$Header: /var/cvs/mbdyn/mbdyn/mbdyn-1.0/Attic/ChangeLog,v 1.157 2012/01/02 20:17:55 masarati Exp $

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

Copyright (C) 1996-2012

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

*** Thu Mar 29 17:00:00 CEST 2007 Alessandro Fumagalli <fumagalli@aero.polimi.it>
 - Added TotalJoint

*** Sat Mar  3 20:34:31 CET 2007 Pierangelo Masarati <masarati@aero.polimi.it>
 - Eliminated pGet() from Elem and derivates; replaced with dynamic_cast
   where appropriate

*** Thu Mar  1 20:34:31 CET 2007 Pierangelo Masarati <masarati@aero.polimi.it>
 - Added support for configurable orientation parametrization in output;
   supports Euler 123, orientation vector and orientation matrix in .mov/.nc;
   model-wide default and per-StructNode can be set

*** Mon Feb 26 16:07:20 CET 2007 Mattia Mattaboni <mattaboni@aero.polimi.it>
 - Added skeleton for Artificial Neural Network support.

*** Wed Jan 17 14:40:16 CET 2007 Pierangelo Masarati <masarati@aero.polimi.it>
 - Eliminated AbstractNode (replaced by ScalarDifferentialNode; abstract nodes
   can now be ScalarAlgebraicNode as well).

*** Wed Jan 17 14:40:16 CET 2007 Pierangelo Masarati <masarati@aero.polimi.it>
 - Added ImposedDisplacementJoint and ImposedDisplacementPinJoint

*** Thu Jan  4 23:59:59 CEST 2007 Pierangelo Masarati <masarati@aero.polimi.it>
 - Import experimental NetCDF support by Patrick Rix <patrick.rix@online.de>

*** Tue Jun  6 19:30:28 CEST 2006 Pierangelo Masarati <masarati@aero.polimi.it>
				  Marco Fossati <fossati@aero.polimi.it>
 - External structural force element to couple with ROSITA

*** Wed Feb  8 22:30:25 CET 2006
 - reworked GetConnectedNodes() API to use std::vector

*** Fri Oct 21 16:16:58 CEST 2005 Michele Attolico <attolico@aero.polimi.it>
 - more improvements to initialization and restart

*** Fri Oct 14 15:48:11 CEST 2005 Pierangelo Masarati <masarati@aero.polimi.it>
 - added "hint" support for drives

*** Tue Oct 11 17:58:11 CEST 2005 Pierangelo Masarati <masarati@aero.polimi.it>
 - added "hint" infrastructure

*** Wed Dec 23 12:00:00 CET 2004 Michele Attolico <attolico@aero.polimi.it>
 - reworked restart

*** Wed Dec 23 12:00:00 CET 2004 Pierangelo Masarati <masarati@aero.polimi.it>
 - reworked stream opening

*** Thu Nov  4 08:32:30 CET 2004 Pierangelo Masarati <masarati@aero.polimi.it>
				 Marco Morandini <morandini@aero.polimi.it>
 - added gimbal rotation joint

*** Mon Oct 18 17:26:50 CEST 2004 Pierangelo Masarati <masarati@aero.polimi.it>
 - Add describe equations
 - Add namespaces to MathParser
 - Add model namespace
 - cleanup dae-intg and modules

*** Tue Aug 31 15:42:59 CEST 2004 Pierangelo Masarati <masarati@aero.polimi.it>
 - Honor describe dofs in initial assembly

*** Thu Aug 19 14:16:31 CEST 2004 Pierangelo Masarati <masarati@aero.polimi.it>
 - Chaco partitioning works; issues on quality of partitions

*** Mon Aug 16 18:00:00 CEST 2004 Pierangelo Masarati <masarati@aero.polimi.it>
 - Schur parallel solver works; 1.2.1 released

*** Thu Aug 12 15:19:27 CEST 2004 Pierangelo Masarati <masarati@aero.polimi.it>
 - fixed revolute joint relative rotation private data bug

*** Wed Aug  4 16:00:47 CEST 2004 Michele Attolico <attolico@aero.polimi.it>
 - added SimulinkInterface and examples as contrib

*** Sat Jul 31 09:32:07 CEST 2004 Pierangelo Masarati <masarati@aero.polimi.it>
 - added linear and angular acceleration to dynamic structural nodes output

*** Thu Jul 29 14:11:54 CEST 2004 Pierangelo Masarati <masarati@aero.polimi.it>
 - s/std::c{out,err}/silent_c{out,err}/
 - added provisions for more detailed dof stats

*** Sun Jun 13 20:33:04 CEST 2004 Pierangelo Masarati <masarati@aero.polimi.it>
 - support for generic modules

*** Thu Jun  3 13:09:16 CEST 2004 Pierangelo Masarati <masarati@aero.polimi.it>
 - modal element honors inertia log
 - improved auth stuff and new crypt utilities

*** Wed Jun  2 23:07:12 CEST 2004 Pierangelo Masarati <masarati@aero.polimi.it>
 - removed THROW() macro
 - added predefined drive callers

*** Thu May 27 11:27:39 CEST 2004 Pierangelo Masarati <masarati@aero.polimi.it>
 - joint use gravity; modal joint honors gravity

