$Header: /var/cvs/mbdyn/mbdyn/mbdyn-1.0/CHANGES,v 1.854 2016/04/24 20:33:05 masarati Exp $

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

Copyright (C) 1996-2015

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


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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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


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


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


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


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


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


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


MBDyn 1.0.0
	First release

