar function-based drive caller
		- added support for user-defined scalar functions
		- added scalar function-based constitutive laws
		- improved double viscoelastic constitutive law
		- added support for streamed output for EasyAnim
		- added extrapolation to fixed step file driver
		- added "air properties" private data
		- added priv data to nodes
		- added "node" drive, in analogy to "element" drive
		- added preliminary NetCDF binary output support
		  (thanks to Patrick Rix)
		- added node priv data plugin to math parser
		- added 3D and 6D support for GiNaC-based symbolic const. law
		- added invariant deformable hinge joint (needs work)
		- added imposed displacement joint (and pin)
		- added reaction moments to drive hinge private data
		- added "exp" scalar function
		- added configurable orientation output
		- added support for new orientation output to abs2rel.awk
		- added support for "accelerations" in "default output"
		- added SubMatrix helpers to add Vec3 straight and trasposed
		- added TotalJoint (Alessandro Fumagalli)
		- added model connectivity description
		- added A' * x = b support in solution manager
		- added TotalPinJoint
		- added support for run-time modules in Fortran 90
		- added support for scalar functions in model namespace
		- added Chebychev polynomials as scalar function
		- added units namespace module based on UNIDATA's UDUNITS
		- misc. cleanup to allow building with MinGW
		- added nonlinear constitutive laws based on scalar functions
		  (sponsored by Hutchinson CdR; acks to Dr. Daniel Benoualid)
		- added "pivot" dummy node (suggested by Nicola Turini)
		- added support for private data in driven elements
	Backward compatibility issues:
		- per-element output removed from modal joints
		- spherical hinge output now refers to node 1 instead of 2
		- "conservative" forces and couples renamed to "absolute"
		- remove "isotropic" from "symbolic" constitutive laws
		- remove '-m' switch (send email on completion)
		- added detection of improper use of min/max time step
	Known issues:
	Bug fixes:
		- fixed orientation matrix input check and diagnostics
		- fixed misc one-time leaks
		- fixed initialization of fixed step file drive
		- fixed --enable-runtime-loading configuration
		- fixed output of drive hinge
		- fixed offset dummy node orientation handling
		  (noted by I. Wander)
		- fixed misc errors in utils/*
		- fixed corrupted binary FEM file leftover when parse fails
		- fixed bug in .log of deformable joint(s)
		  (noted by Jerome Merel)
		- fixed minor memory issue in fixed step file driver
		- added column check to file drive
		  (noted by Marco Mantegazza and Fabio Veroni)
		- fixed "log" scalar function ("base" needed to be explicit)
		- fixed use of uninitialized values in model parsing
		- fixed scale/test inheritance issue (Marco Morandini)
		- fixed one-time memory leaks (shutdown)
		- fixed initial assembly max iteration count
		- fixed variable time step retry in beam2/beam3
		- fixed drive hinge initial assembly (noted by Patrick Rix)
		- fixed rigid body Jacobian matrix with gravity
		- fixed build with PowerPC (thanks to Torsten Sadowski)
		- fixed dummy nodes output selection (noted by Nicola Turini)
		- fixed Vec6/Mat6x6 passing by reference
		- fixed sign in ExpandableRowVector::Sub()

MBDyn 1.2.7-Engineering
	Enhancements:
	Bug fixes:
		- fixed Schur data manager output bug
		- fixed rod with offset bug when offset != 0
		- fixed output of deformable hinge
		- fixed Jacobian matrix of deformable displacement joint
		- fixed Jacobian matrix contribution of revolute pin
		- fixed beam3 "from nodes" orientation input
		- fixed model::anglerel computation
		- fixed test on minimum time step

MBDyn 1.2.6
	Enhancements:
		- streamlined and improved modal element input
		- added output meter for selective output

MBDyn 1.2.5
	Enhancements:
		- added trigger drive to switch on rotor trim element
		- added "range" to node/element output specifications
		- added new functions to "model" namespace
		- added "hint" infrastructure to enhance driven element
		  (sponsored by Hutchinson CDR)
		- added "guess" for orientation matrix input
		- added '\<hexpair>' to read non-print chars in strings
	Backward compatibility issues:
		- a '\' at the end of a line inside a string causes
		  the end of line to be eaten (shell-like)
	Known issues:
	Bug fixes:
		- re-fixed "derivatives" update
		- fixed initial assembly of inactive driven elements
		  (noted by Israel Wander)
		- fixed logic of colamd Naive solution manager
		- fixed aerodynamic coefficients normalization in rotor trim
		- fixed C-style comment parsing (/**/ was failing)
		- fixed manual *.tex *.eps files