*** Tue May 25 16:10:11 CEST 2004 Marco Morandini <morandini@aero.polimi.it>
				  Pierangelo Masarati <masarati@aero.polimi.it>
 - added "ad hoc" (Radau IIA) third-order integrator

*** Mon May 24 10:31:08 CEST 2004 Pierangelo Masarati <masarati@aero.polimi.it>
 - added first order BDF method

*** Thu May 20 11:18:01 CEST 2004 Pierangelo Masarati <masarati@aero.polimi.it>
 - allow velocities in ADAMS .res output

*** Wed May 19 10:38:05 CEST 2004 Pierangelo Masarati <masarati@aero.polimi.it>
 - stop command

*** Wed May 19 10:38:05 CEST 2004 Marco Morandini <morandini@aero.polimi.it>
 - brake joint

*** Fri Mar  5 11:30:42 CET 2004 Pierangelo Masarati <masarati@aero.polimi.it>
 - output from constitutive laws
 - output help for shock absorber

*** Fri Feb 20 10:33:00 CET 2004 Pierangelo Masarati <masarati@aero.polimi.it>
 - moved naive solver stuff in separate dir

*** Fri Feb 20 10:00:00 CET 2004 Marco Morandini <morandini@aero.polimi.it>
 - AssRess throws exception if jacobian must be regenerated
 - Naive solver with permutation based on colamd
 - colamd as separate library

*** Fri Feb  6 12:14:50 CET 2004 Marco Morandini <morandini@aero.polimi.it>
 - s/Init/Reset/

*** Fri Feb  6 12:14:50 CET 2004 Paolo Mantegazza <mantegazza@aero.polimi.it>
				 Marco Morandini <morandini@aero.polimi.it>
 - Naive solver

*** Thu Jan  8 21:31:38 CET 2004 Pierangelo Masarati <masarati@aero.polimi.it>
 - SuperLU works

*** Mon Jan  5 11:18:32 CET 2004 Pierangelo Masarati <masarati@aero.polimi.it>
 - Compact form allowed also for Y12; works in multithread mode

*** Sat Jan  3 11:17:12 CET 2004
 - first cut at new sparse matrix handler

*** Tue Dec 30 23:43:38 CET 2003 Pierangelo Masarati <masarati@aero.polimi.it>
 - fixed transition from column-compressed to sparse-map umfpack
   when the matrix is invalidated
 - fixed multithread support
 - fixed signal handling in multithread support
 - 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 from math parser (companion of 'dof' drive)
 - detect nested comments (/* ... /* ... */) and warn

*** Wed Dec 24 00:56:31 CET 2003 Pierangelo Masarati <masarati@aero.polimi.it>
 - fixed endless loop bug when silencing output with '-s'
 - added support for multithreaded solution; currently works only
   with Umfpack and column compressed form, so matrix profile changes
   are not allowed; this will be removed in the future
 - added support for SASL auth; preserved old auth stuff, now deprecated
 - moved socket support into libmbutils; INET and LOCAL sockets used
   consistently in MBDyn and utils
 - moved fSilent/fPedantic global vars in libmbutils; now silent_c* can
   be used everywhere; need to cleanup the whole stuff

*** Thu Dec  4 17:07:17 CET 2003 Marco Morandini <morandini@ero.polimi.it>
 - add compressed column matrix form with external storage
 - use it within umfpackwrap

*** Thu Dec  4 17:07:17 CET 2003 Pierangelo Masarati <masarati@aero.polimi.it>
                                 Marco Morandini <morandini@ero.polimi.it>
 - change fIncCoef -> IncCoef (now return void)
   same for similar methods

*** Wed Oct 22 17:27:23 CEST 2003 Pierangelo Masarati <masarati@aero.polimi.it>
 - Reworked Drive Hinge; no longer experimental but with \pi limitation;
   needs more work...

*** Sun Oct 12 23:16:50 CEST 2003 Walter Landry <wlandry@ucsd.edu>,
				  Pierangelo Masarati <masarati@aero.polimi.it>
 - Reworking of parallel partitioning; added support for Chaco

*** Sun Oct  5 11:55:56 CEST 2003 Pierangelo Masarati <masarati@aero.polimi.it>
 - Modal element can be clamped, thus not requiring any modal node

*** Fri Oct  3 15:00:00 CEST 2003 Michele Attolico <attolico@aero.polimi.it>
 - import of "final" RTAI support

*** Tue Sep 23 15:40:31 CEST 2003 Marco Morandini <morandini@aero.polimi.it>
 - add scalar functions - need to add documentation

*** Mon Sep 22 16:53:48 CEST 2003 Marco Morandini <morandini@aero.polimi.it>
 - big cleanup of Update() and Predict() methods in 
   stepsol.h, stepsol.cc, thirdorderstepsol.h, thirdorderstepsol.cc

*** Tue Sep 16 20:43:14 CEST 2003 Pierangelo Masarati <masarati@aero.polimi.it>
 - specialize tests for residual and solution
 - residual test scaling and solution testing are no longer conditional

*** Mon Sep 15 23:41:00 CEST 2003 Pierangelo Masarati <masarati@aero.polimi.it>
 - fix a small bug in AerodynamicBody (position where airstream speed
   is evaluated
 - added cycle to reference induced velocity computation

*** Thu Jul 31 15:43:31 CEST 2003 Pierangelo Masarati <masarati@aero.polimi.it>
 - fix dof plugin parameter node input; overall improvements

*** Thu Jul 31 15:46:31 CEST 2003 Marco Morandini <morandini@aero.polimi.it>
 - lot of commits before this date:
   third order integrator

*** Thu Jul 31 15:46:31 CEST 2003 Marco Morandini <morandini@aero.polimi.it>
 - lot of commits before this date:
   reorganization of integrators and solvers (in view of third order integrator)

*** Wed Jul 30 22:59:25 CEST 2003 Pierangelo Masarati <masarati@aero.polimi.it>
 - very rough implementation of aircraft instruments ...

