diff --git a/src/rigidBodyDynamics/joints/Pa/Pa.C b/src/rigidBodyDynamics/joints/Pa/Pa.C
index b30997aca..04276db45 100644
--- a/src/rigidBodyDynamics/joints/Pa/Pa.C
+++ b/src/rigidBodyDynamics/joints/Pa/Pa.C
@@ -2,7 +2,7 @@
   =========                 |
   \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
    \\    /   O peration     |
-    \\  /    A nd           | Copyright (C) 2016 OpenFOAM Foundation
+    \\  /    A nd           | Copyright (C) 2016-2018 OpenFOAM Foundation
      \\/     M anipulation  |
 -------------------------------------------------------------------------------
 License
@@ -24,7 +24,7 @@ License
 \*---------------------------------------------------------------------------*/
 
 #include "Pa.H"
-#include "rigidBodyModel.H"
+#include "rigidBodyModelState.H"
 #include "addToRunTimeSelectionTable.H"
 
 // * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
@@ -50,17 +50,17 @@ namespace joints
 
 // * * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * //
 
-Foam::RBD::joints::Pa::Pa(const vector& axis)
+Foam::RBD::joints::Pa::Pa(const rigidBodyModel& model, const vector& axis)
 :
-    joint(1)
+    joint(model, 1)
 {
     S_[0] = spatialVector(Zero, axis/mag(axis));
 }
 
 
-Foam::RBD::joints::Pa::Pa(const dictionary& dict)
+Foam::RBD::joints::Pa::Pa(const rigidBodyModel& model, const dictionary& dict)
 :
-    joint(1)
+    joint(model, 1)
 {
     vector axis(dict.lookup("axis"));
     S_[0] = spatialVector(Zero, axis/mag(axis));
@@ -84,13 +84,12 @@ Foam::RBD::joints::Pa::~Pa()
 void Foam::RBD::joints::Pa::jcalc
 (
     joint::XSvc& J,
-    const scalarField& q,
-    const scalarField& qDot
+    const rigidBodyModelState& state
 ) const
 {
-    J.X = Xt(S_[0].l()*q[qIndex_]);
+    J.X = Xt(S_[0].l()*state.q()[qIndex_]);
     J.S1 = S_[0];
-    J.v = S_[0]*qDot[qIndex_];
+    J.v = S_[0]*state.qDot()[qIndex_];
     J.c = Zero;
 }
 
diff --git a/src/rigidBodyDynamics/joints/Pa/Pa.H b/src/rigidBodyDynamics/joints/Pa/Pa.H
index d67af31d9..e40d6e74c 100644
--- a/src/rigidBodyDynamics/joints/Pa/Pa.H
+++ b/src/rigidBodyDynamics/joints/Pa/Pa.H
@@ -2,7 +2,7 @@
   =========                 |
   \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
    \\    /   O peration     |
-    \\  /    A nd           | Copyright (C) 2016 OpenFOAM Foundation
+    \\  /    A nd           | Copyright (C) 2016-2018 OpenFOAM Foundation
      \\/     M anipulation  |
 -------------------------------------------------------------------------------
 License
@@ -72,10 +72,10 @@ public:
     // Constructors
 
         //- Construct for given model and axis
-        Pa(const vector& axis);
+        Pa(const rigidBodyModel& model, const vector& axis);
 
         //- Construct for given model from dictionary
-        Pa(const dictionary& dict);
+        Pa(const rigidBodyModel& model, const dictionary& dict);
 
         //- Clone this joint
         virtual autoPtr<joint> clone() const;
@@ -91,8 +91,7 @@ public:
         virtual void jcalc
         (
             joint::XSvc& J,
-            const scalarField& q,
-            const scalarField& qDot
+            const rigidBodyModelState& state
         ) const;
 
         //- Write
diff --git a/src/rigidBodyDynamics/joints/Px/Px.C b/src/rigidBodyDynamics/joints/Px/Px.C
index a4a382c2a..0f208648f 100644
--- a/src/rigidBodyDynamics/joints/Px/Px.C
+++ b/src/rigidBodyDynamics/joints/Px/Px.C
@@ -2,7 +2,7 @@
   =========                 |
   \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
    \\    /   O peration     |
-    \\  /    A nd           | Copyright (C) 2016 OpenFOAM Foundation
+    \\  /    A nd           | Copyright (C) 2016-2018 OpenFOAM Foundation
      \\/     M anipulation  |
 -------------------------------------------------------------------------------
 License
@@ -24,7 +24,7 @@ License
 \*---------------------------------------------------------------------------*/
 
 #include "Px.H"
-#include "rigidBodyModel.H"
+#include "rigidBodyModelState.H"
 #include "addToRunTimeSelectionTable.H"
 
 // * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
@@ -50,17 +50,17 @@ namespace joints
 
 // * * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * //
 
-Foam::RBD::joints::Px::Px()
+Foam::RBD::joints::Px::Px(const rigidBodyModel& model)
 :
-    joint(1)
+    joint(model, 1)
 {
     S_[0] = spatialVector(0, 0, 0, 1, 0, 0);
 }
 
 
-Foam::RBD::joints::Px::Px(const dictionary& dict)
+Foam::RBD::joints::Px::Px(const rigidBodyModel& model, const dictionary& dict)
 :
-    joint(1)
+    joint(model, 1)
 {
     S_[0] = spatialVector(0, 0, 0, 1, 0, 0);
 }
@@ -83,13 +83,12 @@ Foam::RBD::joints::Px::~Px()
 void Foam::RBD::joints::Px::jcalc
 (
     joint::XSvc& J,
-    const scalarField& q,
-    const scalarField& qDot
+    const rigidBodyModelState& state
 ) const
 {
-    J.X = Xt(S_[0].l()*q[qIndex_]);
+    J.X = Xt(S_[0].l()*state.q()[qIndex_]);
     J.S1 = S_[0];
-    J.v = S_[0]*qDot[qIndex_];
+    J.v = S_[0]*state.qDot()[qIndex_];
     J.c = Zero;
 }
 
diff --git a/src/rigidBodyDynamics/joints/Px/Px.H b/src/rigidBodyDynamics/joints/Px/Px.H
index 979abcf5c..a40ec6717 100644
--- a/src/rigidBodyDynamics/joints/Px/Px.H
+++ b/src/rigidBodyDynamics/joints/Px/Px.H
@@ -2,7 +2,7 @@
   =========                 |
   \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
    \\    /   O peration     |
-    \\  /    A nd           | Copyright (C) 2016 OpenFOAM Foundation
+    \\  /    A nd           | Copyright (C) 2016-2018 OpenFOAM Foundation
      \\/     M anipulation  |
 -------------------------------------------------------------------------------
 License
@@ -72,10 +72,10 @@ public:
     // Constructors
 
         //- Construct for given model
-        Px();
+        Px(const rigidBodyModel& model);
 
         //- Construct for given model from dictionary
-        Px(const dictionary& dict);
+        Px(const rigidBodyModel& model, const dictionary& dict);
 
         //- Clone this joint
         virtual autoPtr<joint> clone() const;
@@ -91,8 +91,7 @@ public:
         virtual void jcalc
         (
             joint::XSvc& J,
-            const scalarField& q,
-            const scalarField& qDot
+            const rigidBodyModelState& state
         ) const;
 };
 
diff --git a/src/rigidBodyDynamics/joints/Pxyz/Pxyz.C b/src/rigidBodyDynamics/joints/Pxyz/Pxyz.C
index 6d87412e8..58edbbf8e 100644
--- a/src/rigidBodyDynamics/joints/Pxyz/Pxyz.C
+++ b/src/rigidBodyDynamics/joints/Pxyz/Pxyz.C
@@ -2,7 +2,7 @@
   =========                 |
   \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
    \\    /   O peration     |
-    \\  /    A nd           | Copyright (C) 2016 OpenFOAM Foundation
+    \\  /    A nd           | Copyright (C) 2016-2018 OpenFOAM Foundation
      \\/     M anipulation  |
 -------------------------------------------------------------------------------
 License
@@ -24,7 +24,7 @@ License
 \*---------------------------------------------------------------------------*/
 
 #include "Pxyz.H"
-#include "rigidBodyModel.H"
+#include "rigidBodyModelState.H"
 #include "addToRunTimeSelectionTable.H"
 
 // * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
@@ -50,9 +50,9 @@ namespace joints
 
 // * * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * //
 
-Foam::RBD::joints::Pxyz::Pxyz()
+Foam::RBD::joints::Pxyz::Pxyz(const rigidBodyModel& model)
 :
-    joint(3)
+    joint(model, 3)
 {
     S_[0] = spatialVector(0, 0, 0, 1, 0, 0);
     S_[1] = spatialVector(0, 0, 0, 0, 1, 0);
@@ -60,9 +60,13 @@ Foam::RBD::joints::Pxyz::Pxyz()
 }
 
