From 952ca577bfa451ecadf24dccc6af5b00d1ccc80b Mon Sep 17 00:00:00 2001
From: Eric Stoneking <Eric.T.Stoneking@nasa.gov>
Date: Mon, 19 May 2025 13:12:02 -0400
Subject: [PATCH] Added Rover Sim Case

Added Rover example
Global replace "Geom" -> "Mesh"
Replaced Host->h_addr with Host->h_addr_list[0] to avoid deprecation error
Fixed sign error in application of wheel torque to flex node
---
 Docs/FSW Models.pdf                  |  Bin 59660 -> 63054 bytes
 Docs/FSW Models.tex                  |   16 +-
 Docs/Prototype.rtf                   |   37 -
 Include/42.h                         |   10 +-
 Include/42defines.h                  |    1 +
 Include/42gl.h                       |    3 +-
 Include/42types.h                    |   14 +-
 Kit/Include/envkit.h                 |    6 +-
 Kit/Include/{geomkit.h => meshkit.h} |   32 +-
 Kit/Source/envkit.c                  |   40 +-
 Kit/Source/iokit.c                   |    4 +-
 Kit/Source/mathkit.c                 |    4 +-
 Kit/Source/{geomkit.c => meshkit.c}  |  368 +-
 Makefile                             |   34 +-
 Model/42.mtl                         |  184 +-
 Model/Rgn_MoonCrater.obj             | 6251 ++++++++++++++++++++++++++
 Model/RoverBody.mtl                  |   10 -
 Model/RoverBody.obj                  | 2224 ++++-----
 Model/RoverLowerLeg.mtl              |   10 -
 Model/RoverLowerLeg.obj              | 2579 ++++++-----
 Model/RoverUpperLeg.mtl              |   10 -
 Model/RoverUpperLeg.obj              | 2255 +++++-----
 Model/Spectrum.txt                   |    3 +
 Rover/Flex_Simple.txt                |   64 +
 Rover/Inp_AcOutput.txt               |   16 +
 Rover/Inp_Cmd.txt                    |   92 +
 Rover/Inp_FOV.txt                    |   46 +
 Rover/Inp_Graphics.txt               |   55 +
 Rover/Inp_IPC.txt                    |   44 +
 Rover/Inp_NOS3.txt                   |    3 +
 Rover/Inp_Region.txt                 |   29 +
 Rover/Inp_ScOutput.txt               |    9 +
 Rover/Inp_Sim.txt                    |   61 +
 Rover/Inp_TDRS.txt                   |   13 +
 Rover/Jnt_Hip.txt                    |    7 +
 Rover/Jnt_Knee.txt                   |    7 +
 Rover/Leg Kinematics.pdf             |  Bin 0 -> 170468 bytes
 Rover/Nodes_Simple.txt               |    8 +
 Rover/Orb_Rover.txt                  |   47 +
 Rover/SC_Rover.txt                   |  456 ++
 Rover/Shaker_Simple.txt              |   44 +
 Rover/TRV.txt                        |   11 +
 Rover/Whl_Simple.txt                 |   50 +
 Source/42actuators.c                 |   10 +-
 Source/42dynamics.c                  |   34 +-
 Source/42exec.c                      |   73 +-
 Source/42fsw.c                       |  238 +
 Source/42gl.c                        |  104 +-
 Source/42init.c                      |   62 +-
 Source/42nos3.c                      |    2 +-
 Source/42perturb.c                   |   36 +-
 Source/42report.c                    |   16 +-
 52 files changed, 11646 insertions(+), 4086 deletions(-)
 delete mode 100644 Docs/Prototype.rtf
 rename Kit/Include/{geomkit.h => meshkit.h} (85%)
 rename Kit/Source/{geomkit.c => meshkit.c} (83%)
 create mode 100644 Model/Rgn_MoonCrater.obj
 delete mode 100644 Model/RoverBody.mtl
 delete mode 100644 Model/RoverLowerLeg.mtl
 delete mode 100644 Model/RoverUpperLeg.mtl
 create mode 100644 Rover/Flex_Simple.txt
 create mode 100644 Rover/Inp_AcOutput.txt
 create mode 100755 Rover/Inp_Cmd.txt
 create mode 100644 Rover/Inp_FOV.txt
 create mode 100755 Rover/Inp_Graphics.txt
 create mode 100644 Rover/Inp_IPC.txt
 create mode 100644 Rover/Inp_NOS3.txt
 create mode 100644 Rover/Inp_Region.txt
 create mode 100644 Rover/Inp_ScOutput.txt
 create mode 100755 Rover/Inp_Sim.txt
 create mode 100755 Rover/Inp_TDRS.txt
 create mode 100644 Rover/Jnt_Hip.txt
 create mode 100644 Rover/Jnt_Knee.txt
 create mode 100644 Rover/Leg Kinematics.pdf
 create mode 100644 Rover/Nodes_Simple.txt
 create mode 100755 Rover/Orb_Rover.txt
 create mode 100755 Rover/SC_Rover.txt
 create mode 100644 Rover/Shaker_Simple.txt
 create mode 100644 Rover/TRV.txt
 create mode 100644 Rover/Whl_Simple.txt

diff --git a/Docs/FSW Models.pdf b/Docs/FSW Models.pdf
index 70704b5ba3f7baaf8d38b5a564602a6980044999..88c314405a9ff978736e7bb9787073c8eff2a4d5 100644
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diff --git a/Docs/FSW Models.tex b/Docs/FSW Models.tex
index 2e6b0aed..7be1672d 100644
--- a/Docs/FSW Models.tex	
+++ b/Docs/FSW Models.tex	
@@ -10,7 +10,7 @@
 \begin{tabular}{@{} rl @{}}
     {\bf To:} & 42 Users\\ 
     {\bf From:} & Eric Stoneking \\ 
-    {\bf Date:} & July 2022 \\ 
+    {\bf Date:} & March 2025 \\ 
     {\bf Subject:} & Getting Started with 42 Flight Software Models\\ 
 \hline
 \end{tabular}
@@ -36,13 +36,13 @@ \subsection{\tt PASSIVE\_FSW}
 
 Passive FSW does nothing.  It exerts no forces or torques.  It is most useful for studying natural motion, passively-stabilized spacecraft, and out-of-control (eg. decommissioned) spacecraft.  In the {\tt Demo} folder, the Moai, Big Black Monolith, and the three cubesats are using the passive FSW.  BBM is demonstrating the natural motion due to an initial angular rate about the intermediate axis of inertia.
 
-\subsection{\tt PROTOTYPE\_FSW}
+\subsection{\tt INSTANT\_FSW}
 
-As its name implies, prototype FSW is most useful for quick starts and very early studies.  It uses inputs from the command script file (eg. {\tt Inp\_Cmd.txt}) to define a commanded attitude.  See {\tt Inp\_Cmd.txt} for command templates and examples.  The function {\tt PrototypeFSW} then controls the attitude to comply with the command.  In the {\tt Demo} folder, the Shuttle and Ion Cruiser are using the prototype FSW.  In the InOut folder, {\tt SC\_Simple.txt} is using prototype FSW.
+As its name implies, instant FSW is most useful for quick starts and very early studies.  It uses inputs from the command script file (eg. {\tt Inp\_Cmd.txt}) to define a commanded attitude.  See {\tt Inp\_Cmd.txt} for command templates and examples.  The function {\tt InstantFSW} then controls the attitude to comply with the command.  In the {\tt Demo} folder, the Shuttle and Ion Cruiser are using the instant FSW.  In the InOut folder, {\tt SC\_Simple.txt} is using instant FSW.
 
-\subsection{\tt AD\_HOC\_FSW}
+\subsection{\tt SANDBOX\_FSW}
 
-This model is intended as the best jumping-off point for customization.  As shipped, it is simply a proportional-derivative (PD) linear feedback to align the spacecraft with the inertial $N$ frame, using ideal torquers for actuation.  It is up to you to modify the sensor inputs, commanded attitude, control law, and actuator commanding to fit your situation.  In the {\tt Demo} folder, Voyager is running ad hoc FSW.
+This model is intended as the best jumping-off point for customization.  As shipped, it is simply a proportional-derivative (PD) linear feedback to align the spacecraft with the inertial $N$ frame, using ideal torquers for actuation.  It is up to you to modify the sensor inputs, commanded attitude, control law, and actuator commanding to fit your situation.  In the {\tt Demo} folder, Voyager is running sandbox FSW.
 
 \subsection{\tt THREE\_AXIS\_FSW}
 
@@ -64,13 +64,13 @@ \subsection{And Beyond}
 
 \section{Sensor Models}
 
-In a simulation, sensors are one interface between the truth model (environment, dynamics) and the FSW model.  In general terms, a sensor model takes the truth, perhaps adds some noise or other errors, and repackages the result in the proper format for the FSW model.  In 42, the function {\tt 42sensors.c:Sensors} has some very simple sensor models provided.  For example, the IMU model simply copies the true angular rate of the spacecraft's main body into the FSW data structure.  It's up to you to embellish this model to reflect the realities of your sensor hardware to whatever fidelity you require.
+In a simulation, sensors are one interface between the truth model (environment, dynamics) and the FSW model.  In general terms, a sensor model takes the truth, perhaps adds some noise or other errors, and repackages the result in the proper format for the FSW model.  In 42, the function {\tt 42sensors.c:Sensors} has some very simple sensor models provided.  For example, the IMU model simply copies the true angular rate of the spacecraft's main body into the FSW data structure.  It's up to you to customize this model to reflect the realities of your sensor hardware to whatever fidelity you require.
 
 \section{Actuator Models}
 
-Actuators are the other interface between the truth model and the FSW model.  An actuator model accepts commands from the FSW model (eg. wheel torque commands, or thruster pulsewidth commands), and determines the forces and torques to apply to the spacecraft dynamical models.  Actuator models are called from {\tt 42actuators.c:Actuators}.  Like the sensor models, these models are very simple, and it's up to you to embellish them to reflect your hardware.
+Actuators are the other interface between the truth model and the FSW model.  An actuator model accepts commands from the FSW model (eg. wheel torque commands, or thruster pulsewidth commands), and determines the forces and torques to apply to the spacecraft dynamical models.  Actuator models are called from {\tt 42actuators.c:Actuators}.  Like the sensor models, these models are very simple, and it's up to you to customize them to reflect your hardware.
 
-One actuator type requires some explanation.  To enable rapid prototyping, 42 includes some ideal actuators, {\tt IdealFrc} and {\tt IdealTrq} as elements in the FSW structure.  These actuators have no hardware equivalent.  They give you the forces and torques you ask for, no questions asked.  This is very useful for early studies.  Suppose, for instance, that you want to study an orbital rendezvous and prox ops scenario.  You want to exert control forces to perform prox ops, but you don't want to have to figure out your thruster layout or write up your thruster selection logic.  {\tt IdealFrc} is the answer.  Prototype FSW and ad hoc FSW both use {\tt IdealTrq}.  As you add the hardware-based actuators into your control loop, you'll wean yourself off of the ideal actuators.
+One actuator type requires some explanation.  To enable rapid prototyping, 42 includes some ideal actuators, {\tt IdealFrc} and {\tt IdealTrq} as elements in the FSW structure.  These actuators have no hardware equivalent.  They give you the forces and torques you ask for, no questions asked.  This is very useful for early studies.  Suppose, for instance, that you want to study an orbital rendezvous and prox ops scenario.  You want to exert control forces to perform prox ops, but you don't want to have to figure out your thruster layout or write up your thruster selection logic.  {\tt IdealFrc} is the answer.  Instant FSW and sandbox FSW both use {\tt IdealTrq}.  As you add the hardware-based actuators into your control loop, you'll wean yourself off of the ideal actuators.
 
 \end{document}
 
diff --git a/Docs/Prototype.rtf b/Docs/Prototype.rtf
deleted file mode 100644
index 52fd0475..00000000
--- a/Docs/Prototype.rtf
+++ /dev/null
@@ -1,37 +0,0 @@
-{\rtf1\ansi\ansicpg1252\cocoartf1265\cocoasubrtf210
-\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;}
-{\colortbl;\red255\green255\blue255;\red128\green128\blue128;\red0\green0\blue0;}
-\margl1440\margr1440\vieww11440\viewh14480\viewkind0
-\pard\tx720\tx1440\tx2160\tx2880\tx3600\tx4320\tx5040\tx5760\tx6480\tx7200\tx7920\tx8640\pardirnatural
-
-\f0\fs24 \cf2 Option to specify main body attitude in terms of Euler angles or quaternion wrt N or L\
-Joint angle commands may be specified directly.\
-\cf0 \
-Or, \
-\
-For each body, define Primary vector and Secondary vector\
-\cf2    Point B[i] [Primary or Secondary] vector [x y z] at RA, Dec\
-\cf0    Point B[i] [Primary or Secondary] vector [x y z] at InTrack, CrossTrack from Nadir\
-   Point B[i] [Primary or Secondary] vector [x y z] at InTrack, CrossTrack from Zenith\
-\cf2    Point B[i] [Primary or Secondary] vector [x y z] at World[k]\
-   Point B[i] [Primary or Secondary] vector [x y z] at World: SUN\
-   Point B[i] [Primary or Secondary] vector [x y z] at World: EARTH\
-   Point B[i] [Primary or Secondary] vector [x y z] at World: LUNA\
-\cf0    Point B[i] [Primary or Secondary] vector [x y z] at SunEarth L2\
-\cf2    Point B[i] [Primary or Secondary] vector [x y z] at World[k] [Lng Lat Alt]\
-   Point B[i] [Primary or Secondary] vector [x y z] at Ground Station[i]\
-\cf0    Point B[i] [Primary or Secondary] vector [x y z] at TDRS[k]\
-   Point B[i] [Primary or Secondary] vector [x y z] at highest TDRS\
-\cf2    Point B[i] [Primary or Secondary] vector [x y z] at point [x y z] fixed in SC[j].B[k]\
-   Point B[i] [Primary or Secondary] vector [x y z] along velocity\
-   Align B[i] [Primary or Secondary] vector [x y z] with N-frame vector [x y z]\
-   Align B[i] [Primary or Secondary] vector [x y z] with L-frame vector [x y z]\
-\pard\tx720\tx1440\tx2160\tx2880\tx3600\tx4320\tx5040\tx5760\tx6480\tx7200\tx7920\tx8640\pardirnatural
-\cf3    Align B[i] [Primary or Secondary] vector [x y z] with H-frame vector [x y z]\
-\pard\tx720\tx1440\tx2160\tx2880\tx3600\tx4320\tx5040\tx5760\tx6480\tx7200\tx7920\tx8640\pardirnatural
-\cf0    Align B[i] [Primary or Secondary] vector [x y z] with vector [x y z] fixed in SC[j].B[k] (works for B0)\
-   Place point [x y z] fixed in SC[i].B[j] at location [x y z] fixed in SC[k].B[l]\
-   Place SC[i] cm at location [x y z] in [N or L frame] wrt Orb[k]\
-\
-\
-  }
\ No newline at end of file
diff --git a/Include/42.h b/Include/42.h
index 0c632713..ad8e24cc 100755
--- a/Include/42.h
+++ b/Include/42.h
@@ -28,9 +28,9 @@
 #include "42defines.h"
 #include "dcmkit.h"
 #include "envkit.h"
-#include "geomkit.h"
 #include "iokit.h"
 #include "mathkit.h"
+#include "meshkit.h"
 #include "orbkit.h"
 #include "sigkit.h"
 #include "sphkit.h"
@@ -52,8 +52,8 @@ EXTERN long Nsc;
 
 /* Number of materials */
 EXTERN long Nmatl;
-/* Number of geometric objects */
-EXTERN long Ngeom;
+/* Number of geometric meshes */
+EXTERN long Nmesh;
 
 EXTERN char InOutPath[512];
 EXTERN char ModelPath[512];
@@ -120,9 +120,9 @@ EXTERN struct SCType *SC;
 /* Frm structure describes a Formation of S/C's */
 EXTERN struct FormationType *Frm;
 
-/* Geom structure manages geometric objects, used for display and    */
+/* Mesh structure manages geometric objects, used for display and    */
 /* for surface force computation (e.g. aerodynamic)                  */
-EXTERN struct GeomType *Geom;
+EXTERN struct MeshType *Mesh;
 
 EXTERN struct POVType POV;
 
diff --git a/Include/42defines.h b/Include/42defines.h
index 58efce2a..aa92822d 100755
--- a/Include/42defines.h
+++ b/Include/42defines.h
@@ -243,6 +243,7 @@
 #define CMG_FSW 7
 #define THR_FSW 8
 #define CFS_FSW 9
+#define ROVER_FSW 10
 
 /* Command Types */
 #define CMD_DIRECTION 0
diff --git a/Include/42gl.h b/Include/42gl.h
index 4d53a3d9..35507e71 100755
--- a/Include/42gl.h
+++ b/Include/42gl.h
@@ -220,11 +220,10 @@ EXTERN GLfloat LightPosN[4];
 EXTERN GLfloat ShadowFromNMatrix[16]; /* 4x4 Matrix transforms from N frame to Shadow Texture space */
 EXTERN GLfloat CNE[9]; /* DCM between N and Eye frame */
 
-
 EXTERN char Banner[120];
 EXTERN GLfloat BannerColor[4];
 
-void GeomToDisplayLists(struct GeomType *G);
+void MeshToDisplayLists(struct MeshType *M);
 void UpdatePOV(void);
 void CamRenderExec(void);
 void DrawMap(void);
diff --git a/Include/42types.h b/Include/42types.h
index bb7c95ba..55bfae2a 100755
--- a/Include/42types.h
+++ b/Include/42types.h
@@ -12,7 +12,7 @@
 /*    All Other Rights Reserved.                                      */
 
 
-#include "geomkit.h"
+#include "meshkit.h"
 #include "orbkit.h"
 #include "sigkit.h"
 #include "AcTypes.h"
@@ -112,11 +112,11 @@ struct BodyType {
    double FrcN[3]; /* expressed in N */
    double alpha[3]; /* Angular acceleration of B wrt N, expressed in B */
    double accel[3]; /* Linear acceleration of B wrt N, expressed in N */
-   char GeomFileName[40];
+   char MeshFileName[40];
    char NodeFileName[40];
    char FlexFileName[40];
    float ModelMatrix[16]; /* For OpenGL */
-   long GeomTag;
+   long MeshTag;
    /* For KaneNBody Dynamics */
    long Gin;  /* Joint that B is Bout of */
    double beta[3];  /* Vector from B ref pt to B[0] ref pt, expressed in N */
@@ -877,8 +877,8 @@ struct RegionType {
    double wn[3]; /* Expressed in R frame */
    double ElastCoef,DampCoef,FricCoef;
    char Name[20];
-   char GeomFileName[40];
-   long GeomTag;
+   char MeshFileName[40];
+   long MeshTag;
    float ModelMatrix[16]; /* For OpenGL */
 };
 
@@ -926,7 +926,7 @@ struct WorldType {
    long HasRing;
    char Name[20];
    char MapFileName[40];
-   char GeomFileName[40];
+   char MeshFileName[40];
    char ColTexFileName[40];
    char BumpTexFileName[40];
    float Color[4];
@@ -938,7 +938,7 @@ struct WorldType {
    unsigned int ColCubeTag;
    unsigned int BumpCubeTag;
    unsigned int CloudGlossCubeTag;
-   long GeomTag;
+   long MeshTag;
    unsigned int RingTexTag;
    double NearExtent,FarExtent;
 
diff --git a/Kit/Include/envkit.h b/Kit/Include/envkit.h
index be744427..8161d5c1 100755
--- a/Kit/Include/envkit.h
+++ b/Kit/Include/envkit.h
@@ -21,7 +21,7 @@
 #include "mathkit.h"
 #include "dcmkit.h"
 #include "iokit.h"
-#include "geomkit.h"
+#include "meshkit.h"
 
 /*
 ** #ifdef __cplusplus
@@ -52,9 +52,9 @@ void HiFiEarthPrecNute(double JD,double C_TEME_TETE[3][3],
                                  double C_TETE_J2000[3][3]);
 void WGS84ToECEF(double glat, double glong, double alt, double p[3]);
 void ECEFToWGS84(double p[3], double *glat, double *glong, double *alt);
-long PolyhedronGravAcc(struct GeomType *G, double Density, double PosN[3],
+long PolyhedronGravAcc(struct MeshType *M, double Density, double PosN[3],
    double CWN[3][3], double GravAccN[3]);
-long PolyhedronGravGrad(struct GeomType *G, double Density, double PosN[3],
+long PolyhedronGravGrad(struct MeshType *M, double Density, double PosN[3],
    double CWN[3][3], double GravGradN[3][3]);
 void GravGradTimesInertia(double g[3][3], double I[3][3], double GGxI[3]);
 
diff --git a/Kit/Include/geomkit.h b/Kit/Include/meshkit.h
similarity index 85%
rename from Kit/Include/geomkit.h
rename to Kit/Include/meshkit.h
index c496205f..42183071 100755
--- a/Kit/Include/geomkit.h
+++ b/Kit/Include/meshkit.h
@@ -12,8 +12,8 @@
 /*    All Other Rights Reserved.                                      */
 
 
-#ifndef __GEOMKIT_H__
-#define __GEOMKIT_H__
+#ifndef __MESHKIT_H__
+#define __MESHKIT_H__
 
 #include <stdio.h>
 #include <stdlib.h>
@@ -93,7 +93,7 @@ struct OctreeCellType {
    long NextOnHit;
 };
 
-/* Only add an Octree to Geom struct if it'll be used */
+/* Only add an Octree to Mesh struct if it'll be used */
 struct OctreeType {
    long Noct;  /* Number of occupied cells in Octree */
    long *OctIdx; /* List of indices pointing into occupied cells */
@@ -114,7 +114,7 @@ struct KDNodeType {
    struct KDNodeType *HighChild;
 };
 
-struct GeomType {
+struct MeshType {
    char ObjFileName[40];
    long Nmatl;
    long Nv;
@@ -170,20 +170,20 @@ struct MatlType {
 struct MatlType *AddMtlLib(const char *PathName, const char *MtlLibName,
    struct MatlType *OldMatl, long *Nmatl);
 void ScaleSpecDiffFrac(struct MatlType *Matl, long Nmatl);
-void SurfaceForceProps(struct GeomType *G);
-void LoadKDTree(struct GeomType *G);
-long KDProjectRayOntoGeom(double Source[3], double DirVec[3],
-   struct GeomType *G, long *HitPoly, double HitPoint[3]);
-void LoadOctree(struct GeomType *G);
-long OCProjectRayOntoGeom(double Point[3],double DirVec[3],
-   struct GeomType *G,double ProjPoint[3],long *ClosestPoly);
-struct GeomType *LoadWingsObjFile(const char *ModelPath, const char *ObjFilename,
+void SurfaceForceProps(struct MeshType *M);
+void LoadKDTree(struct MeshType *M);
+long KDProjectRayOntoMesh(double Source[3], double DirVec[3],
+   struct MeshType *M, long *HitPoly, double HitPoint[3]);
+void LoadOctree(struct MeshType *M);
+long OCProjectRayOntoMesh(double Point[3],double DirVec[3],
+   struct MeshType *M,double ProjPoint[3],long *ClosestPoly);
+struct MeshType *LoadWingsObjFile(const char *ModelPath, const char *ObjFilename,
                        struct MatlType **MatlPtr, long *Nmatl,
-                       struct GeomType *Geom, long *Ngeom, long *GeomTag,
+                       struct MeshType *Mesh, long *Nmesh, long *MeshTag,
                        long EdgesEnabled);
-void WriteGeomToObjFile(struct MatlType *Matl,struct GeomType *Geom,const char *Path,
+void WriteMeshToObjFile(struct MatlType *Matl,struct MeshType *Mesh,const char *Path,
    const char *FileName);
-double PolyhedronVolume(struct GeomType *G);
+double PolyhedronVolume(struct MeshType *M);
 
 /*
 ** #ifdef __cplusplus
@@ -191,4 +191,4 @@ double PolyhedronVolume(struct GeomType *G);
 ** #endif
 */
 
-#endif /* __GEOMKIT_H__ */
+#endif /* __MESHKIT_H__ */
diff --git a/Kit/Source/envkit.c b/Kit/Source/envkit.c
index bb3ec14a..33cfb553 100755
--- a/Kit/Source/envkit.c
+++ b/Kit/Source/envkit.c
@@ -909,7 +909,7 @@ void ECEFToWGS84(double p[3], double *glat, double *glong, double *alt)
 /**********************************************************************/
 /* Ref Werner and Scheeres, "Exterior Gravitation of a Polyhedron ..." */
 /* Returns 1 if PosN is outside polyhedron, 0 if inside */
-long PolyhedronGravAcc(struct GeomType *G, double Density, 
+long PolyhedronGravAcc(struct MeshType *M, double Density, 
    double PosN[3], double CWN[3][3], double GravAccN[3])
 {
       struct EdgeType *E;
@@ -928,10 +928,10 @@ long PolyhedronGravAcc(struct GeomType *G, double Density,
       
       MxV(CWN,PosN,PosW);
       
-      for(Ie=0;Ie<G->Nedge;Ie++) {
-         E = &G->Edge[Ie];
-         V1 = G->V[E->Vtx1];
-         V2 = G->V[E->Vtx2];
+      for(Ie=0;Ie<M->Nedge;Ie++) {
+         E = &M->Edge[Ie];
+         V1 = M->V[E->Vtx1];
+         V2 = M->V[E->Vtx2];
          for(i=0;i<3;i++) {
             re1[i] = V1[i] - PosW[i];
             re2[i] = V2[i] - PosW[i];
@@ -945,11 +945,11 @@ long PolyhedronGravAcc(struct GeomType *G, double Density,
          }
       }
       
-      for(Ip=0;Ip<G->Npoly;Ip++) {
-         P = &G->Poly[Ip];
-         V1 = G->V[P->V[0]];
-         V2 = G->V[P->V[1]];
-         V3 = G->V[P->V[2]];
+      for(Ip=0;Ip<M->Npoly;Ip++) {
+         P = &M->Poly[Ip];
+         V1 = M->V[P->V[0]];
+         V2 = M->V[P->V[1]];
+         V3 = M->V[P->V[2]];
          for(i=0;i<3;i++) {
             rf1[i] = V1[i] - PosW[i];
             rf2[i] = V2[i] - PosW[i];
@@ -984,7 +984,7 @@ long PolyhedronGravAcc(struct GeomType *G, double Density,
 /**********************************************************************/
 /* Ref Werner and Scheeres, "Exterior Gravitation of a Polyhedron ..." */
 /* Returns 1 if PosN is outside polyhedron, 0 if inside */
-long PolyhedronGravGrad(struct GeomType *G, double Density, double PosN[3],
+long PolyhedronGravGrad(struct MeshType *M, double Density, double PosN[3],
    double CWN[3][3], double GravGradN[3][3])
 {
       struct EdgeType *E;
@@ -1003,10 +1003,10 @@ long PolyhedronGravGrad(struct GeomType *G, double Density, double PosN[3],
       
       MxV(CWN,PosN,PosW);
       
-      for(Ie=0;Ie<G->Nedge;Ie++) {
-         E = &G->Edge[Ie];
-         V1 = G->V[E->Vtx1];
-         V2 = G->V[E->Vtx2];
+      for(Ie=0;Ie<M->Nedge;Ie++) {
+         E = &M->Edge[Ie];
+         V1 = M->V[E->Vtx1];
+         V2 = M->V[E->Vtx2];
          for(i=0;i<3;i++) {
             re1[i] = V1[i] - PosW[i];
             re2[i] = V2[i] - PosW[i];
@@ -1019,11 +1019,11 @@ long PolyhedronGravGrad(struct GeomType *G, double Density, double PosN[3],
          }
       }
       
-      for(Ip=0;Ip<G->Npoly;Ip++) {
-         P = &G->Poly[Ip];
-         V1 = G->V[P->V[0]];
-         V2 = G->V[P->V[1]];
-         V3 = G->V[P->V[2]];
+      for(Ip=0;Ip<M->Npoly;Ip++) {
+         P = &M->Poly[Ip];
+         V1 = M->V[P->V[0]];
+         V2 = M->V[P->V[1]];
+         V3 = M->V[P->V[2]];
          for(i=0;i<3;i++) {
             rf1[i] = V1[i] - PosW[i];
             rf2[i] = V2[i] - PosW[i];
diff --git a/Kit/Source/iokit.c b/Kit/Source/iokit.c
index ef53625c..94ab6a7f 100755
--- a/Kit/Source/iokit.c
+++ b/Kit/Source/iokit.c
@@ -254,7 +254,7 @@ SOCKET InitSocketClient(const char *hostname, int Port,int AllowBlocking)
       }
       memset((char *) &Server,0,sizeof(Server));
       Server.sin_family = AF_INET;
-      memcpy((char *)&Server.sin_addr.s_addr,(char *)Host->h_addr,
+      memcpy((char *)&Server.sin_addr.s_addr,(char *)Host->h_addr_list[0],
          Host->h_length);
       Server.sin_port = htons(Port);
       printf("Client connecting to Server on Port %i\n",Port);
@@ -291,7 +291,7 @@ SOCKET InitSocketClient(const char *hostname, int Port,int AllowBlocking)
       }
       memset((char *) &Server,0,sizeof(Server));
       Server.sin_family = AF_INET;
-      memcpy((char *)&Server.sin_addr.s_addr,(char *)Host->h_addr,
+      memcpy((char *)&Server.sin_addr.s_addr,(char *)Host->h_addr_list[0],
          Host->h_length);
       Server.sin_port = htons(Port);
       printf("Client connecting to Server on Port %i\n",Port);
diff --git a/Kit/Source/mathkit.c b/Kit/Source/mathkit.c
index 29c1d02c..c5c031dc 100755
--- a/Kit/Source/mathkit.c
+++ b/Kit/Source/mathkit.c
@@ -334,7 +334,7 @@ double UNITV(double V[3])
          V[2]/=A;
       }
       else {
-         printf("Attempted divide by zero in UNITV (Line %d of mathkit.c)\n",__LINE__);
+         printf("Attempted divide by zero in UNITV (mathkit.c:%d)\n",__LINE__);
          V[0] = 0.0;
          V[1] = 0.0;
          V[2] = 0.0;
@@ -354,7 +354,7 @@ double CopyUnitV(double V[3], double W[3])
          W[2] = V[2]/A;
       }
       else {
-         printf("Attempted divide by zero in COPYUNITV (Line %d of mathkit.c)\n",__LINE__);
+         printf("Attempted divide by zero in COPYUNITV (mathkit.c:%d)\n",__LINE__);
          W[0] = 0.0;
          W[1] = 0.0;
          W[2] = 0.0;
diff --git a/Kit/Source/geomkit.c b/Kit/Source/meshkit.c
similarity index 83%
rename from Kit/Source/geomkit.c
rename to Kit/Source/meshkit.c
index ba0481b5..796f2b17 100755
--- a/Kit/Source/geomkit.c
+++ b/Kit/Source/meshkit.c
@@ -12,7 +12,7 @@
 /*    All Other Rights Reserved.                                      */
 
 
-#include "geomkit.h"
+#include "meshkit.h"
 