*** Wed Jul 30 20:44:46 CEST 2003 Pierangelo Masarati <masarati@aero.polimi.it>
 - parameter node output in .prm files

*** Tue Jul 29 22:00:00 CEST 2003 Pierangelo Masarati <masarati@aero.polimi.it>
 - reworked distance joints
 - loadable elems as joints

*** Tue May 20 10:29:56 CEST 2003 Marco Morandini <morandini@aero.polimi.it>
 - added nr keep jacobian option

*** Wed May  7 23:19:37 CEST 2003 Pierangelo Masarati <masarati@aero.polimi.it>
 - added Umfpack 4.1 support

*** Fri May  2 15:00:00 CEST 2003 Pierangelo Masarati <masarati@aero.polimi.it>
 - fix derivatives (the coef is relative to the initial time step)
 - add universal rotation joint

*** Sat Apr 26 23:00:00 CEST 2003 Pierangelo Masarati <masarati@aero.polimi.it>
 - Modal Element cleanup
 - Modal Element active mode listing
 - Fix of --enable-debug build
 - Mix Solver sanity check improvements

*** Fri Apr 25 16:00:00 CEST 2003 Marco Morandini <morandini@aero.polimi.it>
				  Pierangelo Masarati <masarati@aero.polimi.it>
 - Beam Slider jacobian bug fixes and cleanup

*** Tue Apr  1 22:00:00 CEST 2003 Pierangelo Masarati <masarati@aero.polimi.it>
 - MatR2EulerAngles outputs rads now
 - revolute joint outputs non-wrapping angle as first parameter
 - added RTAI mailbox drive; reworking of file drives

*** Sun Mar 30 17:00:00 CEST 2003 Pierangelo Masarati <masarati@aero.polimi.it>
 - spatially resolved gust

*** Fri Mar 28 23:00:00 CET 2003 Pierangelo Masarati <masarati@aero.polimi.it>
 - restore old residual test computation

*** Fri Mar  7 16:00:00 CET 2003 Giuseppe Quaranta <quaranta@aero.polimi.it>
 - apply new solver API (waiting for matrix-free)

*** Sat Mar  1 13:36:39 CET 2003 Marco Morandini <morandini@aero.polimi.it>
 - harwrap: get rid of Mante's sparse matrix

*** Thu Feb 27 16:53:33 CET 2003 Pierangelo Masarati <masarati@aero.polimi.it>
 - added sample'n'hold parameter

*** Wed Feb 26 13:30:04 CET 2003 Marco Morandini <morandini@aero.polimi.it>
 - get rid of Mante's sparse matrix

*** Tue Feb 11 12:00:00 CET 2003 Pierangelo Masarati <masarati@aero.polimi.it>
 - added ground effect to rotor models with induced velocity (untested)

*** Thu Dec 19 23:37:03 CET 2002 Pierangelo Masarati <masarati@aero.polimi.it>
 - added electric motor (seems to work :)

*** Thu Dec 19 16:00:00 CET 2002 Pierangelo Masarati <masarati@aero.polimi.it>
 - added first provisions for RTAI linking

*** Wed Dec 18 23:09:03 CET 2002 Pierangelo Masarati <masarati@aero.polimi.it>
 - internal forces (will evolve into electric motors ...)

*** Sun Dec 15 14:29:00 CET 2002 Pierangelo Masarati <masarati@aero.polimi.it>
 - added AeroDyn package as contrib.; module-aerodyn started
 - changed API of modules (added info stuff)

*** Tue Dec  3 16:27:44 CET 2002 Pierangelo Masarati <masarati@aero.polimi.it>
 - added standard air provisions

*** Tue Nov 26 17:19:22 CET 2002 Pierangelo Masarati <masarati@aero.polimi.it>
 - fixed c81 steady aerodynamic moment

*** Mon Nov 25 09:21:22 CET 2002 Pierangelo Masarati <masarati@aero.polimi.it>
 - move getopt.h to include/ac

*** Thu Nov 21 19:36:00 CET 2002 Giuseppe Quaranta <quaranta@aero.polimi.it>
 - first commit of POD stuff

*** Wed Nov 20 16:30:00 CET 2002 Pierangelo Masarati <masarati@aero.polimi.it>
 - added ac/lapack.h

*** Wed Nov 13 21:46:34 CET 2002 Pierangelo Masarati <masarati@aero.polimi.it>
 - configure check for crypt
 - added ltdl support