 
-Foam::RBD::joints::Pxyz::Pxyz(const dictionary& dict)
+Foam::RBD::joints::Pxyz::Pxyz
+(
+    const rigidBodyModel& model,
+    const dictionary& dict
+)
 :
-    joint(3)
+    joint(model, 3)
 {
     S_[0] = spatialVector(0, 0, 0, 1, 0, 0);
     S_[1] = spatialVector(0, 0, 0, 0, 1, 0);
@@ -87,19 +91,18 @@ Foam::RBD::joints::Pxyz::~Pxyz()
 void Foam::RBD::joints::Pxyz::jcalc
 (
     joint::XSvc& J,
-    const scalarField& q,
-    const scalarField& qDot
+    const rigidBodyModelState& state
 ) const
 {
     J.X.E() = tensor::I;
-    J.X.r() = q.block<vector>(qIndex_);
+    J.X.r() = state.q().block<vector>(qIndex_);
 
     J.S = Zero;
     J.S(3,0) = 1;
     J.S(4,1) = 1;
     J.S(5,2) = 1;
 
-    J.v = spatialVector(Zero, qDot.block<vector>(qIndex_));
+    J.v = spatialVector(Zero, state.qDot().block<vector>(qIndex_));
     J.c = Zero;
 }
 
diff --git a/src/rigidBodyDynamics/joints/Pxyz/Pxyz.H b/src/rigidBodyDynamics/joints/Pxyz/Pxyz.H
index 02746bf14..2be3f96bb 100644
--- a/src/rigidBodyDynamics/joints/Pxyz/Pxyz.H
+++ b/src/rigidBodyDynamics/joints/Pxyz/Pxyz.H
@@ -2,7 +2,7 @@
   =========                 |
   \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
    \\    /   O peration     |
-    \\  /    A nd           | Copyright (C) 2016 OpenFOAM Foundation
+    \\  /    A nd           | Copyright (C) 2016-2018 OpenFOAM Foundation
      \\/     M anipulation  |
 -------------------------------------------------------------------------------
 License
@@ -72,10 +72,10 @@ public:
     // Constructors
 
         //- Construct for given model
-        Pxyz();
+        Pxyz(const rigidBodyModel& model);
 
         //- Construct for given model from dictionary
-        Pxyz(const dictionary& dict);
+        Pxyz(const rigidBodyModel& model, const dictionary& dict);
 
         //- Clone this joint
         virtual autoPtr<joint> clone() const;
@@ -91,8 +91,7 @@ public:
         virtual void jcalc
         (
             joint::XSvc& J,
-            const scalarField& q,
-            const scalarField& qDot
+            const rigidBodyModelState& state
         ) const;
 };
 
diff --git a/src/rigidBodyDynamics/joints/Py/Py.C b/src/rigidBodyDynamics/joints/Py/Py.C
index 6fb02c4f5..71e4adccf 100644
--- a/src/rigidBodyDynamics/joints/Py/Py.C
+++ b/src/rigidBodyDynamics/joints/Py/Py.C
@@ -2,7 +2,7 @@
   =========                 |
   \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
    \\    /   O peration     |
-    \\  /    A nd           | Copyright (C) 2016 OpenFOAM Foundation
+    \\  /    A nd           | Copyright (C) 2016-2018 OpenFOAM Foundation
      \\/     M anipulation  |
 -------------------------------------------------------------------------------
 License
@@ -24,7 +24,7 @@ License
 \*---------------------------------------------------------------------------*/
 
 #include "Py.H"
-#include "rigidBodyModel.H"
+#include "rigidBodyModelState.H"
 #include "addToRunTimeSelectionTable.H"
 
 // * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
@@ -50,17 +50,17 @@ namespace joints
 
 // * * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * //
 
-Foam::RBD::joints::Py::Py()
+Foam::RBD::joints::Py::Py(const rigidBodyModel& model)
 :
-    joint(1)
+    joint(model, 1)
 {
     S_[0] = spatialVector(0, 0, 0, 0, 1, 0);
 }
 
 
-Foam::RBD::joints::Py::Py(const dictionary& dict)
+Foam::RBD::joints::Py::Py(const rigidBodyModel& model, const dictionary& dict)
 :
-    joint(1)
+    joint(model, 1)
 {
     S_[0] = spatialVector(0, 0, 0, 0, 1, 0);
 }
@@ -83,13 +83,12 @@ Foam::RBD::joints::Py::~Py()
 void Foam::RBD::joints::Py::jcalc
 (
     joint::XSvc& J,
-    const scalarField& q,
-    const scalarField& qDot
+    const rigidBodyModelState& state
 ) const
 {
-    J.X = Xt(S_[0].l()*q[qIndex_]);
+    J.X = Xt(S_[0].l()*state.q()[qIndex_]);
     J.S1 = S_[0];
-    J.v = S_[0]*qDot[qIndex_];
+    J.v = S_[0]*state.qDot()[qIndex_];
     J.c = Zero;
 }
 
diff --git a/src/rigidBodyDynamics/joints/Py/Py.H b/src/rigidBodyDynamics/joints/Py/Py.H
index bcbcd4778..b8f044f74 100644
--- a/src/rigidBodyDynamics/joints/Py/Py.H
+++ b/src/rigidBodyDynamics/joints/Py/Py.H
@@ -2,7 +2,7 @@
   =========                 |
   \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
    \\    /   O peration     |
-    \\  /    A nd           | Copyright (C) 2016 OpenFOAM Foundation
+    \\  /    A nd           | Copyright (C) 2016-2018 OpenFOAM Foundation
      \\/     M anipulation  |
 -------------------------------------------------------------------------------
 License
@@ -72,10 +72,10 @@ public:
     // Constructors
 
         //- Construct for given model
-        Py();
+        Py(const rigidBodyModel& model);
 
         //- Construct for given model from dictionary
-        Py(const dictionary& dict);
+        Py(const rigidBodyModel& model, const dictionary& dict);
 
         //- Clone this joint
         virtual autoPtr<joint> clone() const;
@@ -91,8 +91,7 @@ public:
         virtual void jcalc
         (
             joint::XSvc& J,
-            const scalarField& q,
-            const scalarField& qDot
+            const rigidBodyModelState& state
         ) const;
 };
 
diff --git a/src/rigidBodyDynamics/joints/Pz/Pz.C b/src/rigidBodyDynamics/joints/Pz/Pz.C
index 6c90c3679..a4171c480 100644
--- a/src/rigidBodyDynamics/joints/Pz/Pz.C
+++ b/src/rigidBodyDynamics/joints/Pz/Pz.C
@@ -2,7 +2,7 @@
   =========                 |
   \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
    \\    /   O peration     |
-    \\  /    A nd           | Copyright (C) 2016 OpenFOAM Foundation
+    \\  /    A nd           | Copyright (C) 2016-2018 OpenFOAM Foundation
      \\/     M anipulation  |
 -------------------------------------------------------------------------------
 License
@@ -24,7 +24,7 @@ License
 \*---------------------------------------------------------------------------*/
 
 #include "Pz.H"
-#include "rigidBodyModel.H"
+#include "rigidBodyModelState.H"
 #include "addToRunTimeSelectionTable.H"
 
 // * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
@@ -50,17 +50,17 @@ namespace joints
 
 // * * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * //
 
-Foam::RBD::joints::Pz::Pz()
+Foam::RBD::joints::Pz::Pz(const rigidBodyModel& model)
 :
-    joint(1)
+    joint(model, 1)
 {
     S_[0] = spatialVector(0, 0, 0, 0, 0, 1);
 }
 
 
-Foam::RBD::joints::Pz::Pz(const dictionary& dict)
+Foam::RBD::joints::Pz::Pz(const rigidBodyModel& model, const dictionary& dict)
 :
-    joint(1)
+    joint(model, 1)
 {
     S_[0] = spatialVector(0, 0, 0, 0, 0, 1);
 }
@@ -83,13 +83,12 @@ Foam::RBD::joints::Pz::~Pz()
 void Foam::RBD::joints::Pz::jcalc
 (
     joint::XSvc& J,
-    const scalarField& q,
-    const scalarField& qDot
+    const rigidBodyModelState& state
 ) const
 {
-    J.X = Xt(S_[0].l()*q[qIndex_]);
+    J.X = Xt(S_[0].l()*state.q()[qIndex_]);
     J.S1 = S_[0];
-    J.v = S_[0]*qDot[qIndex_];
+    J.v = S_[0]*state.qDot()[qIndex_];
     J.c = Zero;
 }
 
diff --git a/src/rigidBodyDynamics/joints/Pz/Pz.H b/src/rigidBodyDynamics/joints/Pz/Pz.H
index 611397ded..143f36156 100644
--- a/src/rigidBodyDynamics/joints/Pz/Pz.H
+++ b/src/rigidBodyDynamics/joints/Pz/Pz.H
@@ -2,7 +2,7 @@
   =========                 |
   \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
    \\    /   O peration     |
-    \\  /    A nd           | Copyright (C) 2016 OpenFOAM Foundation
+    \\  /    A nd           | Copyright (C) 2016-2018 OpenFOAM Foundation
      \\/     M anipulation  |
 -------------------------------------------------------------------------------
 License
@@ -72,10 +72,10 @@ public:
     // Constructors
 