 /* #ifdef __cplusplus
 ** namespace Kit {
@@ -146,7 +146,7 @@ void ScaleSpecDiffFrac(struct MatlType *Matl, long Nmatl)
       }
 }
 /*********************************************************************/
-void SurfaceForceProps(struct GeomType *G)
+void SurfaceForceProps(struct MeshType *M)
 {
       double **uv;
       double uhat[3],v2[3],nhat[3],vhat[3];
@@ -157,15 +157,15 @@ void SurfaceForceProps(struct GeomType *G)
       long j;
       struct PolyType *P;
 
-      for(Ip=0;Ip<G->Npoly;Ip++) {
-         P = &G->Poly[Ip];
+      for(Ip=0;Ip<M->Npoly;Ip++) {
+         P = &M->Poly[Ip];
 
          uv = CreateMatrix(P->Nv+1,3);
 
          /* Compute Unit Normal Vector */
          for(j=0;j<3;j++) {
-            uhat[j] = G->V[P->V[1]][j] - G->V[P->V[0]][j];
-            v2[j]   = G->V[P->V[2]][j] - G->V[P->V[1]][j];
+            uhat[j] = M->V[P->V[1]][j] - M->V[P->V[0]][j];
+            v2[j]   = M->V[P->V[2]][j] - M->V[P->V[1]][j];
          }
          UNITV(uhat);
          VxV(uhat,v2,nhat);
@@ -189,8 +189,8 @@ void SurfaceForceProps(struct GeomType *G)
             C[1][j] = vhat[j];
             C[2][j] = nhat[j];
          }
-         for(j=0;j<P->Nv;j++) MxV(C,G->V[P->V[j]],uv[j]);
-         MxV(C,G->V[P->V[0]],uv[P->Nv]);
+         for(j=0;j<P->Nv;j++) MxV(C,M->V[P->V[j]],uv[j]);
+         MxV(C,M->V[P->V[0]],uv[P->Nv]);
          P->Area = 0.0;
          uvbar[0] = 0.0;
          uvbar[1] = 0.0;
@@ -225,7 +225,7 @@ void SurfaceForceProps(struct GeomType *G)
 }
 /*********************************************************************/
 /* Ref Werner and Scheeres, "Exterior Gravitation of a Polyhedron ..." */
-void EdgeAndPolyDyads(struct GeomType *G)
+void EdgeAndPolyDyads(struct MeshType *M)
 {
       struct EdgeType *E;
       struct PolyType *P1,*P2,*P;
@@ -233,13 +233,13 @@ void EdgeAndPolyDyads(struct GeomType *G)
       double Axis[3],N1[3],N2[3];
       long Ie,Ip,i,j;
 
-      for(Ie=0;Ie<G->Nedge;Ie++) {
-         E = &G->Edge[Ie];
+      for(Ie=0;Ie<M->Nedge;Ie++) {
+         E = &M->Edge[Ie];
          if (E->Poly2 >= 0) {
-            P1 = &G->Poly[E->Poly1];
-            P2 = &G->Poly[E->Poly2];
-            V1 = G->V[E->Vtx1];
-            V2 = G->V[E->Vtx2];
+            P1 = &M->Poly[E->Poly1];
+            P2 = &M->Poly[E->Poly2];
+            V1 = M->V[E->Vtx1];
+            V2 = M->V[E->Vtx2];
             for(i=0;i<3;i++) Axis[i] = V2[i]-V1[i];
             UNITV(Axis);
             /* Unit vectors in plane, pointing outward */
@@ -255,8 +255,8 @@ void EdgeAndPolyDyads(struct GeomType *G)
          }
       }
       
-      for(Ip=0;Ip<G->Npoly;Ip++) {
-         P = &G->Poly[Ip];
+      for(Ip=0;Ip<M->Npoly;Ip++) {
+         P = &M->Poly[Ip];
          for(i=0;i<3;i++) {
             for(j=0;j<3;j++) {
                P->Dyad[i][j] = P->Norm[i]*P->Norm[j];
@@ -265,7 +265,7 @@ void EdgeAndPolyDyads(struct GeomType *G)
       }
 }
 /*********************************************************************/
-double PolyhedronVolume(struct GeomType *G)
+double PolyhedronVolume(struct MeshType *M)
 {
       double Vol;
       struct PolyType *P;
@@ -274,11 +274,11 @@ double PolyhedronVolume(struct GeomType *G)
       long Ip;
       
       Vol = 0.0;
-      for(Ip=0;Ip<G->Npoly;Ip++) {
-         P = &G->Poly[Ip];
-         V1 = G->V[P->V[0]];
-         V2 = G->V[P->V[1]];
-         V3 = G->V[P->V[2]];
+      for(Ip=0;Ip<M->Npoly;Ip++) {
+         P = &M->Poly[Ip];
+         V1 = M->V[P->V[0]];
+         V2 = M->V[P->V[1]];
+         V3 = M->V[P->V[2]];
          VxV(V2,V3,V2xV3);
          Vol += VoV(V1,V2xV3)/6.0;
       }
@@ -379,7 +379,7 @@ long RayHitsBBox(double Source[3],double DirVec[3],
 }
 /**********************************************************************/
 long KDRayHitsLeaf(double Source[3], double DirVec[3],
-   struct KDNodeType *KD, struct GeomType *G,
+   struct KDNodeType *KD, struct MeshType *M,
    long *HitPoly, double HitPoint[3], double *HitDist)
 {
       struct PolyType *P;
@@ -391,10 +391,10 @@ long KDRayHitsLeaf(double Source[3], double DirVec[3],
       Hit = 0;
 
       for(Ip=0;Ip<KD->Npoly;Ip++) {
-         P = &G->Poly[KD->Poly[Ip]];
+         P = &M->Poly[KD->Poly[Ip]];
          Vtx = (double **) calloc(P->Nv,sizeof(double *));
          for(Iv=0;Iv<P->Nv;Iv++) {
-            Vtx[Iv] = G->V[P->V[Iv]];
+            Vtx[Iv] = M->V[P->V[Iv]];
          }
          if (ProjectPointOntoPoly(Source,DirVec,Vtx,P->Nv,
             ProjPoint,&Dist)) {
@@ -412,20 +412,20 @@ long KDRayHitsLeaf(double Source[3], double DirVec[3],
 }
 /**********************************************************************/
 long KDRayHitsNode(double Source[3], double DirVec[3], struct KDNodeType *KD,
-   struct GeomType *G, long *HitPoly, double HitPoint[3], double *HitDist)
+   struct MeshType *M, long *HitPoly, double HitPoint[3], double *HitDist)
 {
       long HitLow,HitHigh;
       long Hit = 0;
 
       if (RayHitsBBox(Source,DirVec,&KD->BB)) {
          if(KD->IsLeaf) {
-            Hit = KDRayHitsLeaf(Source,DirVec,KD,G,
+            Hit = KDRayHitsLeaf(Source,DirVec,KD,M,
                HitPoly,HitPoint,HitDist);
          }
          else { /* Recursively check child nodes */
-            HitLow = KDRayHitsNode(Source,DirVec,KD->LowChild,G,
+            HitLow = KDRayHitsNode(Source,DirVec,KD->LowChild,M,
                HitPoly,HitPoint,HitDist);
-            HitHigh = KDRayHitsNode(Source,DirVec,KD->HighChild,G,
+            HitHigh = KDRayHitsNode(Source,DirVec,KD->HighChild,M,
                HitPoly,HitPoint,HitDist);
             Hit = HitLow || HitHigh;
          }
@@ -433,31 +433,31 @@ long KDRayHitsNode(double Source[3], double DirVec[3], struct KDNodeType *KD,
       return(Hit);
 }
 /**********************************************************************/
-/* Source and DirVec must be expressed in G's coordinate system       */
-long KDProjectRayOntoGeom(double Source[3], double DirVec[3],
-   struct GeomType *G, long *HitPoly, double HitPoint[3])
+/* Source and DirVec must be expressed in M's coordinate system       */
+long KDProjectRayOntoMesh(double Source[3], double DirVec[3],
+   struct MeshType *M, long *HitPoly, double HitPoint[3])
 {
       double HitDist = 1.0E12; /* Absurd large value */
-      long RayHitsGeom;
+      long RayHitsMesh;
 
-      RayHitsGeom = KDRayHitsNode(Source,DirVec,G->KDTree,G,HitPoly,
+      RayHitsMesh = KDRayHitsNode(Source,DirVec,M->KDTree,M,HitPoly,
          HitPoint,&HitDist);
 
-      return(RayHitsGeom);
+      return(RayHitsMesh);
 }
 /**********************************************************************/
-long KDPartition(long *P, long LowEnd, long HighEnd, long Axis, struct GeomType *G)
+long KDPartition(long *P, long LowEnd, long HighEnd, long Axis, struct MeshType *M)
 {
       long PivotIdx,TempIdx;
       long LowIdx;
       double PivotVal;
 
       PivotIdx = HighEnd;
-      PivotVal = G->Poly[P[HighEnd]].Centroid[Axis];
+      PivotVal = M->Poly[P[HighEnd]].Centroid[Axis];
       LowIdx = LowEnd;
 
       while(LowIdx < PivotIdx) {
-         if (G->Poly[P[LowIdx]].Centroid[Axis] > PivotVal) {
+         if (M->Poly[P[LowIdx]].Centroid[Axis] > PivotVal) {
             TempIdx = P[PivotIdx];
             P[PivotIdx] = P[LowIdx];
             P[LowIdx] = P[PivotIdx-1];
@@ -469,7 +469,7 @@ long KDPartition(long *P, long LowEnd, long HighEnd, long Axis, struct GeomType
       return(PivotIdx);
 }
 /**********************************************************************/
-long KDSelectMedian(long *P, long N, long Axis, struct GeomType *G)
+long KDSelectMedian(long *P, long N, long Axis, struct MeshType *M)
 {
       long LowEnd,HighEnd,PivotIdx;
 
@@ -477,7 +477,7 @@ long KDSelectMedian(long *P, long N, long Axis, struct GeomType *G)
       HighEnd = N-1;
 
       do {
-         PivotIdx = KDPartition(P,LowEnd,HighEnd,Axis,G);
+         PivotIdx = KDPartition(P,LowEnd,HighEnd,Axis,M);
          if (PivotIdx > N/2) HighEnd = PivotIdx-1;
          else if (PivotIdx < N/2) LowEnd = PivotIdx+1;
       } while(PivotIdx != N/2);
@@ -485,16 +485,16 @@ long KDSelectMedian(long *P, long N, long Axis, struct GeomType *G)
       return(PivotIdx);
 }
 /**********************************************************************/
-long KDCompare(long P1, long P2,long Axis,struct GeomType *G)
+long KDCompare(long P1, long P2,long Axis,struct MeshType *M)
 {
-      if (G->Poly[P1].Centroid[Axis] < G->Poly[P2].Centroid[Axis])
+      if (M->Poly[P1].Centroid[Axis] < M->Poly[P2].Centroid[Axis])
          return(-1);
-      else if (G->Poly[P1].Centroid[Axis] > G->Poly[P2].Centroid[Axis])
+      else if (M->Poly[P1].Centroid[Axis] > M->Poly[P2].Centroid[Axis])
          return(1);
       else return(0);
 }
 /**********************************************************************/
-void KDFormHeap(long *P, long L, long Axis, struct GeomType *G)
+void KDFormHeap(long *P, long L, long Axis, struct MeshType *M)
 {
       long Done,k,Temp;
 
@@ -502,7 +502,7 @@ void KDFormHeap(long *P, long L, long Axis, struct GeomType *G)
          Done = 1;
          for(k=0;k<L/2;k++) {
             /* Check against left child (2*k+1) */
-            if (KDCompare(P[k],P[2*k+1],Axis,G) < 0) {
+            if (KDCompare(P[k],P[2*k+1],Axis,M) < 0) {
                Temp = P[k];
                P[k] = P[2*k+1];
                P[2*k+1] = Temp;
@@ -510,7 +510,7 @@ void KDFormHeap(long *P, long L, long Axis, struct GeomType *G)
             }
             /* Check against right child (2*k+2) */
             if (2*k+2 < L) { /* Right child exists */
-               if (KDCompare(P[k],P[2*k+2],Axis,G) < 0) {
+               if (KDCompare(P[k],P[2*k+2],Axis,M) < 0) {
                   Temp = P[k];
                   P[k] = P[2*k+2];
                   P[2*k+2] = Temp;
@@ -521,13 +521,13 @@ void KDFormHeap(long *P, long L, long Axis, struct GeomType *G)
       } while(!Done);
 }
 /**********************************************************************/
-void KDHeapSort(long *Poly, long Npoly, long Axis,struct GeomType *G)
+void KDHeapSort(long *Poly, long Npoly, long Axis,struct MeshType *M)
 {
       long HeapLength;
       long Temp;
 
       /* Form heap so each parent is greater than both children */
-      KDFormHeap(Poly,Npoly,Axis,G);
+      KDFormHeap(Poly,Npoly,Axis,M);
 
       HeapLength = Npoly;
       while (HeapLength > 1) {
@@ -539,11 +539,11 @@ void KDHeapSort(long *Poly, long Npoly, long Axis,struct GeomType *G)
          /* Shorten heap */
          HeapLength--;
          /* Re-form heap */
-         KDFormHeap(Poly,HeapLength,Axis,G);
+         KDFormHeap(Poly,HeapLength,Axis,M);
       }
 }
 /**********************************************************************/
-void SplitKDNode(struct KDNodeType *KD,struct GeomType *G)
+void SplitKDNode(struct KDNodeType *KD,struct MeshType *M)
 {
       struct KDNodeType *LC,*HC;
       struct PolyType *P;
@@ -581,8 +581,8 @@ void SplitKDNode(struct KDNodeType *KD,struct GeomType *G)
       }
 
       /* Split [Axis] BBox along Median Value */
-      MedIdx = KDSelectMedian(KD->Poly,KD->Npoly,Axis,G);
-      MedVal = G->Poly[KD->Poly[MedIdx]].Centroid[Axis];
+      MedIdx = KDSelectMedian(KD->Poly,KD->Npoly,Axis,M);
+      MedVal = M->Poly[KD->Poly[MedIdx]].Centroid[Axis];
       LC->BB.max[Axis] = MedVal;
       HC->BB.min[Axis] = MedVal;
       LC->BB.center[Axis] = 0.5*(LC->BB.max[Axis]+LC->BB.min[Axis]);
@@ -593,9 +593,9 @@ void SplitKDNode(struct KDNodeType *KD,struct GeomType *G)
       for(Ip=0;Ip<KD->Npoly;Ip++) {
          AnyVtxBelowMedian = 0;
          AnyVtxAboveMedian = 0;
-         P = &G->Poly[KD->Poly[Ip]];
+         P = &M->Poly[KD->Poly[Ip]];
          for(Iv=0;Iv<P->Nv;Iv++) {
-            if (G->V[P->V[Iv]][Axis] < MedVal) AnyVtxBelowMedian = 1;
+            if (M->V[P->V[Iv]][Axis] < MedVal) AnyVtxBelowMedian = 1;
             else AnyVtxAboveMedian = 1;
          }
          if (AnyVtxBelowMedian) {
@@ -618,7 +618,7 @@ void SplitKDNode(struct KDNodeType *KD,struct GeomType *G)
          /*printf("Depth exceeds 20.  Npoly = %ld\n",LC->Npoly);*/
          LC->IsLeaf = 1;
       }
-      else SplitKDNode(LC,G);
+      else SplitKDNode(LC,M);
 
       if (HC->Npoly < 20) {
          HC->IsLeaf = 1;
@@ -627,37 +627,37 @@ void SplitKDNode(struct KDNodeType *KD,struct GeomType *G)
          /*printf("Depth exceeds 20.  Npoly = %ld\n",HC->Npoly);*/
          HC->IsLeaf = 1;
       }
-      else SplitKDNode(HC,G);
+      else SplitKDNode(HC,M);
 
 }
 /**********************************************************************/
-void LoadKDTree(struct GeomType *G)
+void LoadKDTree(struct MeshType *M)
 {
 
       struct KDNodeType *KD;
       long i,Ip;
 
-/* .. Root Node coincides with Geom's Bounding Box */
-      G->KDTree = (struct KDNodeType *) calloc(1,sizeof(struct KDNodeType));
-      KD = G->KDTree;
+/* .. Root Node coincides with Mesh's Bounding Box */
+      M->KDTree = (struct KDNodeType *) calloc(1,sizeof(struct KDNodeType));
+      KD = M->KDTree;
       KD->IsRoot = 1;
       KD->IsLeaf = 0;
       KD->Depth = 0;
       KD->Axis = 0;
       for(i=0;i<3;i++) {
-         KD->BB.min[i] = G->BBox.min[i];
-         KD->BB.max[i] = G->BBox.max[i];
-         KD->BB.center[i] = G->BBox.center[i];
+         KD->BB.min[i] = M->BBox.min[i];
+         KD->BB.max[i] = M->BBox.max[i];
+         KD->BB.center[i] = M->BBox.center[i];
       }
       /* Root Node poly list is trivial: */
-      KD->Npoly = G->Npoly;
+      KD->Npoly = M->Npoly;
       KD->Poly = (long *) calloc(KD->Npoly,sizeof(long));
       for(Ip=0;Ip<KD->Npoly;Ip++) KD->Poly[Ip] = Ip;
 
-      SplitKDNode(KD,G);
+      SplitKDNode(KD,M);
 }
 /**********************************************************************/
-void LoadOctree(struct GeomType *G)
+void LoadOctree(struct MeshType *M)
 {
       struct OctreeType *O;
       struct OctreeCellType *OC,*C;
@@ -673,10 +673,10 @@ void LoadOctree(struct GeomType *G)
       long AllPos[3],AllNeg[3];
       long NoChildHasAll;
 
-      BB = &G->BBox;
+      BB = &M->BBox;
 
-      G->Octree = (struct OctreeType *) calloc(1,sizeof(struct OctreeType));
-      O = G->Octree;
+      M->Octree = (struct OctreeType *) calloc(1,sizeof(struct OctreeType));
+      O = M->Octree;
 
 /* .. Assign children */
       Ic=1;
@@ -724,8 +724,8 @@ void LoadOctree(struct GeomType *G)
       }
 
 /* .. Populate with polys */
-      for(Ipoly=0;Ipoly<G->Npoly;Ipoly++) {
-         P = &G->Poly[Ipoly];
+      for(Ipoly=0;Ipoly<M->Npoly;Ipoly++) {
+         P = &M->Poly[Ipoly];
          Io = 0;
          NoChildHasAll = 0;
          while (Io < 73 && !NoChildHasAll) {
@@ -736,7 +736,7 @@ void LoadOctree(struct GeomType *G)
             }
             NoChildHasAll = 1;
             for(Iv=0;Iv<P->Nv;Iv++) {
-               V = G->V[P->V[Iv]];
+               V = M->V[P->V[Iv]];
                for(i=0;i<3;i++) {
                   if (V[i] < OC->center[i]) AllPos[i] = 0;
                   else AllNeg[i] = 0;
@@ -817,9 +817,9 @@ void LoadOctree(struct GeomType *G)
       }
 }
 /*********************************************************************/
-/* Point and DirVec have already been transformed into Geom frame      */
-long OCProjectRayOntoGeom(double Point[3],double DirVec[3],
-   struct GeomType *G,double ProjPoint[3],long *ClosestPoly)
+/* Point and DirVec have already been transformed into Mesh frame      */
+long OCProjectRayOntoMesh(double Point[3],double DirVec[3],
+   struct MeshType *M,double ProjPoint[3],long *ClosestPoly)
 {
       struct OctreeType *O;
       struct PolyType *P;
@@ -836,7 +836,7 @@ long OCProjectRayOntoGeom(double Point[3],double DirVec[3],
          Vtx = CreateMatrix(3,3);
       }
 
-      O = G->Octree;
+      O = M->Octree;
 
       for(i=0;i<3;i++) Point2[i] = Point[i] + DirVec[i];
 
@@ -853,13 +853,13 @@ long OCProjectRayOntoGeom(double Point[3],double DirVec[3],
             if (Dist < OC->radius) {
                /* Check against polys */
                for(Ip=0;Ip<OC->Npoly;Ip++) {
-                  P = &G->Poly[OC->Poly[Ip]];
+                  P = &M->Poly[OC->Poly[Ip]];
                   if (P->Nv != 3) {
-                     printf("Error.  ProjectPointOntoGeom doesn't handle polygons with %ld vertices.\n",P->Nv);
+                     printf("Error.  ProjectPointOntoMesh doesn't handle polygons with %ld vertices.\n",P->Nv);
                      exit(1);
                   }
                   for(Iv=0;Iv<P->Nv;Iv++) {
-                     for(i=0;i<3;i++) Vtx[Iv][i] = G->V[P->V[Iv]][i];
+                     for(i=0;i<3;i++) Vtx[Iv][i] = M->V[P->V[Iv]][i];
                   }
                   InPoly = ProjectPointOntoPoly(Point,DirVec,Vtx,P->Nv,Vec,&Dist);
                   if (InPoly && Dist > 0.0 && Dist < MinDist) {
@@ -895,9 +895,9 @@ long OCProjectRayOntoGeom(double Point[3],double DirVec[3],
       return(FoundPoly);
 }
 /*********************************************************************/
-struct GeomType *LoadWingsObjFile(const char ModelPath[80],const char ObjFilename[40],
+struct MeshType *LoadWingsObjFile(const char ModelPath[80],const char ObjFilename[40],
                        struct MatlType **MatlPtr, long *Nmatl,
-                       struct GeomType *Geom, long *Ngeom, long *GeomTag,
+                       struct MeshType *Mesh, long *Nmesh, long *MeshTag,
                        long EdgesEnabled)
 {
 #define D2R (0.0174532925199433)
@@ -911,7 +911,7 @@ struct GeomType *LoadWingsObjFile(const char ModelPath[80],const char ObjFilenam
       long I,It,In,i,j,MatlIdx;
       long Ivtx,Ivt,Ivn,Ipoly;
       long Ip,Ie;
-      struct GeomType *G;
+      struct MeshType *M;
       struct PolyType *P;
       void *Ptr;
       struct MatlType *Matl;
@@ -929,42 +929,42 @@ struct GeomType *LoadWingsObjFile(const char ModelPath[80],const char ObjFilenam
       char line[512],vtxstring[512],*vtxtoken,MatlName[40];
       char MtlLibName[40];
 
-      Ng = *Ngeom;
+      Ng = *Nmesh;
       Matl = *MatlPtr;
 
       /* Check for prior definition */
       for(Ig=0;Ig<Ng;Ig++) {
-         if (!strcmp(ObjFilename,Geom[Ig].ObjFileName)) {
-            *GeomTag = Ig;
-            return(Geom);
+         if (!strcmp(ObjFilename,Mesh[Ig].ObjFileName)) {
+            *MeshTag = Ig;
+            return(Mesh);
          }
       }
       /* If not defined yet, add to list */
       Ng++;
-      Geom = (struct GeomType *) realloc(Geom,Ng*sizeof(struct GeomType));
-      G = &Geom[Ng-1];
-
-      strncpy(G->ObjFileName,ObjFilename,39);
-      G->ObjFileName[39] = 0; /* Null-terminated string */
-      G->Nmatl = 0;
-      G->Nv = 0;
-      G->Nvt = 0;
-      G->Nvn = 0;
-      G->Npoly = 0;
-      G->Nedge = 0;
+      Mesh = (struct MeshType *) realloc(Mesh,Ng*sizeof(struct MeshType));
+      M = &Mesh[Ng-1];
+
+      strncpy(M->ObjFileName,ObjFilename,39);
+      M->ObjFileName[39] = 0; /* Null-terminated string */
+      M->Nmatl = 0;
+      M->Nv = 0;
+      M->Nvt = 0;
+      M->Nvn = 0;
+      M->Npoly = 0;
+      M->Nedge = 0;
       MatlIdx = 0;
 
-      /* Allow a Null Geom entry */
-      if (!strcmp(G->ObjFileName,"NONE")) {
-         *Ngeom = Ng;
-         *GeomTag = Ng-1;
-         return(Geom);
+      /* Allow a Null Mesh entry */
+      if (!strcmp(M->ObjFileName,"NONE")) {
+         *Nmesh = Ng;
+         *MeshTag = Ng-1;
+         return(Mesh);
       }
 
       /* These will be expanded as needed */
-      G->Matl = (long *) calloc(2,sizeof(long));
-      if (G->Matl == NULL) {
-         printf("G->Matl calloc returned null pointer.  Bailing out!\n");
+      M->Matl = (long *) calloc(2,sizeof(long));
+      if (M->Matl == NULL) {
+         printf("M->Matl calloc returned null pointer.  Bailing out!\n");
          exit(1);
       }
 
@@ -975,21 +975,21 @@ struct GeomType *LoadWingsObjFile(const char ModelPath[80],const char ObjFilenam
       while(!feof(infile) && NoArraySizesFound) {
          fgets(line,512,infile);
          if (sscanf(line,"# Nv = %ld  Nvt = %ld  Nvn = %ld  Npoly = %ld",
-            &G->Nv,&G->Nvt,&G->Nvn,&G->Npoly) == 4) {
+            &M->Nv,&M->Nvt,&M->Nvn,&M->Npoly) == 4) {
             NoArraySizesFound = 0;
          }
          else if (sscanf(line,"v  %lf %lf %lf",&V[0],&V[1],&V[2]) == 3) {
-            G->Nv++;
+            M->Nv++;
          }
          else if (sscanf(line,"vt %lf %lf",&V[0],&V[1]) == 2 ||
                   sscanf(line,"vt %lf %lf %lf",&V[0],&V[1],&V[2]) == 3) {
-            G->Nvt++;
+            M->Nvt++;
          }
          else if (sscanf(line,"vn  %lf %lf %lf",&V[0],&V[1],&V[2]) == 3) {
-            G->Nvn++;
+            M->Nvn++;
          }
          else if(line[0] == 'f') {
-            G->Npoly++;
+            M->Npoly++;
          }
          sprintf(line,"Flush");
       }
@@ -1006,7 +1006,7 @@ struct GeomType *LoadWingsObjFile(const char ModelPath[80],const char ObjFilenam
             rewind(TmpFile);
             outfile = FileOpen(ModelPath,ObjFilename,"w");
             fprintf(outfile,"# Nv = %ld  Nvt = %ld  Nvn = %ld  Npoly = %ld\n",
-               G->Nv,G->Nvt,G->Nvn,G->Npoly);
+               M->Nv,M->Nvt,M->Nvn,M->Npoly);
             while((txtptr = fgets(line,512,TmpFile)) != NULL) {
                fputs(line,outfile);
             }
@@ -1016,12 +1016,12 @@ struct GeomType *LoadWingsObjFile(const char ModelPath[80],const char ObjFilenam
       }
 
 /* .. Allocate arrays */
-      G->V = CreateMatrix(G->Nv,3);
-      G->Vt = CreateMatrix(G->Nvt,2);
-      G->Vn = CreateMatrix(G->Nvn,3);
-      G->Poly = (struct PolyType *) calloc(G->Npoly,sizeof(struct PolyType));
-      if (G->Poly == NULL) {
-         printf("G->Poly calloc returned null pointer.  Bailing out!\n");
+      M->V = CreateMatrix(M->Nv,3);
+      M->Vt = CreateMatrix(M->Nvt,2);
+      M->Vn = CreateMatrix(M->Nvn,3);
+      M->Poly = (struct PolyType *) calloc(M->Npoly,sizeof(struct PolyType));
+      if (M->Poly == NULL) {
+         printf("M->Poly calloc returned null pointer.  Bailing out!\n");
          exit(1);
       }
 
@@ -1055,13 +1055,13 @@ struct GeomType *LoadWingsObjFile(const char ModelPath[80],const char ObjFilenam
          }
          else if (sscanf(line,"v  %lf %lf %lf",&V[0],&V[1],&V[2]) == 3) {
             MTxV(RotM,V,Vr);
-            for(i=0;i<3;i++) G->V[Ivtx][i] = Scale*Vr[i]+TransVec[i];
+            for(i=0;i<3;i++) M->V[Ivtx][i] = Scale*Vr[i]+TransVec[i];
             Ivtx++;
          }
          else if (sscanf(line,"vt %lf %lf",&V[0],&V[1]) == 2 ||
                   sscanf(line,"vt %lf %lf %lf",&V[0],&V[1],&V[2]) == 3) {
-            G->Vt[Ivt][0] = V[0];
-            G->Vt[Ivt][1] = (1.0-V[1]); /* Flip about horizontal axis */
+            M->Vt[Ivt][0] = V[0];
+            M->Vt[Ivt][1] = (1.0-V[1]); /* Flip about horizontal axis */
             Ivt++;
          }
          else if (sscanf(line,"vn  %lf %lf %lf",&V[0],&V[1],&V[2]) == 3) {
@@ -1071,11 +1071,11 @@ struct GeomType *LoadWingsObjFile(const char ModelPath[80],const char ObjFilenam
                }
                /* printf("Zero-length normal in LoadWingsObjFile %s\n",ObjFilename); */
             }
-            for(i=0;i<3;i++) G->Vn[Ivn][i] = V[i];
+            for(i=0;i<3;i++) M->Vn[Ivn][i] = V[i];
             Ivn++;
          }
          else if(line[0] == 'f') {
-            P = &G->Poly[Ipoly];
+            P = &M->Poly[Ipoly];
             P->Nv = 0;
             P->Matl = MatlIdx;
             P->ContactPoly = 0;
@@ -1132,12 +1132,12 @@ struct GeomType *LoadWingsObjFile(const char ModelPath[80],const char ObjFilenam
                   P->HasNorm = 0;
                }
             }
-            /* If poly is degenerate, remove it from Geom */
-            if (PolyIsDegenerate(P,G->V)) {
+            /* If poly is degenerate, remove it from Mesh */
+            if (PolyIsDegenerate(P,M->V)) {
                free(P->V);
                free(P->Vt);
                free(P->Vn);
-               G->Npoly--;
+               M->Npoly--;
             }
             else {
                Ipoly++;
@@ -1167,14 +1167,14 @@ struct GeomType *LoadWingsObjFile(const char ModelPath[80],const char ObjFilenam
                }
             }
             FirstUse = 1;
-            for(Im=0;Im<G->Nmatl;Im++) {
-               if(MatlIdx == G->Matl[Im]) FirstUse = 0;
+            for(Im=0;Im<M->Nmatl;Im++) {
+               if(MatlIdx == M->Matl[Im]) FirstUse = 0;
             }
             if (FirstUse) {
-               G->Nmatl++;
-               if (G->Nmatl > 2)
-                  G->Matl = (long *) realloc(G->Matl,G->Nmatl*sizeof(long));
-               G->Matl[G->Nmatl-1] = MatlIdx;
+               M->Nmatl++;
+               if (M->Nmatl > 2)
+                  M->Matl = (long *) realloc(M->Matl,M->Nmatl*sizeof(long));
+               M->Matl[M->Nmatl-1] = MatlIdx;
             }
          }
          sprintf(line,"Flush");
@@ -1183,59 +1183,59 @@ struct GeomType *LoadWingsObjFile(const char ModelPath[80],const char ObjFilenam
 