MBDyn 1.2.4
	Enhancements:
		- template and wheel2 modules added to distribution
		- added viscoelastic generic constitutive law
		  with tension/torsion coupling
		- added "fc511" aerodynamic cofficients format input
		  (by permission)
	Backward compatibility issues:
		- s/solver/linear solver/
		- dynamic structural node accelerations are now off by default
	Known issues:
	Bug fixes:
		- fixed "derivatives" update
		- fixed SuperLU memory leak
		- fixed (mostly socket) portability issues for Cygwin
		  and FreeBSD (patches from Kay Lehmann).
		- fixed dynamic node accelerations postprocessing
		- fixed compile with gcc3.2/icc8.0

MBDyn 1.2.3
	Enhancements:
		- added matrix-free nonlinear solver (BiCGStab/GMRES
		  by Giuseppe Quaranta)
		- added ideal gimbal joint
		- reworked matrix/matrix and matrix/vector product
		- added "print symbol table" directive
		- added deformable joint (elastic only)
		- added private data to deformable hinge
		- added private data to deformable displacement joint
		- changed default for "derivatives coefficient"; reworked
		  diagnostics for derivatives failure (noted by Aakash Dalwani)
		- added support for scalar SuperLU (by Marco Morandini)
		- improved support for aerodynamic coefficients
	Backward compatibility issues:
		- s/(deformable displacement )hinge/\1joint/
	Known issues:
	Bug fixes:
		- fixed stream opening sequence

MBDyn 1.2.2
	Enhancements:
		- honor describe dofs directive in initial assembly
		- added support for equation description
		- added support for namespaces in math parser
		- added model:: namespace with basic functions
		- added self-generating binary input for modal element
		- added socket2stream/stream2socket utilities
		  for easy socket I/O piping
		- rewritten viscous and viscoelastic hinge joint
	Backward compatibility issues:
		- "output file name" statement in "control data"
		  is no longer supported
	Known issues:
		- local socket drive/output need work
	Bug fixes:
		- fixed angular acceleration bug with ScalarDof
		- fixed jacobian output during modified NR
		- fixed Schur solver API bug in driven elements
		- fixed "naive" support of parallel assembly
		- fixed default model name for adams output
		- fixed modal inertia computation when clamped (problem
		  noted by Fabio Riva and Luca Zucchetti)
		- fixed rigid body inertia reference point in restart
		- fixed output file name handling (scalar and parallel)
		- fixed modal inertia matrix computation (problem noted
		  by Fabio Riva and Luca Zucchetti)
		- fixed test for node type in Body

MBDyn 1.2.1
	Enhancements:
		- added provisions for detailed dof stats
		- added linear and angular acceleration to dynamic
		  structural nodes output
		- enabled dynamic structural nodes acceleration for
		  dof plugin and drive
		- added momentum and momenta moment and their derivatives
		  as automatic structural element private data
		- added SimulinkInterface code and example (contrib
		  by Michele Attolico)
		- improved local and inet socket input/output
	Backward compatibility issues:
	Known issues:
		- local socket drive/output need work
	Bug fixes:
		- fixed relative rotation private data in revolute
		  joints (problem noted by Roger Polston)
		- parallel is working now

MBDyn 1.2.0
	Enhancements:
		- added predefined drive callers
		- added support for inertia log to modal joint
		- added inertia log supports joints and loadable elements
		- added crypt utility to encrypt credentials
		- improved auth handling and docs
		- added support for generic modules
		- added generic module support for loadable elements
		- added generic module support for joints 
		- added c81merge utility for c81 files blending
		- inertia can be output to stdout as well
	Backward compatibility issues:
		- merged columns 10 and 11 into disk angle for rotor
		  elements output
		- --enable-loadable has been replaced
		  by --enable-runtime-loading
		- --with-static-modules added to statically link
		  (known) modules
	Known issues:
		- parallel is not working yet
	Bug fixes:
		- fixed .vol generation script for EasyAnim
		- fixed potential bug in c81 data input
		- fixed distance joint initial assembly (problem noted
		  by Stefania Gualdi)

MBDyn 1.2-Beta.4
	Enhancements:
		- modal joint uses gravity
	Bug fixes:
		- fixed more C++ issues to compile with gcc 3.4.0