         //- Construct for given model
-        Pz();
+        Pz(const rigidBodyModel& model);
 
         //- Construct for given model from dictionary
-        Pz(const dictionary& dict);
+        Pz(const rigidBodyModel& model, const dictionary& dict);
 
         //- Clone this joint
         virtual autoPtr<joint> clone() const;
@@ -91,8 +91,7 @@ public:
         virtual void jcalc
         (
             joint::XSvc& J,
-            const scalarField& q,
-            const scalarField& qDot
+            const rigidBodyModelState& state
         ) const;
 };
 
diff --git a/src/rigidBodyDynamics/joints/Ra/Ra.C b/src/rigidBodyDynamics/joints/Ra/Ra.C
index 468985ea6..25c6c4d6a 100644
--- a/src/rigidBodyDynamics/joints/Ra/Ra.C
+++ b/src/rigidBodyDynamics/joints/Ra/Ra.C
@@ -2,7 +2,7 @@
   =========                 |
   \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
    \\    /   O peration     |
-    \\  /    A nd           | Copyright (C) 2016 OpenFOAM Foundation
+    \\  /    A nd           | Copyright (C) 2016-2018 OpenFOAM Foundation
      \\/     M anipulation  |
 -------------------------------------------------------------------------------
 License
@@ -24,7 +24,7 @@ License
 \*---------------------------------------------------------------------------*/
 
 #include "Ra.H"
-#include "rigidBodyModel.H"
+#include "rigidBodyModelState.H"
 #include "addToRunTimeSelectionTable.H"
 
 // * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
@@ -50,17 +50,17 @@ namespace joints
 
 // * * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * //
 
-Foam::RBD::joints::Ra::Ra(const vector& axis)
+Foam::RBD::joints::Ra::Ra(const rigidBodyModel& model, const vector& axis)
 :
-    joint(1)
+    joint(model, 1)
 {
     S_[0] = spatialVector(axis/mag(axis), Zero);
 }
 
 
-Foam::RBD::joints::Ra::Ra(const dictionary& dict)
+Foam::RBD::joints::Ra::Ra(const rigidBodyModel& model, const dictionary& dict)
 :
-    joint(1)
+    joint(model, 1)
 {
     vector axis(dict.lookup("axis"));
     S_[0] = spatialVector(axis/mag(axis), Zero);
@@ -84,13 +84,12 @@ Foam::RBD::joints::Ra::~Ra()
 void Foam::RBD::joints::Ra::jcalc
 (
     joint::XSvc& J,
-    const scalarField& q,
-    const scalarField& qDot
+    const rigidBodyModelState& state
 ) const
 {
-    J.X = Xr(S_[0].w(), q[qIndex_]);
+    J.X = Xr(S_[0].w(), state.q()[qIndex_]);
     J.S1 = S_[0];
-    J.v = S_[0]*qDot[qIndex_];
+    J.v = S_[0]*state.qDot()[qIndex_];
     J.c = Zero;
 }
 
diff --git a/src/rigidBodyDynamics/joints/Ra/Ra.H b/src/rigidBodyDynamics/joints/Ra/Ra.H
index cd634f7b8..9fb65181f 100644
--- a/src/rigidBodyDynamics/joints/Ra/Ra.H
+++ b/src/rigidBodyDynamics/joints/Ra/Ra.H
@@ -2,7 +2,7 @@
   =========                 |
   \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
    \\    /   O peration     |
-    \\  /    A nd           | Copyright (C) 2016 OpenFOAM Foundation
+    \\  /    A nd           | Copyright (C) 2016-2018 OpenFOAM Foundation
      \\/     M anipulation  |
 -------------------------------------------------------------------------------
 License
@@ -72,10 +72,10 @@ public:
     // Constructors
 
         //- Construct for given model and axis
-        Ra(const vector& axis);
+        Ra(const rigidBodyModel& model, const vector& axis);
 
         //- Construct for given model from dictionary
-        Ra(const dictionary& dict);
+        Ra(const rigidBodyModel& model, const dictionary& dict);
 
         //- Clone this joint
         virtual autoPtr<joint> clone() const;
@@ -91,8 +91,7 @@ public:
         virtual void jcalc
         (
             joint::XSvc& J,
-            const scalarField& q,
-            const scalarField& qDot
+            const rigidBodyModelState& state
         ) const;
 
         //- Write
diff --git a/src/rigidBodyDynamics/joints/Rs/Rs.C b/src/rigidBodyDynamics/joints/Rs/Rs.C
index da4bd3618..f87ddc78b 100644
--- a/src/rigidBodyDynamics/joints/Rs/Rs.C
+++ b/src/rigidBodyDynamics/joints/Rs/Rs.C
@@ -2,7 +2,7 @@
   =========                 |
   \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
    \\    /   O peration     |
-    \\  /    A nd           | Copyright (C) 2016 OpenFOAM Foundation
+    \\  /    A nd           | Copyright (C) 2016-2018 OpenFOAM Foundation
      \\/     M anipulation  |
 -------------------------------------------------------------------------------
 License
@@ -24,7 +24,7 @@ License
 \*---------------------------------------------------------------------------*/
 
 #include "Rs.H"
-#include "rigidBodyModel.H"
+#include "rigidBodyModelState.H"
 #include "addToRunTimeSelectionTable.H"
 
 // * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
@@ -50,9 +50,9 @@ namespace joints
 
 // * * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * //
 
-Foam::RBD::joints::Rs::Rs()
+Foam::RBD::joints::Rs::Rs(const rigidBodyModel& model)
 :
-    joint(3)
+    joint(model, 3)
 {
     S_[0] = spatialVector(1, 0, 0, 0, 0, 0);
     S_[1] = spatialVector (0, 1, 0, 0, 0, 0);
@@ -60,9 +60,9 @@ Foam::RBD::joints::Rs::Rs()
 }
 
 
-Foam::RBD::joints::Rs::Rs(const dictionary& dict)
+Foam::RBD::joints::Rs::Rs(const rigidBodyModel& model, const dictionary& dict)
 :
-    joint(3)
+    joint(model, 3)
 {
     S_[0] = spatialVector(1, 0, 0, 0, 0, 0);
     S_[1] = spatialVector (0, 1, 0, 0, 0, 0);
@@ -93,11 +93,10 @@ bool Foam::RBD::joints::Rs::unitQuaternion() const
 void Foam::RBD::joints::Rs::jcalc
 (
     joint::XSvc& J,
-    const scalarField& q,
-    const scalarField& qDot
+    const rigidBodyModelState& state
 ) const
 {
-    J.X.E() = joint::unitQuaternion(q).R().T();
+    J.X.E() = joint::unitQuaternion(state.q()).R().T();
     J.X.r() = Zero;
 
     J.S = Zero;
@@ -105,7 +104,7 @@ void Foam::RBD::joints::Rs::jcalc
     J.S.yy() = 1;
     J.S.zz() = 1;
 
-    J.v = spatialVector(qDot.block<vector>(qIndex_), Zero);
+    J.v = spatialVector(state.qDot().block<vector>(qIndex_), Zero);
     J.c = Zero;
 }
 
diff --git a/src/rigidBodyDynamics/joints/Rs/Rs.H b/src/rigidBodyDynamics/joints/Rs/Rs.H
index f68986905..fa8227d44 100644
--- a/src/rigidBodyDynamics/joints/Rs/Rs.H
+++ b/src/rigidBodyDynamics/joints/Rs/Rs.H
@@ -2,7 +2,7 @@
   =========                 |
   \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
    \\    /   O peration     |
-    \\  /    A nd           | Copyright (C) 2016 OpenFOAM Foundation
+    \\  /    A nd           | Copyright (C) 2016-2018 OpenFOAM Foundation
      \\/     M anipulation  |
 -------------------------------------------------------------------------------
 License
@@ -73,10 +73,10 @@ public:
     // Constructors
 
         //- Construct for given model
-        Rs();
+        Rs(const rigidBodyModel& model);
 
         //- Construct for given model from dictionary
-        Rs(const dictionary& dict);
+        Rs(const rigidBodyModel& model, const dictionary& dict);
 