       /* Find Bounding Box */
       for(j=0;j<3;j++) {
-         G->BBox.max[j] = G->V[0][j];
-         G->BBox.min[j] = G->V[0][j];
+         M->BBox.max[j] = M->V[0][j];
+         M->BBox.min[j] = M->V[0][j];
       }
-      for(i=1;i<G->Nv;i++) {
+      for(i=1;i<M->Nv;i++) {
          for(j=0;j<3;j++) {
-            if (G->V[i][j] < G->BBox.min[j]) G->BBox.min[j] = G->V[i][j];
-            if (G->V[i][j] > G->BBox.max[j]) G->BBox.max[j] = G->V[i][j];
+            if (M->V[i][j] < M->BBox.min[j]) M->BBox.min[j] = M->V[i][j];
+            if (M->V[i][j] > M->BBox.max[j]) M->BBox.max[j] = M->V[i][j];
          }
       }
       /* Expand BBox slightly to make sure all Vtx's are inside it */
       for(j=0;j<3;j++) {
-         G->BBox.max[j] += 0.01;
-         G->BBox.min[j] -= 0.01;
+         M->BBox.max[j] += 0.01;
+         M->BBox.min[j] -= 0.01;
       }
       for(j=0;j<3;j++) {
-         G->BBox.center[j] = 0.5*(G->BBox.min[j]+G->BBox.max[j]);
+         M->BBox.center[j] = 0.5*(M->BBox.min[j]+M->BBox.max[j]);
       }
       for(j=0;j<3;j++) {
-         r[j] = G->V[0][j]-G->BBox.center[j];
+         r[j] = M->V[0][j]-M->BBox.center[j];
       }
-      G->BBox.radius = MAGV(r);
-      for(i=1;i<G->Nv;i++) {
+      M->BBox.radius = MAGV(r);
+      for(i=1;i<M->Nv;i++) {
          for(j=0;j<3;j++) {
-            r[j] = G->V[i][j]-G->BBox.center[j];
+            r[j] = M->V[i][j]-M->BBox.center[j];
          }
-         if (MAGV(r) > G->BBox.radius) G->BBox.radius = MAGV(r);
+         if (MAGV(r) > M->BBox.radius) M->BBox.radius = MAGV(r);
       }
 
-      for(i=0;i<G->Nvn;i++) UNITV(G->Vn[i]);
+      for(i=0;i<M->Nvn;i++) UNITV(M->Vn[i]);
 
       if (EdgesEnabled) {
          /* Build Edge Tables */
-         G->Nedge = 0;
-         for(Ip=0;Ip<G->Npoly;Ip++) {
-            P = &G->Poly[Ip];
+         M->Nedge = 0;
+         for(Ip=0;Ip<M->Npoly;Ip++) {
+            P = &M->Poly[Ip];
             P->E = (long *) calloc(P->Nv,sizeof(long));
             for(Iv=0;Iv<P->Nv;Iv++) {
                V1 = P->V[Iv];
                V2 = P->V[(Iv+1)%P->Nv];
                BeenHereOnce = 0;
-               for(Ie=0;Ie<G->Nedge;Ie++) {
-                  if (G->Edge[Ie].Vtx1 == V2) {
-                     if (G->Edge[Ie].Vtx2 == V1) {
+               for(Ie=0;Ie<M->Nedge;Ie++) {
+                  if (M->Edge[Ie].Vtx1 == V2) {
+                     if (M->Edge[Ie].Vtx2 == V1) {
                         BeenHereOnce = 1;
-                        G->Edge[Ie].Poly2 = Ip;
+                        M->Edge[Ie].Poly2 = Ip;
                         P->E[Iv] = Ie;
                         break;
                      }
                   }
                }
                if (!BeenHereOnce) {
-                  G->Nedge++;
-                  if (G->Nedge == 1) {
+                  M->Nedge++;
+                  if (M->Nedge == 1) {
                      Ptr = calloc(1,sizeof(struct EdgeType));
                      if (Ptr == NULL) {
                         printf("Realloc failed in LoadWingsObjFile\n");
@@ -1243,50 +1243,50 @@ struct GeomType *LoadWingsObjFile(const char ModelPath[80],const char ObjFilenam
                      }
                   }
                   else {
-                     Ptr = realloc(G->Edge,G->Nedge*sizeof(struct EdgeType));
+                     Ptr = realloc(M->Edge,M->Nedge*sizeof(struct EdgeType));
                      if (Ptr == NULL) {
                         printf("Realloc failed in LoadWingsObjFile\n");
                         exit(1);
                      }
                   }
-                  G->Edge = (struct EdgeType *) Ptr;
-                  G->Edge[G->Nedge-1].Vtx1 = V1;
-                  G->Edge[G->Nedge-1].Vtx2 = V2;
-                  G->Edge[G->Nedge-1].Poly1 = Ip;
-                  G->Edge[G->Nedge-1].Poly2 = -1;
-                  for(i=0;i<3;i++) V[i] = G->V[V1][i] - G->V[V2][i];
-                  G->Edge[G->Nedge-1].Length = MAGV(V);
-                  P->E[Iv] = G->Nedge-1;
+                  M->Edge = (struct EdgeType *) Ptr;
+                  M->Edge[M->Nedge-1].Vtx1 = V1;
+                  M->Edge[M->Nedge-1].Vtx2 = V2;
+                  M->Edge[M->Nedge-1].Poly1 = Ip;
+                  M->Edge[M->Nedge-1].Poly2 = -1;
+                  for(i=0;i<3;i++) V[i] = M->V[V1][i] - M->V[V2][i];
+                  M->Edge[M->Nedge-1].Length = MAGV(V);
+                  P->E[Iv] = M->Nedge-1;
                }
             }
          }
       }
 
       /* Find Normals, Areas, Centroids for use in surface force models */
-      SurfaceForceProps(G);
+      SurfaceForceProps(M);
       
       /* For polyhedron gravity */
-      if (EdgesEnabled) EdgeAndPolyDyads(G);
+      if (EdgesEnabled) EdgeAndPolyDyads(M);
 
       /* Find radius of bounding sphere for each poly */
-      for(Ipoly=0;Ipoly<G->Npoly;Ipoly++) {
-         P = &G->Poly[Ipoly];
+      for(Ipoly=0;Ipoly<M->Npoly;Ipoly++) {
+         P = &M->Poly[Ipoly];
          P->radius = 0.0;
          for(Iv=0;Iv<P->Nv;Iv++) {
             Ivtx = P->V[Iv];
-            for(i=0;i<3;i++) r[i] = G->V[Ivtx][i] - P->Centroid[i];
+            for(i=0;i<3;i++) r[i] = M->V[Ivtx][i] - P->Centroid[i];
             magr = MAGV(r);
             if (magr > P->radius) P->radius = magr;
          }
       }
 
-      *Ngeom = Ng;
-      *GeomTag = Ng-1;
-      return(Geom);
+      *Nmesh = Ng;
+      *MeshTag = Ng-1;
+      return(Mesh);
 #undef D2R
 }
 /*********************************************************************/
-void WriteGeomToObjFile(struct MatlType *Matl,struct GeomType *Geom,const char Path[80],
+void WriteMeshToObjFile(struct MatlType *Matl,struct MeshType *Mesh,const char Path[80],
    const char FileName[40])
 {
       char MtlFileName[80],ObjFileName[80];
@@ -1300,7 +1300,7 @@ void WriteGeomToObjFile(struct MatlType *Matl,struct GeomType *Geom,const char P
       strcat(MtlFileName,".mtl");
       MtlFile = FileOpen(Path,MtlFileName,"wt");
 
-      for(Im=0;Im<Geom->Nmatl;Im++) {
+      for(Im=0;Im<Mesh->Nmatl;Im++) {
          M = &Matl[Im];
          fprintf(MtlFile,"newmtl %s\n",M->Label);
          fprintf(MtlFile,"d %f\n",M->Kd[3]);
@@ -1349,32 +1349,32 @@ void WriteGeomToObjFile(struct MatlType *Matl,struct GeomType *Geom,const char P
       ObjFile = FileOpen(Path,ObjFileName,"wt");
 
       fprintf(ObjFile,"# Nv = %ld  Nvt = %ld  Nvn = %ld  Npoly = %ld\n\n",
-               Geom->Nv,Geom->Nvt,Geom->Nvn,Geom->Npoly);
+               Mesh->Nv,Mesh->Nvt,Mesh->Nvn,Mesh->Npoly);
 
       fprintf(ObjFile,"mtllib %s\n\n",MtlFileName);
 
       /* Vertices */
-      for(Iv=0;Iv<Geom->Nv;Iv++) {
-         V = Geom->V[Iv];
+      for(Iv=0;Iv<Mesh->Nv;Iv++) {
+         V = Mesh->V[Iv];
          fprintf(ObjFile,"v %lf %lf %lf\n",V[0],V[1],V[2]);
       }
       /* Texture Vertices */
-      for(Iv=0;Iv<Geom->Nvt;Iv++) {
-         V = Geom->Vt[Iv];
+      for(Iv=0;Iv<Mesh->Nvt;Iv++) {
+         V = Mesh->Vt[Iv];
          fprintf(ObjFile,"vt %lf %lf %lf\n",V[0],V[1],V[2]);
       }
       /* Normals */
-      for(Iv=0;Iv<Geom->Nvn;Iv++) {
-         V = Geom->Vn[Iv];
+      for(Iv=0;Iv<Mesh->Nvn;Iv++) {
+         V = Mesh->Vn[Iv];
          fprintf(ObjFile,"vn %lf %lf %lf\n",V[0],V[1],V[2]);
       }
       fprintf(ObjFile,"\n");
 
-      for(Im=0;Im<Geom->Nmatl;Im++) {
+      for(Im=0;Im<Mesh->Nmatl;Im++) {
          M = &Matl[Im];
          fprintf(ObjFile,"usemtl %s\n",M->Label);
-         for(Ip=0;Ip<Geom->Npoly;Ip++) {
-            P = &Geom->Poly[Ip];
+         for(Ip=0;Ip<Mesh->Npoly;Ip++) {
+            P = &Mesh->Poly[Ip];
             if (P->Matl == Im) {
                fprintf(ObjFile,"f ");
                for(Iv=0;Iv<P->Nv;Iv++) {
diff --git a/Makefile b/Makefile
index 5f4ed4d0..20ff0e94 100755
--- a/Makefile
+++ b/Makefile
@@ -103,6 +103,7 @@ ifeq ($(42PLATFORM),__APPLE__)
       LIBS = 
       GUIOBJ = 
    endif
+   NOS3OBJ = $(OBJ)42nos3.o
    XWARN = 
    EXENAME = 42
    CC = gcc
@@ -137,6 +138,7 @@ ifeq ($(42PLATFORM),__linux__)
       LIBS = -ldl -lm -lpthread
       LFLAGS =
    endif
+   NOS3OBJ = $(OBJ)42nos3.o 
    XWARN = -Wno-unused-variable -Wno-unused-but-set-variable -Wno-stringop-overread
    EXENAME = 42
    CC = gcc
@@ -153,6 +155,7 @@ ifeq ($(42PLATFORM),__MSYS__)
    ifneq ($(strip $(GUIFLAG)),)
       # TODO: Option to use GLFW instead of GLUT?
       GLEW = $(EXTERNDIR)GLEW/
+      # GLEW = /mingw64/
       GLUT = $(EXTERNDIR)freeglut/
       LIBS =  -lopengl32 -lglu32 -lfreeglut -lws2_32 -lglew32
       LFLAGS = -L $(GLUT)lib/ -L $(GLEW)lib/
@@ -166,6 +169,7 @@ ifeq ($(42PLATFORM),__MSYS__)
       LFLAGS =
       ARCHFLAG =
    endif
+   NOS3OBJ = 
    XWARN = 
    EXENAME = 42.exe
    CC = gcc
@@ -214,15 +218,15 @@ endif
 42OBJ = $(OBJ)42main.o $(OBJ)42exec.o $(OBJ)42actuators.o $(OBJ)42cmd.o \
 $(OBJ)42dynamics.o $(OBJ)42environs.o $(OBJ)42ephem.o $(OBJ)42fsw.o \
 $(OBJ)42init.o $(OBJ)42ipc.o $(OBJ)42jitter.o $(OBJ)42joints.o \
-$(OBJ)42optics.o $(OBJ)42perturb.o $(OBJ)42report.o $(OBJ)42sensors.o \
-$(OBJ)42nos3.o 
+$(OBJ)42optics.o $(OBJ)42perturb.o $(OBJ)42report.o $(OBJ)42sensors.o
 
-KITOBJ = $(OBJ)dcmkit.o $(OBJ)envkit.o $(OBJ)fswkit.o $(OBJ)geomkit.o \
-$(OBJ)iokit.o $(OBJ)mathkit.o $(OBJ)nrlmsise00kit.o $(OBJ)msis86kit.o \
-$(OBJ)orbkit.o $(OBJ)radbeltkit.o $(OBJ)sigkit.o $(OBJ)sphkit.o $(OBJ)timekit.o
+KITOBJ = $(OBJ)dcmkit.o $(OBJ)envkit.o $(OBJ)fswkit.o  $(OBJ)iokit.o \
+$(OBJ)mathkit.o $(OBJ)meshkit.o $(OBJ)nrlmsise00kit.o $(OBJ)orbkit.o \
+$(OBJ)radbeltkit.o $(OBJ)sigkit.o $(OBJ)sphkit.o $(OBJ)timekit.o
 
-LIBKITOBJ = $(OBJ)dcmkit.o $(OBJ)envkit.o $(OBJ)fswkit.o $(OBJ)geomkit.o \
-$(OBJ)iokit.o $(OBJ)mathkit.o $(OBJ)orbkit.o $(OBJ)sigkit.o $(OBJ)sphkit.o $(OBJ)timekit.o
+LIBKITOBJ = $(OBJ)dcmkit.o $(OBJ)envkit.o $(OBJ)fswkit.o $(OBJ)iokit.o \
+$(OBJ)mathkit.o $(OBJ)meshkit.o $(OBJ)orbkit.o $(OBJ)sigkit.o $(OBJ)sphkit.o \
+$(OBJ)timekit.o
 
 ACKITOBJ = $(OBJ)dcmkit.o $(OBJ)mathkit.o $(OBJ)fswkit.o $(OBJ)iokit.o $(OBJ)timekit.o
 
@@ -231,13 +235,13 @@ AUTOOBJ = $(OBJ)WriteAcToCsv.o $(OBJ)WriteScToCsv.o $(OBJ)TxRxIPC.o
 #ANSIFLAGS = -Wstrict-prototypes -pedantic -ansi -Werror
 ANSIFLAGS =
 
-CFLAGS = -g -O0 -fpic -Wall -Wshadow -Wno-deprecated $(XWARN) $(ANSIFLAGS) $(GLINC) $(CINC) -I $(INC) -I $(KITINC) -I $(KITSRC) $(GMSECINC) $(ARCHFLAG) $(GUIFLAG) $(GUI_LIB) $(SHADERFLAG) $(CFDFLAG) $(FFTBFLAG) $(GSFCFLAG) $(GMSECFLAG) $(STANDALONEFLAG)
+CFLAGS = -std=c11 -g -O0 -fpic -Wall -Wshadow -Wno-deprecated $(XWARN) $(ANSIFLAGS) $(GLINC) $(CINC) -I $(INC) -I $(KITINC) -I $(KITSRC) $(GMSECINC) $(ARCHFLAG) $(GUIFLAG) $(GUI_LIB) $(SHADERFLAG) $(CFDFLAG) $(FFTBFLAG) $(GSFCFLAG) $(GMSECFLAG) $(STANDALONEFLAG)
 
 
 ##########################  Rules to link 42  #############################
 
-42 : $(42OBJ) $(KITOBJ) $(GUIOBJ) $(AUTOOBJ) $(ACOBJ) $(SCIPCOBJ) $(GMSECOBJ) $(FFTBOBJ) $(SLOSHOBJ)
-	$(CC) $(LFLAGS) $(GMSECBIN) -o $(EXENAME) $(42OBJ) $(KITOBJ) $(GUIOBJ) $(AUTOOBJ) $(ACOBJ) $(SCIPCOBJ) $(GMSECOBJ) $(FFTBOBJ) $(SLOSHOBJ) $(LIBS)
+42 : $(42OBJ) $(KITOBJ) $(GUIOBJ) $(NOS3OBJ) $(AUTOOBJ) $(ACOBJ) $(SCIPCOBJ) $(GMSECOBJ) $(FFTBOBJ) $(SLOSHOBJ)
+	$(CC) $(LFLAGS) $(GMSECBIN) -o $(EXENAME) $(42OBJ) $(KITOBJ) $(GUIOBJ) $(NOS3OBJ) $(AUTOOBJ) $(ACOBJ) $(SCIPCOBJ) $(GMSECOBJ) $(FFTBOBJ) $(SLOSHOBJ) $(LIBS)
 
 AcApp : $(OBJ)AcApp.o $(ACKITOBJ) $(ACIPCOBJ) $(GMSECOBJ)
 	$(CC) $(LFLAGS) -o AcApp $(OBJ)AcApp.o $(ACKITOBJ) $(ACIPCOBJ) $(GMSECOBJ) $(LIBS)
@@ -320,9 +324,6 @@ $(OBJ)fswkit.o      : $(KITSRC)fswkit.c
 $(OBJ)glkit.o      : $(KITSRC)glkit.c $(KITINC)glkit.h
 	$(CC) $(CFLAGS) -c $(KITSRC)glkit.c -o $(OBJ)glkit.o
 
-$(OBJ)geomkit.o      : $(KITSRC)geomkit.c $(KITINC)geomkit.h
-	$(CC) $(CFLAGS) -c $(KITSRC)geomkit.c -o $(OBJ)geomkit.o
-
 $(OBJ)gmseckit.o      : $(KITSRC)gmseckit.c $(KITINC)gmseckit.h
 	$(CC) $(CFLAGS) -c $(KITSRC)gmseckit.c -o $(OBJ)gmseckit.o
 
@@ -332,6 +333,9 @@ $(OBJ)iokit.o      : $(KITSRC)iokit.c
 $(OBJ)mathkit.o     : $(KITSRC)mathkit.c
 	$(CC) $(CFLAGS) -c $(KITSRC)mathkit.c -o $(OBJ)mathkit.o
 
+$(OBJ)meshkit.o      : $(KITSRC)meshkit.c $(KITINC)meshkit.h
+	$(CC) $(CFLAGS) -c $(KITSRC)meshkit.c -o $(OBJ)meshkit.o
+
 $(OBJ)nrlmsise00kit.o   : $(KITSRC)nrlmsise00kit.c
 	$(CC) $(CFLAGS) -c $(KITSRC)nrlmsise00kit.c -o $(OBJ)nrlmsise00kit.o
 
@@ -410,6 +414,6 @@ else ifeq ($(42PLATFORM),_WIN64)
 	del .\Object\*.o .\$(EXENAME) .\InOut\*.42
 else
 	rm -f $(OBJ)*.o ./$(EXENAME) ./AcApp $(KITDIR)42kit.so 
-	rm -f $(INOUT)*.42 ./Standalone/*.42 ./Demo/*.42 ./Rx/*.42 ./Tx/*.42
-	rm -f $(INOUT)*.csv ./Standalone/*.csv ./Demo/*.csv ./Rx/*.csv ./Tx/*.csv
+	rm -f $(INOUT)*.42 ./Standalone/*.42 ./Demo/*.42 ./Rx/*.42 ./Tx/*.42 ./Rover/*.42
+	rm -f $(INOUT)*.csv ./Standalone/*.csv ./Demo/*.csv ./Rx/*.csv ./Tx/*.csv ./Rover/*.csv
 endif
diff --git a/Model/42.mtl b/Model/42.mtl
index 1b964128..2f481e78 100755
--- a/Model/42.mtl
+++ b/Model/42.mtl
@@ -85,6 +85,20 @@ Kd 1.0  1.0  1.0
 Ks 0.0  0.0  0.0
 Ke 0.0  0.0  0.0
 
+newmtl MOON_MATL  
+d 1.0
+Ns 20.0
+Ka 1.0  1.0  1.0 
+Kd 1.0  1.0  1.0
+Ks 0.1  0.1  0.1
+Ke 0.0  0.0  0.0
+NoiseCol
+map_Spectrum Moon
+NoiseGain 0.5 0.25 0.125 0.0625
+NoiseBias 0.0
+NoiseScale 50.0
+NoiseType 0
+
 newmtl ASTEROID_MATL  
 d 1.0
 Ns 20.0
@@ -99,73 +113,73 @@ NoiseBias 0.0
 NoiseScale 50.0
 NoiseType 0
 
-newmtl GLAST_LOGO
-Ns 100.0
-d 1.0
-illum 2
-Kd 1.0 1.0 1.0
-Ka 1.0 1.0 1.0
-Ks 0.0 0.0 0.0
-Ke 0.0 0.0 0.0
+newmtl GLAST_LOGO
+Ns 100.0
+d 1.0
+illum 2
+Kd 1.0 1.0 1.0
+Ka 1.0 1.0 1.0
+Ks 0.0 0.0 0.0
+Ke 0.0 0.0 0.0
 map_Kd GlastLogo.ppm
-
-newmtl GOLD_KAPTON
-Ns 20.0
-d 1.0
-illum 2
-Kd 0.75 0.5 0.0
-Ka 0.75 0.5 0.0
-Ks 0.25 0.1 0.0
-Ke 0.0 0.0 0.0
+
+newmtl GOLD_KAPTON
+Ns 20.0
+d 1.0
+illum 2
+Kd 0.75 0.5 0.0
+Ka 0.75 0.5 0.0
+Ks 0.25 0.1 0.0
+Ke 0.0 0.0 0.0
 NoiseBump
-
-newmtl SILVER_KAPTON
-Ns 20.0
-d 1.0
-illum 2
-Kd 0.75 0.75 0.75
-Ka 0.75 0.75 0.75
-Ks 0.15 0.15 0.25
-Ke 0.0 0.0 0.0
+
+newmtl SILVER_KAPTON
+Ns 20.0
+d 1.0
+illum 2
+Kd 0.75 0.75 0.75
+Ka 0.75 0.75 0.75
+Ks 0.15 0.15 0.25
+Ke 0.0 0.0 0.0
 NoiseBump
-
-newmtl METALLIC_GREEN
-Ns 5.0
-d 1.0
-illum 2
-Kd 0.0 0.0 0.0
-Ka 0.0 0.0 0.0
-Ks 0.0 0.387 0.109
+
+newmtl METALLIC_GREEN
+Ns 5.0
+d 1.0
+illum 2
+Kd 0.0 0.0 0.0
+Ka 0.0 0.0 0.0
+Ks 0.0 0.387 0.109
 Ke 0.0 0.0 0.0
 Nu 20.0
-Nv 40.0
-
-newmtl MIRROR
-Ns 100.0
-d 1.0
-illum 2
-Kd 1.0 1.0 1.0
-Ka 1.0 1.0 1.0
-Ks 1.0 1.0 1.0
+Nv 40.0
+
+newmtl MIRROR
+Ns 100.0
+d 1.0
+illum 2
+Kd 1.0 1.0 1.0
+Ka 1.0 1.0 1.0
+Ks 1.0 1.0 1.0
 Ke 0.0 0.0 0.0
-Refl 1.0
-
-newmtl SEE_THRU_RED
-Ns 100.0
-d 0.2
-illum 2
-Kd 0.55 0.0 0.0
-Ka 0.55 0.0 0.0
-Ks 0.0 0.0 0.0
+Refl 1.0
+
+newmtl SEE_THRU_RED
+Ns 100.0
+d 0.2
+illum 2
+Kd 0.55 0.0 0.0
+Ka 0.55 0.0 0.0
+Ks 0.0 0.0 0.0
 Ke 0.0 0.0 0.0
 
-newmtl GREEN
-Ns 100.0
-d 1.0
-illum 2
-Kd 0.0 0.5 0.0
-Ka 0.0 0.5 0.0
-Ks 0.2 0.2 0.2
+newmtl GREEN
+Ns 100.0
+d 1.0
+illum 2
+Kd 0.0 0.5 0.0
+Ka 0.0 0.5 0.0
+Ks 0.2 0.2 0.2
 Ke 0.0 0.0 0.0
 
 newmtl MARBLE  
@@ -181,7 +195,7 @@ NoiseGain 6.0 3.0 1.5 0.75
 NoiseBias 0.0
 NoiseAxis 0.0 0.0 12.0
 NoiseType 4
-
+
 newmtl MOAI  
 d 1.0
 Ns 50.0
@@ -195,7 +209,7 @@ NoiseGain 0.2  0.1  0.05  0.025
 NoiseBias -0.1
 NoiseAxis 1.0 1.0 0.5
 NoiseType 5
-
+
 newmtl EROS_MATL  
 d 1.0
 Ns 20.0
@@ -206,14 +220,14 @@ Ke 0.0  0.0  0.0
 map_Kd ErosColor.ppm
 map_Bump ErosBump.ppm
 
-newmtl GOLD
-Ns 100.0
-d 1.0
-illum 2
-Kd 0.76024 0.543 0.0
-Ka 0.574 0.41 0.0
-Ks 1.0 0.707 0.0
-Ke 0.0 0.0 0.0
+newmtl GOLD
+Ns 100.0
+d 1.0
+illum 2
+Kd 0.76024 0.543 0.0
+Ka 0.574 0.41 0.0
+Ks 1.0 0.707 0.0
+Ke 0.0 0.0 0.0
 
 newmtl 67P_MATL  
 d 1.0
@@ -243,22 +257,22 @@ NoiseBias 0.0
 NoiseScale 50.0
 NoiseType 0
 
-newmtl CUBE_BLUE
-Ns 100.0
-d 1.0
-illum 2
-Kd 0.05 0.05 0.15
-Ka 0.05 0.05 0.15
-Ks 1.0  1.0  1.0
-Ke 0.0 0.0 0.0
+newmtl CUBE_BLUE
+Ns 100.0
+d 1.0
+illum 2
+Kd 0.05 0.05 0.15
+Ka 0.05 0.05 0.15
+Ks 1.0  1.0  1.0
+Ke 0.0 0.0 0.0
 
-newmtl CUBE_ORANGE
-Ns 50.0
-d 1.0
-illum 2
-Kd 0.3 0.25 0.1
-Ka 0.3 0.25 0.1
-Ks 1.0  1.0  1.0
-Ke 0.0 0.0 0.0
+newmtl CUBE_ORANGE
+Ns 50.0
+d 1.0
+illum 2
+Kd 0.3 0.25 0.1
+Ka 0.3 0.25 0.1
+Ks 1.0  1.0  1.0
+Ke 0.0 0.0 0.0
 