*** Thu Nov  7 22:37:00 CET 2002 Pierangelo Masarati <masarati@aero.polimi.it>
 - first cut at reduced output

*** Mon Nov  4 13:00:00 CET 2002 Pierangelo Masarati <masarati@aero.polimi.it>
 - struct node type does not default to dynamic any more
 - spherical joint output in local frame

*** Fri Nov  1 20:00:00 CET 2002 Pierangelo Masarati <masarati@aero.polimi.it>
 - added "inertia" block properties computation

*** Wed Oct 30 19:09:12 CET 2002 Pierangelo Masarati <masarati@aero.polimi.it>
 - add -W (--working-dir) switch

*** Mon Oct 28 15:00:00 CET 2002 Marco Morandini <morandini@aero.polimi.it>
 - first commit of OpenDX visualization scripts

*** Thu Oct  3 10:42:15 CEST 2002 Pierangelo Masarati <masarati@aero.polimi.it>
 - implement separate induced velocity correction factors for hover
   and forward flight

*** Fri Aug  2 11:51:14 CEST 2002 Pierangelo Masarati <masarati@aero.polimi.it>
 - count jacobians
 - umfpack4 is the default solver now (if available :)
 - added integr.cc with integrator data; will take care of reading/allocating
   appropriate integrator

*** Tue Jul 30 19:55:53 CEST 2002 Pierangelo Masarati <masarati@aero.polimi.it>
 - added support for UMFPACK 4.0

*** Tue Jul 30 11:55:53 CEST 2002 Pierangelo Masarati <masarati@aero.polimi.it>
 - Elem inherits from SimulationEntity
 - added AfterConvergence() method
 - moved after convergence operations from Output() to AfterConvergence()
 - more AfterConvergence() related stuff
 - minor cleanup
 - added pedantic_{output|cout|cerr} macros

*** Fri Jul 26 12:40:00 CEST 2000 Pierangelo Masarati <masarati@aero.polimi.it>
 - branched MBDYN_REL_ENG_1_1 for fixes
 - HEAD now uses SimulationEntity (nodes; elements will follow during 
   the weekend ;)

*** Fri Jul 19 13:49:47 CEST 2002 Marco Morandini <morandini@aero.polimi.it>
 - fix Makefile.am and configure.in for automake 1.6.2

*** Tue Jul 16 15:00:00 CEST 2002 Pierangelo Masarati <masarati@aero.polimi.it>
 - fix ADAMS output if ostream hasn't form() method (GNU extension)

*** Wed Jun 19 12:12:36 CEST 2002 Marco Morandini <morandini@aero.polimi.it>
 - add strategy change in multistep integrator

*** Thu May 16 14:10:46 CEST 2002 Pierangelo Masarati <masarati@aero.polimi.it>
 - strengthen turbulent dissipative elements when dealing with nearly null 
   pressure differential

*** Wed May 15 16:39:30 CEST 2002 Marco Morandini <morandini@aero.polimi.it>
 - fix default argument in iterwrap.cc

*** Fri May 10 15:56:08 CEST 2002 Pierangelo Masarati <masarati@aero.polimi.it>
 - log reference frames on dedicated file (only if required)

*** Wed May  8 15:10:57 CEST 2002 Pierangelo Masarati <masarati@aero.polimi.it>
				  Stefania Gualdi <gualdi@aero.polimi.it>
 - added threshold to module-wheel2 when computing slip angle

*** Tue May  7 15:39:42 CEST 2002 Pierangelo Masarati <masarati@aero.polimi.it>
 - added vec2rot to utils; need to rework and document stuff ...
 - silenced warning due to uninitialized MPI stuff in dof drives input

*** Wed Apr 24 15:21:53 CEST 2002 Pierangelo Masarati <masarati@aero.polimi.it>
 - 1.1.2 released

*** Tue Apr 23 18:41:18 CEST 2002 Giuseppe Quaranta <quaranta@aero.polimi.it>
 - iterative BGGSTAB solver added to repository; needs work

*** Tue Apr 23 12:08:47 CEST 2002 Marco Morandini <morandini@aero.polimi.it>
 - improve deformable hinge; need work for viscoelastic joints

*** Thu Apr 18 18:56:01 CEST 2002 Pierangelo Masarati <masarati@aero.polimi.it>
 - major modal joint cleanup; initial modal velocity works.
 - small Mat3x3/Mat3xN API inprovements

*** Wed Apr 17 15:44:46 CEST 2002 Pierangelo Masarati <masarati@aero.polimi.it>
 - rotors can be arbitrarily oriented wrt the craft (ITS#5)

*** Tue Apr 16 10:26:48 CEST 2002 Pierangelo Masarati <masarati@aero.polimi.it>
 - fix bug in scalar template array drive

*** Wed Apr 10 15:00:56 CEST 2002 Pierangelo Masarati <masarati@aero.polimi.it>
 - check validity of c81 header (ITS#4)

*** Wed Apr 10 09:58:46 CEST 2002 Pierangelo Masarati <masarati@aero.polimi.it>
 - fix linear and parabolic shape input

*** Fri Apr  5 19:38:36 CEST 2002 Pierangelo Masarati <masarati@aero.polimi.it>
 - print matrices for modal analysis if required (need to use matlab
   compatible format)