         //- Clone this joint
         virtual autoPtr<joint> clone() const;
@@ -95,8 +95,7 @@ public:
         virtual void jcalc
         (
             joint::XSvc& J,
-            const scalarField& q,
-            const scalarField& qDot
+            const rigidBodyModelState& state
         ) const;
 };
 
diff --git a/src/rigidBodyDynamics/joints/Rx/Rx.C b/src/rigidBodyDynamics/joints/Rx/Rx.C
index e2d3f6953..6db4399a1 100644
--- a/src/rigidBodyDynamics/joints/Rx/Rx.C
+++ b/src/rigidBodyDynamics/joints/Rx/Rx.C
@@ -2,7 +2,7 @@
   =========                 |
   \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
    \\    /   O peration     |
-    \\  /    A nd           | Copyright (C) 2016 OpenFOAM Foundation
+    \\  /    A nd           | Copyright (C) 2016-2018 OpenFOAM Foundation
      \\/     M anipulation  |
 -------------------------------------------------------------------------------
 License
@@ -24,7 +24,7 @@ License
 \*---------------------------------------------------------------------------*/
 
 #include "Rx.H"
-#include "rigidBodyModel.H"
+#include "rigidBodyModelState.H"
 #include "addToRunTimeSelectionTable.H"
 
 // * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
@@ -50,17 +50,17 @@ namespace joints
 
 // * * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * //
 
-Foam::RBD::joints::Rx::Rx()
+Foam::RBD::joints::Rx::Rx(const rigidBodyModel& model)
 :
-    joint(1)
+    joint(model, 1)
 {
     S_[0] = spatialVector(1, 0, 0, 0, 0, 0);
 }
 
 
-Foam::RBD::joints::Rx::Rx(const dictionary& dict)
+Foam::RBD::joints::Rx::Rx(const rigidBodyModel& model, const dictionary& dict)
 :
-    joint(1)
+    joint(model, 1)
 {
     S_[0] = spatialVector(1, 0, 0, 0, 0, 0);
 }
@@ -83,14 +83,13 @@ Foam::RBD::joints::Rx::~Rx()
 void Foam::RBD::joints::Rx::jcalc
 (
     joint::XSvc& J,
-    const scalarField& q,
-    const scalarField& qDot
+    const rigidBodyModelState& state
 ) const
 {
-    J.X = Xrx(q[qIndex_]);
+    J.X = Xrx(state.q()[qIndex_]);
     J.S1 = S_[0];
     J.v = Zero;
-    J.v.wx() = qDot[qIndex_];
+    J.v.wx() = state.qDot()[qIndex_];
     J.c = Zero;
 }
 
diff --git a/src/rigidBodyDynamics/joints/Rx/Rx.H b/src/rigidBodyDynamics/joints/Rx/Rx.H
index 892cfcb70..8db4f9091 100644
--- a/src/rigidBodyDynamics/joints/Rx/Rx.H
+++ b/src/rigidBodyDynamics/joints/Rx/Rx.H
@@ -2,7 +2,7 @@
   =========                 |
   \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
    \\    /   O peration     |
-    \\  /    A nd           | Copyright (C) 2016 OpenFOAM Foundation
+    \\  /    A nd           | Copyright (C) 2016-2018 OpenFOAM Foundation
      \\/     M anipulation  |
 -------------------------------------------------------------------------------
 License
@@ -72,10 +72,10 @@ public:
     // Constructors
 
         //- Construct for given model
-        Rx();
+        Rx(const rigidBodyModel& model);
 
         //- Construct for given model from dictionary
-        Rx(const dictionary& dict);
+        Rx(const rigidBodyModel& model, const dictionary& dict);
 
         //- Clone this joint
         virtual autoPtr<joint> clone() const;
@@ -91,8 +91,7 @@ public:
         virtual void jcalc
         (
             joint::XSvc& J,
-            const scalarField& q,
-            const scalarField& qDot
+            const rigidBodyModelState& state
         ) const;
 };
 
diff --git a/src/rigidBodyDynamics/joints/Rxyz/Rxyz.C b/src/rigidBodyDynamics/joints/Rxyz/Rxyz.C
index 2055c6748..c038a10a2 100644
--- a/src/rigidBodyDynamics/joints/Rxyz/Rxyz.C
+++ b/src/rigidBodyDynamics/joints/Rxyz/Rxyz.C
@@ -2,7 +2,7 @@
   =========                 |
   \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
    \\    /   O peration     |
-    \\  /    A nd           | Copyright (C) 2016 OpenFOAM Foundation
+    \\  /    A nd           | Copyright (C) 2016-2018 OpenFOAM Foundation
      \\/     M anipulation  |
 -------------------------------------------------------------------------------
 License
@@ -24,7 +24,7 @@ License
 \*---------------------------------------------------------------------------*/
 
 #include "Rxyz.H"
-#include "rigidBodyModel.H"
+#include "rigidBodyModelState.H"
 #include "addToRunTimeSelectionTable.H"
 
 // * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
@@ -50,9 +50,9 @@ namespace joints
 
 // * * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * //
 
-Foam::RBD::joints::Rxyz::Rxyz()
+Foam::RBD::joints::Rxyz::Rxyz(const rigidBodyModel& model)
 :
-    joint(3)
+    joint(model, 3)
 {
     S_[0] = spatialVector(1, 0, 0, 0, 0, 0);
     S_[1] = spatialVector(0, 1, 0, 0, 0, 0);
@@ -60,9 +60,13 @@ Foam::RBD::joints::Rxyz::Rxyz()
 }
 
 
-Foam::RBD::joints::Rxyz::Rxyz(const dictionary& dict)
+Foam::RBD::joints::Rxyz::Rxyz
+(
+    const rigidBodyModel& model,
+    const dictionary& dict
+)
 :
-    joint(3)
+    joint(model, 3)
 {
     S_[0] = spatialVector(1, 0, 0, 0, 0, 0);
     S_[1] = spatialVector(0, 1, 0, 0, 0, 0);
@@ -87,11 +91,10 @@ Foam::RBD::joints::Rxyz::~Rxyz()
 void Foam::RBD::joints::Rxyz::jcalc
 (
     joint::XSvc& J,
-    const scalarField& q,
-    const scalarField& qDot
+    const rigidBodyModelState& state
 ) const
 {
-    vector qj(q.block<vector>(qIndex_));
+    vector qj(state.q().block<vector>(qIndex_));
 
     scalar s0 = sin(qj.x());
     scalar c0 = cos(qj.x());
@@ -116,7 +119,7 @@ void Foam::RBD::joints::Rxyz::jcalc
     J.S.zx() = s1;
     J.S.zz() = 1;
 
-    vector qDotj(qDot.block<vector>(qIndex_));
+    vector qDotj(state.qDot().block<vector>(qIndex_));
     J.v = J.S & qDotj;
 
     J.c = spatialVector
diff --git a/src/rigidBodyDynamics/joints/Rxyz/Rxyz.H b/src/rigidBodyDynamics/joints/Rxyz/Rxyz.H
index 43582796d..b64105702 100644
--- a/src/rigidBodyDynamics/joints/Rxyz/Rxyz.H
+++ b/src/rigidBodyDynamics/joints/Rxyz/Rxyz.H
@@ -2,7 +2,7 @@
   =========                 |
   \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
    \\    /   O peration     |
-    \\  /    A nd           | Copyright (C) 2016 OpenFOAM Foundation
+    \\  /    A nd           | Copyright (C) 2016-2018 OpenFOAM Foundation
      \\/     M anipulation  |
 -------------------------------------------------------------------------------
 License
@@ -73,10 +73,10 @@ public:
     // Constructors
 
         //- Construct for given model
-        Rxyz();
+        Rxyz(const rigidBodyModel& model);
 
         //- Construct for given model from dictionary
-        Rxyz(const dictionary& dict);
+        Rxyz(const rigidBodyModel& model, const dictionary& dict);
 
         //- Clone this joint
         virtual autoPtr<joint> clone() const;
@@ -92,8 +92,7 @@ public:
         virtual void jcalc
         (
             joint::XSvc& J,
-            const scalarField& q,
-            const scalarField& qDot
+            const rigidBodyModelState& state
         ) const;
 };
 
diff --git a/src/rigidBodyDynamics/joints/Ry/Ry.C b/src/rigidBodyDynamics/joints/Ry/Ry.C
index 89d414ecc..ae9a50a8a 100644
--- a/src/rigidBodyDynamics/joints/Ry/Ry.C
+++ b/src/rigidBodyDynamics/joints/Ry/Ry.C
@@ -2,7 +2,7 @@
   =========                 |
   \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
    \\    /   O peration     |
-    \\  /    A nd           | Copyright (C) 2016 OpenFOAM Foundation
+    \\  /    A nd           | Copyright (C) 2016-2018 OpenFOAM Foundation
      \\/     M anipulation  |
 -------------------------------------------------------------------------------
 License
@@ -24,7 +24,7 @@ License
 \*---------------------------------------------------------------------------*/
 