 
diff --git a/Model/Rgn_MoonCrater.obj b/Model/Rgn_MoonCrater.obj
new file mode 100644
index 00000000..a1ffda21
--- /dev/null
+++ b/Model/Rgn_MoonCrater.obj
@@ -0,0 +1,6251 @@
+# Nv = 1600  Nvt = 0  Nvn = 1600  Npoly = 3042
+# Exported from Wings 3D 1.5.2
+# Scale up by 2.0 to actual size
+mtllib 42.mtl
+o Regular Plane2
+#1600 vertices, 3042 faces
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diff --git a/Model/RoverBody.mtl b/Model/RoverBody.mtl
deleted file mode 100644
index 68a670f8..00000000
--- a/Model/RoverBody.mtl
+++ /dev/null
@@ -1,10 +0,0 @@
-# Exported from Wings 3D 1.5.2
-newmtl GOLD_KAPTON
-Ns 0.0
-d 1.0
-illum 2
-Kd 0.8866666666666667 0.5704222222222222 0.2541777777777778
-Ka 0.8866666666666667 0.5704222222222222 0.2541777777777778
-Ks 0.0 0.0 0.0
-Ke 0.0 0.0 0.0
-
diff --git a/Model/RoverBody.obj b/Model/RoverBody.obj
index 628047ab..1695bb7c 100644
--- a/Model/RoverBody.obj
+++ b/Model/RoverBody.obj
@@ -1,1113 +1,1113 @@
 # Nv = 194  Nvt = 0  Nvn = 524  Npoly = 384
-# Exported from Wings 3D 1.5.2
-mtllib RoverBody.mtl
-o Cylinder1
-#194 vertices, 384 faces
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-g Cylinder1_GOLD_KAPTON
-usemtl GOLD_KAPTON
-s 1
-f 7//156 125//423 105//296
-f 10//168 134//482 117//372
-f 87//183 123//412 1//132
-f 87//178 155//89 152//86
-f 88//188 155//89 87//182
-f 89//191 126//428 158//92
-f 89//194 155//89 88//187
-f 99//259 132//469 4//143
-f 99//254 182//116 179//113
-f 100//264 182//116 99//258
-f 101//267 135//488 185//119
-f 101//270 182//116 100//263
-f 105//291 125//417 150//84
-f 105//297 153//87 106//301
-f 106//302 153//87 107//308
-f 107//309 128//441 8//159
-f 107//303 153//87 156//90
-f 117//367 134//477 177//111
-f 117//373 180//114 118//377
-f 118//378 180//114 119//384
-f 119//385 137//501 11//171
-f 119//379 180//114 183//117
-f 123//411 151//85 124//416
-f 124//414 151//85 125//421
-f 126//432 89//195 2//136
-f 127//433 157//91 126//430
-f 128//444 157//91 127//435
-f 132//471 178//112 133//476
-f 133//474 178//112 134//483
-f 135//492 101//271 5//148
-f 136//493 184//118 135//490
-f 137//504 184//118 136//495
-f 150//84 125//420 151//85
-f 150//84 153//87 105//293
-f 151//85 123//407 152//86
-f 151//85 153//87 150//84
-f 152//86 123//408 87//177
-f 152//86 155//89 151//85
-f 153//87 151//85 154//88
-f 154//88 151//85 155//89
-f 154//88 157//91 153//87
-f 155//89 157//91 154//88
-f 156//90 128//438 107//304
-f 156//90 153//87 157//91
-f 157//91 128//440 156//90
-f 157//91 155//89 158//92
-f 158//92 126//427 157//91
-f 158//92 155//89 89//190
-f 177//111 134//479 178//112
-f 177//111 180//114 117//369
-f 178//112 132//465 179//113
-f 178//112 180//114 177//111
-f 179//113 132//466 99//253
-f 179//113 182//116 178//112
-f 180//114 178//112 181//115
-f 181//115 178//112 182//116
-f 181//115 184//118 180//114
-f 182//116 184//118 181//115
-f 183//117 137//498 119//380
-f 183//117 180//114 184//118
-f 184//118 137//500 183//117
-f 184//118 182//116 185//119
-f 185//119 135//487 184//118
-f 185//119 182//116 101//266
-s 2
-f 1//131 123//409 90//201
-f 6//151 92//214 138//511
-f 9//164 131//462 114//353
-f 12//175 140//521 110//328
-f 90//196 123//405 141//75
-f 90//202 144//78 91//207
-f 91//206 144//78 92//213
-f 92//208 144//78 147//81
-f 96//240 129//449 3//139
-f 96//235 173//107 170//104
-f 97//245 173//107 96//239
-f 98//247 132//468 176//110
-f 98//251 173//107 97//244
-f 108//315 125//422 7//155
-f 108//311 146//80 143//77
-f 109//321 146//80 108//316
-f 110//324 140//519 149//83
-f 110//327 146//80 109//320
-f 114//348 131//457 168//102
-f 114//354 171//105 115//358
-f 115//359 171//105 116//365
-f 116//366 134//481 10//167
-f 116//360 171//105 174//108
-f 124//413 142//76 123//410
-f 125//424 142//76 124//415
-f 129//451 169//103 130//456
-f 130//454 169//103 131//463
-f 132//472 98//252 4//144
-f 133//473 175//109 132//470
-f 134//484 175//109 133//475
-f 138//510 148//82 139//514
-f 139//515 148//82 140//523
-f 141//75 123//406 142//76
-f 141//75 144//78 90//197
-f 142//76 125//418 143//77
-f 142//76 144//78 141//75
-f 143//77 125//419 108//310
-f 143//77 146//80 142//76
-f 144//78 142//76 145//79
-f 145//79 142//76 146//80
-f 145//79 148//82 144//78
-f 146//80 148//82 145//79
-f 147//81 138//505 92//209
-f 147//81 144//78 148//82
-f 148//82 138//506 147//81
-f 148//82 146//80 149//83
-f 149//83 140//518 148//82
-f 149//83 146//80 110//323
-f 168//102 131//459 169//103
-f 168//102 171//105 114//350
-f 169//103 129//445 170//104
-f 169//103 171//105 168//102
-f 170//104 129//446 96//234
-f 170//104 173//107 169//103
-f 171//105 169//103 172//106
-f 172//106 169//103 173//107
-f 172//106 175//109 171//105
-f 173//107 175//109 172//106
-f 174//108 134//478 116//361
-f 174//108 171//105 175//109
-f 175//109 134//480 174//108
-f 175//109 173//107 176//110
-f 176//110 132//467 175//109
-f 176//110 173//107 98//246
-s 3
-f 1//129 17//5 87//180
-f 2//134 16//4 93//217
-f 2//133 89//189 16//4
-f 3//137 15//3 96//236
-f 3//138 95//230 15//3
-f 4//141 14//2 99//256
-f 4//142 98//249 14//2
-f 5//146 13//1 102//274
-f 5//145 101//265 13//1
-f 6//149 104//287 18//6
-f 7//154 20//8 108//313
-f 12//173 110//322 19//7
-f 13//1 25//13 73//61
-f 13//1 64//52 25//13
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+usemtl GOLD_KAPTON
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diff --git a/Model/RoverLowerLeg.mtl b/Model/RoverLowerLeg.mtl
deleted file mode 100644
index f3a1e283..00000000
--- a/Model/RoverLowerLeg.mtl
+++ /dev/null
@@ -1,10 +0,0 @@
-# Exported from Wings 3D 1.5.2
-newmtl SILVER_KAPTON
-Ns 0.0
-d 1.0
-illum 2
-Kd 0.7402599999999999 0.7402599999999999 0.7402599999999999
-Ka 0.7402599999999999 0.7402599999999999 0.7402599999999999
-Ks 0.0 0.0 0.0
-Ke 0.0 0.0 0.0
-
diff --git a/Model/RoverLowerLeg.obj b/Model/RoverLowerLeg.obj
index c26f2b5b..877ff68e 100644
--- a/Model/RoverLowerLeg.obj
+++ b/Model/RoverLowerLeg.obj
@@ -1,1291 +1,1290 @@
 # Nv = 144  Nvt = 0  Nvn = 852  Npoly = 284
-# Exported from Wings 3D 1.5.2
-mtllib RoverLowerLeg.mtl
-o Cylinder2
-#144 vertices, 284 faces
-v 2.5000000e-2 1.6175447e-17 0.0000000e+0
-v 1.2500000e-2 -2.1650635e-2 0.0000000e+0
-v -1.2500000e-2 -2.1650635e-2 0.0000000e+0
-v -2.5000000e-2 1.3113830e-17 0.0000000e+0
-v -1.2500000e-2 2.1650635e-2 0.0000000e+0
-v 1.2500000e-2 2.1650635e-2 0.0000000e+0
-v 2.5000000e-2 -1.4440723e-17 -0.50000000
-v 1.2500000e-2 -2.1650635e-2 -0.50000000
-v -1.2500000e-2 -2.1650635e-2 -0.50000000
-v -2.5000000e-2 -1.7502340e-17 -0.50000000
-v -1.2500000e-2 2.1650635e-2 -0.50000000
-v 1.2500000e-2 2.1650635e-2 -0.50000000
-v 1.2500000e-2 2.1650635e-2 -0.47500000
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-g Cylinder2_SILVER_KAPTON
-usemtl SILVER_KAPTON
-s 1
-f 2//6 126//746 1//3
-f 4//16 124//733 3//12
-f 6//28 122//721 5//22
-f 8//35 16//86 9//44
-f 8//37 127//751 7//33
-f 10//47 14//74 11//56
-f 10//49 129//764 9//46
-f 12//59 18//97 7//31
-f 12//61 131//776 11//58
-f 13//69 18//100 12//63
-f 14//71 19//104 13//68
-f 15//81 14//76 10//53
-f 16//83 21//116 15//80
-f 17//93 16//87 8//41
-f 20//114 19//108 14//78
-f 21//117 26//144 20//112
-f 22//125 21//119 16//88
-f 23//131 30//172 29//165
-f 24//136 30//168 23//130
-f 26//145 31//176 25//140
-f 27//153 26//147 21//121
-f 28//157 33//188 27//152
-f 32//185 31//179 26//148
-f 33//189 38//216 32//184
-f 34//197 33//191 28//160
-f 35//203 42//244 41//237
-f 36//208 42//240 35//202
-f 37//211 43//247 42//241
-f 39//225 38//219 33//192
-f 40//229 45//260 39//224
-f 42//243 43//252 48//281
-f 45//261 50//288 44//256
-f 46//269 45//263 40//232
-f 47//275 54//316 53//309
-f 48//280 54//312 47//274
-f 50//289 55//320 49//284
-f 51//297 50//291 45//264
-f 52//301 57//332 51//296
-f 55//321 66//383 60//351
-f 56//329 55//323 50//292
-f 57//333 62//360 56//328
-f 58//341 57//335 52//304
-f 59//345 64//372 58//340
-f 61//357 66//390 55//325
-f 62//361 67//392 61//356
-f 63//369 62//363 57//336
-f 64//373 69//404 63//368
-f 65//382 64//375 59//348
-f 66//386 71//416 65//380
-f 67//393 78//455 72//423
-f 68//401 67//395 62//364
-f 70//413 69//407 64//376
-f 72//426 71//422 66//389
-f 73//429 78//462 67//397
-f 74//437 81//482 80//474
-f 75//439 81//475 74//434
-f 76//449 83//493 82//486
-f 77//451 83//487 76//446
-f 81//481 88//522 87//514
-f 82//483 88//515 81//478
-f 83//491 90//532 89//525
-f 84//496 90//528 83//490
-f 86//505 91//536 85//500
-f 88//521 95//565 94//558
-f 89//523 95//559 88//518
-f 91//537 102//599 96//567
-f 92//545 91//539 86//508
-f 93//553 100//594 99//586
-f 94//555 100//587 93//550
-f 97//573 102//606 91//541
-f 98//577 103//608 97//572
-f 102//602 107//632 101//596
-f 103//609 114//671 108//639
-f 104//617 103//611 98//580
-f 105//621 110//648 104//616
-f 107//633 112//660 106//628
-f 108//642 107//638 102//605
-f 109//645 114//678 103//613
-f 110//649 115//680 109//644
-f 111//657 110//651 105//624
-f 112//661 117//692 111//656
-f 113//670 112//663 107//636
-f 114//674 119//704 113//668
-f 115//681 126//743 120//711
-f 116//689 115//683 110//652
-f 117//693 122//720 116//688
-f 118//701 117//695 112//664
-f 119//705 124//732 118//700
-f 120//714 119//710 114//677
-f 121//716 122//725 6//30
-f 121//717 126//750 115//685
-f 123//727 122//723 117//696
-f 123//729 124//735 4//20
-f 125//742 124//737 119//708
-f 125//740 126//747 2//11
-f 127//755 8//40 128//762
-f 127//754 138//816 132//784
-f 129//767 10//52 130//774
-f 131//779 12//64 132//785
-f 131//777 136//804 130//772
-f 133//789 138//819 127//756
-f 135//799 141//835 134//794
-f 136//810 131//781 137//813
-f 138//817 143//845 137//812
-f 140//832 134//795 141//838
-f 143//848 138//820 144//851
-s 2
-f 1//2 126//745 6//27
-f 2//10 124//736 125//739
-f 3//13 124//734 2//5
-f 4//19 122//724 123//728
-f 5//23 122//722 4//15
-f 6//29 126//748 121//715
-f 7//34 127//752 12//62
-f 9//43 16//85 10//48
-f 9//45 129//763 8//38
-f 10//54 16//90 15//82
-f 11//55 14//73 12//60
-f 11//57 131//775 10//50
-f 12//66 14//77 13//70
-f 14//75 21//120 20//113
-f 15//79 21//115 14//72
-f 18//96 23//128 17//92
-f 19//105 30//167 24//135
-f 21//122 28//162 27//154
-f 22//123 28//155 21//118
-f 24//138 23//134 18//102
-f 25//141 30//174 19//109
-f 26//149 33//194 32//186
-f 27//151 33//187 26//146
-f 28//161 35//205 34//198
-f 29//163 35//199 28//158
-f 31//177 42//239 36//207
-f 33//193 40//234 39//226
-f 34//195 40//227 33//190
-f 37//213 42//246 31//181
-f 38//221 45//266 44//258
-f 39//223 45//259 38//218
-f 40//233 47//277 46//270
-f 41//235 47//271 40//230
-f 43//254 50//294 49//286
-f 44//255 50//287 43//250
-f 45//265 52//306 51//298
-f 46//267 52//299 45//262
-f 49//283 55//319 54//313
-f 50//293 57//338 56//330
-f 51//295 57//331 50//290
-f 52//305 59//349 58//342
-f 53//307 59//343 52//302
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diff --git a/Model/RoverUpperLeg.mtl b/Model/RoverUpperLeg.mtl
deleted file mode 100644
index e71e7305..00000000
--- a/Model/RoverUpperLeg.mtl
+++ /dev/null
@@ -1,10 +0,0 @@
-# Exported from Wings 3D 1.5.2
-newmtl SILVER_KAPTON
-Ns 0.0
-d 1.0
-illum 2
-Kd 0.69364 0.69364 0.69364
-Ka 0.69364 0.69364 0.69364
-Ks 0.0 0.0 0.0
-Ke 0.0 0.0 0.0
-
diff --git a/Model/RoverUpperLeg.obj b/Model/RoverUpperLeg.obj
index 5ca7ce88..e739dce3 100644
--- a/Model/RoverUpperLeg.obj
+++ b/Model/RoverUpperLeg.obj
@@ -1,1129 +1,1128 @@
 # Nv = 126  Nvt = 0  Nvn = 744  Npoly = 248
-# Exported from Wings 3D 1.5.2
-mtllib RoverUpperLeg.mtl
-o Cylinder1
-#126 vertices, 248 faces
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-vn -6.8973781e-17 -0.86602540 0.50000000
-vn 1.2325952e-32 2.7755576e-16 1.00000000
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-vn 1.1337976e-16 2.7755576e-16 1.00000000
-vn 6.8973781e-17 0.86602540 0.50000000
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-vn 5.7824116e-17 0.86602540 0.50000000
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-vn 5.7824116e-17 0.86602540 0.50000000
-vn 5.7824116e-17 0.86602540 0.50000000
-vn 6.8973781e-17 0.86602540 -0.50000000
-g Cylinder1_SILVER_KAPTON
-usemtl SILVER_KAPTON
-s 1
-f 1//4 5//25 2//11
-f 2//7 4//17 3//13
-f 4//18 2//8 5//22
-f 6//28 5//21 1//1
-f 7//32 11//54 12//57
-f 8//40 10//50 7//36
-f 9//43 10//46 8//37
-f 11//53 7//31 10//47
-s 2
-f 1//6 17//92 18//96
-f 2//9 17//86 1//3
-f 5//23 15//74 4//20
-f 7//34 126//740 8//38
-f 8//42 126//742 125//736
-f 10//49 122//716 11//55
-f 14//72 15//80 5//27
-f 15//79 23//125 22//120
-f 18//94 17//87 19//98
-f 19//103 29//164 30//167
-f 20//107 19//102 17//89
-f 22//118 23//123 27//146
-f 23//121 15//76 14//69
-f 26//144 27//151 23//127
-f 27//150 35//197 34//192
-f 29//157 19//100 20//105
-f 30//166 29//159 31//170
-f 31//175 41//236 42//239
-f 32//179 31//174 29//161
-f 34//190 35//195 39//218
-f 35//193 27//148 26//141
-f 38//216 39//223 35//199
-f 39//222 47//269 46//264
-f 41//229 31//172 32//177
-f 42//238 41//231 43//242
-f 43//247 53//308 54//311
-f 44//251 43//246 41//233
-f 46//262 47//267 51//290
-f 47//265 39//220 38//213
-f 50//288 51//295 47//271
-f 51//294 59//341 58//336
-f 53//301 43//244 44//249
-f 54//310 53//303 55//314
-f 55//319 65//380 66//383
-f 56//323 55//318 53//305
-f 58//334 59//339 63//362
-f 59//337 51//292 50//285
-f 62//360 63//367 59//343
-f 63//366 71//413 70//408
-f 65//373 55//316 56//321
-f 66//382 65//375 67//386
-f 67//391 77//452 78//455
-f 68//395 67//390 65//377
-f 70//406 71//411 75//434
-f 71//409 63//364 62//357
-f 74//432 75//439 71//415
-f 75//438 83//485 82//480
-f 77//445 67//388 68//393
-f 78//454 77//447 79//458
-f 79//463 89//524 90//527
-f 80//467 79//462 77//449
-f 82//478 83//483 87//506
-f 83//481 75//436 74//429
-f 86//504 87//511 83//487
-f 87//510 95//557 94//552
-f 89//517 79//460 80//465
-f 90//526 89//519 91//530
-f 91//535 101//596 102//599
-f 92//539 91//534 89//521
-f 94//550 95//555 99//578
-f 95//553 87//508 86//501
-f 98//576 99//583 95//559
-f 99//582 107//630 106//624
-f 101//589 91//532 92//537
-f 102//598 101//591 103//602
-f 103//607 113//668 114//671
-f 104//611 103//606 101//593
-f 106//625 110//649 111//655
-f 107//626 99//580 98//573
-f 110//644 106//622 107//628
-f 111//654 119//700 118//695
-f 113//661 103//604 104//609
-f 114//670 113//663 115//674
-f 115//679 125//738 126//743
-f 116//682 115//678 113//665
-f 118//696 122//721 123//725
-f 119//697 111//652 110//645
-f 122//715 118//693 119//698
-f 123//723 122//719 10//51
-f 125//734 115//676 116//680
-s 3
-f 2//12 16//85 17//91
-f 3//14 16//81 2//10
-f 5//26 13//65 14//71
-f 6//30 13//62 5//24
-f 8//39 124//728 9//44
-f 11//56 122//717 12//59
-f 12//60 122//720 121//713
-f 14//70 13//64 23//122
-f 17//90 21//113 20//108
-f 20//106 21//111 29//158
-f 21//109 17//88 16//82
-f 23//126 25//137 26//143
-f 24//132 23//128 13//68
-f 25//134 23//124 24//130
-f 26//142 25//136 35//194
-f 28//156 29//163 21//116
-f 29//162 33//185 32//180
-f 32//178 33//183 41//230
-f 33//181 29//160 28//153
-f 35//198 37//209 38//215
-f 36//204 35//200 25//139
-f 37//206 35//196 36//202
-f 38//214 37//208 47//266
-f 40//228 41//235 33//188
-f 41//234 45//257 44//252
-f 44//250 45//255 53//302
-f 45//253 41//232 40//225
-f 47//270 49//281 50//287
-f 48//276 47//272 37//211
-f 49//278 47//268 48//274
-f 50//286 49//280 59//338
-f 52//300 53//307 45//260
-f 53//306 57//329 56//324
-f 56//322 57//327 65//374
-f 57//325 53//304 52//297
-f 59//342 61//353 62//359
-f 60//348 59//344 49//283
-f 61//350 59//340 60//346
-f 62//358 61//352 71//410
-f 64//372 65//379 57//332
-f 65//378 69//401 68//396
-f 68//394 69//399 77//446
-f 69//397 65//376 64//369
-f 71//414 73//425 74//431
-f 72//420 71//416 61//355
-f 73//422 71//412 72//418
-f 74//430 73//424 83//482
-f 76//444 77//451 69//404
-f 77//450 81//473 80//468
-f 80//466 81//471 89//518
-f 81//469 77//448 76//441
-f 83//486 85//497 86//503
-f 84//492 83//488 73//427
-f 85//494 83//484 84//490
-f 86//502 85//496 95//554
-f 88//516 89//523 81//476
-f 89//522 93//545 92//540
-f 92//538 93//543 101//590
-f 93//541 89//520 88//513
-f 95//558 97//569 98//575
-f 96//564 95//560 85//499
-f 97//566 95//556 96//562
-f 98//574 97//568 107//627
-f 100//588 101//595 93//548
-f 101//594 105//617 104//612
-f 104//610 105//615 113//662
-f 105//613 101//592 100//585
-f 107//631 109//641 110//647
-f 108//636 107//632 97//571
-f 109//638 107//629 108//634
-f 110//648 120//708 119//702
-f 112//660 113//667 105//620
-f 113//666 117//689 116//683
-f 116//684 124//733 125//737
-f 117//685 113//664 112//657
-f 119//701 121//711 122//718
-f 120//703 110//646 109//640
-f 121//709 119//699 120//705
-f 124//727 116//681 117//687
-f 125//735 124//731 8//41
-s 4
-f 1//2 13//61 6//29
-f 3//16 15//78 16//84
-f 4//19 15//73 3//15
-f 7//35 121//712 126//741
-f 9//45 124//729 10//48
-f 10//52 124//730 123//724
-f 12//58 121//710 7//33
-f 13//67 19//101 24//131
-f 16//83 15//75 21//110
-f 18//95 13//66 1//5
-f 19//97 13//63 18//93
-f 21//115 27//152 28//155
-f 22//119 21//114 15//77
-f 24//129 19//99 25//133
-f 25//138 31//173 36//203
-f 27//145 21//112 22//117
-f 28//154 27//147 33//182
-f 30//168 25//140 19//104
-f 31//169 25//135 30//165
-f 33//187 39//224 40//227
-f 34//191 33//186 27//149
-f 36//201 31//171 37//205
-f 37//210 43//245 48//275
-f 39//217 33//184 34//189
-f 40//226 39//219 45//254
-f 42//240 37//212 31//176
-f 43//241 37//207 42//237
-f 45//259 51//296 52//299
-f 46//263 45//258 39//221
-f 48//273 43//243 49//277
-f 49//282 55//317 60//347
-f 51//289 45//256 46//261
-f 52//298 51//291 57//326
-f 54//312 49//284 43//248
-f 55//313 49//279 54//309
-f 57//331 63//368 64//371
-f 58//335 57//330 51//293
-f 60//345 55//315 61//349
-f 61//354 67//389 72//419
-f 63//361 57//328 58//333
-f 64//370 63//363 69//398
-f 66//384 61//356 55//320
-f 67//385 61//351 66//381
-f 69//403 75//440 76//443
-f 70//407 69//402 63//365
-f 72//417 67//387 73//421
-f 73//426 79//461 84//491
-f 75//433 69//400 70//405
-f 76//442 75//435 81//470
-f 78//456 73//428 67//392
-f 79//457 73//423 78//453
-f 81//475 87//512 88//515
-f 82//479 81//474 75//437
-f 84//489 79//459 85//493
-f 85//498 91//533 96//563
-f 87//505 81//472 82//477
-f 88//514 87//507 93//542
-f 90//528 85//500 79//464
-f 91//529 85//495 90//525
-f 93//547 99//584 100//587
-f 94//551 93//546 87//509
-f 96//561 91//531 97//565
-f 97//570 103//605 108//635
-f 99//577 93//544 94//549
-f 100//586 99//579 105//614
-f 102//600 97//572 91//536
-f 103//601 97//567 102//597
-f 105//619 111//656 112//659
-f 106//623 105//618 99//581
-f 108//633 103//603 109//637
-f 109//642 115//677 120//706
-f 111//650 105//616 106//621
-f 112//658 111//651 117//686
-f 114//672 109//643 103//608
-f 115//673 109//639 114//669
-f 117//691 123//726 124//732
-f 118//694 117//690 111//653
-f 120//707 126//744 121//714
-f 123//722 117//688 118//692
-f 126//739 120//704 115//675
+# Exported from Wings 3D 1.5.2
+mtllib 42.mtl
+o Cylinder1
+#126 vertices, 248 faces
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+vn 1.2325952e-32 2.7755576e-16 1.00000000
+vn -1.1149665e-17 -0.86602540 0.50000000
+vn 1.2325952e-32 2.7755576e-16 1.00000000
+vn 6.8973781e-17 0.86602540 0.50000000
+vn 1.1337976e-16 2.7755576e-16 1.00000000
+vn 6.8973781e-17 0.86602540 0.50000000
+vn 1.1337976e-16 2.7755576e-16 1.00000000
+vn 6.8973781e-17 0.86602540 0.50000000
+vn 6.8973781e-17 0.86602540 -0.50000000
+vn 5.7824116e-17 0.86602540 0.50000000
+vn 6.8973781e-17 0.86602540 -0.50000000
+vn 5.7824116e-17 0.86602540 0.50000000
+vn 5.7824116e-17 0.86602540 0.50000000
+vn 6.8973781e-17 0.86602540 -0.50000000
+usemtl GOLD
+s 1
+f 1//4 5//25 2//11
+f 2//7 4//17 3//13
+f 4//18 2//8 5//22
+f 6//28 5//21 1//1
+f 7//32 11//54 12//57
+f 8//40 10//50 7//36
+f 9//43 10//46 8//37
+f 11//53 7//31 10//47
+s 2
+f 1//6 17//92 18//96
+f 2//9 17//86 1//3
+f 5//23 15//74 4//20
+f 7//34 126//740 8//38
+f 8//42 126//742 125//736
+f 10//49 122//716 11//55
+f 14//72 15//80 5//27
+f 15//79 23//125 22//120
+f 18//94 17//87 19//98
+f 19//103 29//164 30//167
+f 20//107 19//102 17//89
+f 22//118 23//123 27//146
+f 23//121 15//76 14//69
+f 26//144 27//151 23//127
+f 27//150 35//197 34//192
+f 29//157 19//100 20//105
+f 30//166 29//159 31//170
+f 31//175 41//236 42//239
+f 32//179 31//174 29//161
+f 34//190 35//195 39//218
+f 35//193 27//148 26//141
+f 38//216 39//223 35//199
+f 39//222 47//269 46//264
+f 41//229 31//172 32//177
+f 42//238 41//231 43//242
+f 43//247 53//308 54//311
+f 44//251 43//246 41//233
+f 46//262 47//267 51//290
+f 47//265 39//220 38//213
+f 50//288 51//295 47//271
+f 51//294 59//341 58//336
+f 53//301 43//244 44//249
+f 54//310 53//303 55//314
+f 55//319 65//380 66//383
+f 56//323 55//318 53//305
+f 58//334 59//339 63//362
+f 59//337 51//292 50//285
+f 62//360 63//367 59//343
+f 63//366 71//413 70//408
+f 65//373 55//316 56//321
+f 66//382 65//375 67//386
+f 67//391 77//452 78//455
+f 68//395 67//390 65//377
+f 70//406 71//411 75//434
+f 71//409 63//364 62//357
+f 74//432 75//439 71//415
+f 75//438 83//485 82//480
+f 77//445 67//388 68//393
+f 78//454 77//447 79//458
+f 79//463 89//524 90//527
+f 80//467 79//462 77//449
+f 82//478 83//483 87//506
+f 83//481 75//436 74//429
+f 86//504 87//511 83//487
+f 87//510 95//557 94//552
+f 89//517 79//460 80//465
+f 90//526 89//519 91//530
+f 91//535 101//596 102//599
+f 92//539 91//534 89//521
+f 94//550 95//555 99//578
+f 95//553 87//508 86//501
+f 98//576 99//583 95//559
+f 99//582 107//630 106//624
+f 101//589 91//532 92//537
+f 102//598 101//591 103//602
+f 103//607 113//668 114//671
+f 104//611 103//606 101//593
+f 106//625 110//649 111//655
+f 107//626 99//580 98//573
+f 110//644 106//622 107//628
+f 111//654 119//700 118//695
+f 113//661 103//604 104//609
+f 114//670 113//663 115//674
+f 115//679 125//738 126//743
+f 116//682 115//678 113//665
+f 118//696 122//721 123//725
+f 119//697 111//652 110//645
+f 122//715 118//693 119//698
+f 123//723 122//719 10//51
+f 125//734 115//676 116//680
+s 3
+f 2//12 16//85 17//91
+f 3//14 16//81 2//10
+f 5//26 13//65 14//71
+f 6//30 13//62 5//24
+f 8//39 124//728 9//44
+f 11//56 122//717 12//59
+f 12//60 122//720 121//713
+f 14//70 13//64 23//122
+f 17//90 21//113 20//108
+f 20//106 21//111 29//158
+f 21//109 17//88 16//82
+f 23//126 25//137 26//143
+f 24//132 23//128 13//68
+f 25//134 23//124 24//130
+f 26//142 25//136 35//194
+f 28//156 29//163 21//116
+f 29//162 33//185 32//180
+f 32//178 33//183 41//230
+f 33//181 29//160 28//153
+f 35//198 37//209 38//215
+f 36//204 35//200 25//139
+f 37//206 35//196 36//202
+f 38//214 37//208 47//266
+f 40//228 41//235 33//188
+f 41//234 45//257 44//252
+f 44//250 45//255 53//302
+f 45//253 41//232 40//225
+f 47//270 49//281 50//287
+f 48//276 47//272 37//211
+f 49//278 47//268 48//274
+f 50//286 49//280 59//338
+f 52//300 53//307 45//260
+f 53//306 57//329 56//324
+f 56//322 57//327 65//374
+f 57//325 53//304 52//297
+f 59//342 61//353 62//359
+f 60//348 59//344 49//283
+f 61//350 59//340 60//346
+f 62//358 61//352 71//410
+f 64//372 65//379 57//332
+f 65//378 69//401 68//396
+f 68//394 69//399 77//446
+f 69//397 65//376 64//369
+f 71//414 73//425 74//431
+f 72//420 71//416 61//355
+f 73//422 71//412 72//418
+f 74//430 73//424 83//482
+f 76//444 77//451 69//404
+f 77//450 81//473 80//468
+f 80//466 81//471 89//518
+f 81//469 77//448 76//441
+f 83//486 85//497 86//503
+f 84//492 83//488 73//427
+f 85//494 83//484 84//490
+f 86//502 85//496 95//554
+f 88//516 89//523 81//476
+f 89//522 93//545 92//540
+f 92//538 93//543 101//590
+f 93//541 89//520 88//513
+f 95//558 97//569 98//575
+f 96//564 95//560 85//499
+f 97//566 95//556 96//562
+f 98//574 97//568 107//627
+f 100//588 101//595 93//548
+f 101//594 105//617 104//612
+f 104//610 105//615 113//662
+f 105//613 101//592 100//585
+f 107//631 109//641 110//647
+f 108//636 107//632 97//571
+f 109//638 107//629 108//634
+f 110//648 120//708 119//702
+f 112//660 113//667 105//620
+f 113//666 117//689 116//683
+f 116//684 124//733 125//737
+f 117//685 113//664 112//657
+f 119//701 121//711 122//718
+f 120//703 110//646 109//640
+f 121//709 119//699 120//705
+f 124//727 116//681 117//687
+f 125//735 124//731 8//41
+s 4
+f 1//2 13//61 6//29
+f 3//16 15//78 16//84
+f 4//19 15//73 3//15
+f 7//35 121//712 126//741
+f 9//45 124//729 10//48
+f 10//52 124//730 123//724
+f 12//58 121//710 7//33
+f 13//67 19//101 24//131
+f 16//83 15//75 21//110
+f 18//95 13//66 1//5
+f 19//97 13//63 18//93
+f 21//115 27//152 28//155
+f 22//119 21//114 15//77
+f 24//129 19//99 25//133
+f 25//138 31//173 36//203
+f 27//145 21//112 22//117
+f 28//154 27//147 33//182
+f 30//168 25//140 19//104
+f 31//169 25//135 30//165
+f 33//187 39//224 40//227
+f 34//191 33//186 27//149
+f 36//201 31//171 37//205
+f 37//210 43//245 48//275
+f 39//217 33//184 34//189
+f 40//226 39//219 45//254
+f 42//240 37//212 31//176
+f 43//241 37//207 42//237
+f 45//259 51//296 52//299
+f 46//263 45//258 39//221
+f 48//273 43//243 49//277
+f 49//282 55//317 60//347
+f 51//289 45//256 46//261
+f 52//298 51//291 57//326
+f 54//312 49//284 43//248
+f 55//313 49//279 54//309
+f 57//331 63//368 64//371
+f 58//335 57//330 51//293
+f 60//345 55//315 61//349
+f 61//354 67//389 72//419
+f 63//361 57//328 58//333
+f 64//370 63//363 69//398
+f 66//384 61//356 55//320
+f 67//385 61//351 66//381
+f 69//403 75//440 76//443
+f 70//407 69//402 63//365
+f 72//417 67//387 73//421
+f 73//426 79//461 84//491
+f 75//433 69//400 70//405
+f 76//442 75//435 81//470
+f 78//456 73//428 67//392
+f 79//457 73//423 78//453
+f 81//475 87//512 88//515
+f 82//479 81//474 75//437
+f 84//489 79//459 85//493
+f 85//498 91//533 96//563
+f 87//505 81//472 82//477
+f 88//514 87//507 93//542
+f 90//528 85//500 79//464
+f 91//529 85//495 90//525
+f 93//547 99//584 100//587
+f 94//551 93//546 87//509
+f 96//561 91//531 97//565
+f 97//570 103//605 108//635
+f 99//577 93//544 94//549
+f 100//586 99//579 105//614
+f 102//600 97//572 91//536
+f 103//601 97//567 102//597
+f 105//619 111//656 112//659
+f 106//623 105//618 99//581
+f 108//633 103//603 109//637
+f 109//642 115//677 120//706
+f 111//650 105//616 106//621
+f 112//658 111//651 117//686
+f 114//672 109//643 103//608
+f 115//673 109//639 114//669
+f 117//691 123//726 124//732
+f 118//694 117//690 111//653
+f 120//707 126//744 121//714
+f 123//722 117//688 118//692
+f 126//739 120//704 115//675
diff --git a/Model/Spectrum.txt b/Model/Spectrum.txt
index 079ab3a4..d8f3d416 100644
--- a/Model/Spectrum.txt
+++ b/Model/Spectrum.txt
@@ -81,6 +81,9 @@ Moai 3
 0.2    96  81  72
 1.0    96  81  72
 