MBDyn 1.2-Beta.3 (unannounced)
	Enhancements:
		- added discrete Coulomb friction model (by Marco Morandini)
		- added constitutive law output to elements
		- added "sramp" (saturated ramp) function to math parser
		- added "setenv" statement
		- added environment vars expansion in file names
		- added separate definition of constitutive laws
		- added "bailout" output mode (residual at divergence)
		- added "stop" function in math parser
		- added brake joint (by Marco Morandini)
		- added awk scripts to prepare input for EasyAnim
		- added parts velocities in ADAMS/View output
		- added first order BDF integrator
	Bug fixes:
		- fixed aeromodal bug for v=0
		- fixed solver diagnostics incremental activation
		- fixed 3 node beam constitutive law type selection
		- fixed C++ templates to compile with gcc 3.4.0
	Backward compatibility issues:
		- bind now uses "name" instead of "string";
		  compatibility preserved
		- rod joints now output stroke velocity as column 18,
		  so output appended by the constitutive laws is now
		  shifted by 1

MBDyn 1.2-Beta.2
	Bug fixes:
		- fixed dof count in initial assembly dof stats print
		- fixed element drive input
		- fixed ADAMS res output

MBDyn 1.2-Beta.1
	Enhancements:
		- implement separate induced velocity correction
		  factors for hover and forward flight
		- added -W (--working-dir) switch
		- added inertia properties computation of element blocks
		- output can occur at selected time steps only
		- disable plaintext auth if crypt is not available
		  (this code should be trimmed off, it's useless ;)
		- RelativeFrame dummy struct nodes can have offset
		  and orientation with respect to the reference node
		- added ".log" file for miscellaneous logs
		- added ".air" file for air properties output
		- added standard air provisions
		- set default load path to module install dir (libexec)
		- improve modules installation
		- clamp joint reactions also output in node reference frame
		- added internal forces and couples (i.e. between two nodes)
		- added electric motor (uses electric nodes)
		- allow residual/jacobian output for model debug purposes
		- use a drive for the delay parameter of rotors
		- allow extra amplitude scaling in file drives
		- allow previous-step dof plugin
		- improve private data handling
		- added sample'n'hold parameter node
		- non-wrapping angles in plane hinge joints priv data
		- modal element active mode listing
		- added revolute/universal rotation joints, e.g.
		  revolute/universal joints with no position constraint
		- added Umfpack 4.1 support
		- added "exit" statement
		- reworked distance joints (1 dof instead of 4); 
		  d=0 not allowed any more
		- selected loadable elements (modules) can be read as joints
		- parameter nodes value is output in .prm files
		- very rough implementation of aircraft instruments
		- improved API
		- added a cycle to better approximate reference
		  induced velocity in helicopter rotors
		- added convergence test based on solution
		- selected scaling of residual before testing
		- specialized tests for residual and solution: 
		  none, norm and minmax
		- added ALTER file for normal modes only in
		  "etc/modal.d/MBDyn_NASTRAN_alter_3.nas"
		- added RTAI support for soft/hard real-time simulations
		- allow to clamp the modal element, thus not requiring
		  the modal node (save 18 dofs)
		- added general framework for friction (by Marco Morandini)
		- added compressed column matrix
		- added 'element' plugins to allow direct access to element 
		  private data from math parser (companion of 'dof' plugin)
		- added 'element' drive to allow direct access to element
		  private data (companion of 'dof' drive)
		- added multithreaded assembly (experimental)
		- compact column form and multithread assembly works also
		  with Y12
		- direct access compact column matrix for further improvements
		- support for multithread SuperLU solver (experimental)
		- viscoelastic rods also output length rate
		- shock absorber allows separate metering based on stroke rate
		- beamslider joint
		- provision for external aerodynamic forces
	Backward compatibility issues:
		- struct node type does not default to dynamic any more
		- the syntax of most nodes changed; backward compatibility
		  is preserved; if run with -PP warnings are issued
		- changed module API (callback structure holds info fields)
		- rotor elements do not use any more a colon ':' as separator
		  between the keyword "induced velocity" and the induced
		  velocity type
		- changed symbol table output format
		- the syntax of nonlinear solver is changed; backward
		  compatibility is NOT preserved
	Bug fixes:
		- do not output RelativeFrame dummy struct nodes
		  in external motion format (ADAMS/MotionView)
		- fixed time handling
		- fixed force and couple initial assembly
		- fix rotor output when no induced velocity is used
		- fix modal element when modal node is not in the origin
		  of the FEM reference frame
		- fix utils/dae-intg (optional)
		- fix dof plugin parameter node input (+ overall improvements)
		- fix point where airstream speed is evaluated
		  for aerodynamic body
		- fixed endless loop bug when silencing output with '-s'
		- detect nested comments (/* ... /* ... */) and warn
	Known issues:
		- the static shapes extraction NASTRAN ALTER in 
		  "etc/modal.d/MBDyn_NASTRAN_alter_1.nas" 
		  apparently don't work
		- parallel has been disabled