*** Thu Mar 28 11:37:57 CET 2002 Marco Morandini <morandini@aero.polimi.it>
 - small fixes: libraries/libmbwrap/Makefile.am and mbdyn/aero/rotor.cc

*** Thu Mar 28 09:50:25 CET 2002 Giuseppe Quaranta <quaranta@aero.polimi.it>
 - add aerodynamic modal element based on a state-space representation of 
   the aerodynamic unsteady loads

*** Thu Mar 28 07:45:11 CET 2002 Pierangelo Masarati <masarati@aero.polimi.it>
 - fix unsteady Cm sign in c81 aerodynamics

*** Wed Mar 27 17:28:42 CET 2002 Pierangelo Masarati <masarati@aero.polimi.it>
 - merged scalar and parallel multistep integrators
 - detects whether it is invoked by mpirun

*** Thu Mar 21 19:26:21 CET 2002 Pierangelo Masarati <masarati@aero.polimi.it>
 - cleanup of build environment; useless stuff is not installed.
   Now: first check out the code; tailor & run "sh ./bootstrap.sh";
   do a "./configure", a "make", finally a "make dist".

*** Fri Mar  8 19:00:00 CET 2002 Pierangelo Masarati <masarati@aero.polimi.it>
 - configurable output precision

*** Mon Mar  4 16:52:59 CET 2002 Pierangelo Masarati <masarati@aero.polimi.it>
 - use pdflatex to generate better quality pdf documentation (as suggested
   by Herman Bruyninckx <Herman.Bruyninckx@mech.kuleuven.ac.be>)

*** Mon Mar  4 14:17:16 CET 2002 Giuseppe Quaranta <quaranta@aero.polimi.it>
 - fix configure.in check for parallel solver

*** Mon Mar  4 10:17:16 CET 2002 Giuseppe Quaranta <quaranta@aero.polimi.it>
 - fix and enhance parallel solver

*** Tue Feb 26 18:23:16 CET 2002 Pierangelo Masarati <masarati@aero.polimi.it>
 - configurable extra output for the iteration engine

*** Fri Feb 22 11:42:22 CET 2002 Pierangelo Masarati <masarati@aero.polimi.it>
 - fix bug in calculator (+)

*** Tue Feb 12 20:48:00 CET 2002 Pierangelo Masarati <masarati@aero.polimi.it>
 - added ResForces and SetResForces to output partial rotor forces 
   and couples referred to arbitrary poles

*** Fri Feb  8 18:14:43 CET 2002 Pierangelo Masarati <masarati@aero.polimi.it>
                                 Stefania Gualdi <gualdi@aero.polimi.it>
 - fix reference volume computation in tire (module-wheel2)

*** Wed Feb  6 17:19:42 CET 2002 Marco Morandini <morandini@aero.polimi.it>
 - cleanup of ANSI-fication also in debug mode
 
*** Wed Feb  6 17:19:42 CET 2002 Pierangelo Masarati <masarati@aero.polimi.it>
 - added penalty on strain rate in shock absorber (changes input syntax)

*** Tue Feb  5 17:30:00 CAT 2002 Pierangelo Masarati <masarati@aero.polimi.it>
				 Stefania Gualdi <gualdi@aero.polimi.it>
 - added a couple of coefficients to allow to tune the approximate friction
   model of the shock absorber constitutive law

*** Fri Feb  1 17:00:00 CET 2002 Pierangelo Masarati <masarati@aero.polimi.it>
				 Stefania Gualdi <gualdi@aero.polimi.it>
 - reviewed module-wheel2; fixed bug in tire friction

*** Thu Jan 31 10:02:27 CET 2002 Pierangelo Masarati <masarati@aero.polimi.it>
 - unsteady correction is 'cn', not 'cl'
 - added symbolic constitutive law based on GiNaC (elastic, no parameters)

*** Wed Jan 30 14:49:04 CET 2002 Pierangelo Masarati <masarati@aero.polimi.it>
 - added renice command-line switch
 - removed obsolete dependency on "mystddef.h"

*** Tue Jan 22 16:48:30 CET 2002 Pierangelo Masarati <masarati@aero.polimi.it>
				 Massimiliano Lanz <lanz@aero.polimi.it>
 - native and c81 unsteady aerodynamic forces work with "Bielawa" model
   (native still need some reworking)
 - air density depends upon a drive (dirty hack :)

*** Sun Jan 13 09:04:22 CET 2002 Pierangelo Masarati <masarati@aero.polimi.it>
 - actually there's no need to reset the matrix as we know in advance
   if we're adding/subtracting a coefficient for the first time; all
   we need to do is reset the hash vector.
 - y12m promoted back to default as it saves some 20-25% time on average
   test cases; umfpack3 has a more versatile memory handling and is less 
   sensitive to pivoting issues.