+Moon 2
+0.0   255 255 255
+1.0    40  40  40
 
 Asteroid 2
 0.0   255 255 255
diff --git a/Rover/Flex_Simple.txt b/Rover/Flex_Simple.txt
new file mode 100644
index 00000000..7047137c
--- /dev/null
+++ b/Rover/Flex_Simple.txt
@@ -0,0 +1,64 @@
+<<<<<<<<<<<<<<  Flexible Body Inputs for 42  >>>>>>>>>>>>>>>>>>>
+Simple Flex Model                    ! Description
+2                                    ! Number of Flex Modes
+****************** Initial Modal States x, u  ******************
+1.0E-6  0.0                             ! Mode 0  x, u
+1.0E-6  0.0                             ! Mode 1  x, u
+****************** Joint Node Mode Shapes *********************
+*******  Non-zero Translation Mode Shape (PSI) Elements ********
+0                                  ! Number of non-zero elements
+*******  Non-zero Rotation Mode Shape (THETA) Elements ********
+0                                  ! Number of non-zero elements
+**************** Analysis Node Mode Shapes *********************
+*******  Non-zero Translation Mode Shape (PSI) Elements ********
+12                                 ! Number of non-zero elements
+  0  0  0  0.1                     ! [Mode] [Node] [Axis] Value
+  0  0  1  0.1                     ! [Mode] [Node] [Axis] Value
+  0  0  2  0.1                     ! [Mode] [Node] [Axis] Value
+  0  1  0  -0.1                    ! [Mode] [Node] [Axis] Value
+  0  1  1  -0.1                    ! [Mode] [Node] [Axis] Value
+  0  1  2  -0.1                    ! [Mode] [Node] [Axis] Value
+  1  0  0  0.1                     ! [Mode] [Node] [Axis] Value
+  1  0  1  0.1                     ! [Mode] [Node] [Axis] Value
+  1  0  2  0.1                     ! [Mode] [Node] [Axis] Value
+  1  1  0  0.1                     ! [Mode] [Node] [Axis] Value
+  1  1  1  0.1                     ! [Mode] [Node] [Axis] Value
+  1  1  2  0.1                     ! [Mode] [Node] [Axis] Value
+*******  Non-zero Rotation Mode Shape (THETA) Elements ********
+12                                 ! Number of non-zero elements
+  0  0  0  0.1                     ! [Mode] [Node] [Axis] Value
+  0  0  1  0.0707                  ! [Mode] [Node] [Axis] Value
+  0  0  2  0.057735                ! [Mode] [Node] [Axis] Value
+  0  1  0  -0.1                    ! [Mode] [Node] [Axis] Value
+  0  1  1  -0.0707                 ! [Mode] [Node] [Axis] Value
+  0  1  2  -0.057735               ! [Mode] [Node] [Axis] Value
+  1  0  0  0.1                     ! [Mode] [Node] [Axis] Value
+  1  0  1  0.0707                  ! [Mode] [Node] [Axis] Value
+  1  0  2  0.057735                ! [Mode] [Node] [Axis] Value
+  1  1  0  0.1                     ! [Mode] [Node] [Axis] Value
+  1  1  1  0.0707                  ! [Mode] [Node] [Axis] Value
+  1  1  2  0.057735                ! [Mode] [Node] [Axis] Value
+****************  Non-zero Mass Matrix Elements ******************
+2                                  ! Number of non-zero elements
+0 0    1.0                         ! [Row] [Col] Value
+1 1    1.0                         ! [Row] [Col] Value
+*************  Non-zero Stiffness Matrix Elements ****************
+2                                  ! Number of non-zero elements
+0 0    39.478                      ! [Row] [Col] Value (1 Hz)
+1 1    3947.8                      ! [Row] [Col] Value (10 Hz)
+*************  Non-zero Damping Matrix Elements ****************
+2                                  ! Number of non-zero elements
+0 0    0.012566                    ! [Row] [Col] Value (0.1%)
+1 1    0.12566                     ! [Row] [Col] Value (0.1%)
+*********  Linear Momentum Modal Integral, Pf, 3 x Nf  *********
+0.0 0.0 0.0                        ! Mode 0, [x y z]
+0.0 0.0 0.0                        ! Mode 1, [x y z]
+********  Angular Momentum Modal Integral, Hf, 3 x Nf  *********
+0.0 0.0 0.0                        ! Mode 0, [x y z]
+0.0 0.0 0.0                        ! Mode 1, [x y z]
+**********  Linear Modal Integral, L, 3 x 3 x Nf  **************
+0                                  ! Number of non-zero elements
+*********  Angular Modal Integral, N, 3 x 3 x Nf x Nf  *********
+0                                  ! Number of non-zero elements
+[EOF]
+     
\ No newline at end of file
diff --git a/Rover/Inp_AcOutput.txt b/Rover/Inp_AcOutput.txt
new file mode 100644
index 00000000..36be1915
--- /dev/null
+++ b/Rover/Inp_AcOutput.txt
@@ -0,0 +1,16 @@
+<<<<<<<<<<<<<<<<<<  AC Outputs for 42  >>>>>>>>>>>>>>>>>>>
+TRUE  0.25   ! Ac Tlm Enabled, Interval
+FALSE  5.0   ! AcG Tlm Enabled, Interval
+FALSE  5.0   ! Ac_GCmd Tlm Enabled, Interval
+FALSE  5.0   ! AcGyro Tlm Enabled, Interval
+FALSE  5.0   ! AcMAG Tlm Enabled, Interval
+FALSE  5.0   ! AcCSS Tlm Enabled, Interval
+FALSE  5.0   ! AcFSS Tlm Enabled, Interval
+FALSE  5.0   ! AcST Tlm Enabled, Interval
+FALSE  5.0   ! AcGPS Tlm Enabled, Interval
+FALSE  5.0   ! AcAccel Tlm Enabled, Interval
+FALSE  5.0   ! AcWhl Tlm Enabled, Interval
+FALSE  5.0   ! AcMTB Tlm Enabled, Interval
+FALSE  5.0   ! AcThr Tlm Enabled, Interval
+FALSE  5.0   ! AcCmd Tlm Enabled, Interval
+
diff --git a/Rover/Inp_Cmd.txt b/Rover/Inp_Cmd.txt
new file mode 100755
index 00000000..8e392c56
--- /dev/null
+++ b/Rover/Inp_Cmd.txt
@@ -0,0 +1,92 @@
+<<<<<<<<<<<<<<<<<  42:  Command Script File  >>>>>>>>>>>>>>>>>
+#0.0 CaptureCam TRUE
+#0.0 Banner = "Hit P to unpause" 
+#6.0 GL Output Step = 0.02
+#7.0 GL Output Step = 0.04
+#8.0 GL Output Step = 0.06
+#9.0 GL Output Step = 0.08
+#10.0 GL Output Step = 0.1
+10.0 POV CmdRange = 60.0
+10.0 POV CmdSeq = 123
+10.0 POV CmdAngle = [-45.0 00.0 0.0] deg
+10.0 POV CmdPermute = [0.0 1.0 0.0; 0.0 0.0 1.0; 1.0 0.0 0.0]
+10.0 POV TimeToGo = 60.0
+
+
+EOF
+
+##############################################################
+# All lines after EOF are ignored
+# Comment lines begin with #, %, or //
+# Blank lines are permitted
+
+# Here are recognized command formats.
+#  %lf means that a floating-point number is expected
+#  %ld means that an integer is expected
+#  %s means that a string is expected
+#  %c means that a character is expected
+#  Look in functions SimCmdInterpreter, GuiCmdInterpreter, 
+#     and FswCmdInterpreter for strings and characters that 
+#     are meaningful in a particular context
+#  The first %lf is always the SimTime of command execution.
+
+# Sim-related commands
+%lf DTSIM = %lf
+%lf SC[%ld].DynMethod %s
+%lf SC[%ld].G[%ld].RotLocked[%ld] %s
+%lf SC[%ld].G[%ld].TrnLocked[%ld] %s
+%lf Impart Impulsive Delta-V of [%lf %lf %lf] m/s in Frame %c to Orb[%ld]
+   %c can be N or L
+%lf SC[%ld].LoopGain = %lf
+%lf SC[%ld].LoopDelay = %lf
+%lf SC[%ld].GainAndDelayActive = %s
+
+# GUI-related commands
+%lf POV.Host.SC %ld
+%lf CaptureCam %s
+%lf CamSnap %s
+%lf MapSnap %s
+%lf Banner = "Banner in Quotes"
+%lf GL Output Step = %lf
+%lf POV CmdRange = %lf
+%lf POV CmdSeq = %ld
+%lf POV CmdAngle = [%lf %lf %lf] deg
+%lf POV CmdPermute = [%lf %lf %lf; %lf %lf %lf; %lf %lf %lf]
+%lf POV TimeToGo = %lf
+%lf POV Frame = %c
+%lf ShowHUD %s
+%lf ShowWatermark %s
+%lf ShowShadows %s
+%lf ShowProxOps %s
+%lf ShowFOV %s
+%lf FOV[%ld].NearExists =  %s
+%lf FOV[%ld].FarExists =  %s
+
+# FSW-related commands
+%lf SC[%ld] FswTag = %s
+   # %s is PASSIVE_FSW, INSTANT_FSW, etc.
+%lf SC[%ld] qrn = [%lf %lf %lf %lf]
+%lf SC[%ld] qrl = [%lf %lf %lf %lf]
+%lf SC[%ld] Cmd Angles = [%lf %lf %lf] deg, Seq = %ld wrt %c Frame
+   # %c is either N or L
+%lf SC[%ld].G[%ld] Cmd Angles = [%lf %lf %lf] deg
+#  In the following, the (first) %s is either "Primary" or "Secondary"
+%lf Point SC[%ld].B[%ld] %s Vector [%lf %lf %lf] at RA = %lf deg, Dec = %lf deg
+%lf Point SC[%ld].B[%ld] %s Vector [%lf %lf %lf] at World[%ld] Lng = %lf deg, Lat = %lf deg, Alt = %lf km
+%lf Point SC[%ld].B[%ld] %s Vector [%lf %lf %lf] at World[%ld]
+%lf Point SC[%ld].B[%ld] %s Vector [%lf %lf %lf] at GroundStation[%ld]
+%lf Point SC[%ld].B[%ld] %s Vector [%lf %lf %lf] at %s
+   # Last %s is SUN, MOON, any planet, VELOCITY, or MAGFIELD
+%lf Point SC[%ld].B[%ld] %s Vector [%lf %lf %lf] at SC[%ld]
+%lf Point SC[%ld].B[%ld] %s Vector [%lf %lf %lf] at SC[%ld].B[%ld] point [%lf %lf %lf]
+%lf Align SC[%ld].B[%ld] %s Vector [%lf %lf %lf] with %c-frame Vector [%lf %lf %lf]
+   # %c-frame can be H, N, or L
+%lf Align SC[%ld].B[%ld] %s Vector [%lf %lf %lf] with SC[%ld].B[%ld] vector [%lf %lf %lf]
+Event Eclipse Entry SC[%ld] qrl = [%lf %lf %lf %lf]
+Event Eclipse Exit SC[%ld] qrl = [%lf %lf %lf %lf]
+Event Eclipse Entry SC[%ld] Cmd Angles = [%lf %lf %lf] deg, Seq = %ld wrt %c Frame
+   # %c is either N or L
+Event Eclipse Exit SC[%ld] Cmd Angles = [%lf %lf %lf] deg, Seq = %ld wrt %c Frame
+   # %c is either N or L
+%lf Set SC[%ld] RampCoastGlide wc = %lf Hz, amax = %lf, vmax = %lf
+%lf Spin SC[%ld] about Primary Vector at %lf deg/sec
diff --git a/Rover/Inp_FOV.txt b/Rover/Inp_FOV.txt
new file mode 100644
index 00000000..354aaecb
--- /dev/null
+++ b/Rover/Inp_FOV.txt
@@ -0,0 +1,46 @@
+************************* Fields of View ***************************
+1                                 !  Number of FOVs
+--------------------------------------------------------------------
+"LIDAR"                           !  Label
+12   4.0                           !  Number of Sides, Length [m]
+8.0  4.0                          !  H Width, V Height [deg]
+0.0 0.7 0.5 0.5                   !  Color RGB+Alpha
+SOLID                             !  WIREFRAME, SOLID, VECTOR, or PLANE 
+TRUE  FALSE                       !  Draw Near Field, Draw Far Field
+0  0                              !  SC, Body 
+0.5  0.0  0.25                     !  Position in Body [m]
+30.0  0.0  0.0  231                !  Euler Angles [deg], Sequence
+X_AXIS                            !  Boresight Axis X_AXIS, Y_AXIS, or Z_AXIS
+--------------------------------------------------------------------
+"WIRE"                            !  Label
+24   4.0                          !  Number of Sides, Length [m]
+10.0  5.0                         !  H Width, V Height [deg]
+0.7 0.7 0.0 1.0                   !  Color RGB+Alpha
+WIREFRAME                         !  WIREFRAME, SOLID, VECTOR, or PLANE 
+TRUE  TRUE                        !  Draw Near Field, Draw Far Field
+0  0                              !  SC, Body 
+1.0  0.0  0.0                     !  Position in Body [m]
+0.0  0.0  0.0  213                !  Euler Angles [deg], Sequence
+X_AXIS                            !  Boresight Axis X_AXIS, Y_AXIS, or Z_AXIS
+--------------------------------------------------------------------
+"VECTOR"                          !  Label
+0   4.0                           !  Number of Sides, Length [m]
+0.0  0.0                          !  H Width, V Height [deg]
+0.0 1.0 1.0 1.0                   !  Color RGB+Alpha
+VECTOR                            !  WIREFRAME, SOLID, VECTOR, or PLANE 
+TRUE  TRUE                        !  Draw Near Field, Draw Far Field
+0  0                              !  SC, Body 
+1.0  0.0  0.0                     !  Position in Body [m]
+135.0  0.0  0.0  213              !  Euler Angles [deg], Sequence
+Z_AXIS                            !  Boresight Axis X_AXIS, Y_AXIS, or Z_AXIS
+--------------------------------------------------------------------
+"PLANE"                           !  Label
+24    8.0                         !  Number of Sides, Length [m]
+0.0  0.0                          !  H Width, V Height [deg]
+1.0 1.0 1.0 0.3                   !  Color RGB+Alpha
+PLANE                             !  WIREFRAME, SOLID, VECTOR, or PLANE 
+TRUE  TRUE                        !  Draw Near Field, Draw Far Field
+0  0                              !  SC, Body 
+0.0  0.0  0.0                     !  Position in Body [m]
+-45.0  0.0  0.0  213              !  Euler Angles [deg], Sequence
+Z_AXIS                            !  Boresight Axis X_AXIS, Y_AXIS, or Z_AXIS
diff --git a/Rover/Inp_Graphics.txt b/Rover/Inp_Graphics.txt
new file mode 100755
index 00000000..e8cb0840
--- /dev/null
+++ b/Rover/Inp_Graphics.txt
@@ -0,0 +1,55 @@
+<<<<<<<<<<<<<<<<  42 Graphics Configuration File  >>>>>>>>>>>>>>>>>>>
+0.1                                !  GL Output Interval [sec]
+Skymap09.txt                       !  Star Catalog File Name
+TRUE                               !  Map Window Exists
+FALSE                              !  Orrery Window Exists
+FALSE                              !  Unit Sphere Window Exists
+******************************* POV *********************************
+FALSE                              !  Pause at Startup
+TRACK_HOST                         !  POV Mode (TRACK_HOST, TRACK_TARGET, FIXED_IN_HOST)
+SC                                 !  Host Type (WORLD, REFORB, FRM, SC, BODY)
+0  0  L                            !  Initial Host SC, Body, POV Frame
+SC                                 !  Target Type (WORLD, REFORB, FRM, SC, BODY)
+0  0  L                            !  Initial Target SC, Body, POV Frame
+NEG_X                              !  Boresight Axis
+POS_Z                              !  Up Axis
+10.0                               !  Initial POV Range from Target [m]
+30.0                               !  POV Angle (Vertical) [deg]
+0.0  0.0  0.0                      !  POV Position in Host [m]
+FRONT                              !  Initial POV View (FRONT, FRONT_RIGHT, etc)
+******************************* CAM *********************************
+"42 Cam"                           ! Cam Title [delimited by "]
+800  800                           !  Width, Height [pixels]
+5.0E-5                             !  Mouse Scale Factor
+1.8                                !  Display's Gamma Exponent (1.8-4.0)
+************************** CAM Show Menu ****************************
+FALSE "N Axes"                     !  Show N Axes
+FALSE "L Axes"                     !  Show L Axes
+TRUE  "F Axes"                     !  Show F Axes
+FALSE "B Axes"                     !  Show B Axes
+FALSE "N Grid"                     !  Show N Grid
+FALSE "L Grid"                     !  Show L Grid
+FALSE "F Grid"                     !  Show F Grid
+FALSE "B Grid"                     !  Show B Grid
+FALSE "Gal Grid"                   !  Show B Grid
+TRUE  "FOVs"                       !  Show Fields of View
+FALSE "Prox Ops"                   !  Show Prox Ops
+FALSE "TDRS"                       !  Show TDRS Satellites
+TRUE  "Shadows"                    !  Show Shadows
+FALSE "Astro Labels"               !  Show Astro Labels
+FALSE "Truth Vectors"              !  Show Truth Vectors
+FALSE "FSW Vectors"                !  Show FSW Vectors
+TRUE  "Milky Way"                  !  Show Milky Way
+FALSE "Fermi Sky"                  !  Show Fermi Sky
+******************************* MAP *********************************
+"42 Map"                           ! Map Title [delimited by "]
+512  256                           !  Width, Height [pixels]
+************************** MAP Show Menu ****************************
+TRUE  "Clock"                      !  Show Clock
+TRUE  "Tlm Clock"                  !  Show Clock
+FALSE "Credits"                    !  Show Credits
+TRUE  "Night"                      !  Show Night
+********************* Unit Sphere Show Menu *************************
+TRUE                               !  Show Major Constellations
+TRUE                               !  Show Zodiac Constellations
+FALSE                              !  Show Minor Constellations
\ No newline at end of file
diff --git a/Rover/Inp_IPC.txt b/Rover/Inp_IPC.txt
new file mode 100644
index 00000000..4a00b951
--- /dev/null
+++ b/Rover/Inp_IPC.txt
@@ -0,0 +1,44 @@
+<<<<<<<<<<<<<<< 42: InterProcess Comm Configuration File >>>>>>>>>>>>>>>>
+0                                       ! Number of Sockets
+**********************************  IPC 0   *****************************
+OFF                                     ! IPC Mode (OFF,TX,RX,TXRX,ACS,WRITEFILE,READFILE)
+0                                       ! AC.ID for ACS mode
+"State00.42"                            ! File name for WRITE or READ
+CLIENT                                  ! Socket Role (SERVER,CLIENT,GMSEC_CLIENT)
+localhost     10001                     ! Server Host Name, Port 
+TRUE                                    ! Allow Blocking (i.e. wait on RX)
+TRUE                                    ! Echo to stdout
+3                                       ! Number of TX prefixes
+"SC"                                    ! Prefix 0
+"Orb"                                   ! Prefix 1
+"World"                                 ! Prefix 2
+**********************************  IPC 1   *****************************
+OFF                                     ! IPC Mode (OFF,TX,RX,TXRX,ACS,WRITEFILE,READFILE)
+0                                       ! AC.ID for ACS mode
+"State01.42"                            ! File name for WRITE or READ
+CLIENT                                  ! Socket Role (SERVER,CLIENT,GMSEC_CLIENT)
+localhost     10002                     ! Server Host Name, Port 
+TRUE                                    ! Allow Blocking (i.e. wait on RX)
+FALSE                                   ! Echo to stdout
+1                                       ! Number of TX prefixes
+"SC[0].AC"                              ! Prefix 0
+**********************************  IPC 2   *****************************
+OFF                                     ! IPC Mode (OFF,TX,RX,TXRX,ACS,WRITEFILE,READFILE)
+1                                       ! AC.ID for ACS mode
+"State02.42"                            ! File name for WRITE or READ
+CLIENT                                  ! Socket Role (SERVER,CLIENT,GMSEC_CLIENT)
+localhost     10003                     ! Server Host Name, Port 
+TRUE                                    ! Allow Blocking (i.e. wait on RX)
+FALSE                                   ! Echo to stdout
+1                                       ! Number of TX prefixes
+"SC[1].AC"                              ! Prefix 0
+**********************************  IPC 3   *****************************
+OFF                                     ! IPC Mode (OFF,TX,RX,TXRX,ACS,WRITEFILE,READFILE)
+0                                       ! AC.ID for ACS mode
+"State03.42"                            ! File name for WRITE or READ
+CLIENT                                  ! Socket Role (SERVER,CLIENT,GMSEC_CLIENT)
+localhost     10004                     ! Server Host Name, Port 
+TRUE                                    ! Allow Blocking (i.e. wait on RX)
+FALSE                                   ! Echo to stdout
+1                                       ! Number of TX prefixes
+"SC[0].Tach[0]"                         ! Prefix 0
diff --git a/Rover/Inp_NOS3.txt b/Rover/Inp_NOS3.txt
new file mode 100644
index 00000000..beb2737e
--- /dev/null
+++ b/Rover/Inp_NOS3.txt
@@ -0,0 +1,3 @@
+<<<<<<<<<<<<<<<<  42 NOS3 Time Configuration File  >>>>>>>>>>>>>>>>>>>
+command                         !  NOS3 Time Bus
+tcp://127.0.0.1:12001           !  NOS3 Time Connection String
diff --git a/Rover/Inp_Region.txt b/Rover/Inp_Region.txt
new file mode 100644
index 00000000..4181dc5d
--- /dev/null
+++ b/Rover/Inp_Region.txt
@@ -0,0 +1,29 @@
+********************  Regions for 42  *******************
+1                            !  Number of Regions
+---------------------------------------------------------
+TRUE                         ! Exists
+"Crater"                     ! Name
+LUNA                         ! World
+LLA                          ! POSW or LLA
+0.0   0.0  0.0               ! Position in W, m
+30.0  60.0  100.0             ! Lng, Lat (deg), Alt (m)
+1.0E6  1.0E4  0.8            ! Elasticity, Damping, Friction Coef
+Rgn_MoonCrater.obj           ! Geometry File Name
+---------------------------------------------------------
+TRUE                         ! Exists
+"TAG"                        ! Name
+MINORBODY_2                  ! World
+POSW                         ! POSW or LLA
+2400.9966  -1074.41895  439.1271   ! Position in W, m
+-24.120375966731  9.48979662  27.7155      ! Lng, Lat (deg), Alt (m)
+1.0E6  1.0E4  0.1            ! Elasticity, Damping, Friction Coef
+Rgn_TAG.obj                  ! Geometry File Name
+---------------------------------------------------------
+TRUE                         ! Exists
+"LZ"                         ! Name
+EARTH                        ! World
+LLA                          ! POSW or LLA
+0.0   0.0  0.0               ! Position in W, m
+-80.53  28.46 10.0               ! Lng, Lat (deg), Alt (m)
+1.0E6  1.0E4  0.1            ! Elasticity, Damping, Friction Coef
+Rgn_Terrain.obj              ! Geometry File Name
diff --git a/Rover/Inp_ScOutput.txt b/Rover/Inp_ScOutput.txt
new file mode 100644
index 00000000..ed3c889d
--- /dev/null
+++ b/Rover/Inp_ScOutput.txt
@@ -0,0 +1,9 @@
+<<<<<<<<<<<<<<<<<<  SC Outputs for 42  >>>>>>>>>>>>>>>>>>>
+TRUE  0.25   ! Sc Tlm Enabled, Interval
+FALSE  5.0   ! ScB Tlm Enabled, Interval
+FALSE  5.0   ! ScG Tlm Enabled, Interval
+FALSE  5.0   ! ScGN Tlm Enabled, Interval
+FALSE  5.0   ! ScWhl Tlm Enabled, Interval
+FALSE  5.0   ! ScGyro Tlm Enabled, Interval
+FALSE  5.0   ! ScShaker Tlm Enabled, Interval
+
diff --git a/Rover/Inp_Sim.txt b/Rover/Inp_Sim.txt
new file mode 100755
index 00000000..7e046f7d
--- /dev/null
+++ b/Rover/Inp_Sim.txt
@@ -0,0 +1,61 @@
+<<<<<<<<<<<<<<<<<  42: The Mostly Harmless Simulator  >>>>>>>>>>>>>>>>>
+************************** Simulation Control **************************
+FAST                            !  Time Mode (FAST, REAL, EXTERNAL, or NOS3)
+250.0    0.01                  !  Sim Duration, Step Size [sec]
+10.0                            !  File Output Interval [sec]
+0                               !  RNG Seed
+TRUE                            !  Graphics Front End?
+Inp_Cmd.txt                     !  Command Script File Name
+**************************  Reference Orbits  **************************
+1                               !  Number of Reference Orbits
+TRUE   Orb_Rover.txt            !  Input file name for Orb 0
+*****************************  Spacecraft  *****************************
+1                               !  Number of Spacecraft
+TRUE  0 SC_Rover.txt            !  Existence, RefOrb, Input file for SC 0
+***************************** Environment  *****************************
+03 10 2025                      !  Date (UTC) (Month, Day, Year)
+12 02 57.60                     !  Time (UTC) (Hr,Min,Sec)
+37.0                            !  Leap Seconds (sec)
+USER                            !  F10.7, Ap (USER, NOMINAL or TWOSIGMA)
+230.0                           !  USER-provided F10.7
+100.0                           !  USER-provided Ap 
+IGRF                            !  Magfield (NONE,DIPOLE,IGRF)
+8   8                           !  IGRF Degree and Order (<=10)
+8   8                           !  Earth Gravity Model N and M (<=18)
+2   0                           !  Mars Gravity Model N and M (<=18)
+2   0                           !  Luna Gravity Model N and M (<=18)
+FALSE   FALSE                   !  Aerodynamic Forces & Torques (Shadows)
+FALSE                           !  Gravity Gradient Torques
+FALSE   FALSE                   !  Solar Pressure Forces & Torques (Shadows)
+FALSE                           !  Gravity Perturbation Forces
+TRUE                            !  Passive Joint Forces & Torques
+FALSE                           !  Thruster Plume Forces & Torques
+TRUE                            !  Contact Forces and Torques
+FALSE                           !  CFD Slosh Forces and Torques
+FALSE                           !  Albedo Effect on CSS Measurements
+FALSE                           !  Output Environmental Torques to Files
+********************* Celestial Bodies of Interest *********************
+MEAN                           !  Ephem Option (MEAN or DE430)
+TRUE                            !  Mercury
+TRUE                            !  Venus
+TRUE                            !  Earth and Luna
+TRUE                            !  Mars and its moons
+TRUE                            !  Jupiter and its moons
+TRUE                            !  Saturn and its moons
+TRUE                            !  Uranus and its moons
+TRUE                            !  Neptune and its moons
+TRUE                            !  Pluto and its moons
+FALSE                           !  Asteroids and Comets
+***************** Lagrange Point Systems of Interest ******************
+FALSE                           !  Earth-Moon
+FALSE                           !  Sun-Earth
+FALSE                           !  Sun-Jupiter
+************************* Ground Stations ***************************
+6                                             ! Number of Ground Stations
+TRUE  LUNA   23.47298   0.67409  "A11"  ! Exists, World, Lng, Lat, Label
+TRUE  LUNA  -23.41930  -3.01381  "A12"  ! Exists, World, Lng, Lat, Label
+TRUE  LUNA  -17.47139  -3.64544  "A14"  ! Exists, World, Lng, Lat, Label
+TRUE  LUNA    3.63400  26.13224  "A15"  ! Exists, World, Lng, Lat, Label
+TRUE  LUNA   15.49859  -8.97341  "A16"  ! Exists, World, Lng, Lat, Label
+TRUE  LUNA   30.77475  20.18809  "A17"  ! Exists, World, Lng, Lat, Label
+
diff --git a/Rover/Inp_TDRS.txt b/Rover/Inp_TDRS.txt
new file mode 100755
index 00000000..0c270f74
--- /dev/null
+++ b/Rover/Inp_TDRS.txt
@@ -0,0 +1,13 @@
+<<<<<<<<<<<<<<<<<<<  42 TDRS Configuration File  >>>>>>>>>>>>>>>>>>>>>>
+FALSE  "TDRS-1"             ! TDRS-1 Exists, Designation
+FALSE  "In Memorium"        ! TDRS-2 was lost along with Challenger
+TRUE   "TDZ"                ! TDRS-3 Exists, Designation
+FALSE  "TDS"                ! TDRS-4 Exists, Designation
+FALSE  "TD171"              ! TDRS-5 Exists, Designation
+TRUE   "TDW"                ! TDRS-6 Exists, Designation
+FALSE  "TDRS-7"             ! TDRS-7 Exists, Designation
+FALSE  "TD271"              ! TDRS-8 Exists, Designation
+FALSE  "TDRS-9"             ! TDRS-9 Exists, Designation
+TRUE   "TDE"                ! TDRS-10 Exists, Designation
+
+
diff --git a/Rover/Jnt_Hip.txt b/Rover/Jnt_Hip.txt
new file mode 100644
index 00000000..ad04d48a
--- /dev/null
+++ b/Rover/Jnt_Hip.txt
@@ -0,0 +1,7 @@
+<<<<<<<<<<<<<<<<  Passive Joint Parameters for 42  >>>>>>>>>>>>>>>>>>>>>
+Hip Joint                     ! Description
+************************************************************************
+100.0   100.0  0.0            ! Rot Passive Spring Coefficients (Nm/rad)
+10.0   10.0  0.0            ! Rot Passive Damping Coefficients (Nms/rad)
+0.0   0.0  0.0                ! Trn Passive Spring Coefficients (N/m)
+0.0   0.0  0.0                ! Trn Passive Damping Coefficients (Ns/m)
diff --git a/Rover/Jnt_Knee.txt b/Rover/Jnt_Knee.txt
new file mode 100644
index 00000000..006864bf
--- /dev/null
+++ b/Rover/Jnt_Knee.txt
@@ -0,0 +1,7 @@
+<<<<<<<<<<<<<<<<  Passive Joint Parameters for 42  >>>>>>>>>>>>>>>>>>>>>
+Knee Joint                    ! Description
+************************************************************************
+1000.0   0.0  0.0              ! Rot Passive Spring Coefficients (Nm/rad)
+100.0    0.0  0.0              ! Rot Passive Damping Coefficients (Nms/rad)
+0.0   0.0  0.0                ! Trn Passive Spring Coefficients (N/m)
+0.0   0.0  0.0                ! Trn Passive Damping Coefficients (Ns/m)
diff --git a/Rover/Leg Kinematics.pdf b/Rover/Leg Kinematics.pdf
new file mode 100644
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diff --git a/Rover/Nodes_Simple.txt b/Rover/Nodes_Simple.txt
new file mode 100644
index 00000000..c858d3eb
--- /dev/null
+++ b/Rover/Nodes_Simple.txt
@@ -0,0 +1,8 @@
+<<<<<<<<<<<<<<<<  Body Node Inputs for 42  >>>>>>>>>>>>>>>>>>>>>
+Simple Nodes                    ! Description
+4                               ! Number of Nodes
+******************* Node Location, Comment *********************
+-1.0  0.0  2.5        "Wheels"
+ 1.0 -1.0  1.5        "Gyro"
+0.0  0.0  1.0         "Fwd Thrusters"
+0.0  0.0 -1.0         "Aft Thrusters"
\ No newline at end of file
diff --git a/Rover/Orb_Rover.txt b/Rover/Orb_Rover.txt
new file mode 100755
index 00000000..fc0e757a
--- /dev/null
+++ b/Rover/Orb_Rover.txt
@@ -0,0 +1,47 @@
+<<<<<<<<<<<<<<<<<  42: Orbit Description File   >>>>>>>>>>>>>>>>>
+Lander                        !  Description
+FLIGHT                        !  Orbit Type (ZERO, FLIGHT, CENTRAL, THREE_BODY)
+::::::::::::::  Use these lines if ZERO           :::::::::::::::::
+MINORBODY_2                   !  World
+FALSE                         ! Use Polyhedron Gravity
+::::::::::::::  Use these lines if FLIGHT         :::::::::::::::::
+0                             !  Region Number
+FALSE                         ! Use Polyhedron Gravity
+::::::::::::::  Use these lines if CENTRAL        :::::::::::::::::
+EARTH                         !  Orbit Center
+FALSE                         !  Secular Orbit Drift Due to J2
+KEP                           !  Use Keplerian elements (KEP) or (RV) or FILE
+PA                            !  Use Peri/Apoapsis (PA) or min alt/ecc (AE)
+400.0      400.0              !  Periapsis & Apoapsis Altitude, km
+400.0  2.0                    !  Min Altitude (km), Eccentricity
+52.0                          !  Inclination (deg)
+180.0                         !  Right Ascension of Ascending Node (deg)
+0.0                           !  Argument of Periapsis (deg)
+180.0                           !  True Anomaly (deg)
+6678.0  0.0  0.0              !  RV Initial Position (km)
+0.0  8.5  0.0                 !  RV Initial Velocity (km/sec)
+TRV                           !  TLE, TRV, or SPLINE file format
+"TRV.txt"                     !  File name
+"EXAMPLE 1"                   !  Label to find in TLE or TRV file
+:::::::::::::  Use these lines if THREE_BODY      ::::::::::::::::
+SUNEARTH                      !  Lagrange system
+LAGDOF_MODES                  !  Propagate using LAGDOF_MODES or LAGDOF_COWELL or LAGDOF_SPLINE
+MODES                         !  Initialize with MODES or XYZ or FILE
+L2                            !  Libration point (L1, L2, L3, L4, L5)
+800000.0                      !  XY Semi-major axis, km
+45.0                          !  Initial XY Phase, deg  (CCW from -Y)
+CW                            !  Sense (CW, CCW), viewed from +Z
+0.0                           !  Second XY Mode Semi-major Axis, km (L4, L5 only)
+0.0                           !  Second XY Mode Initial Phase, deg (L4, L5 only)
+CW                            !  Sense (CW, CCW), viewed from +Z (L4, L5 only)
+400000.0                      !  Z Semi-axis, km
+60.0                          !  Initial Z Phase, deg
+1.05  0.5  0.0                !  Initial X, Y, Z (Non-dimensional)
+0.0   0.0  0.0                !  Initial Xdot, Ydot, Zdot (Non-dimensional)
+TRV  "ORB_ID"                 !  TLE, TRV or SPLINE format, Label to find in file
+"TRV.txt"                     !  File name
+******************* Formation Frame Parameters ************************
+L                             !  Formation Frame Fixed in [NL]
+0.0  0.0  0.0  123            !  Euler Angles (deg) and Sequence
+L                             !  Formation Origin expressed in [NL]
+0.0  0.0  0.0                 !  Formation Origin wrt Ref Orbit (m)
diff --git a/Rover/SC_Rover.txt b/Rover/SC_Rover.txt
new file mode 100755
index 00000000..764ac40c
--- /dev/null
+++ b/Rover/SC_Rover.txt
@@ -0,0 +1,456 @@
+<<<<<<<<<<<<<<<<<  42: Spacecraft Description File   >>>>>>>>>>>>>>>>>
+Rover                       !  Description
+"Rvr "                      !  Label
+GenScSpriteAlpha.ppm        !  Sprite File Name