 #include "Ry.H"
-#include "rigidBodyModel.H"
+#include "rigidBodyModelState.H"
 #include "addToRunTimeSelectionTable.H"
 
 // * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
@@ -50,17 +50,17 @@ namespace joints
 
 // * * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * //
 
-Foam::RBD::joints::Ry::Ry()
+Foam::RBD::joints::Ry::Ry(const rigidBodyModel& model)
 :
-    joint(1)
+    joint(model, 1)
 {
     S_[0] = spatialVector(0, 1, 0, 0, 0, 0);
 }
 
 
-Foam::RBD::joints::Ry::Ry(const dictionary& dict)
+Foam::RBD::joints::Ry::Ry(const rigidBodyModel& model, const dictionary& dict)
 :
-    joint(1)
+    joint(model, 1)
 {
     S_[0] = spatialVector(0, 1, 0, 0, 0, 0);
 }
@@ -83,14 +83,13 @@ Foam::RBD::joints::Ry::~Ry()
 void Foam::RBD::joints::Ry::jcalc
 (
     joint::XSvc& J,
-    const scalarField& q,
-    const scalarField& qDot
+    const rigidBodyModelState& state
 ) const
 {
-    J.X = Xry(q[qIndex_]);
+    J.X = Xry(state.q()[qIndex_]);
     J.S1 = S_[0];
     J.v = Zero;
-    J.v.wy() = qDot[qIndex_];
+    J.v.wy() = state.qDot()[qIndex_];
     J.c = Zero;
 }
 
diff --git a/src/rigidBodyDynamics/joints/Ry/Ry.H b/src/rigidBodyDynamics/joints/Ry/Ry.H
index 0a870bd92..00bd59bd4 100644
--- a/src/rigidBodyDynamics/joints/Ry/Ry.H
+++ b/src/rigidBodyDynamics/joints/Ry/Ry.H
@@ -2,7 +2,7 @@
   =========                 |
   \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
    \\    /   O peration     |
-    \\  /    A nd           | Copyright (C) 2016 OpenFOAM Foundation
+    \\  /    A nd           | Copyright (C) 2016-2018 OpenFOAM Foundation
      \\/     M anipulation  |
 -------------------------------------------------------------------------------
 License
@@ -72,10 +72,10 @@ public:
     // Constructors
 
         //- Construct for given model
-        Ry();
+        Ry(const rigidBodyModel& model);
 
         //- Construct for given model from dictionary
-        Ry(const dictionary& dict);
+        Ry(const rigidBodyModel& model, const dictionary& dict);
 
         //- Clone this joint
         virtual autoPtr<joint> clone() const;
@@ -91,8 +91,7 @@ public:
         virtual void jcalc
         (
             joint::XSvc& J,
-            const scalarField& q,
-            const scalarField& qDot
+            const rigidBodyModelState& state
         ) const;
 };
 
diff --git a/src/rigidBodyDynamics/joints/Ryxz/Ryxz.C b/src/rigidBodyDynamics/joints/Ryxz/Ryxz.C
index fd5f942e3..d8f18ed9c 100644
--- a/src/rigidBodyDynamics/joints/Ryxz/Ryxz.C
+++ b/src/rigidBodyDynamics/joints/Ryxz/Ryxz.C
@@ -2,7 +2,7 @@
   =========                 |
   \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
    \\    /   O peration     |
-    \\  /    A nd           | Copyright (C) 2016 OpenFOAM Foundation
+    \\  /    A nd           | Copyright (C) 2016-2018 OpenFOAM Foundation
      \\/     M anipulation  |
 -------------------------------------------------------------------------------
 License
@@ -24,7 +24,7 @@ License
 \*---------------------------------------------------------------------------*/
 
 #include "Ryxz.H"
-#include "rigidBodyModel.H"
+#include "rigidBodyModelState.H"
 #include "addToRunTimeSelectionTable.H"
 
 // * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
@@ -50,9 +50,9 @@ namespace joints
 
 // * * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * //
 
-Foam::RBD::joints::Ryxz::Ryxz()
+Foam::RBD::joints::Ryxz::Ryxz(const rigidBodyModel& model)
 :
-    joint(3)
+    joint(model, 3)
 {
     S_[0] = spatialVector(0, 1, 0, 0, 0, 0);
     S_[1] = spatialVector(1, 0, 0, 0, 0, 0);
@@ -60,9 +60,13 @@ Foam::RBD::joints::Ryxz::Ryxz()
 }
 
 
-Foam::RBD::joints::Ryxz::Ryxz(const dictionary& dict)
+Foam::RBD::joints::Ryxz::Ryxz
+(
+    const rigidBodyModel& model,
+    const dictionary& dict
+)
 :
-    joint(3)
+    joint(model, 3)
 {
     S_[0] = spatialVector(0, 1, 0, 0, 0, 0);
     S_[1] = spatialVector(1, 0, 0, 0, 0, 0);
@@ -87,11 +91,10 @@ Foam::RBD::joints::Ryxz::~Ryxz()
 void Foam::RBD::joints::Ryxz::jcalc
 (
     joint::XSvc& J,
-    const scalarField& q,
-    const scalarField& qDot
+    const rigidBodyModelState& state
 ) const
 {
-    vector qj(q.block<vector>(qIndex_));
+    vector qj(state.q().block<vector>(qIndex_));
 
     scalar s0 = sin(qj.x());
     scalar c0 = cos(qj.x());
@@ -116,7 +119,7 @@ void Foam::RBD::joints::Ryxz::jcalc
     J.S.zx() = -s1;
     J.S.zz() = 1;
 
-    vector qDotj(qDot.block<vector>(qIndex_));
+    vector qDotj(state.qDot().block<vector>(qIndex_));
     J.v = J.S & qDotj;
 
     J.c = spatialVector
diff --git a/src/rigidBodyDynamics/joints/Ryxz/Ryxz.H b/src/rigidBodyDynamics/joints/Ryxz/Ryxz.H
index 1371abcf8..a861ab9f9 100644
--- a/src/rigidBodyDynamics/joints/Ryxz/Ryxz.H
+++ b/src/rigidBodyDynamics/joints/Ryxz/Ryxz.H
@@ -2,7 +2,7 @@
   =========                 |
   \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
    \\    /   O peration     |
-    \\  /    A nd           | Copyright (C) 2016 OpenFOAM Foundation
+    \\  /    A nd           | Copyright (C) 2016-2018 OpenFOAM Foundation
      \\/     M anipulation  |
 -------------------------------------------------------------------------------
 License
@@ -73,10 +73,10 @@ public:
     // Constructors
 
         //- Construct for given model
-        Ryxz();
+        Ryxz(const rigidBodyModel& model);
 
         //- Construct for given model from dictionary
-        Ryxz(const dictionary& dict);
+        Ryxz(const rigidBodyModel& model, const dictionary& dict);
 
         //- Clone this joint
         virtual autoPtr<joint> clone() const;
@@ -92,8 +92,7 @@ public:
         virtual void jcalc
         (
             joint::XSvc& J,
-            const scalarField& q,
-            const scalarField& qDot
+            const rigidBodyModelState& state
         ) const;
 };
 
diff --git a/src/rigidBodyDynamics/joints/Rz/Rz.C b/src/rigidBodyDynamics/joints/Rz/Rz.C
index c02ba9cec..b5b868587 100644
--- a/src/rigidBodyDynamics/joints/Rz/Rz.C
+++ b/src/rigidBodyDynamics/joints/Rz/Rz.C
@@ -2,7 +2,7 @@
   =========                 |
   \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
    \\    /   O peration     |
-    \\  /    A nd           | Copyright (C) 2016 OpenFOAM Foundation
+    \\  /    A nd           | Copyright (C) 2016-2018 OpenFOAM Foundation
      \\/     M anipulation  |
 -------------------------------------------------------------------------------
 License
@@ -24,7 +24,7 @@ License
 \*---------------------------------------------------------------------------*/
 
 #include "Rz.H"
-#include "rigidBodyModel.H"
+#include "rigidBodyModelState.H"
 #include "addToRunTimeSelectionTable.H"
 
 // * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
@@ -50,17 +50,17 @@ namespace joints
 
 // * * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * //
 
-Foam::RBD::joints::Rz::Rz()
+Foam::RBD::joints::Rz::Rz(const rigidBodyModel& model)
 :
-    joint(1)
+    joint(model, 1)
 {
     S_[0] = spatialVector(0, 0, 1, 0, 0, 0);
 }
 