*** Sat Jan 12 10:47:06 CET 2002 Pierangelo Masarati <masarati@aero.polimi.it>
 - memset allows some 0.5% speedup!

*** Fri Jan 11 17:38:50 CET 2002 Pierangelo Masarati <masarati@aero.polimi.it>
				 Marco Morandini <morandini@aero.polimi.it>
 - optimal storage allocation for y12m wrapper (dramatic performance 
   improvement; need to do the same for Harwell)

*** Thu Jan 10 11:10:55 CET 2002 Pierangelo Masarati <masarati@aero.polimi.it>
 - std::ified all the package
 - major reworking of configuration/system detection/header handling
 - fix umfpack logic bug; promoted to default (much better than others)

*** Tue Jan  8 19:27:59 CET 2002 Giuseppe Quaranta <quaranta@aero.polimi.it>
				 Marco Morandini <morandini@aero.polimi.it>
 - added support for Umfpack3 (parallel build is broken)

*** Tue Dec 11 14:11:59 CET 2001 Pierangelo Masarati <masarati@aero.polimi.it>
 - added "bdf" option to integration methods also for dummy steps
 - same for asymptotic radius of algebraic unknowns

*** Thu Dec  6 19:21:40 CET 2001 Pierangelo Masarati <masarati@aero.polimi.it>
 - improved optional parameter input for struct nodes, updated manual

*** Fri Nov 30 15:28:39 CET 2001 Pierangelo Masarati <masarati@aero.polimi.it>
 - added smearing
 - "abort after: input;" outputs the current data
 - fixed typos in manual

*** Tue Nov 27 18:19:43 CET 2001 Pierangelo Masarati <masarati@aero.polimi.it>
 - Make hydraulic nodes honor the output flag
 - ITS works

*** Thu Nov 22 14:59:29 CET 2001 Pierangelo Masarati <masarati@aero.polimi.it>
 - The classic beam slider joint works

*** Wed Nov 21 13:41:29 CET 2001 Pierangelo Masarati <masarati@aero.polimi.it>
 - Vec3 has () and [] operators; Mat3x3 has () operator

*** Thu Nov 15 11:16:54 CET 2001 Pierangelo Masarati <masarati@aero.polimi.it>
 - Beam slider works with multiple beams

*** Tue Nov 13 19:39:46 CET 2001 Giuseppe Quaranta <quaranta@aero.polimi.it>
 - reviewed parallel stuff

*** Fri Nov  9 21:56:01 CET 2001 Pierangelo Masarati <masarati@aero.polimi.it>
 - added "bdf" option to integration methods (updated manuals)
 - the asymptotic radius for algebraic unknowns is optional

*** Thu Nov  8 21:00:00 CET 2001 Pierangelo Masarati <masarati@aero.polimi.it>
 - keywords for number of cycles in sine/cosine drives
 - strtol/d in parser; better parsing of reals
 - configure checks for crypt library
 - do not compile GPC if no pseudo-inverse is available
 - Reynolds numbers in hydraulic fluids (needs improvements)

*** Wed Oct 24 15:57:20 CEST 2001 Pierangelo Masarati <masarati@aero.polimi.it>
 - big leap towards distribution: 
   - wiped out HSL stuff; 
   - wiped out other proprietary stuff;
   - packed liby12;
   - packed meschach stuff; 
   - cleaned up configure and build;
 - (hopefully) fixed OpenLDAP autoconf macros licensing issue

*** Tue Oct 23 16:19:25 CEST 2001 Pierangelo Masarati <masarati@aero.polimi.it>
 - added bi-stop constitutive law
 - spherical slider works on one 3 node beam

*** Wed Aug  1 14:10:23 CEST 2001 Pierangelo Masarati <masarati@aero.polimi.it>
 - added NASTRAN output (bulk and .f06) for modes at trim point.

*** Wed Aug  1 14:10:23 CEST 2001 Giuseppe Quaranta <quaranta@aero.polimi.it>
 - fixed modal flexibility; a new utility, femgen, generates the input for
   MBDyn form NASTRAN binary output. Alter files are provided.

*** Thu Oct 12 15:01:33 CEST 2000 Pierangelo Masarati <masarati@aero.polimi.it>
 - fixed (hopefully) the c81 coefficients in yaw (the cm is still under
   investigation).
 - moved RotorTrim in mbdyn/elec; still to check.
 - found out that clapack allows dgegv to work correctly! now need
   to define output interface and implement AssEig for ALL elements!
 - Made a simple trick to allow aerodynamic elements to receive induced
   velocity from rotor elements without contributing forces.
 - Adding getopt, dgegv stuff in libraries/libobjs directory.

*** Thu Oct 12 15:01:33 CEST 2000 Leonardo Cassan
				  Pierangelo Masarati <masarati@aero.polimi.it>
 - added ADAMS2MBDyn to the development tree in contrib/a2m; this required:
   - addition of GetMatRel and GetMatAbs to MBDynParser (references and so);
   - addition of "name" optional keyword to references, hydraulic fluids, 
     c81 data and so;

*** Thu Sep 21 15:20:33 CEST 2000 Pierangelo Masarati <masarati@aero.polimi.it>
 - Cleaned up Meschach wrappers.
 - Modified '-s' fSilent switch to act more strictly the higher the value.
 - In the past days: added y12 sparse LU library, comparable to Harwell.