+ROVER_FSW                   !  Flight Software Identifier
+0.2                         !  FSW Sample Time, sec
+************************* Orbit Parameters ****************************
+COWELL                      !  Orbit Prop FIXED, EULER_HILL, ENCKE, or COWELL
+CM                          !  Pos of CM or ORIGIN, wrt F
+-5.0  5.0  2.0               !  Pos wrt Formation (m), expressed in F
+0.0  0.0  0.0               !  Vel wrt Formation (m/s), expressed in F
+*************************** Initial Attitude ***************************
+LAL                         ! Ang Vel wrt [NL], Att [QA] wrt [NLF]
+0.0    0.0    0.0           ! Ang Vel (deg/sec)
+0.0    0.0    0.0    1.0    ! Quaternion
+90.0   0.0    0.0    312    ! Angles (deg) & Euler Sequence
+***************************  Dynamics Flags  ***************************
+GAUSS_ELIM                  ! Solve Dynamics by GAUSS_ELIM or ORDER_N
+FALSE                       ! Compute Constraint Forces and Torques
+REFPT_CM                    ! Mass Props referenced to REFPT_CM or REFPT_JOINT
+FALSE                       ! Flex Active
+FALSE                       ! Include 2nd Order Flex Terms
+NONE                        ! Shaker File Name
+2.0                         ! Drag Coefficient
+************************************************************************
+************************* Body Parameters ******************************
+************************************************************************
+13                          ! Number of Bodies
+================================ Body 0 ================================
+10.0                        ! Mass
+10.0  10.0  10.0            ! Moments of Inertia (kg-m^2)
+0.0  0.0  0.0               ! Products of Inertia (xy,xz,yz)
+0.0  0.0  0.25              ! Location of mass center, m
+0.0  0.0  0.0               ! Constant Embedded Momentum (Nms)
+RoverBody.obj               ! Geometry Input File Name
+NONE                        ! Node File Name
+NONE                        ! Flex File Name
+================================ Body 1 ================================
+1.0                         ! Mass
+0.1  1.0  1.0               ! Moments of Inertia (kg-m^2)
+0.0  0.0  0.0               ! Products of Inertia (xy,xz,yz)
+0.25 0.0  0.0               ! Location of mass center, m
+0.0  0.0  0.0               ! Constant Embedded Momentum (Nms)
+RoverUpperLeg.obj           ! Geometry Input File Name
+NONE                        ! Node File Name
+NONE                        ! Flex File Name
+================================ Body 2 ================================
+1.0                         ! Mass
+0.1  1.0  1.0               ! Moments of Inertia (kg-m^2)
+0.0  0.0  0.0               ! Products of Inertia (xy,xz,yz)
+0.25 0.0  0.0               ! Location of mass center, m
+0.0  0.0  0.0               ! Constant Embedded Momentum (Nms)
+RoverUpperLeg.obj           ! Geometry Input File Name
+NONE                        ! Node File Name
+NONE                        ! Flex File Name
+================================ Body 3 ================================
+1.0                         ! Mass
+0.1  1.0  1.0               ! Moments of Inertia (kg-m^2)
+0.0  0.0  0.0               ! Products of Inertia (xy,xz,yz)
+0.25 0.0  0.0               ! Location of mass center, m
+0.0  0.0  0.0               ! Constant Embedded Momentum (Nms)
+RoverUpperLeg.obj           ! Geometry Input File Name
+NONE                        ! Node File Name
+NONE                        ! Flex File Name
+================================ Body 4 ================================
+1.0                         ! Mass
+0.1  1.0  1.0               ! Moments of Inertia (kg-m^2)
+0.0  0.0  0.0               ! Products of Inertia (xy,xz,yz)
+0.25 0.0  0.0               ! Location of mass center, m
+0.0  0.0  0.0               ! Constant Embedded Momentum (Nms)
+RoverUpperLeg.obj           ! Geometry Input File Name
+NONE                        ! Node File Name
+NONE                        ! Flex File Name
+================================ Body 5 ================================
+1.0                         ! Mass
+0.1  1.0  1.0               ! Moments of Inertia (kg-m^2)
+0.0  0.0  0.0               ! Products of Inertia (xy,xz,yz)
+0.25 0.0  0.0               ! Location of mass center, m
+0.0  0.0  0.0               ! Constant Embedded Momentum (Nms)
+RoverUpperLeg.obj           ! Geometry Input File Name
+NONE                        ! Node File Name
+NONE                        ! Flex File Name
+================================ Body 6 ================================
+1.0                         ! Mass
+0.1  1.0  1.0               ! Moments of Inertia (kg-m^2)
+0.0  0.0  0.0               ! Products of Inertia (xy,xz,yz)
+0.25 0.0  0.0               ! Location of mass center, m
+0.0  0.0  0.0               ! Constant Embedded Momentum (Nms)
+RoverUpperLeg.obj           ! Geometry Input File Name
+NONE                        ! Node File Name
+NONE                        ! Flex File Name
+================================ Body 7 ================================
+1.0                         ! Mass
+1.0  1.0  0.1               ! Moments of Inertia (kg-m^2)
+0.0  0.0  0.0               ! Products of Inertia (xy,xz,yz)
+0.0  0.0 -0.25              ! Location of mass center, m
+0.0  0.0  0.0               ! Constant Embedded Momentum (Nms)
+RoverLowerLeg.obj           ! Geometry Input File Name
+NONE                        ! Node File Name
+NONE                        ! Flex File Name
+================================ Body 8 ================================
+1.0                         ! Mass
+1.0  1.0  0.1               ! Moments of Inertia (kg-m^2)
+0.0  0.0  0.0               ! Products of Inertia (xy,xz,yz)
+0.0  0.0 -0.25              ! Location of mass center, m
+0.0  0.0  0.0               ! Constant Embedded Momentum (Nms)
+RoverLowerLeg.obj           ! Geometry Input File Name
+NONE                        ! Node File Name
+NONE                        ! Flex File Name
+================================ Body 9 ================================
+1.0                         ! Mass
+1.0  1.0  0.1               ! Moments of Inertia (kg-m^2)
+0.0  0.0  0.0               ! Products of Inertia (xy,xz,yz)
+0.0  0.0 -0.25              ! Location of mass center, m
+0.0  0.0  0.0               ! Constant Embedded Momentum (Nms)
+RoverLowerLeg.obj           ! Geometry Input File Name
+NONE                        ! Node File Name
+NONE                        ! Flex File Name
+================================ Body 10 ===============================
+1.0                         ! Mass
+1.0  1.0  0.1               ! Moments of Inertia (kg-m^2)
+0.0  0.0  0.0               ! Products of Inertia (xy,xz,yz)
+0.0  0.0 -0.25              ! Location of mass center, m
+0.0  0.0  0.0               ! Constant Embedded Momentum (Nms)
+RoverLowerLeg.obj           ! Geometry Input File Name
+NONE                        ! Node File Name
+NONE                        ! Flex File Name
+================================ Body 11 ===============================
+1.0                         ! Mass
+1.0  1.0  0.1               ! Moments of Inertia (kg-m^2)
+0.0  0.0  0.0               ! Products of Inertia (xy,xz,yz)
+0.0  0.0 -0.25              ! Location of mass center, m
+0.0  0.0  0.0               ! Constant Embedded Momentum (Nms)
+RoverLowerLeg.obj           ! Geometry Input File Name
+NONE                        ! Node File Name
+NONE                        ! Flex File Name
+================================ Body 12 ===============================
+1.0                         ! Mass
+1.0  1.0  0.1               ! Moments of Inertia (kg-m^2)
+0.0  0.0  0.0               ! Products of Inertia (xy,xz,yz)
+0.0  0.0 -0.25              ! Location of mass center, m
+0.0  0.0  0.0               ! Constant Embedded Momentum (Nms)
+RoverLowerLeg.obj           ! Geometry Input File Name
+NONE                        ! Node File Name
+NONE                        ! Flex File Name
+************************************************************************
+*************************** Joint Parameters ***************************
+************************************************************************
+         (Number of Joints is Number of Bodies minus one)
+============================== Joint 0 ================================
+ACTUATED                    ! Type of joint (PASSIVE, ACTUATED, others)
+0 1                         ! Inner, outer body indices
+2   321   GIMBAL            ! RotDOF, Seq, GIMBAL or SPHERICAL
+0   123                     ! TrnDOF, Seq
+FALSE  FALSE  FALSE         ! RotDOF Locked
+FALSE  FALSE  FALSE         ! TrnDOF Locked
+0.0    0.0    0.0           ! Initial Angles [deg]
+0.0    0.0    0.0           ! Initial Rates, deg/sec
+0.0    0.0    0.0           ! Initial Displacements [m]
+0.0    0.0    0.0           ! Initial Displacement Rates, m/sec
+30.0  0.0  0.0  312         ! Bi to Gi Static Angles [deg] & Seq
+0.0   0.0  0.0  312         ! Go to Bo Static Angles [deg] & Seq
+0.433  0.25  0.0            ! Position wrt inner body origin, m
+0.0   0.0  0.0              ! Position wrt outer body origin, m
+Jnt_Hip.txt                 ! Parameter File Name
+============================== Joint 1 ================================
+ACTUATED                    ! Type of joint (PASSIVE, ACTUATED, others)
+0 2                         ! Inner, outer body indices
+2   321   GIMBAL            ! RotDOF, Seq, GIMBAL or SPHERICAL
+0   123                     ! TrnDOF, Seq
+FALSE  FALSE  FALSE         ! RotDOF Locked
+FALSE  FALSE  FALSE         ! TrnDOF Locked
+0.0    0.0    0.0           ! Initial Angles [deg]
+0.0    0.0    0.0           ! Initial Rates, deg/sec
+0.0    0.0    0.0           ! Initial Displacements [m]
+0.0    0.0    0.0           ! Initial Displacement Rates, m/sec
+90.0  0.0  0.0  312         ! Bi to Gi Static Angles [deg] & Seq
+0.0   0.0  0.0  312         ! Go to Bo Static Angles [deg] & Seq
+0.0   0.5  0.0              ! Position wrt inner body origin, m
+0.0   0.0  0.0              ! Position wrt outer body origin, m
+Jnt_Hip.txt                 ! Parameter File Name
+============================== Joint 2 ================================
+ACTUATED                    ! Type of joint (PASSIVE, ACTUATED, others)
+0 3                         ! Inner, outer body indices
+2   321   GIMBAL            ! RotDOF, Seq, GIMBAL or SPHERICAL
+0   123                     ! TrnDOF, Seq
+FALSE  FALSE  FALSE         ! RotDOF Locked
+FALSE  FALSE  FALSE         ! TrnDOF Locked
+0.0    0.0    0.0           ! Initial Angles [deg]
+0.0    0.0    0.0           ! Initial Rates, deg/sec
+0.0    0.0    0.0           ! Initial Displacements [m]
+0.0    0.0    0.0           ! Initial Displacement Rates, m/sec
+150.0  0.0  0.0  312        ! Bi to Gi Static Angles [deg] & Seq
+0.0   0.0  0.0  312         ! Go to Bo Static Angles [deg] & Seq
+-0.433  0.25  0.0           ! Position wrt inner body origin, m
+0.0   0.0  0.0              ! Position wrt outer body origin, m
+Jnt_Hip.txt                 ! Parameter File Name
+============================== Joint 3 ================================
+ACTUATED                    ! Type of joint (PASSIVE, ACTUATED, others)
+0 4                         ! Inner, outer body indices
+2   321   GIMBAL            ! RotDOF, Seq, GIMBAL or SPHERICAL
+0   123                     ! TrnDOF, Seq
+FALSE  FALSE  FALSE         ! RotDOF Locked
+FALSE  FALSE  FALSE         ! TrnDOF Locked
+0.0    0.0    0.0           ! Initial Angles [deg]
+0.0    0.0    0.0           ! Initial Rates, deg/sec
+0.0    0.0    0.0           ! Initial Displacements [m]
+0.0    0.0    0.0           ! Initial Displacement Rates, m/sec
+-150.0 0.0  0.0  312        ! Bi to Gi Static Angles [deg] & Seq
+0.0   0.0  0.0  312         ! Go to Bo Static Angles [deg] & Seq
+-0.433  -0.25  0.0          ! Position wrt inner body origin, m
+0.0   0.0  0.0              ! Position wrt outer body origin, m
+Jnt_Hip.txt                 ! Parameter File Name
+============================== Joint 4 ================================
+ACTUATED                    ! Type of joint (PASSIVE, ACTUATED, others)
+0 5                         ! Inner, outer body indices
+2   321   GIMBAL            ! RotDOF, Seq, GIMBAL or SPHERICAL
+0   123                     ! TrnDOF, Seq
+FALSE  FALSE  FALSE         ! RotDOF Locked
+FALSE  FALSE  FALSE         ! TrnDOF Locked
+0.0    0.0    0.0           ! Initial Angles [deg]
+0.0    0.0    0.0           ! Initial Rates, deg/sec
+0.0    0.0    0.0           ! Initial Displacements [m]
+0.0    0.0    0.0           ! Initial Displacement Rates, m/sec
+-90.0   0.0  0.0  312       ! Bi to Gi Static Angles [deg] & Seq
+0.0   0.0  0.0  312         ! Go to Bo Static Angles [deg] & Seq
+0.0  -0.5  0.0              ! Position wrt inner body origin, m
+0.0   0.0  0.0              ! Position wrt outer body origin, m
+Jnt_Hip.txt                 ! Parameter File Name
+============================== Joint 5 ================================
+ACTUATED                    ! Type of joint (PASSIVE, ACTUATED, others)
+0 6                         ! Inner, outer body indices
+2   321   GIMBAL            ! RotDOF, Seq, GIMBAL or SPHERICAL
+0   123                     ! TrnDOF, Seq
+FALSE  FALSE  FALSE         ! RotDOF Locked
+FALSE  FALSE  FALSE         ! TrnDOF Locked
+0.0    0.0    0.0           ! Initial Angles [deg]
+0.0    0.0    0.0           ! Initial Rates, deg/sec
+0.0    0.0    0.0           ! Initial Displacements [m]
+0.0    0.0    0.0           ! Initial Displacement Rates, m/sec
+-30.0   0.0  0.0  312       ! Bi to Gi Static Angles [deg] & Seq
+0.0   0.0  0.0  312         ! Go to Bo Static Angles [deg] & Seq
+0.433  -0.25  0.0           ! Position wrt inner body origin, m
+0.0   0.0  0.0              ! Position wrt outer body origin, m
+Jnt_Hip.txt                 ! Parameter File Name
+============================== Joint 6 ================================
+ACTUATED                    ! Type of joint (PASSIVE, ACTUATED, others)
+1 7                         ! Inner, outer body indices
+1   213   GIMBAL            ! RotDOF, Seq, GIMBAL or SPHERICAL
+0   123                     ! TrnDOF, Seq
+FALSE  FALSE  FALSE         ! RotDOF Locked
+FALSE  FALSE  FALSE         ! TrnDOF Locked
+0.0    0.0    0.0           ! Initial Angles [deg]
+0.0    0.0    0.0           ! Initial Rates, deg/sec
+0.0    0.0    0.0           ! Initial Displacements [m]
+0.0    0.0    0.0           ! Initial Displacement Rates, m/sec
+0.0   0.0  0.0  312         ! Bi to Gi Static Angles [deg] & Seq
+0.0   0.0  0.0  312         ! Go to Bo Static Angles [deg] & Seq
+0.5   0.0  0.0              ! Position wrt inner body origin, m
+0.0   0.0  0.0              ! Position wrt outer body origin, m
+Jnt_Knee.txt                ! Parameter File Name
+============================== Joint 7 ================================
+ACTUATED                    ! Type of joint (PASSIVE, ACTUATED, others)
+2 8                         ! Inner, outer body indices
+1   213   GIMBAL            ! RotDOF, Seq, GIMBAL or SPHERICAL
+0   123                     ! TrnDOF, Seq
+FALSE  FALSE  FALSE         ! RotDOF Locked
+FALSE  FALSE  FALSE         ! TrnDOF Locked
+0.0    0.0    0.0           ! Initial Angles [deg]
+0.0    0.0    0.0           ! Initial Rates, deg/sec
+0.0    0.0    0.0           ! Initial Displacements [m]
+0.0    0.0    0.0           ! Initial Displacement Rates, m/sec
+0.0   0.0  0.0  312         ! Bi to Gi Static Angles [deg] & Seq
+0.0   0.0  0.0  312         ! Go to Bo Static Angles [deg] & Seq
+0.5   0.0  0.0              ! Position wrt inner body origin, m
+0.0   0.0  0.0              ! Position wrt outer body origin, m
+Jnt_Knee.txt                ! Parameter File Name
+============================== Joint 8 ================================
+ACTUATED                    ! Type of joint (PASSIVE, ACTUATED, others)
+3 9                         ! Inner, outer body indices
+1   213   GIMBAL            ! RotDOF, Seq, GIMBAL or SPHERICAL
+0   123                     ! TrnDOF, Seq
+FALSE  FALSE  FALSE         ! RotDOF Locked
+FALSE  FALSE  FALSE         ! TrnDOF Locked
+0.0    0.0    0.0           ! Initial Angles [deg]
+0.0    0.0    0.0           ! Initial Rates, deg/sec
+0.0    0.0    0.0           ! Initial Displacements [m]
+0.0    0.0    0.0           ! Initial Displacement Rates, m/sec
+0.0   0.0  0.0  312         ! Bi to Gi Static Angles [deg] & Seq
+0.0   0.0  0.0  312         ! Go to Bo Static Angles [deg] & Seq
+0.5   0.0  0.0              ! Position wrt inner body origin, m
+0.0   0.0  0.0              ! Position wrt outer body origin, m
+Jnt_Knee.txt                ! Parameter File Name
+============================== Joint 9 ================================
+ACTUATED                    ! Type of joint (PASSIVE, ACTUATED, others)
+4 10                        ! Inner, outer body indices
+1   213   GIMBAL            ! RotDOF, Seq, GIMBAL or SPHERICAL
+0   123                     ! TrnDOF, Seq
+FALSE  FALSE  FALSE         ! RotDOF Locked
+FALSE  FALSE  FALSE         ! TrnDOF Locked
+0.0    0.0    0.0           ! Initial Angles [deg]
+0.0    0.0    0.0           ! Initial Rates, deg/sec
+0.0    0.0    0.0           ! Initial Displacements [m]
+0.0    0.0    0.0           ! Initial Displacement Rates, m/sec
+0.0   0.0  0.0  312         ! Bi to Gi Static Angles [deg] & Seq
+0.0   0.0  0.0  312         ! Go to Bo Static Angles [deg] & Seq
+0.5   0.0  0.0              ! Position wrt inner body origin, m
+0.0   0.0  0.0              ! Position wrt outer body origin, m
+Jnt_Knee.txt                ! Parameter File Name
+============================== Joint 10 ===============================
+ACTUATED                    ! Type of joint (PASSIVE, ACTUATED, others)
+5 11                        ! Inner, outer body indices
+1   213   GIMBAL            ! RotDOF, Seq, GIMBAL or SPHERICAL
+0   123                     ! TrnDOF, Seq
+FALSE  FALSE  FALSE         ! RotDOF Locked
+FALSE  FALSE  FALSE         ! TrnDOF Locked
+0.0    0.0    0.0           ! Initial Angles [deg]
+0.0    0.0    0.0           ! Initial Rates, deg/sec
+0.0    0.0    0.0           ! Initial Displacements [m]
+0.0    0.0    0.0           ! Initial Displacement Rates, m/sec
+0.0   0.0  0.0  312         ! Bi to Gi Static Angles [deg] & Seq
+0.0   0.0  0.0  312         ! Go to Bo Static Angles [deg] & Seq
+0.5   0.0  0.0              ! Position wrt inner body origin, m
+0.0   0.0  0.0              ! Position wrt outer body origin, m
+Jnt_Knee.txt                ! Parameter File Name
+============================== Joint 11 ===============================
+ACTUATED                    ! Type of joint (PASSIVE, ACTUATED, others)
+6 12                        ! Inner, outer body indices
+1   213   GIMBAL            ! RotDOF, Seq, GIMBAL or SPHERICAL
+0   123                     ! TrnDOF, Seq
+FALSE  FALSE  FALSE         ! RotDOF Locked
+FALSE  FALSE  FALSE         ! TrnDOF Locked
+0.0    0.0    0.0           ! Initial Angles [deg]
+0.0    0.0    0.0           ! Initial Rates, deg/sec
+0.0    0.0    0.0           ! Initial Displacements [m]
+0.0    0.0    0.0           ! Initial Displacement Rates, m/sec
+0.0   0.0  0.0  312         ! Bi to Gi Static Angles [deg] & Seq
+0.0   0.0  0.0  312         ! Go to Bo Static Angles [deg] & Seq
+0.5   0.0  0.0              ! Position wrt inner body origin, m
+0.0   0.0  0.0              ! Position wrt outer body origin, m
+Jnt_Knee.txt                ! Parameter File Name
+*************************** Wheel Parameters ***************************
+FALSE                       ! Wheel Drag Active
+FALSE                       ! Wheel Jitter Active
+0                           ! Number of wheels
+=============================  Wheel 0  ================================
+0.0                         ! Initial Momentum, N-m-sec
+1.0   0.0   0.0             ! Wheel Axis Components, [X, Y, Z]
+0.14   50.0                 ! Max Torque (N-m), Momentum (N-m-sec)
+0.012                       ! Wheel Rotor Inertia, kg-m^2
+0                           ! Body
+0                           ! Node
+NONE                        ! Drag/Jitter Input File Name
+**************************** MTB Parameters ****************************
+0                           ! Number of MTBs
+==============================  MTB 0  =================================
+180.0                       ! Saturation (A-m^2)
+1.0   0.0   0.0             ! MTB Axis Components, [X, Y, Z]
+0                           ! Node
+************************* Thruster Parameters **************************
+0                           ! Number of Thrusters
+==============================  Thr 0  =================================
+PULSED                      ! Mode
+ 1.0                        ! Thrust Force (N)
+-1.0  0.0  0.0              ! Thrust Axis 
+0                           ! Body
+0                           ! Node
+******************************* Gyro ************************************
+0                           ! Number of Gyro Axes
+============================== Axis 0 ===================================
+0.1                         ! Sample Time,sec
+1.0  0.0  0.0               ! Axis expressed in Body Frame
+1000.0                      ! Max Rate, deg/sec
+100.0                       ! Scale Factor Error, ppm
+1.0                         ! Quantization, arcsec 
+0.07                        ! Angle Random Walk (deg/rt-hr)
+0.1  1.0                    ! Bias Stability (deg/hr) over timespan (hr)
+0.1                         ! Angle Noise, arcsec RMS
+0.1                         ! Initial Bias (deg/hr)
+0                           ! Node
+*************************** Magnetometer ********************************
+0                           ! Number of Magnetometer Axes
+============================== Axis 0 ===================================
+0.1                         ! Sample Time,sec
+1.0  0.0  0.0               ! Axis expressed in Body Frame
+60.0E-6                     ! Saturation, Tesla
+0.0                         ! Scale Factor Error, ppm
+1.0E-6                      ! Quantization, Tesla 
+1.0E-6                      ! Noise, Tesla RMS
+0                           ! Node
+*********************** Coarse Sun Sensor *******************************
+0                           ! Number of Coarse Sun Sensors
+============================== CSS 0 ====================================
+0.1                         ! Sample Time,sec
+1.0  1.0  1.0               ! Axis expressed in Body Frame
+90.0                        ! Half-cone Angle, deg
+1.0                         ! Scale Factor
+0.001                       ! Quantization
+0                           ! Body
+0                           ! Node
+************************* Fine Sun Sensor *******************************
+0                           ! Number of Fine Sun Sensors
+=============================== FSS 0 ===================================
+0.2                         ! Sample Time,sec
+70.0  0.0  0.0  231         ! Mounting Angles (deg), Seq in Body
+Z_AXIS                      ! Boresight Axis X_AXIS, Y_AXIS, or Z_AXIS
+32.0   32.0                 ! H, V FOV Size, deg
+0.1                         ! Noise Equivalent Angle, deg RMS
+0.5                         ! Quantization, deg
+0                           ! Node
+************************** Star Tracker *********************************
+0                           ! Number of Star Trackers
+=============================== ST 0 ====================================
+0.25                        ! Sample Time,sec
+-90.0  90.0  00.0  321      ! Mounting Angles (deg), Seq in Body
+Z_AXIS                      ! Boresight Axis X_AXIS, Y_AXIS, or Z_AXIS
+8.0   8.0                   ! H, V FOV Size, deg
+30.0  10.0  10.0            ! Sun, Earth, Moon Exclusion Angles, deg
+2.0  2.0  20.0              ! Noise Equivalent Angle, arcsec RMS
+0                           ! Node
+****************************** GPS **************************************
+0                           ! Number of GPS Receivers
+============================= GPSR 0 ====================================
+0.25                        ! Sample Time,sec
+4.0                         ! Position Noise, m RMS
+0.02                        ! Velocity Noise, m/sec RMS
+20.0E-9                     ! Time Noise, sec RMS
+0                           ! Node
+*************************** Accelerometer *******************************
+0                           ! Number of Accel Axes
+============================== Axis 0 ===================================
+0.1                         ! Sample Time,sec
+1.0  0.0  0.0               ! Axis expressed in Body Frame
+1.0                         ! Max Acceleration (m/s^2)
+0.0                         ! Scale Factor Error, ppm
+0.05                        ! Quantization, m/s^2
+0.0                         ! DV Random Walk (m/s/rt-hr)
+0.0 1.0                     ! Bias Stability (m/s^2) over timespan (hr)
+0.0                         ! DV Noise, m/s
+0.5                         ! Initial Bias (m/s^2)
+0                           ! Node
+************************ Fine Guidance Sensor ****************************
+0                           ! Number of Fine Guidance Sensors
+========================= Fine Guidance Sensor 0 =========================
+0.1                         ! Sample Time,sec
+0.0  0.0  0.0  321          ! Nominal Mounting Angles (deg), Seq in Body
+X_AXIS                      ! Boresight Axis X_AXIS, Y_AXIS, or Z_AXIS
+3600.0   3600.0             ! H, V FOV Size, arcsec
+2.0                         ! Noise Equivalent Angle, arcsec RMS
+60.0                        ! Detector Scale, arcsec/pixel
+0  0                        ! Body, Node
+0.0  0.0  0.0  321          ! FOV Frame (Fr) Angles (deg), Seq wrt R frame
+0.00  0.0                   ! Guide Star H, V (deg) in FOV Frame
+NONE                        ! Optics Input File Name
+NONE                        ! PSF Image File Name
+
diff --git a/Rover/Shaker_Simple.txt b/Rover/Shaker_Simple.txt
new file mode 100644
index 00000000..f0998f3a
--- /dev/null
+++ b/Rover/Shaker_Simple.txt
@@ -0,0 +1,44 @@
+<<<<<<<<<<<<<<<<<  42: Jitter Source Description File   >>>>>>>>>>>>>>>>>
+0                ! Number of Shakers
+==============================  Shaker 0  ===============================
+Cryocooler X     ! Description
+0  0             ! Body, Node
+FORCE            ! Type (TORQUE or FORCE)
+1.0  0.0  0.0    ! Axis Vector
+2                ! Number of Tonic Components
+2.0              ! Tone Amplitude (N or Nm)
+10.0             ! Tone Frequency (Hz)
+0.0              ! Tone Phase Angle (deg)
+1.0              ! Tone Amplitude (N or Nm)
+11.0             ! Tone Frequency (Hz)
+0.0              ! Tone Phase Angle (deg)
+TRUE             ! Random Component Active
+0.0  1.0         ! Random input band limits (Hz)
+0.05             ! RMS of random input over band
+==============================  Shaker 1  ===============================
+Cryocooler Y     ! Description
+0  0             ! Body, Node
+FORCE            ! Type (TORQUE or FORCE)
+0.0  1.0  0.0    ! Axis Vector
+2                ! Number of Tonic Components
+2.0              ! Tone Amplitude (N or Nm)
+10.0             ! Tone Frequency (Hz)
+90.0             ! Tone Phase Angle (deg)
+1.0              ! Tone Amplitude (N or Nm)
+12.0             ! Tone Frequency (Hz)
+90.0             ! Tone Phase Angle (deg)
+TRUE             ! Random Component Active
+0.0  1.0         ! Random input band limits (Hz)
+0.5              ! RMS of random input over band
+==============================  Shaker 2  ===============================
+Instrument Rotor ! Description
+0  0             ! Body, Node
+TORQUE  0        ! Type (TORQUE or FORCE)
+0.0  0.0  1.0    ! Axis Vector
+0                ! Number of Tonic Components
+2.0              ! Tone Amplitude (N or Nm)
+10.0             ! Tone Frequency (Hz)
+0.0              ! Tone Phase Angle (deg)
+FALSE            ! Random Component Active
+0.1  2.0         ! Random input band limits (Hz)
+0.05             ! RMS of random input over band
diff --git a/Rover/TRV.txt b/Rover/TRV.txt
new file mode 100644
index 00000000..f632d90a
--- /dev/null
+++ b/Rover/TRV.txt
@@ -0,0 +1,11 @@
+# Example of TRV format
+
+"EXAMPLE 1"                           
+CENTRAL  EARTH 2019-5-7 12:0:0.000
+6678000.0  0.0  0.0
+0.0 8500.0 0.0 
+
+"EXAMPLE 2"                           
+CENTRAL  EARTH 2019-5-7 12:0:0.000
+6678000.0  0.0  0.0
+0.0 6000.0 6000.0 
diff --git a/Rover/Whl_Simple.txt b/Rover/Whl_Simple.txt
new file mode 100644
index 00000000..30b993f8
--- /dev/null
+++ b/Rover/Whl_Simple.txt
@@ -0,0 +1,50 @@
+<<<<<<<<<<<<<<  Wheel Drag and Jitter Inputs for 42  >>>>>>>>>>>>>>
+*************************************************
+***************  Drag Parameters  ***************
+*************************************************
+0.01            ! Coulomb Friction, Nm
+0.015           ! Stiction, Nm
+1.6E-5          ! Viscous Coefficient, Nm/(r/s)
+6.28            ! Stribeck Zone, rad/sec
+10.0            ! Lugre Time Constant, sec
+31.4            ! Lugre Damping Zone, rad/sec
+*************************************************
+**************  Jitter Parameters  **************
+*************************************************
+0.9             ! 2*Jt/Jr Ratio (<1.0)
+0.0             ! Phase of Static vs. Dyn Imbalance, deg
+280.0  0.2      ! Lateral Mode Freq, Hz, Damping Ratio
+80.0   0.2      ! Rocking Mode Freq, Hz, Damping Ratio
+*******************  Harmonics *******************
+6               ! Number of Harmonics
+===================  Harmonic 0  =================
+1.0             ! Harmonic Number
+0.48            ! Static Imbalance, g-cm
+13.7            ! Dynamic Imbalance, g-cm^2
+0.0             ! Harmonic Phase Angle, deg
+===================  Harmonic 1  =================
+0.34            ! Harmonic Number
+0.1             ! Static Imbalance, g-cm
+1.0             ! Dynamic Imbalance, g-cm^2
+10.0            ! Harmonic Phase Angle, deg
+===================  Harmonic 2  =================
+2.0             ! Harmonic Number
+0.08            ! Static Imbalance, g-cm
+0.8             ! Dynamic Imbalance, g-cm^2
+20.0            ! Harmonic Phase Angle, deg
+===================  Harmonic 3  =================
+2.74            ! Harmonic Number
+0.06            ! Static Imbalance, g-cm
+0.6             ! Dynamic Imbalance, g-cm^2
+30.0            ! Harmonic Phase Angle, deg
+===================  Harmonic 4  =================
+4.26            ! Harmonic Number
+0.04            ! Static Imbalance, g-cm
+0.4             ! Dynamic Imbalance, g-cm^2
+40.0            ! Harmonic Phase Angle, deg
+===================  Harmonic 5  =================
+6.04            ! Harmonic Number
+0.02            ! Static Imbalance, g-cm
+0.2             ! Dynamic Imbalance, g-cm^2
+50.0            ! Harmonic Phase Angle, deg
+
diff --git a/Source/42actuators.c b/Source/42actuators.c
index 36a239ce..fbe9aedb 100755
--- a/Source/42actuators.c
+++ b/Source/42actuators.c
@@ -68,7 +68,7 @@ void WhlModel(struct WhlType *W,struct SCType *S)
       if (S->FlexActive) {
          B = &S->B[W->Body];
          N = &B->Node[W->Node];
-         for(i=0;i<3;i++) N->Trq[i] += W->Trq*W->A[i];
+         for(i=0;i<3;i++) N->Trq[i] -= W->Trq*W->A[i];
       }
 