 
-Foam::RBD::joints::Rz::Rz(const dictionary& dict)
+Foam::RBD::joints::Rz::Rz(const rigidBodyModel& model, const dictionary& dict)
 :
-    joint(1)
+    joint(model, 1)
 {
     S_[0] = spatialVector(0, 0, 1, 0, 0, 0);
 }
@@ -83,14 +83,13 @@ Foam::RBD::joints::Rz::~Rz()
 void Foam::RBD::joints::Rz::jcalc
 (
     joint::XSvc& J,
-    const scalarField& q,
-    const scalarField& qDot
+    const rigidBodyModelState& state
 ) const
 {
-    J.X = Xrz(q[qIndex_]);
+    J.X = Xrz(state.q()[qIndex_]);
     J.S1 = S_[0];
     J.v = Zero;
-    J.v.wz() = qDot[qIndex_];
+    J.v.wz() = state.qDot()[qIndex_];
     J.c = Zero;
 }
 
diff --git a/src/rigidBodyDynamics/joints/Rz/Rz.H b/src/rigidBodyDynamics/joints/Rz/Rz.H
index 01ed3139b..f037a2b74 100644
--- a/src/rigidBodyDynamics/joints/Rz/Rz.H
+++ b/src/rigidBodyDynamics/joints/Rz/Rz.H
@@ -2,7 +2,7 @@
   =========                 |
   \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
    \\    /   O peration     |
-    \\  /    A nd           | Copyright (C) 2016 OpenFOAM Foundation
+    \\  /    A nd           | Copyright (C) 2016-2018 OpenFOAM Foundation
      \\/     M anipulation  |
 -------------------------------------------------------------------------------
 License
@@ -72,10 +72,10 @@ public:
     // Constructors
 
         //- Construct for given model
-        Rz();
+        Rz(const rigidBodyModel& model);
 
         //- Construct for given model from dictionary
-        Rz(const dictionary& dict);
+        Rz(const rigidBodyModel& model, const dictionary& dict);
 
         //- Clone this joint
         virtual autoPtr<joint> clone() const;
@@ -91,8 +91,7 @@ public:
         virtual void jcalc
         (
             joint::XSvc& J,
-            const scalarField& q,
-            const scalarField& qDot
+            const rigidBodyModelState& state
         ) const;
 };
 
diff --git a/src/rigidBodyDynamics/joints/Rzyx/Rzyx.C b/src/rigidBodyDynamics/joints/Rzyx/Rzyx.C
index 1e3593222..53bef2c76 100644
--- a/src/rigidBodyDynamics/joints/Rzyx/Rzyx.C
+++ b/src/rigidBodyDynamics/joints/Rzyx/Rzyx.C
@@ -2,7 +2,7 @@
   =========                 |
   \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
    \\    /   O peration     |
-    \\  /    A nd           | Copyright (C) 2016 OpenFOAM Foundation
+    \\  /    A nd           | Copyright (C) 2016-2018 OpenFOAM Foundation
      \\/     M anipulation  |
 -------------------------------------------------------------------------------
 License
@@ -24,7 +24,7 @@ License
 \*---------------------------------------------------------------------------*/
 
 #include "Rzyx.H"
-#include "rigidBodyModel.H"
+#include "rigidBodyModelState.H"
 #include "addToRunTimeSelectionTable.H"
 
 // * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
@@ -50,9 +50,9 @@ namespace joints
 
 // * * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * //
 
-Foam::RBD::joints::Rzyx::Rzyx()
+Foam::RBD::joints::Rzyx::Rzyx(const rigidBodyModel& model)
 :
-    joint(3)
+    joint(model, 3)
 {
     S_[0] = spatialVector(0, 0, 1, 0, 0, 0);
     S_[1] = spatialVector(0, 1, 0, 0, 0, 0);
@@ -60,9 +60,13 @@ Foam::RBD::joints::Rzyx::Rzyx()
 }
 
 
-Foam::RBD::joints::Rzyx::Rzyx(const dictionary& dict)
+Foam::RBD::joints::Rzyx::Rzyx
+(
+    const rigidBodyModel& model,
+    const dictionary& dict
+)
 :
-    joint(3)
+    joint(model, 3)
 {
     S_[0] = spatialVector(0, 0, 1, 0, 0, 0);
     S_[1] = spatialVector(0, 1, 0, 0, 0, 0);
@@ -87,11 +91,10 @@ Foam::RBD::joints::Rzyx::~Rzyx()
 void Foam::RBD::joints::Rzyx::jcalc
 (
     joint::XSvc& J,
-    const scalarField& q,
-    const scalarField& qDot
+    const rigidBodyModelState& state
 ) const
 {
-    vector qj(q.block<vector>(qIndex_));
+    vector qj(state.q().block<vector>(qIndex_));
 
     scalar s0 = sin(qj.x());
     scalar c0 = cos(qj.x());
@@ -116,7 +119,7 @@ void Foam::RBD::joints::Rzyx::jcalc
     J.S.zx() = c1*c2;
     J.S.zy() = -s2;
 
-    vector qDotj(qDot.block<vector>(qIndex_));
+    vector qDotj(state.qDot().block<vector>(qIndex_));
     J.v = J.S & qDotj;
 
     J.c = spatialVector
diff --git a/src/rigidBodyDynamics/joints/Rzyx/Rzyx.H b/src/rigidBodyDynamics/joints/Rzyx/Rzyx.H
index 3aeb85dd6..ee305948c 100644
--- a/src/rigidBodyDynamics/joints/Rzyx/Rzyx.H
+++ b/src/rigidBodyDynamics/joints/Rzyx/Rzyx.H
@@ -2,7 +2,7 @@
   =========                 |
   \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
    \\    /   O peration     |
-    \\  /    A nd           | Copyright (C) 2016 OpenFOAM Foundation
+    \\  /    A nd           | Copyright (C) 2016-2018 OpenFOAM Foundation
      \\/     M anipulation  |
 -------------------------------------------------------------------------------
 License
@@ -73,10 +73,10 @@ public:
     // Constructors
 
         //- Construct for given model
-        Rzyx();
+        Rzyx(const rigidBodyModel& model);
 
         //- Construct for given model from dictionary
-        Rzyx(const dictionary& dict);
+        Rzyx(const rigidBodyModel& model, const dictionary& dict);
 
         //- Clone this joint
         virtual autoPtr<joint> clone() const;
@@ -92,8 +92,7 @@ public:
         virtual void jcalc
         (
             joint::XSvc& J,
-            const scalarField& q,
-            const scalarField& qDot
+            const rigidBodyModelState& state
         ) const;
 };
 
diff --git a/src/rigidBodyDynamics/joints/composite/compositeJoint.C b/src/rigidBodyDynamics/joints/composite/compositeJoint.C
index a7d1fd887..30df58b8a 100644
--- a/src/rigidBodyDynamics/joints/composite/compositeJoint.C
+++ b/src/rigidBodyDynamics/joints/composite/compositeJoint.C
@@ -2,7 +2,7 @@
   =========                 |
   \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
    \\    /   O peration     |
-    \\  /    A nd           | Copyright (C) 2016 OpenFOAM Foundation
+    \\  /    A nd           | Copyright (C) 2016-2018 OpenFOAM Foundation
      \\/     M anipulation  |
 -------------------------------------------------------------------------------
 License
@@ -52,7 +52,7 @@ namespace joints
 
 void Foam::RBD::joints::composite::setLastJoint()
 {
-    last().joint::operator=(*this);
+    //last().joint::operator=(*this);
 }
 
 
@@ -65,9 +65,13 @@ Foam::RBD::joints::composite::composite(const PtrList<joint>& joints)
 {}
 
 
-Foam::RBD::joints::composite::composite(const dictionary& dict)
+Foam::RBD::joints::composite::composite
+(
+    const rigidBodyModel& model,
+    const dictionary& dict
+)
 :
-    PtrList<joint>(dict.lookup("joints")),
+    PtrList<joint>(dict.lookup("joints"), joint::iNew(model)),
     joint(last())
 {}
 
@@ -89,11 +93,10 @@ Foam::RBD::joints::composite::~composite()
 void Foam::RBD::joints::composite::jcalc
 (
     joint::XSvc& J,
-    const scalarField& q,
-    const scalarField& qDot
+    const rigidBodyModelState& state
 ) const
 {
-    last().jcalc(J, q, qDot);
+    last().jcalc(J, state);
 }
 
 
diff --git a/src/rigidBodyDynamics/joints/composite/compositeJoint.H b/src/rigidBodyDynamics/joints/composite/compositeJoint.H
index f55b6f3d8..10cf5ff55 100644
--- a/src/rigidBodyDynamics/joints/composite/compositeJoint.H
+++ b/src/rigidBodyDynamics/joints/composite/compositeJoint.H
@@ -2,7 +2,7 @@
   =========                 |
   \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
    \\    /   O peration     |
-    \\  /    A nd           | Copyright (C) 2016-2017 OpenFOAM Foundation
+    \\  /    A nd           | Copyright (C) 2016-2018 OpenFOAM Foundation
      \\/     M anipulation  |
 -------------------------------------------------------------------------------
 License
@@ -89,7 +89,7 @@ public:
         composite(const PtrList<joint>& joints);
 