*** Sat Sep 16 01:03:24 CEST 2000 Pierangelo Masarati <masarati@aero.polimi.it>
 - Added checks for: exceptions, lapack, aerodynamic output, various flags.
 - Cleaned up gpc, aeroelem and other files.
 - Moved env.c in utils - checks for MBDYN_* env vars.
 - Retrieved the Deadbeat Predictive Control test dpc in mbdyn/elec; now
   it builds fine together with the library

*** Fri Sep 15 17:30:33 CEST 2000 Pierangelo Masarati <masarati@aero.polimi.it>
 - Directory tree completely reworked.
 - Added autoconf's configure.in, automake's Makefile.am's and libtool
   support; dynamic linking is still broken :((
 - Utils are cleaned up.
 - Everything now is under CVS

*** 2000-09-07 Giuseppe Quaranta (Pierangelo Masarati)
 - CVS tests
 - More CVS tests

*** 2000-09-07 Pierangelo Masarati
 - Cleanup of various stuff; 
 - update of parallel stuff from Beppe;
 - put everything under CVS

*** 2000-07-10 Pierangelo Masarati
 - Upgrade of hydraulic stuff (new dynamic pipe and cavitation hydraulic fluid)

*** 2000-05-22 Pierangelo Masarati
 - Initial Adams output capabilities

*** 2000-05-19 Giuseppe Quaranta
 - final merge of parallel stuff

*** 2000-05-01 Pierangelo Masarati
 - provisions for -ansi compiling, HP & Digital porting ...

*** 2000-03-17 Pierangelo Masarati
 - adding c81 aerodynamic stuff ...

*** 2000-03-03 Pierangelo Masarati
 - restoring the AssEig stuff ... (unable to make lapack work!)

*** 2000-03-02 Pierangelo Masarati
 - sign built-in function

*** 2000-03-01 Giuseppe Quaranta
 - release of parallel stuff; new release: 00.001.0010

*** 2000-02-27 Pierangelo Masarati
 - kinematic joint OK; need a general way to enforce the prescribed motion

*** 2000-02-27 Pierangelo Masarati
 - editing of manual (output, still incomplete)

*** 2000-02-20 Pierangelo Masarati
 - better handling of hydraulic fluids; hf can be defined to be reused later
 - some manual updating

*** 2000-02-19 Pierangelo Masarati
 - Added the possibility to initialise the automatically generated
   inertia elements. In such case, the initial trim is made easier, 
   and, by recovering the old restart procedure, a restart of the
   rotor may be proficiently attempted (TODO).

*** 2000-02-17 Pierangelo Masarati
 - eXperimental PlaneDispJoint

*** 2000-02-16 Felice Felippone
 - Final upload of Modal-related files

*** 2000-02-04 Lamberto Puggelli & Pierangelo Masarati
 - Hydraulic actuator (Devel)
 - Copy of HydraulicFluid

*** 1999-12-21 Pierangelo Masarati
 - fixed bug in parser: no remark escape before reading strings 
   w and w/o delims (thanks to Felice Felippone);
 - added some rotation matrix input modes; documented;
 - some documentation for modal elements
 - refreshing of documentation in general

*** 1999-12-21 Felice Felippone
 - new version of modal elements; input partially revised

*** 1999-12-20 Pierangelo Masarati
 - fixed allocation bug in PAM_Auth (mbdyn_conv conversation function)

*** 1999-12-19 Pierangelo Masarati
 - added PAM authentication method; added etc/ directory to tree;
   in etc/pam.d/ there is an example of pam configuration for mbdyn
 - refresh of CHANGELOG file
 - some cleaning of utils/autopilot.cc

*** 1999-12-18 Pierangelo Masarati
 - Fixed bug on the first output of dummy nodes
 - Added escape to GetStringWithDelims in HighParser; escape char is '\'
   (should be settable)
   
*** 1999-12-17 Pierangelo Masarati
 - Fixed some bugs in wheel
 - Added dummy relative frame node; altered dummy node
 - Added some documentation for loadable elems, socket drivers, bind parameter
   nodes and so on
 - Added "from nodes" keyword facility to distance joints

*** 1999-12-17 Lamberto Puggelli & Pierangelo Masarati
 - Added hydraulic fluid handling facilities

*** 1999-12-16 Pierangelo Masarati
 - Wheel module (GRAALL wheel model)
 - Fixed missing return bug in IncludeParser::GetFileName

*** 1999-12-15 Pierangelo Masarati
 - SocketDrive as a descendant of FileDrive
 - Cleanup of Drive stuff
 - Clients for SocketDrive (sockdrive & autopilot)
 
*** 1999-12-07 Pierangelo Masarati
 - Cleanup of hydraulic stuff
 - Cleanup of Makefile
 
*** 1999-12-03 Lamberto Puggelli
 - Hydraulic stuff in advanced version

*** 1999-11-29 Felice Felippone
 - modal (experimental)

*** 1999-11-25 Pierangelo Masarati
 - signal handling: ends step in case of SIGINT, SIGTERM, SIGHUP
 - extended command line args
 - contact constitutive law: 1D/3D
 - directory tests, for significant data in package
 - tilde (~) resolution in including files 
   (~/ = $HOME/, ~user/ = $passwd(user)->HOME/)
   TODO: extension to "output file name" card.
   FIXED: all file names are obtained thru IncludeParser::GetFileName,
   which performs the shell-like escape of (~).