 }
@@ -142,7 +142,7 @@ void ThrusterPlumeFrcTrq(struct SCType *S)
       struct ThrType *T;
       struct BodyType *B,*Bt;
       struct NodeType *Nt;
-      struct GeomType *G;
+      struct MeshType *M;
       struct PolyType *P;
       double PosThrN[3],PosThrB[3],AxisN[3],CPB[3][3];
       double AoN,PosB[3],PosP[3],MagPos,Phat[3],cosphi;
@@ -159,7 +159,7 @@ void ThrusterPlumeFrcTrq(struct SCType *S)
             /* Find Force and Torque on each Body */
             for(Ib=0;Ib<S->Nb;Ib++) {
                B = &S->B[Ib];
-               G = &Geom[B->GeomTag];
+               M = &Mesh[B->MeshTag];
 
                /* Find thruster location, axis in B */
                MTxV(Bt->CN,Nt->PosB,PosThrN);
@@ -173,8 +173,8 @@ void ThrusterPlumeFrcTrq(struct SCType *S)
                PerpBasis(CPB[0],CPB[1],CPB[2]);
 
                /* Find force and torque on each illuminated polygon */
-               for(Ipoly=0;Ipoly<G->Npoly;Ipoly++) {
-                  P = &G->Poly[Ipoly];
+               for(Ipoly=0;Ipoly<M->Npoly;Ipoly++) {
+                  P = &M->Poly[Ipoly];
                   if (strcmp(Matl[P->Matl].Label,"INTERIOR")) { /* Plume doesn't see interior polys */
                      AoN = VoV(CPB[0],P->Norm);
                      if (AoN < 0.0) {  /* Plume doesn't see polys facing away */
diff --git a/Source/42dynamics.c b/Source/42dynamics.c
index 5896291e..e33d971d 100755
--- a/Source/42dynamics.c
+++ b/Source/42dynamics.c
@@ -1902,14 +1902,16 @@ void KaneNBodyEOM(double *u, double *x, double *h, double *a,
       }
 
 /* .. Solve EOM */
-      //EchoPVel(S);
-      //EchoRemAcc(S);
-      //if (First) {
-      //   First = 0;
-      //   EchoEOM(D->COEF,D->ActiveState,D->RHS,D->Ns); 
-      //}
+/*
+      EchoPVel(S);
+      EchoRemAcc(S);
+      if (First) {
+         First = 0;
+         EchoEOM(D->COEF,D->ActiveState,D->RHS,D->Ns); 
+      }
+*/
       LINSOLVE(D->COEF,D->ActiveState,D->RHS,D->Ns);
-      //EchoUdot(D->ActiveState,D->Ns);
+      /* EchoUdot(D->ActiveState,D->Ns); */
 
 /* .. Map out result */
       if(D->SomeJointsLocked) {
@@ -3927,12 +3929,12 @@ void PolyhedronCowellRK4(struct SCType *S)
       long j;
       struct OrbitType *O;
       struct WorldType *W;
-      struct GeomType *G;
+      struct MeshType *M;
       double GravAccN[3];
 
       O = &Orb[S->RefOrb];
       W = &World[O->World];
-      G = &Geom[W->GeomTag];
+      M = &Mesh[W->MeshTag];
 
       u[0] = S->PosN[0];
       u[1] = S->PosN[1];
@@ -3942,19 +3944,19 @@ void PolyhedronCowellRK4(struct SCType *S)
       u[5] = S->VelN[2];
 
 /* .. 4th Order Runga-Kutta Integration */
-      PolyhedronGravAcc(G,W->Density,u,W->CWN,GravAccN);
+      PolyhedronGravAcc(M,W->Density,u,W->CWN,GravAccN);
       PolyhedronCowellEOM( u, m1, S->mass, GravAccN, S->FrcN);
       for(j=0;j<6;j++) uu[j] = u[j] + 0.5*DTSIM*m1[j];
       
-      PolyhedronGravAcc(G,W->Density,uu,W->CWN,GravAccN);
+      PolyhedronGravAcc(M,W->Density,uu,W->CWN,GravAccN);
       PolyhedronCowellEOM(uu, m2, S->mass, GravAccN, S->FrcN);
       for(j=0;j<6;j++) uu[j] = u[j] + 0.5*DTSIM*m2[j];
     
-      PolyhedronGravAcc(G,W->Density,uu,W->CWN,GravAccN);
+      PolyhedronGravAcc(M,W->Density,uu,W->CWN,GravAccN);
       PolyhedronCowellEOM(uu, m3, S->mass, GravAccN, S->FrcN);
       for(j=0;j<6;j++) uu[j] = u[j] + DTSIM*m3[j];
       
-      PolyhedronGravAcc(G,W->Density,uu,W->CWN,GravAccN);
+      PolyhedronGravAcc(M,W->Density,uu,W->CWN,GravAccN);
       PolyhedronCowellEOM(uu, m4, S->mass, GravAccN, S->FrcN);
       for(j=0;j<6;j++) u[j]+=DTSIM/6.0*(m1[j]+2.0*(m2[j]+m3[j])+m4[j]);
 
@@ -4228,7 +4230,7 @@ void Dynamics(struct SCType *S)
       O = &Orb[S->RefOrb];
 
 
-      //if (S->Nb > 1) {
+      /* if (S->Nb > 1) { */
          switch(S->DynMethod) {
             case DYN_GAUSS_ELIM :
                KaneNBodyRK4(S);
@@ -4241,8 +4243,8 @@ void Dynamics(struct SCType *S)
                exit(1);
             
          }
-      //}
-      //else OneBodyRK4(S);
+      /* } */
+      /* else OneBodyRK4(S); */
 
       switch(O->Regime) {
          case ORB_ZERO :
diff --git a/Source/42exec.c b/Source/42exec.c
index 697f6172..872ef3db 100755
--- a/Source/42exec.c
+++ b/Source/42exec.c
@@ -158,24 +158,29 @@ long AdvanceTime(void)
 
             break;
          case NOS3_TIME :
-            NOS3Time(&UTC.Year,&UTC.doy,&UTC.Month,&UTC.Day,
-               &UTC.Hour,&UTC.Minute,&UTC.Second);
-            CivilTime = DateToTime(UTC.Year,UTC.Month,UTC.Day,
-               UTC.Hour,UTC.Minute,UTC.Second);
-            AtomicTime = CivilTime + LeapSec;
-            DynTime = AtomicTime + 32.184;
-            GpsTime = AtomicTime - 19.0;
-
-            TT.JulDay = TimeToJD(DynTime);
-            TimeToDate(DynTime,&TT.Year,&TT.Month,&TT.Day,
-               &TT.Hour,&TT.Minute,&TT.Second,DTSIM);
-            TT.doy = MD2DOY(TT.Year,TT.Month,TT.Day);
-
-            UTC.JulDay = TimeToJD(CivilTime);
-            UTC.doy = MD2DOY(UTC.Year,UTC.Month,UTC.Day);
-
-            GpsTimeToGpsDate(GpsTime,&GpsRollover,&GpsWeek,&GpsSecond);
-            SimTime = DynTime - DynTime0;
+            #if (defined(__APPLE__) || defined(__linux__))
+               NOS3Time(&UTC.Year,&UTC.doy,&UTC.Month,&UTC.Day,
+                  &UTC.Hour,&UTC.Minute,&UTC.Second);
+               CivilTime = DateToTime(UTC.Year,UTC.Month,UTC.Day,
+                  UTC.Hour,UTC.Minute,UTC.Second);
+               AtomicTime = CivilTime + LeapSec;
+               DynTime = AtomicTime + 32.184;
+               GpsTime = AtomicTime - 19.0;
+
+               TT.JulDay = TimeToJD(DynTime);
+               TimeToDate(DynTime,&TT.Year,&TT.Month,&TT.Day,
+                  &TT.Hour,&TT.Minute,&TT.Second,DTSIM);
+               TT.doy = MD2DOY(TT.Year,TT.Month,TT.Day);
+
+               UTC.JulDay = TimeToJD(CivilTime);
+               UTC.doy = MD2DOY(UTC.Year,UTC.Month,UTC.Day);
+
+               GpsTimeToGpsDate(GpsTime,&GpsRollover,&GpsWeek,&GpsSecond);
+               SimTime = DynTime - DynTime0;
+            #else
+               printf("NOS3 time mode not supported on Windows.\n");
+               exit(1);
+            #endif
             break;
       }
 
@@ -193,7 +198,7 @@ void UpdateScBoundingBox(struct SCType *S)
 #define REFPT_CM 0
       struct BodyType *B, *B0;
       struct BoundingBoxType *BBox;
-      struct GeomType *G;
+      struct MeshType *M;
       double ctrB[3],ctrN[3],ctrB0[3],maxB0,minB0,r[3];
       long Ib,i;
 
@@ -202,9 +207,9 @@ void UpdateScBoundingBox(struct SCType *S)
 
       for(Ib=0;Ib<S->Nb;Ib++) {
          B = &S->B[Ib];
-         G = &Geom[B->GeomTag];
+         M = &Mesh[B->MeshTag];
          for(i=0;i<3;i++) {
-            ctrB[i] = G->BBox.center[i];
+            ctrB[i] = M->BBox.center[i];
             if (S->RefPt == REFPT_CM) {
                ctrB[i] -= B->cm[i];
             }
@@ -218,8 +223,8 @@ void UpdateScBoundingBox(struct SCType *S)
             if (S->RefPt == REFPT_CM) {
                ctrB0[i] += B0->cm[i];
             }
-            maxB0 = ctrB0[i] + G->BBox.radius;
-            minB0 = ctrB0[i] - G->BBox.radius;
+            maxB0 = ctrB0[i] + M->BBox.radius;
+            minB0 = ctrB0[i] - M->BBox.radius;
             if(BBox->max[i] < maxB0) BBox->max[i] = maxB0;
             if(BBox->min[i] > minB0) BBox->min[i] = minB0;
          }
@@ -412,16 +417,18 @@ int exec(int argc,char **argv)
          }
       #endif
 
-      //printf("\n\nMap Time = %lf sec\n",MapTime);
-      //printf("Joint Partial Time = %lf sec\n",JointTime);
-      //printf("Path Time = %lf sec\n",PathTime);
-      //printf("PVel Time = %lf sec\n",PVelTime);
-      //printf("FrcTrq Time = %lf sec\n",FrcTrqTime);
-      //printf("Assemble Time = %lf sec\n",AssembleTime);
-      //printf("Lock Time = %lf sec\n",LockTime);
-      //printf("Triangularize Time = %lf sec\n",TriangleTime);
-      //printf("Fwd Substitution Time = %lf sec\n",SubstTime);
-      //printf("Solve Time = %lf sec\n",SolveTime);
+/*
+      printf("\n\nMap Time = %lf sec\n",MapTime);
+      printf("Joint Partial Time = %lf sec\n",JointTime);
+      printf("Path Time = %lf sec\n",PathTime);
+      printf("PVel Time = %lf sec\n",PVelTime);
+      printf("FrcTrq Time = %lf sec\n",FrcTrqTime);
+      printf("Assemble Time = %lf sec\n",AssembleTime);
+      printf("Lock Time = %lf sec\n",LockTime);
+      printf("Triangularize Time = %lf sec\n",TriangleTime);
+      printf("Fwd Substitution Time = %lf sec\n",SubstTime);
+      printf("Solve Time = %lf sec\n",SolveTime);
+*/
       return(0);
 }
 
diff --git a/Source/42fsw.c b/Source/42fsw.c
index eef88494..19a38ac3 100755
--- a/Source/42fsw.c
+++ b/Source/42fsw.c
@@ -1785,6 +1785,241 @@ void SandboxFSW(struct SCType *S)
       //for(i=0;i<3;i++) AC->Whl[i].Tcmd = -C->Tcmd[i];
 }
 /**********************************************************************/
+void LegPartials(struct SCType *S, long Il, double J[3][3])
+{
+      struct JointType *Hip,*Knee;
+      double alpha,ca,sa,c1,s1,c2,s2,c3,s3,l1,l2;
+      
+      Hip = &S->G[Il];
+      Knee = &S->G[Il+6];
+      
+      alpha = (60.0*((double) Il)+30.0)*D2R;
+      ca = cos(alpha);
+      sa = sin(alpha);
+      c1 = cos(Hip->Ang[0]);
+      s1 = sin(Hip->Ang[0]);
+      c2 = cos(Hip->Ang[1]);
+      s2 = sin(Hip->Ang[1]);
+      c3 = cos(Knee->Ang[0]);
+      s3 = sin(Knee->Ang[0]);
+      l1 = 0.5;
+      l2 = 0.5;
+      
+      J[0][0] = c1*(-l1*c2*sa+l2*(c2*s3*sa+c3*s2*sa))
+                   +s1*(-l1*c2*ca-l2*(-c2*ca*s3-c3*ca*s2));
+      J[0][1] = l2*c2*(-c1*c3*ca+c3*s1*sa)
+                   +s2*(-l1*(c1*ca-s1*sa)-l2*(-c1*ca*s3+s1*s3*sa));
+      J[0][2] = l2*(c3*(-c1*c2*ca+c2*s1*sa)-s3*(-c1*ca*s2+s1*s2*sa));
+      
+      J[1][0] = c1*(l1*c2*ca+l2*(-c2*ca*s3-c3*ca*s2))
+                   +s1*(-l1*c2*sa-l2*(-c2*s3*sa-c3*s2*sa));
+      J[1][1] = l2*c2*(-c1*c3*sa-c3*ca*s1)
+                  +s2*(-l1*(c1*sa+ca*s1)-l2*(-c1*s3*sa-ca*s1*s3));
+      J[1][2] = l2*(c3*(-c1*c2*sa-c2*ca*s1)-s3*(-c1*s2*sa-ca*s1*s2));
+      
+      J[2][0] = 0.0;
+      J[2][1] = l2*c3*s2+c2*(-l1+l2*s3);
+      J[2][2] = l2*(c2*s3+c3*s2);
+}
+/**********************************************************************/
+void RoverFSW(struct SCType *S)
+{
+      struct AcType *AC;
+      struct BodyType *B;
+      struct RegionType *R;
+      struct AcJointType *Hip,*Knee;
+      struct CmdType *HipCmd,*KneeCmd;
+      
+      double PosCmd[3],VelCmd[3];
+      double YawCmd,PitchCmd,RollCmd;
+      double PosRR[3],VelRR[3],CBN[3][3],CBR[3][3];
+      double Roll,Pitch,Yaw;
+      double StridePeriod = 5.0;
+      double StrideAmp = 0.25;
+      double MaxSpd = 4.0*StrideAmp/StridePeriod;
+      double StrideFrac,Phase;
+      double alpha,ca,sa;
+      double c1,s1,c2,s2,c3,s3;
+      double J[3][3],Jinv[3][3];
+      double RestFootPos[3];
+      double PosFootCmd[3];
+      double PosFootB[3];
+      double th[3],dp[3],dth[3];
+      static double Krx,Kpx,Kra,Kpa;
+      static double wx,wy;
+      double r = 0.5;
+      double l1 = 0.5;
+      double l2 = 0.5;
+      double YawErr,PosErrR[3],VelErrR[3];
+      double PosErrB[3],MagPosErr,SpdCmd,YawRateCmd;
+      double phi,TurnRad;
+      
+      long i,Il;
+      static long Init = 1;
+      
+      AC = &S->AC;
+      B = &S->B[0];
+      
+      if (Init) {
+         Init = 0;
+         FindPDGains(S->mass,0.2*TwoPi,1.0,&Krx,&Kpx);
+         FindPDGains(S->I[2][2],0.2*TwoPi,0.7,&Kra,&Kpa);
+         wx = TwoPi/1000.0;
+         wy = TwoPi/700.0;
+      }
+      
+/* .. Position, Orientation in Region */
+      R = &Rgn[Orb[S->RefOrb].Region];
+      MxV(R->CN,S->PosR,PosRR);
+      MxV(R->CN,S->VelR,VelRR);
+      Q2C(B->qn,CBN);
+      MxMT(CBN,R->CN,CBR);
+      C2A(321,CBR,&Yaw,&Pitch,&Roll);
+      
+/* .. Generate position and attitude commands from path */
+      
+      PosCmd[0] = 20.0*sin(wx*SimTime);
+      PosCmd[1] = 15.0*sin(wy*SimTime);
+      VelCmd[0] = 20.0*wx*cos(wx*SimTime);
+      VelCmd[1] = 15.0*wy*cos(wy*SimTime);
+      
+      PosCmd[2] = 0.5;
+      VelCmd[2] = 0.0;
+      YawCmd = atan2(VelCmd[1],VelCmd[0]);
+      PitchCmd = 0.0;
+      RollCmd = 0.0;
+      
+/* .. Position, attitude errors */
+      for(i=0;i<3;i++) {
+         PosErrR[i] = PosRR[i] - PosCmd[i]; 
+         VelErrR[i] = VelRR[i] - VelCmd[i];
+      }
+      MxV(CBR,PosErrR,PosErrB);
+      MagPosErr = MAGV(PosErrB);
+      if (MagPosErr > 1.0) {
+         YawErr = Yaw + PosErrB[1]/MagPosErr;
+         while (YawErr < -Pi) YawErr += TwoPi;
+         while (Yaw > Pi) YawErr -= TwoPi;
+         YawRateCmd = Limit(-0.5*YawErr,-0.25,0.25);
+         if (fabs(YawErr) > 0.25) SpdCmd = 0.1*MaxSpd;
+         else SpdCmd = MaxSpd;
+      }
+      else {
+         YawErr = Yaw - YawCmd + 0.2*PosErrB[1]/MagPosErr;
+         while (YawErr < -Pi) YawErr += TwoPi;
+         while (Yaw > Pi) YawErr -= TwoPi;
+         YawRateCmd = Limit(-0.5*YawErr,-0.1,0.1);
+         SpdCmd = MAGV(VelCmd) - 0.5*PosErrB[0];
+      }
+      SpdCmd = Limit(SpdCmd,-MaxSpd,MaxSpd);
+      
+/* .. Leg position commands (in Body frame) */
+      if (SimTime < 3.0) {
+         for(Il=0;Il<6;Il++) {
+            Hip = &AC->G[Il];
+            Knee = &AC->G[Il+6];
+            HipCmd = &Hip->GCmd;
+            KneeCmd = &Knee->GCmd;
+            HipCmd->Ang[0] = 0.0;
+            HipCmd->Ang[1] = 0.0;
+            KneeCmd->Ang[0] = 0.0;
+            HipCmd->AngRate[0] = 0.0;
+            HipCmd->AngRate[1] = 0.0;
+            KneeCmd->AngRate[0] = 0.0;  
+         }
+      }
+      else {
+         StrideFrac = fmod(SimTime,StridePeriod)/StridePeriod;
+         for(Il=0;Il<6;Il++) {
+            Hip = &AC->G[Il];
+            Knee = &AC->G[Il+6];
+            HipCmd = &Hip->GCmd;
+            KneeCmd = &Knee->GCmd;
+            Phase = TwoPi*StrideFrac;
+            if (Il%2) Phase += Pi;
+            alpha = (60.0*((double) Il)+30.0)*D2R;
+            ca = cos(alpha);
+            sa = sin(alpha);
+            c1 = cos(Hip->Ang[0]);
+            s1 = sin(Hip->Ang[0]);
+            c2 = cos(Hip->Ang[1]);
+            s2 = sin(Hip->Ang[1]);
+            c3 = cos(Knee->Ang[0]);
+            s3 = sin(Knee->Ang[0]);
+            PosFootB[0] = r*ca + l1*c2*(c1*ca-s1*sa) 
+               + l2*((s1*sa-c1*ca)*(s2*c3+c2*s3));
+            PosFootB[1] = r*sa + l1*c2*(c1*sa+s1*ca)
+               - l2*((c1*sa+s1*ca)*(c2*s3+c3*s2));
+            PosFootB[2] = -l1*s2+l2*(s2*s3-c2*c3);
+            RestFootPos[0] = 1.0*ca;
+            RestFootPos[1] = 1.0*sa;
+            RestFootPos[2] = -0.4;
+            /* Walk with steering */
+            if (fabs(YawRateCmd) > SpdCmd/100.0) { /* Coordinated turn */
+               TurnRad = SpdCmd/YawRateCmd;
+               if (fabs(TurnRad) > 1.0) {
+                  phi = StrideAmp/fabs(TurnRad)*cos(Phase);
+                  phi *= signum(YawRateCmd)*fabs(SpdCmd)/MaxSpd;            
+               }
+               else {
+                  phi = StrideAmp*cos(Phase)*signum(YawRateCmd);
+               }
+               PosFootCmd[0] =  RestFootPos[0]*cos(phi)-(RestFootPos[1]-TurnRad)*sin(phi);
+               PosFootCmd[1] =  RestFootPos[0]*sin(phi)+(RestFootPos[1]-TurnRad)*cos(phi)+TurnRad;
+               PosFootCmd[2] =  RestFootPos[2];
+               if (sin(Phase)<0.0) PosFootCmd[2] -= StrideAmp*sin(Phase);
+            }
+            else { /* Walk straight */
+               PosFootCmd[0] = RestFootPos[0];
+               PosFootCmd[1] = RestFootPos[1];
+               PosFootCmd[2] = RestFootPos[2];
+               if (sin(Phase) > 0.0) { /* Foot Down */
+                  PosFootCmd[0] += SpdCmd*cos(Phase);
+               }
+               else { /* Foot Up */
+                  PosFootCmd[0] += SpdCmd*cos(Phase);
+                  PosFootCmd[2] -= StrideAmp*sin(Phase);
+               }
+            }
+      
+            /* Foot Position to Joint Angles */
+            LegPartials(S,Il,J);
+            MINV3(J,Jinv);
+            th[0] = Hip->Ang[0];
+            th[1] = Hip->Ang[1];
+            th[2] = Knee->Ang[0];
+            for(i=0;i<3;i++) dp[i] = PosFootB[i] - PosFootCmd[i];
+            MxV(Jinv,dp,dth);
+            HipCmd->Ang[0] -= 0.9*dth[0];
+            HipCmd->Ang[1] -= 0.9*dth[1];
+            KneeCmd->Ang[0] -= 0.9*dth[2];
+            HipCmd->AngRate[0] = -2.0*(Hip->Ang[0] - HipCmd->Ang[0]);
+            HipCmd->AngRate[1] = -2.0*(Hip->Ang[1] - HipCmd->Ang[1]);
+            KneeCmd->AngRate[0] = -2.0*(Knee->Ang[0] - KneeCmd->Ang[0]);  
+         }
+      }
+
+/* .. PD Control */
+#if 0
+      YawError = Yaw - YawCmd;
+      while (YawError > Pi) {
+         YawError -= TwoPi;
+      }
+      while (YawError < -Pi) {
+         YawError += TwoPi;
+      }
+      
+      for(i=0;i<3;i++) {
+         FcmdR[i] = -Krx*VelRR[i] - Kpx*(PosRR[i] - PosCmd[i]);
+         Tcmd[i] = -Kra*B->wn[i];
+      }
+      Tcmd[0] -= Kpa*(Roll-RollCmd);
+      Tcmd[1] -= Kpa*(Pitch-PitchCmd);
+      Tcmd[2] -= Kpa*YawError;
+      MxV(CBR,FcmdR,FcmdB);
+#endif
+}
+/**********************************************************************/
 /*  This function is called at the simulation rate.  Sub-sampling of  */
 /*  control loops is managed by FswSampleCounter.                     */
 /*  Mode handling, command generation, error determination, feedback  */
@@ -1829,6 +2064,9 @@ void FlightSoftWare(struct SCType *S)
             case THR_FSW:
                ThrFSW(S);
                break;
+            case ROVER_FSW:
+               RoverFSW(S);
+               break;
             case CFS_FSW:
                #ifdef _AC_STANDALONE_
                I = &S->AcIpc;
diff --git a/Source/42gl.c b/Source/42gl.c
index 7da6e50a..f8e6082f 100755
--- a/Source/42gl.c
+++ b/Source/42gl.c
@@ -181,7 +181,7 @@ void DrawSunAsBackdrop(void)
       glPopMatrix();
 }
 /**********************************************************************/
-void GeomToDisplayLists(struct GeomType *G)
+void MeshToDisplayLists(struct MeshType *G)
 {
       long Im,TexActive,Iv;
       long Ip;
@@ -1153,7 +1153,7 @@ void DrawFarScene(void)
          else if (W->Visibility == WORLD_SHOWS_DISK) {
             for(j=0;j<3;j++) svh[j] = -W->PosH[j];
             UNITV(svh);
-            if (W->GeomTag == 0) { /* World is sphere */
+            if (W->MeshTag == 0) { /* World is sphere */
                MxV(World[POV.Host.World].CNH,rh[Iw],PosN);
                MxV(World[POV.Host.World].CNH,svh,svn);
                DrawWorldAsBackdrop(W,PosN,svn);
@@ -1172,7 +1172,7 @@ void DrawFarScene(void)
                glTranslated(-rh[Iw][0],-rh[Iw][1],-rh[Iw][2]);
                RotateR2L(W->CNH);
                RotateR2L(W->CWN);
-               glCallList(Geom[W->GeomTag].OpaqueListTag);
+               glCallList(Mesh[W->MeshTag].OpaqueListTag);
                glPopMatrix();
                glUseProgram(0);
             }
@@ -1438,7 +1438,7 @@ void DrawNearAuxObjects(void)
       struct SCType *S;
       struct BodyType *B;
       struct NodeType *N;
-      struct GeomType *G;
+      struct MeshType *M;
       struct FovType *F;
       float SvbColor[4] = {1.0,1.0,0.0,1.0};
       float BvbColor[4] = {1.0,0.0,0.5,1.0};
@@ -1492,19 +1492,19 @@ void DrawNearAuxObjects(void)
                if (CamShow[B_AXES]) {
                   for(Ib=0;Ib<S->Nb;Ib++) {
                      B = &S->B[Ib];
-                     G = &Geom[B->GeomTag];
+                     M = &Mesh[B->MeshTag];
                      glPushMatrix();
                      glTranslated(B->pn[0],B->pn[1],B->pn[2]);
                      RotateR2L(B->CN);
                      for(i=0;i<3;i++) {
-                        r[i] = G->BBox.max[i]-B->cm[i];
+                        r[i] = M->BBox.max[i]-B->cm[i];
                         len[i] = 1.5*r[i];
                         if (len[i] < 0.5) len[i] = 0.5;
                         if (len[i] > r[i]+1.0) len[i] = r[i]+1.0;
                      }
                      DrawAxisLabels(GLYPH_B,BBrightColor,
                         0.0,len[0],0.0,len[1],0.0,len[2]);
-                     DrawBodyLabel(Ib,BBrightColor,G->BBox.max);
+                     DrawBodyLabel(Ib,BBrightColor,M->BBox.max);
 