MBDyn 1.1.4
	Enhancements:
		- added support for UMFPACK 4.0
		- UMFPACK 4.0 is the default solver (if available)
		- disable plaintext auth if crypt is not available
		  (this code should be trimmed off, it's useless
		- use ltdl library for loadable modules
	Bug fixes:
		- spherical joint did not log the reaction forces
		  in the element's frame (structural node 2).
		- fixed c81 steady aerodynamic moment sign
		- fixed some build problems related to old-style C #defines
		  (mostly in <f2c.h> and <stdlib.h>)


MBDyn 1.1.3
	Enhancements:
		- more improved Mat3x3 and Mat3xN APIs
		- vec2rot added to utils
		- added velocity threshold to module-wheel2 when computing
		  slip angle
		- log reference frames on dedicated file (if required)
		- removed last COMMON from F77 code in sparse matrix handling
		- strengthen hydraulic turbulent elems at small pressure 
		  differentials
		- added replacement for form() method to ADAMS output
		- loadable elements can be used in parallel solution
	Bug fixes:
		- fixed SIGSEGV when reading from stdin
		- fixed SIGSEGV when including nonexisting file
		- fix c81 data curve slope computation


MBDyn 1.1.2
	Enhancements:
		- merge of scalar and parallel multistep integrators
		- detects if run by mpirun (appropriate MPI initialization;
		  needs work)
		- added mbdyn(1) man page
		- rotors can be arbitrarily oriented wrt the craft (ITS#5)
		- improved Mat3x3 and Mat3xN APIs (Need critical redesign)
		- modal element can use a portion of the available modes
		- deformable hinge rewritten using absolute rotation
		  (caveat: more accurate and insensitive to drift, 
		  but prone to singularities for excessively large 
		  relative rotations)
	Bug fixes:
		- fix unsteady Cm sign bug in unsteady c81 aerodynamics
		- fix input file command line arg delete[] failure 
		- fix linear and parabolic shapes input
		- add consistency check to c81 data header (ITS#4)
		- fix bug in scalar template array drives
	Known bugs:
		- there's a library cross-dependency that's not handled
		  correctly by recent versions of libtool (e.g. 1.4.1).
		- the modal element is skrewed when the modal node 
		  is not clamped (under revision)


MBDyn 1.1.1
	Enhancements:
		- unsteady aerodynamics from Bielawa 31th A.H.S. Forum 1975
		  for C81 aerodynamics
		- unsteady aerodynamic model selection by keywords
		- added renice command-line switch
		- improved approximate friction model of shock absorber
		- penalty also on strain rate in shock absorber (WARNING:
		  changes input syntax)
		- facility for partial force and moment output from rotor
		  elements (set).
		- added threshold switch to axle velocity for tire slip 
		  ratio computation
		- configurable extra output for the iteration engine
		- configurable local and interface solver for parallel build
		- configurable output precision
		- cleanup of the building environment (developers only)
		- useless stuff is not installed on make install
	Bug fixes:
		- fixed bug in tire friction force in module-wheel2
		- fixed bug in tire reference volume computation
		- cleanup of ANSI-fication also in debug build
		- fix bug in calculator (cross type +)
                - fixed parallel build
	Known bugs:
		- parallel build does not work with y12 on both solvers 
		- Built-in naca0012/RAE* unsteady aero still broken


MBDyn 1.1.0
	Enhancements:
		- optimal storage detection for y12m
		- optimization of sparsity handling
		- explicitly referenced std namespace symbols (complying
		  with ANSI C++)
		- Beam slider now works with multiple beams; the classic
		  constraint (no transverse rotations) also works;
		  added a "smearing" parameter that smooths the transition
		  between portions of beam
		- (For developers) Vec3 and Mat3x3 now have () operator;
		  Vec3 also has [] operator
		- "abort after: input;" causes the output as from 
		  initialization after input
		- improved optional parameter input for struct nodes
		- added helper for BDF integration scheme also in dummy steps
		- added support for Umfpack3
		- better header handling/system properties detection
	Bug fixes:
		- Hydraulic nodes did not honor the output flag (always on)
		- minor fixes in documentation
	Known bugs:
		- parallel build still requires HSL library


MBDyn 1.0.1
	Enhancements:
		- better detection of security stuff for socket drive auth
		- detect availability of Pseudo-Inverse to build GPC
		- use strtod/strtol in math parser
		- test for EOF in parsers
		- added keywords in sine/cosine drives for special wave 
		  numbers
		- added helper for BDF integration scheme
		- transition Reynolds numbers moved to fluid properties
		  (still incomplete)
		- reviewed parallel stuff
		- selected documentation updates
	Bug fixes:
		- fixed multiple . in floats in math parser
		- fixed collisions in pam_* names
		- minor fixes


MBDyn 1.0.0
	First release