*** 1999-??-?? Giuseppe Quaranta
 - MPI (not committed yet)
 
*** 1999-05-12 Pierangelo Masarati
 - provisions for ADAMS input
 - output for Genels

*** 1999-05-11 Pierangelo Masarati
 - documentation in package (tex, ps, html)
 
*** 1999-05-10 Pierangelo Masarati
 - Loadable Element with Makefile (experimental)

*** 1999-02-16 Lamberto Puggelli
 - Basic hydraulic elements (yet to be tested)

*** 1999-02-10 Pierangelo Masarati
 - Bug fix in DynamicInflowRotor

*** 1999-02-09 Pierangelo Masarati
 - Bug fix in ScalarFilter
 - GRAALDamper added as ConstitutiveLaw1D

*** 1999-02-07 Pierangelo Masarati
 - ScalarFilter has been reviewed. Now every kind of ScalarDof can be used
   as input.
 - Elems, Nodes and so on have been cleaned up.
 - Fixed some minor bugs and warnings all around.

*** 1999-02-03 Pierangelo Masarati
 - Elem2Param has been debugged. StrainGageParam has been derived from
   Elem2Param. PrivData stuff has been added to Beam elements.
   
*** 1999-02-02 Pierangelo Masarati
 - Introduced Private Data methods for Elems. The Joint2Param ParameterNode
   has been replaced by the Elem2Param. Now every elem can be bound to a 
   ParameterNode provided it has some private data to share.
   
*** 1999-02-02 Pierangelo Masarati
 - Fixed a bug in the Makefile; now the program can be rebuilt if everything
   is available in precompiled modules even if the *.o files are not present.
 - Started the Doc++ based documentation of the code.
 - Reviewed the SubMatrix and SubVector Handlers and the Vec3-Mat3x3 stuff
   (still a lot to do!)

*** 1999-02-01 Pierangelo Masarati
 - Added accelerometers (translational and rotational)
 - Reorganized the directory tree; established a patching procedure; renewed
   the Makefile structure.

*** 1999-01-30 Pierangelo Masarati
 - Added NullDriveCaller and OneDriveCaller in header "drive.h" for default 
   initialisation of drive callers. Now file "drive_.h" must not be directly 
   included by DriveCaller users.
   
*** 1999-01-29 Pierangelo Masarati
 - Added FileDrive, FileDriveCaller and FixedStepFileDrive: a "drive" element
   is added, made of data arrays read from file, that can be referenced by
   various DriveCallers. Yet to be tested (tested 01-30).

*** 1999-01-27 Pierangelo Masarati
 - Separate compilation of modules.
 - Added translational and angular acceleration drives (for seismic analysis)
 - Fixed allocation bug in DAC_Process_Debug (Desired output drive owner array)

*** 1999-01-27 Pierangelo Masarati & Lamberto Puggelli:
 - Hydraulic elements in enums; ReadHydraulicElem; HydraulicElem base class;
   Pipe element

*** 1999-01-26 Pierangelo Masarati: 
 - GPC is implemented and partly tested. 
 - Enums have been slightly modified.
 - Fixed the bug in StringDriveCaller. The fix is not very efficient, but it
   works (it requires two temporaries, a istrstream and an InputStream).
   
*** 1999-01-26 Pierangelo Masarati & Lamberto Puggelli:
 - Hydraulic nodes added and tested (directly derived from ScaladAlgebraicNode,
   they can be used with genels).
   
*** 1999-01-25 Pierangelo Masarati:
 - Deadbeat is working with something unclear. Need more debugging
 
*** 1999-01-24 Pierangelo Masarati:
 - Fixed small bugs in new MathParser; a bug in StringDriveCaller appeared.
 - DeadBeat control is ready (ARX, ARMAX, with desired output still to test)

*** 1999-01-23 Pierangelo Masarati:
 - Completely renewed the MathParser; true type handling, logical and
   relational operators added, new handling of built-in functions
 - Calculator added to the Utils, using the new parser
 
*** 1999-01-20 Pierangelo Masarati:
 - TimeDriveCaller added. 
 - Working at the adaptive control ...
 
*** 1999-01-19 Pierangelo Masarati:
 - GenelStateSpaceSISO reviewed (moved to file genfilt.cc)
 - GenelStateSpaceMIMO added and tested
 
*** 1999-01-18 Pierangelo Masarati:
  - RotorTrim element added. Problems.
  - Utils directory added, with filter for simple data processing:
    > rotrel, for relative rotation between nodes
    > rot2eu and eu2rot, to convert between rotration matrix and Euler angles
    > rot2phi, to convert from rotaton matrix to rotation vector (bugs)
    > deriv, to numerically derive data in MBDyn general output format
    
*** 1999-01-17 Pierangelo Masarati:
  - PiezoActuatorBeam added; Beam partially revised; 
    now elastic beams can act as piezo actuators with N independent electrodes 

*** 1999-01-16 Pierangelo Masarati:
  - bug fix in meschach sp_set_val, sp_inc_val, sp_dec_val
  - DynamicForgettingFactor revised and added to discrete identification
  - PesistentExcitation revised and added to discrete identification
  - Output of discrete identification on an independent file
  - VecN and Mat3xN classes for piezo-beam

*** 1999-01-15 Pierangelo Masarati:
  - added a modified meschach sparse LU solver, wrapped by
    Meschach<VH>, MeschachSparse<MH>, MeschachSparseLU<SM>