                      /* Draw dots at joints */
                      glDisable(GL_LIGHTING);
@@ -1668,7 +1668,7 @@ void DrawContactSpheres(void)
 {
       struct SCType *S;
       struct BodyType *B;
-      struct GeomType *G;
+      struct MeshType *M;
       struct PolyType *P;
       long Isc,Ib,Ip;
       static long First = 1;
@@ -1692,11 +1692,11 @@ void DrawContactSpheres(void)
          if (S->RefOrb == POV.Host.RefOrb) {
             for(Ib=0;Ib<S->Nb;Ib++) {
                B = &S->B[Ib];
-               G = &Geom[B->GeomTag];
+               M = &Mesh[B->MeshTag];
                glPushMatrix();
                glMultMatrixf(B->ModelMatrix);
-               for(Ip=0;Ip<G->Npoly;Ip++) {
-                  P = &G->Poly[Ip];
+               for(Ip=0;Ip<M->Npoly;Ip++) {
+                  P = &M->Poly[Ip];
                   glPushMatrix();
                   glTranslated(P->Centroid[0],P->Centroid[1],P->Centroid[2]);
                   glScaled(P->radius,P->radius,P->radius);
@@ -1723,7 +1723,7 @@ void DepthPass(void)
       struct ShadowFBOType *SM;
       struct SCType *S;
       struct BodyType *B;
-      struct GeomType *G;
+      struct MeshType *M;
       struct BoundingBoxType *BB, LB;
       long Isc,Ib,i;
       double PosR[3];
@@ -1745,8 +1745,8 @@ void DepthPass(void)
          if (ScIsVisible(POV.Host.RefOrb,Isc,PosR) ) {
             for(Ib=0;Ib<S->Nb;Ib++) {
                B = &S->B[Ib];
-               G = &Geom[B->GeomTag];
-               BB = &G->BBox;
+               M = &Mesh[B->MeshTag];
+               BB = &M->BBox;
                for(i=0;i<3;i++) rb[i] = BB->center[i] - B->cm[i];
                MxV(B->CN,rb,rn);
                for(i=0;i<3;i++) rn[i] += B->pn[i]+ S->PosR[i];
@@ -1805,10 +1805,10 @@ void DepthPass(void)
                if (ScIsVisible(POV.Host.RefOrb,Isc,PosR) ) {
                   for(Ib=0;Ib<S->Nb;Ib++) {
                      B = &S->B[Ib];
-                     G = &Geom[B->GeomTag];
+                     M = &Mesh[B->MeshTag];
                      glPushMatrix();
                         glMultMatrixf(B->ModelMatrix);
-                        glCallList(G->DepthListTag);
+                        glCallList(M->DepthListTag);
                      glPopMatrix();
                   }
                }
@@ -1830,13 +1830,54 @@ void DepthPass(void)
       glViewport(0,0,CamWidth,CamHeight);
 }
 /**********************************************************************/
+void DrawCmdPath(void)
+{
+      struct MatlType *M;
+      double PosCmd[3];
+      double wx = TwoPi/1000.0;
+      double wy = TwoPi/700.0;
+      double dt,t;
+      
+      glLineWidth(4.0);
+      glPointSize(8.0);
+      M = &Matl[8];
+      glMaterialfv(GL_FRONT_AND_BACK,GL_AMBIENT,M->Ka);
+      glMaterialfv(GL_FRONT_AND_BACK,GL_DIFFUSE,M->Kd);
+      glMaterialfv(GL_FRONT_AND_BACK,GL_SPECULAR,M->Ks);
+      glMaterialfv(GL_FRONT_AND_BACK,GL_EMISSION,M->Ke);
+      glMaterialf(GL_FRONT_AND_BACK,GL_SHININESS,M->Ns);
+
+      glBegin(GL_LINES);
+         for(dt=-500.0;dt<500.0;dt+=1.0) {
+            t = SimTime + dt;
+            PosCmd[0] = 20.0*sin(wx*t);
+            PosCmd[1] = 15.0*sin(wy*t);      
+            PosCmd[2] = 0.5;
+            glVertex3dv(PosCmd);
+            PosCmd[0] = 20.0*sin(wx*(t+1.0));
+            PosCmd[1] = 15.0*sin(wy*(t+1.0));      
+            PosCmd[2] = 0.5;
+            glVertex3dv(PosCmd);
+         }
+      glEnd();
+      glBegin(GL_POINTS);
+         PosCmd[0] = 20.0*sin(wx*SimTime);
+         PosCmd[1] = 15.0*sin(wy*SimTime);      
+         PosCmd[2] = 0.5;
+         glVertex3dv(PosCmd);
+      glEnd();
+
+      glLineWidth(1.0);
+      glPointSize(1.0);
+}
+/**********************************************************************/
 void OpaquePass(void)
 {
       long Isc,Ib;
       struct SCType *S;
       struct BodyType *B;
       struct RegionType *R;
-      struct GeomType *G;
+      struct MeshType *M;
       struct ShadowFBOType *SM;
       long Ir;
       double PosR[3];
@@ -1860,11 +1901,12 @@ void OpaquePass(void)
          if (R->Exists && R->World == POV.Host.World) {
             glPushMatrix();
             glMultMatrixf(R->ModelMatrix);
+            DrawCmdPath();
             if (ShadowsEnabled) {
                MxM4f(ShadowFromNMatrix,R->ModelMatrix,ShadowMatrix);
                glUniformMatrix4fv(ShadowMatrixLoc,1,0,ShadowMatrix);
             }
-            glCallList(Geom[R->GeomTag].OpaqueListTag);
+            glCallList(Mesh[R->MeshTag].OpaqueListTag);
             glPopMatrix();
          }
       }
@@ -1874,14 +1916,14 @@ void OpaquePass(void)
          if (ScIsVisible(POV.Host.RefOrb,Isc,PosR)) {
             for(Ib=0;Ib<S->Nb;Ib++) {
                B = &S->B[Ib];
-               G = &Geom[B->GeomTag];
+               M = &Mesh[B->MeshTag];
                glPushMatrix();
                glMultMatrixf(B->ModelMatrix);
                if (ShadowsEnabled) {
                   MxM4f(ShadowFromNMatrix,B->ModelMatrix,ShadowMatrix);
                   glUniformMatrix4fv(ShadowMatrixLoc,1,0,ShadowMatrix);
                }
-               glCallList(G->OpaqueListTag);
+               glCallList(M->OpaqueListTag);
                glPopMatrix();
             }
          }
@@ -1893,7 +1935,7 @@ void SeeThruPass(void)
       long Isc,Ib,Ir;
       struct SCType *S;
       struct BodyType *B;
-      struct GeomType *G;
+      struct MeshType *M;
       struct RegionType *R;
       struct ShadowFBOType *SM;
       double PosR[3];
@@ -1921,7 +1963,7 @@ void SeeThruPass(void)
                MxM4f(ShadowFromNMatrix,R->ModelMatrix,ShadowMatrix);
                glUniformMatrix4fv(ShadowMatrixLoc,1,0,ShadowMatrix);
             }
-            glCallList(Geom[R->GeomTag].SeeThruListTag);
+            glCallList(Mesh[R->MeshTag].SeeThruListTag);
             glPopMatrix();
          }
       }
@@ -1932,10 +1974,10 @@ void SeeThruPass(void)
          if (ScIsVisible(POV.Host.RefOrb,Isc,PosR)) {
             for(Ib=0;Ib<S->Nb;Ib++) {
                B = &S->B[Ib];
-               G = &Geom[B->GeomTag];
+               M = &Mesh[B->MeshTag];
                glPushMatrix();
                glMultMatrixf(B->ModelMatrix);
-               glCallList(G->SeeThruListTag);
+               glCallList(M->SeeThruListTag);
                glPopMatrix();
             }
          }
@@ -4649,20 +4691,20 @@ void LoadCamLists(void)
       long Isc,Ib,Iw,Ir;
       double MwAlphaMask[4] = {0.0,0.5,0.5,0.0};
 
-/* .. Load SC Geom Display Lists */
+/* .. Load SC Mesh Display Lists */
       for(Isc=0;Isc<Nsc;Isc++) {
          for(Ib=0;Ib<SC[Isc].Nb;Ib++) {
-            GeomToDisplayLists(&Geom[SC[Isc].B[Ib].GeomTag]);
+            MeshToDisplayLists(&Mesh[SC[Isc].B[Ib].MeshTag]);
          }
       }
-/* .. Load World Geom Display Lists */
+/* .. Load World Mesh Display Lists */
       for(Iw=0;Iw<NWORLD;Iw++) {
-         if (World[Iw].GeomTag != 0)
-            GeomToDisplayLists(&Geom[World[Iw].GeomTag]);
+         if (World[Iw].MeshTag != 0)
+            MeshToDisplayLists(&Mesh[World[Iw].MeshTag]);
       }
-/* .. Load Region Geom Display Lists */
+/* .. Load Region Mesh Display Lists */
       for(Ir=0;Ir<Nrgn;Ir++) {
-         GeomToDisplayLists(&Geom[Rgn[Ir].GeomTag]);
+         MeshToDisplayLists(&Mesh[Rgn[Ir].MeshTag]);
       }
 
 /* .. Load Stars and Worlds */
diff --git a/Source/42init.c b/Source/42init.c
index 7ee93f98..9de86949 100755
--- a/Source/42init.c
+++ b/Source/42init.c
@@ -142,6 +142,7 @@ long DecodeString(char *s)
       else if (!strcmp(s,"CMG_FSW")) return CMG_FSW;
       else if (!strcmp(s,"THR_FSW")) return THR_FSW;
       else if (!strcmp(s,"CFS_FSW")) return CFS_FSW;
+      else if (!strcmp(s,"ROVER_FSW")) return ROVER_FSW;
 
       else if (!strcmp(s,"PHOBOS")) return PHOBOS;
       else if (!strcmp(s,"DEIMOS")) return DEIMOS;
@@ -1616,9 +1617,9 @@ void InitActuatedJoint(struct JointType *G, struct SCType *S)
       long i;
       
       for(i=0;i<3;i++) {
-         G->MaxTrq[i] = 10.0;
-         G->MaxAngRate[i] = 1.0*D2R;
-         G->AngRateGain[i] = G->MaxTrq[i]/G->MaxAngRate[i];
+         G->MaxTrq[i] = 500.0;
+         G->MaxAngRate[i] = 60.0*D2R;
+         G->AngRateGain[i] = 120.0; //G->MaxTrq[i]/G->MaxAngRate[i];
          G->MaxFrc[i] = 10.0;
          G->MaxPosRate[i] = 0.01;
          G->PosRateGain[i] = G->MaxFrc[i]/G->MaxPosRate[i];
@@ -1923,7 +1924,7 @@ void InitSpacecraft(struct SCType *S)
       struct AccelType *Accel;
       struct FgsType *Fgs;
       struct PsfType *PSF;
-      long OldNgeom;
+      long OldNmesh;
 
       infile=FileOpen(InOutPath,S->FileName,"r");
       fscanf(infile,"%[^\n] %[\n]",junk,&newline);
@@ -2085,7 +2086,7 @@ void InitSpacecraft(struct SCType *S)
                   &B->EmbeddedMom[1],&B->EmbeddedMom[2],junk,&newline);
          fscanf(infile,"%lf %lf %lf %[^\n] %[\n]",&B->EmbeddedDipole[0],
                   &B->EmbeddedDipole[1],&B->EmbeddedDipole[2],junk,&newline);
-         fscanf(infile,"%s %[^\n] %[\n]",B->GeomFileName,junk,&newline);
+         fscanf(infile,"%s %[^\n] %[\n]",B->MeshFileName,junk,&newline);
          fscanf(infile,"%s %[^\n] %[\n]",B->NodeFileName,junk,&newline);
          fscanf(infile,"%s %[^\n] %[\n]",B->FlexFileName,junk,&newline);
          if (S->RefPt == REFPT_JOINT)
@@ -2873,15 +2874,15 @@ void InitSpacecraft(struct SCType *S)
 
 /* .. Load geometry */
       for(j=0;j<S->Nb;j++) {
-         OldNgeom = Ngeom;
-         Geom = LoadWingsObjFile(ModelPath,S->B[j].GeomFileName,
-            &Matl,&Nmatl,Geom,&Ngeom,&S->B[j].GeomTag,
+         OldNmesh = Nmesh;
+         Mesh = LoadWingsObjFile(ModelPath,S->B[j].MeshFileName,
+            &Matl,&Nmatl,Mesh,&Nmesh,&S->B[j].MeshTag,
             AeroShadowsActive || SolPressShadowsActive);
-         if (ContactActive && OldNgeom != Ngeom) LoadOctree(&Geom[Ngeom-1]);
+         if (ContactActive && OldNmesh != Nmesh) LoadOctree(&Mesh[Nmesh-1]);
       }
 
 /* .. Initialize Bounding Box */
-      memcpy(&S->BBox,&Geom[S->B[0].GeomTag].BBox,sizeof(struct BoundingBoxType));
+      memcpy(&S->BBox,&Mesh[S->B[0].MeshTag].BBox,sizeof(struct BoundingBoxType));
       UpdateScBoundingBox(S);
 
       S->EnvTrq.First = 1;
@@ -2995,7 +2996,7 @@ void LoadSun(void)
       W->HasRing = FALSE;
       strcpy(W->Name,"Sun");
       strcpy(W->MapFileName,"NONE");
-      strcpy(W->GeomFileName,"NONE");
+      strcpy(W->MeshFileName,"NONE");
       strcpy(W->ColTexFileName,"NONE");
       strcpy(W->BumpTexFileName,"NONE");
       for(j=0;j<3;j++) {
@@ -3220,6 +3221,7 @@ void LoadMoonOfEarth(void)
 {
 #define Nm 1
 
+      double Zaxis[3] = {0.0,0.0,1.0};
       char Name[Nm][40] = {"Luna"};
       char MapFileName[Nm][40] = {"Luna.ppm"};
       float Color[4] = {0.440417f, 0.441343f, 0.441084f,1.0f};
@@ -3304,6 +3306,8 @@ void LoadMoonOfEarth(void)
          C2Q(M->CNH,M->qnh);
          QxQT(M->qnh,qjh,M->qnj);
          M->PriMerAng = LunaPriMerAng(TT.JulDay);
+         SimpRot(Zaxis,M->PriMerAng,M->CWN);
+         C2Q(M->CWN,M->qwn);
          M->Type = MOON;
       }
 #undef Nm
@@ -3393,9 +3397,9 @@ void LoadMoonsOfMars(void)
          for(i=0;i<4;i++) M->Color[i] = 1.0;
          M->Type = MOON;
       }
-      strcpy(World[PHOBOS].GeomFileName,"Phobos.obj");
-      Geom = LoadWingsObjFile(ModelPath,World[PHOBOS].GeomFileName,
-         &Matl,&Nmatl,Geom,&Ngeom,&World[PHOBOS].GeomTag,FALSE);
+      strcpy(World[PHOBOS].MeshFileName,"Phobos.obj");
+      Mesh = LoadWingsObjFile(ModelPath,World[PHOBOS].MeshFileName,
+         &Matl,&Nmatl,Mesh,&Nmesh,&World[PHOBOS].MeshTag,FALSE);
 
 
 #undef Nm
@@ -3912,7 +3916,7 @@ void LoadMinorBodies(void)
          fscanf(infile,"%s %[^\n] %[\n]",response,junk,&newline);
          W->Type=DecodeString(response);
          fscanf(infile,"%s %[^\n] %[\n]",W->MapFileName,junk,&newline);
-         fscanf(infile,"%s %[^\n] %[\n]",W->GeomFileName,junk,&newline);
+         fscanf(infile,"%s %[^\n] %[\n]",W->MeshFileName,junk,&newline);
          fscanf(infile,"%s %[^\n] %[\n]",W->ColTexFileName,junk,&newline);
          fscanf(infile,"%s %[^\n] %[\n]",W->BumpTexFileName,junk,&newline);
          fscanf(infile,"%lf %[^\n] %[\n]",&W->mu,junk,&newline);
@@ -3945,9 +3949,9 @@ void LoadMinorBodies(void)
          while ((E->tp-DynTime0) < -E->Period) E->tp += E->Period;
          while ((E->tp-DynTime0) >  E->Period) E->tp -= E->Period;
 
-         Geom = LoadWingsObjFile(ModelPath,W->GeomFileName,
-            &Matl,&Nmatl,Geom,&Ngeom,&W->GeomTag,TRUE);
-         W->Density = W->mu/(6.67408E-11*PolyhedronVolume(&Geom[W->GeomTag]));
+         Mesh = LoadWingsObjFile(ModelPath,W->MeshFileName,
+            &Matl,&Nmatl,Mesh,&Nmesh,&W->MeshTag,TRUE);
+         W->Density = W->mu/(6.67408E-11*PolyhedronVolume(&Mesh[W->MeshTag]));
 
          W->Parent = SOL;
          W->Nsat = 0;
@@ -3981,6 +3985,7 @@ void LoadRegions(void)
       struct WorldType *W;
       struct RegionType *R;
       double MagR;
+      double VelW[3];
 
       infile = FileOpen(InOutPath,"Inp_Region.txt","rt");
 
@@ -4029,17 +4034,18 @@ void LoadRegions(void)
             MTxV(W->CWN,R->PosW,R->PosN);
             MxM(R->CW,W->CWN,R->CN);
          }
-         R->VelN[0] = -W->w*R->PosN[1];
-         R->VelN[1] = W->w*R->PosN[0];
-         R->VelN[2] = 0.0;
+         VelW[0] = -W->w*R->PosW[1];
+         VelW[1] =  W->w*R->PosW[0];
+         VelW[2] = 0.0;
+         MTxV(W->CWN,VelW,R->VelN);         
          R->wn[0] = 0.0;
          R->wn[1] = W->w*cos(R->Lat);
          R->wn[2] = W->w*sin(R->Lat);
          fscanf(infile,"%lf %lf %lf %[^\n] %[\n]",
             &R->ElastCoef,&R->DampCoef,&R->FricCoef,junk,&newline);
-         fscanf(infile,"%s %[^\n] %[\n]",R->GeomFileName,junk,&newline);
-         Geom = LoadWingsObjFile(ModelPath,R->GeomFileName,
-            &Matl,&Nmatl,Geom,&Ngeom,&R->GeomTag,TRUE);
+         fscanf(infile,"%s %[^\n] %[\n]",R->MeshFileName,junk,&newline);
+         Mesh = LoadWingsObjFile(ModelPath,R->MeshFileName,
+            &Matl,&Nmatl,Mesh,&Nmesh,&R->MeshTag,TRUE);
       }
       fclose(infile);
 }
@@ -4698,10 +4704,10 @@ void InitSim(int argc, char **argv)
       Matl = AddMtlLib(ModelPath,"42.mtl",Matl,&Nmatl);
       ScaleSpecDiffFrac(Matl,Nmatl);
 
-      /* Known bug: First Geom loaded in gets corrupted.
-      Kludge fix: Load a sacrificial geom first.  */
-      Geom = LoadWingsObjFile(ModelPath,"Point.obj",
-            &Matl,&Nmatl,Geom,&Ngeom,&JunkTag,FALSE);
+      /* Known bug: First Mesh loaded in gets corrupted.
+      Kludge fix: Load a sacrificial mesh first.  */
+      Mesh = LoadWingsObjFile(ModelPath,"Point.obj",
+            &Matl,&Nmatl,Mesh,&Nmesh,&JunkTag,FALSE);
 
 /* .. Time */
       if (TimeMode == EXTERNAL_TIME) {
diff --git a/Source/42nos3.c b/Source/42nos3.c
index e9b934f4..d98d54a8 100644
--- a/Source/42nos3.c
+++ b/Source/42nos3.c
@@ -14,11 +14,11 @@
 #define _POSIX_C_SOURCE 1 /* For signal handling */
 #include <stdio.h>
 #include <stdlib.h>
-#include <dlfcn.h>
 
 #include "42.h"
 
 #if defined(__linux__)
+#include <dlfcn.h>
 #include <semaphore.h>
 static char BusName[120] = "command";
 static char ConnectionString[120] = "tcp://127.0.0.1:12001";
diff --git a/Source/42perturb.c b/Source/42perturb.c
index 03637057..423955d6 100755
--- a/Source/42perturb.c
+++ b/Source/42perturb.c
@@ -79,7 +79,7 @@ void FindUnshadedAreas(struct SCType *S, double DirVecN[3])
       struct SilVtxType *InVtx = NULL;
       struct SilVtxType *ClipVtx;
       struct BodyType *B;
-      struct GeomType *G;
+      struct MeshType *G;
       struct EdgeType *E;
       struct PolyType *P;
       double DirVecB[3],DoN1,DoN2;
@@ -99,7 +99,7 @@ void FindUnshadedAreas(struct SCType *S, double DirVecN[3])
       SilNe = 0;
       for(Ib=0;Ib<S->Nb;Ib++) {
          B = &S->B[Ib];
-         G = &Geom[B->GeomTag];
+         G = &Mesh[B->MeshTag];
          MxV(B->CN,DirVecN,DirVecB);
          for(Ie=0;Ie<G->Nedge;Ie++) {
             E = &G->Edge[Ie];
@@ -197,7 +197,7 @@ void FindUnshadedAreas(struct SCType *S, double DirVecN[3])
 /* .. Find unshaded areas, centroids */
       for(Ib=0;Ib<S->Nb;Ib++) {
          B = &S->B[Ib];
-         G = &Geom[B->GeomTag];
+         G = &Mesh[B->MeshTag];
          MxV(B->CN,DirVecN,DirVecB);
          for(Ipoly=0;Ipoly<G->Npoly;Ipoly++) {
             P = &G->Poly[Ipoly];
@@ -330,7 +330,7 @@ void GravGradFrcTrq(struct SCType *S)
       if ((O->Regime == ORB_ZERO || O->Regime == ORB_FLIGHT) &&
            O->PolyhedronGravityEnabled) {
          W = &World[O->World];
-         PolyhedronGravGrad(&Geom[W->GeomTag],W->Density,S->PosN,W->CWN,
+         PolyhedronGravGrad(&Mesh[W->MeshTag],W->Density,S->PosN,W->CWN,
             GravGradN);
 
          if (S->Nb == 1) {
@@ -496,7 +496,7 @@ void AeroFrcTrq(struct SCType *S)
       long Ipoly;
       long OrbCenter;
       struct BodyType *B;
-      struct GeomType *G;
+      struct MeshType *G;
       struct PolyType *P;
 
       OrbCenter = Orb[S->RefOrb].World;
@@ -523,7 +523,7 @@ void AeroFrcTrq(struct SCType *S)
          /* Find total projected area and cp for Body */
          Area = 0.0;
          for(i=0;i<3;i++) cp[i] = 0.0;
-         G = &Geom[B->GeomTag];
+         G = &Mesh[B->MeshTag];
          for(Ipoly=0;Ipoly<G->Npoly;Ipoly++) {
             P = &G->Poly[Ipoly];
                if (strncmp(Matl[P->Matl].Label,"SHADED",6)) { /* Aero doesn't see shaded polys */
@@ -558,7 +558,7 @@ void SolPressFrcTrq(struct SCType *S)
       long Ipoly;
       double svb[3],SoN,Coef,r[3],Fb[3],Fn[3],Tb[3],SolarPressure;
       struct BodyType *B;
-      struct GeomType *G;
+      struct MeshType *G;
       struct PolyType *P;
       struct MatlType *M;
 
@@ -574,7 +574,7 @@ void SolPressFrcTrq(struct SCType *S)
 /* .. Find Force and Torque on each Body */
          for(Ib=0;Ib<S->Nb;Ib++) {
             B = &S->B[Ib];
-            G = &Geom[B->GeomTag];
+            G = &Mesh[B->MeshTag];
 
             /* Find force and torque on each illuminated polygon */
             for(Ipoly=0;Ipoly<G->Npoly;Ipoly++) {
@@ -649,7 +649,7 @@ void FindPosVelR(struct SCType *S,struct BodyType *B, double PosB[3],
 void BodyRgnContactFrcTrq(struct SCType *S, long Ibody,
    struct RegionType *R)
 {
-      struct GeomType *Gb,*Gr;
+      struct MeshType *Gb,*Gr;
       struct BodyType *B;
       struct PolyType *Pb,*Pr;
       struct EdgeType *E;
@@ -669,8 +669,8 @@ void BodyRgnContactFrcTrq(struct SCType *S, long Ibody,
       double MaxMagFrc;
 
       B = &S->B[Ibody];
-      Gb = &Geom[B->GeomTag];
-      Gr = &Geom[R->GeomTag];
+      Gb = &Mesh[B->MeshTag];
+      Gr = &Mesh[R->MeshTag];
 
       for(i=0;i<3;i++) {
          FrcN[i] = 0.0;
@@ -784,7 +784,7 @@ void BodyRgnContactFrcTrq(struct SCType *S, long Ibody,
 void BodyBodyContactFrcTrq(struct SCType *Sa, long Ibody,
    struct SCType *Sb, long Jbody)
 {
-      struct GeomType *Ga,*Gb;
+      struct MeshType *Ga,*Gb;
       struct BodyType *Ba,*Bb;
       struct PolyType *Pa,*Pb;
       struct OctreeType *Oa,*Ob;
@@ -810,8 +810,8 @@ void BodyBodyContactFrcTrq(struct SCType *Sa, long Ibody,
 
       Ba = &Sa->B[Ibody];
       Bb = &Sb->B[Jbody];
-      Ga = &Geom[Ba->GeomTag];
-      Gb = &Geom[Bb->GeomTag];
+      Ga = &Mesh[Ba->MeshTag];
+      Gb = &Mesh[Bb->MeshTag];
       Oa = Ga->Octree;
       Ob = Gb->Octree;
 
@@ -931,7 +931,7 @@ void ContactFrcTrq(struct SCType *S)
       struct RegionType *R;
       struct SCType *Sc;
       struct BodyType *Bi,*Bj;
-      struct GeomType *Gi,*Gj;
+      struct MeshType *Gi,*Gj;
       double dx[3],cmb[3],cmni[3],cmnj[3];
       long Ir,i,Ib,Isc,Jb;
       
@@ -944,7 +944,7 @@ void ContactFrcTrq(struct SCType *S)
          if (!R->Exists) continue;
          if (R->World != O->World) continue;
          for(i=0;i<3;i++) dx[i] = S->PosN[i] - R->PosN[i];
-         if (MAGV(dx) > S->BBox.radius + Geom[R->GeomTag].BBox.radius) continue;
+         if (MAGV(dx) > S->BBox.radius + Mesh[R->MeshTag].BBox.radius) continue;
 
          /* Check each body vs Region */
          for(Ib=0;Ib<S->Nb;Ib++) {
@@ -965,13 +965,13 @@ void ContactFrcTrq(struct SCType *S)
          /* Check each body of S vs each body of Sc */
          for(Ib=0;Ib<S->Nb;Ib++) {
             Bi = &S->B[Ib];
-            Gi = &Geom[Bi->GeomTag];
+            Gi = &Mesh[Bi->MeshTag];
             for(i=0;i<3;i++) cmb[i] = Bi->cm[i] - Gi->BBox.center[i];
             MTxV(Bi->CN,cmb,cmni);
             for(Jb=0;Jb<Sc->Nb;Jb++) {
                /* Cheap Bi/Bj proximity checks */
                Bj = &Sc->B[Jb];
-               Gj = &Geom[Bj->GeomTag];
+               Gj = &Mesh[Bj->MeshTag];
                for(i=0;i<3;i++) cmb[i] = Bj->cm[i] - Gj->BBox.center[i];
                MTxV(Bj->CN,cmb,cmnj);
                for(i=0;i<3;i++)
diff --git a/Source/42report.c b/Source/42report.c
index e1b27351..274b3300 100755
--- a/Source/42report.c
+++ b/Source/42report.c
@@ -27,7 +27,7 @@ void WriteScVarsToCsv(void);
 double FindTotalProjectedArea(struct SCType *S,double VecN[3])
 {
       struct BodyType *B;
-      struct GeomType *G;
+      struct MeshType *M;
       struct PolyType *P;
       double ProjArea = 0.0;
       double VecB[3],VoN;
@@ -39,9 +39,9 @@ double FindTotalProjectedArea(struct SCType *S,double VecN[3])
          /* Transform Direction Vector from N to B */
          MxV(B->CN,VecN,VecB);
 
-         G = &Geom[B->GeomTag];
-         for(Ipoly=0;Ipoly<G->Npoly;Ipoly++) {
-            P = &G->Poly[Ipoly];
+         M = &Mesh[B->MeshTag];
+         for(Ipoly=0;Ipoly<M->Npoly;Ipoly++) {
+            P = &M->Poly[Ipoly];
             VoN = VoV(VecB,P->Norm);
             if (VoN > 0.0) {
                ProjArea += VoN*P->Area;
@@ -54,7 +54,7 @@ double FindTotalProjectedArea(struct SCType *S,double VecN[3])
 double FindTotalUnshadedProjectedArea(struct SCType *S,double VecN[3])
 {
       struct BodyType *B;
-      struct GeomType *G;
+      struct MeshType *M;
       struct PolyType *P;
       double ProjArea = 0.0;
       double VecB[3],VoN;
@@ -68,9 +68,9 @@ double FindTotalUnshadedProjectedArea(struct SCType *S,double VecN[3])
          /* Transform Direction Vector from N to B */
          MxV(B->CN,VecN,VecB);
 
-         G = &Geom[B->GeomTag];
-         for(Ipoly=0;Ipoly<G->Npoly;Ipoly++) {
-            P = &G->Poly[Ipoly];
+         M = &Mesh[B->MeshTag];
+         for(Ipoly=0;Ipoly<M->Npoly;Ipoly++) {
+            P = &M->Poly[Ipoly];
             VoN = VoV(VecB,P->Norm);
             if (VoN > 0.0) {
                ProjArea += VoN*P->UnshadedArea;