         //- Construct for given model from dictionary
-        composite(const dictionary& dict);
+        composite(const rigidBodyModel& model, const dictionary& dict);
 
         //- Clone this joint
         virtual autoPtr<joint> clone() const;
@@ -105,8 +105,7 @@ public:
         virtual void jcalc
         (
             joint::XSvc& J,
-            const scalarField& q,
-            const scalarField& qDot
+            const rigidBodyModelState& state
         ) const;
 
         //- Write
diff --git a/src/rigidBodyDynamics/joints/floating/floatingJoint.C b/src/rigidBodyDynamics/joints/floating/floatingJoint.C
index 49f6bb5ae..e6edbf65f 100644
--- a/src/rigidBodyDynamics/joints/floating/floatingJoint.C
+++ b/src/rigidBodyDynamics/joints/floating/floatingJoint.C
@@ -55,17 +55,17 @@ namespace joints
 // * * * * * * * * * * * * Private Member Functions  * * * * * * * * * * * * //
 
 Foam::autoPtr<Foam::RBD::joints::composite>
-Foam::RBD::joints::floating::sixDoF()
+Foam::RBD::joints::floating::sixDoF(const rigidBodyModel& model)
 {
     PtrList<joint> cj(2);
-    cj.set(0, new joints::Pxyz());
+    cj.set(0, new joints::Pxyz(model));
 
     // The quaternion-based spherical joint could be used
     // but then w must be set appropriately
-    // cj.set(1, new joints::Rs());
+    // cj.set(1, new joints::Rs(model));
 
     // Alternatively the Euler-angle joint can be used
-    cj.set(1, new joints::Rzyx());
+    cj.set(1, new joints::Rzyx(model));
 
     return autoPtr<composite>(new composite(cj));
 }
@@ -73,15 +73,19 @@ Foam::RBD::joints::floating::sixDoF()
 
 // * * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * //
 
-Foam::RBD::joints::floating::floating()
+Foam::RBD::joints::floating::floating(const rigidBodyModel& model)
 :
-    composite(sixDoF())
+    composite(sixDoF(model))
 {}
 
 
-Foam::RBD::joints::floating::floating(const dictionary& dict)
+Foam::RBD::joints::floating::floating
+(
+    const rigidBodyModel& model,
+    const dictionary& dict
+)
 :
-    composite(sixDoF())
+    composite(sixDoF(model))
 {}
 
 
diff --git a/src/rigidBodyDynamics/joints/floating/floatingJoint.H b/src/rigidBodyDynamics/joints/floating/floatingJoint.H
index eb6f1e09e..5802d0a20 100644
--- a/src/rigidBodyDynamics/joints/floating/floatingJoint.H
+++ b/src/rigidBodyDynamics/joints/floating/floatingJoint.H
@@ -2,7 +2,7 @@
   =========                 |
   \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
    \\    /   O peration     |
-    \\  /    A nd           | Copyright (C) 2016-2017 OpenFOAM Foundation
+    \\  /    A nd           | Copyright (C) 2016-2018 OpenFOAM Foundation
      \\/     M anipulation  |
 -------------------------------------------------------------------------------
 License
@@ -65,7 +65,7 @@ class floating
     // Private member functions
 
         //- Return a list of joints needed to emulate a floating body
-        static autoPtr<composite> sixDoF();
+        static autoPtr<composite> sixDoF(const rigidBodyModel& model);
 
 
 public:
@@ -77,10 +77,10 @@ public:
     // Constructors
 
         //- Construct
-        floating();
+        floating(const rigidBodyModel& model);
 
         //- Construct for given model from dictionary
-        floating(const dictionary& dict);
+        floating(const rigidBodyModel& model, const dictionary& dict);
 
         //- Clone this joint
         virtual autoPtr<joint> clone() const;
diff --git a/src/rigidBodyDynamics/joints/joint/joint.C b/src/rigidBodyDynamics/joints/joint/joint.C
index f13ee347e..32635041e 100644
--- a/src/rigidBodyDynamics/joints/joint/joint.C
+++ b/src/rigidBodyDynamics/joints/joint/joint.C
@@ -2,7 +2,7 @@
   =========                 |
   \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
    \\    /   O peration     |
-    \\  /    A nd           | Copyright (C) 2016 OpenFOAM Foundation
+    \\  /    A nd           | Copyright (C) 2016-2018 OpenFOAM Foundation
      \\/     M anipulation  |
 -------------------------------------------------------------------------------
 License
@@ -48,6 +48,7 @@ Foam::autoPtr<Foam::RBD::joint> Foam::RBD::joint::New(joint* jointPtr)
 
 Foam::autoPtr<Foam::RBD::joint> Foam::RBD::joint::New
 (
+    const rigidBodyModel& model,
     const dictionary& dict
 )
 {
@@ -66,7 +67,7 @@ Foam::autoPtr<Foam::RBD::joint> Foam::RBD::joint::New
             << exit(FatalError);
     }
 
-    return autoPtr<joint>(cstrIter()(dict));
+    return autoPtr<joint>(cstrIter()(model, dict));
 }
 
 
diff --git a/src/rigidBodyDynamics/joints/joint/joint.H b/src/rigidBodyDynamics/joints/joint/joint.H
index 0ea00b678..227bcfbab 100644
--- a/src/rigidBodyDynamics/joints/joint/joint.H
+++ b/src/rigidBodyDynamics/joints/joint/joint.H
@@ -2,7 +2,7 @@
   =========                 |
   \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
    \\    /   O peration     |
-    \\  /    A nd           | Copyright (C) 2016 OpenFOAM Foundation
+    \\  /    A nd           | Copyright (C) 2016-2018 OpenFOAM Foundation
      \\/     M anipulation  |
 -------------------------------------------------------------------------------
 License
@@ -66,6 +66,7 @@ namespace RBD
 
 // Forward declaration of classes
 class rigidBodyModel;
+class rigidBodyModelState;
 
 // Forward declaration of friend functions and operators
 class joint;
@@ -84,14 +85,17 @@ protected:
 
     // Protected data
 
-    //- Joint motion sub-space
-    List<spatialVector> S_;
+        //- Reference to the model
+        const rigidBodyModel& model_;
 
-    //- Index of this joint in the rigidBodyModel
-    label index_;
+        //- Joint motion sub-space
+        List<spatialVector> S_;
 
-    //- Index of this joints data in the rigidBodyModel state
-    label qIndex_;
+        //- Index of this joint in the rigidBodyModel
+        label index_;
+
+        //- Index of this joints data in the rigidBodyModel state
+        label qIndex_;
 
 
 private:
@@ -160,8 +164,8 @@ public:
             autoPtr,
             joint,
             dictionary,
-            (const dictionary& dict),
-            (dict)
+            (const rigidBodyModel& model, const dictionary& dict),
+            (model, dict)
         );
 
 
@@ -169,7 +173,7 @@ public:
 
         //- Construct joint setting the size of the motion sub-space
         //  to the given degrees of freedom of the joint
-        inline joint(const label nDoF);
+        inline joint(const rigidBodyModel& model, const label nDoF);
 
         //- Clone this joint (needed by PtrList)
         virtual autoPtr<joint> clone() const = 0;
@@ -177,9 +181,13 @@ public:
         class iNew
         {
 
+            const rigidBodyModel& model_;
+
         public:
 
-            iNew()
+            iNew(const rigidBodyModel& model)
+            :
+                model_(model)
             {}
 
             inline autoPtr<joint> operator()(Istream& is) const;
@@ -196,7 +204,11 @@ public:
         static autoPtr<joint> New(joint* jointPtr);
 
         //- Select from dictionary
-        static autoPtr<joint> New(const dictionary& dict);
+        static autoPtr<joint> New
+        (
+            const rigidBodyModel& model,
+            const dictionary& dict
+        );
 
 
     // Member Functions
@@ -222,8 +234,7 @@ public:
         virtual void jcalc
         (
             XSvc& J,
-            const scalarField& q,
-            const scalarField& qDot
+            const rigidBodyModelState& state
         ) const = 0;
 
         //- Write
diff --git a/src/rigidBodyDynamics/joints/joint/jointI.H b/src/rigidBodyDynamics/joints/joint/jointI.H
index eb6e36a2c..2ec365843 100644
--- a/src/rigidBodyDynamics/joints/joint/jointI.H
+++ b/src/rigidBodyDynamics/joints/joint/jointI.H
@@ -2,7 +2,7 @@
   =========                 |
   \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
    \\    /   O peration     |
-    \\  /    A nd           | Copyright (C) 2016 OpenFOAM Foundation
+    \\  /    A nd           | Copyright (C) 2016-2018 OpenFOAM Foundation
      \\/     M anipulation  |
 -------------------------------------------------------------------------------
 License
@@ -25,8 +25,9 @@ License
 
 // * * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * //
 
-inline Foam::RBD::joint::joint(const label nDoF)
+inline Foam::RBD::joint::joint(const rigidBodyModel& model, const label nDoF)
 :
+    model_(model),
     S_(nDoF),
     index_(0),
     qIndex_(0)
@@ -104,7 +105,7 @@ Foam::autoPtr<Foam::RBD::joint> Foam::RBD::joint::iNew::operator()
 ) const
 {
     dictionary dict(is);
-    return New(dict);
+    return New(model_, dict);
 }
 
 
diff --git a/src/rigidBodyDynamics/joints/null/nullJoint.C b/src/rigidBodyDynamics/joints/null/nullJoint.C
index baed48767..325f58cea 100644
--- a/src/rigidBodyDynamics/joints/null/nullJoint.C
+++ b/src/rigidBodyDynamics/joints/null/nullJoint.C
@@ -2,7 +2,7 @@
   =========                 |
   \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
    \\    /   O peration     |
-    \\  /    A nd           | Copyright (C) 2016 OpenFOAM Foundation
+    \\  /    A nd           | Copyright (C) 2016-2018 OpenFOAM Foundation
      \\/     M anipulation  |
 -------------------------------------------------------------------------------
 License
@@ -50,15 +50,19 @@ namespace joints
 
 // * * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * //
 
-Foam::RBD::joints::null::null()
+Foam::RBD::joints::null::null(const rigidBodyModel& model)
 :
-    joint(0)
+    joint(model, 0)
 {}
 
 
-Foam::RBD::joints::null::null(const dictionary& dict)
+Foam::RBD::joints::null::null
+(
+    const rigidBodyModel& model,
+    const dictionary& dict
+)
 :
-    joint(0)
+    joint(model, 0)
 {}
 
 
@@ -79,8 +83,7 @@ Foam::RBD::joints::null::~null()
 void Foam::RBD::joints::null::jcalc
 (
     joint::XSvc& J,
-    const scalarField& q,
-    const scalarField& qDot
+    const rigidBodyModelState& state
 ) const
 {
     FatalErrorInFunction
diff --git a/src/rigidBodyDynamics/joints/null/nullJoint.H b/src/rigidBodyDynamics/joints/null/nullJoint.H
index f242050ac..ef290545b 100644
--- a/src/rigidBodyDynamics/joints/null/nullJoint.H
+++ b/src/rigidBodyDynamics/joints/null/nullJoint.H
@@ -2,7 +2,7 @@
   =========                 |
   \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
    \\    /   O peration     |
-    \\  /    A nd           | Copyright (C) 2016-2017 OpenFOAM Foundation
+    \\  /    A nd           | Copyright (C) 2016-2018 OpenFOAM Foundation
      \\/     M anipulation  |
 -------------------------------------------------------------------------------
 License
@@ -51,6 +51,9 @@ namespace Foam
 {
 namespace RBD
 {
+
+class rigidBodyModel;
+
 namespace joints
 {
 
@@ -72,10 +75,10 @@ public:
     // Constructors
 
         //- Construct for given model
-        null();
+        null(const rigidBodyModel& model);
 
         //- Construct for given model from dictionary
-        null(const dictionary& dict);
+        null(const rigidBodyModel& model, const dictionary& dict);
 
         //- Clone this joint
         virtual autoPtr<joint> clone() const;
@@ -91,8 +94,7 @@ public:
         virtual void jcalc
         (
             joint::XSvc& J,
-            const scalarField& q,
-            const scalarField& qDot
+            const rigidBodyModelState& state
         ) const;
 };
 
diff --git a/src/rigidBodyDynamics/rigidBodyModel/forwardDynamics.C b/src/rigidBodyDynamics/rigidBodyModel/forwardDynamics.C
index 97d837abb..0ffae6eea 100644
--- a/src/rigidBodyDynamics/rigidBodyModel/forwardDynamics.C
+++ b/src/rigidBodyDynamics/rigidBodyModel/forwardDynamics.C
@@ -2,7 +2,7 @@
   =========                 |
   \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
    \\    /   O peration     |
-    \\  /    A nd           | Copyright (C) 2016 OpenFOAM Foundation
+    \\  /    A nd           | Copyright (C) 2016-2018 OpenFOAM Foundation
      \\/     M anipulation  |
 -------------------------------------------------------------------------------
 License
@@ -57,13 +57,11 @@ void Foam::RBD::rigidBodyModel::forwardDynamics
     const Field<spatialVector>& fx
 ) const
 {
-    const scalarField& q = state.q();
-    const scalarField& qDot = state.qDot();
     scalarField& qDdot = state.qDdot();
 
     DebugInFunction
-        << "q = " << q << nl
-        << "qDot = " << qDot << nl
+        << "q = " << state.q() << nl
+        << "qDot = " << state.qDot() << nl
         << "tau = " << tau << endl;
 
     // Joint state returned by jcalc
@@ -74,7 +72,7 @@ void Foam::RBD::rigidBodyModel::forwardDynamics
     for (label i=1; i<nBodies(); i++)
     {
         const joint& jnt = joints()[i];
-        jnt.jcalc(J, q, qDot);
+        jnt.jcalc(J, state);
 
         S_[i] = J.S;
         S1_[i] = J.S1;
@@ -108,7 +106,28 @@ void Foam::RBD::rigidBodyModel::forwardDynamics
         const joint& jnt = joints()[i];
         const label qi = jnt.qIndex();
 
-        if (jnt.nDoF() == 1)
+        if (jnt.nDoF() == 0)
+        {
+            U1_[i] = Zero;
+            u_[i] = Zero;
+
+            const label lambdai = lambda_[i];
+
+            if (lambdai != 0)
+            {
+                const spatialTensor Ia(IA_[i]);
+
+                const spatialVector pa(pA_[i] + (Ia & c_[i]));
+
+                IA_[lambdai] +=
+                    spatialTensor(Xlambda_[i].T())
+                  & Ia
+                  & spatialTensor(Xlambda_[i]);
+
+                pA_[lambdai] += Xlambda_[i].T() & pa;
+            }
+        }
+        else if (jnt.nDoF() == 1)
         {
             U1_[i] = IA_[i] & S1_[i];
             Dinv_[i].xx() = 1/(S1_[i] && U1_[i]);
@@ -140,24 +159,20 @@ void Foam::RBD::rigidBodyModel::forwardDynamics
         {
             U_[i] = IA_[i] & S_[i];
             Dinv_[i] = (S_[i].T() & U_[i]).inv();
-
             u_[i] = tau.block<vector>(qi) - (S_[i].T() & pA_[i]);
 
             const label lambdai = lambda_[i];
 
             if (lambdai != 0)
             {
-                spatialTensor Ia
+                const spatialTensor Ia
                 (
-                    IA_[i]
-                  - (U_[i] & Dinv_[i] & U_[i].T())
+                    IA_[i] - (U_[i] & Dinv_[i] & U_[i].T())
                 );
 
-                spatialVector pa
+                const spatialVector pa
                 (
-                    pA_[i]
-                  + (Ia & c_[i])
-                  + (U_[i] & Dinv_[i] & u_[i])
+                    pA_[i] + (Ia & c_[i]) + (U_[i] & Dinv_[i] & u_[i])
                 );
 
                 IA_[lambdai] +=
@@ -179,7 +194,11 @@ void Foam::RBD::rigidBodyModel::forwardDynamics
 
         a_[i] = (Xlambda_[i] & a_[lambda_[i]]) + c_[i];
 
-        if (jnt.nDoF() == 1)
+        if (jnt.nDoF() == 0)
+        {
+            // do nothing
+        }
+        else if (jnt.nDoF() == 1)
         {
             qDdot[qi] = Dinv_[i].xx()*(u_[i].x() - (U1_[i] && a_[i]));
             a_[i] += S1_[i]*qDdot[qi];
@@ -208,12 +227,10 @@ void Foam::RBD::rigidBodyModel::forwardDynamicsCorrection
     const rigidBodyModelState& state
 ) const
 {
-    DebugInFunction << endl;
-
-    const scalarField& q = state.q();
-    const scalarField& qDot = state.qDot();
     const scalarField& qDdot = state.qDdot();
 
+    DebugInFunction << endl;
+
     // Joint state returned by jcalc
     joint::XSvc J;
 
@@ -225,7 +242,7 @@ void Foam::RBD::rigidBodyModel::forwardDynamicsCorrection
         const joint& jnt = joints()[i];
         const label qi = jnt.qIndex();
 
-        jnt.jcalc(J, q, qDot);
+        jnt.jcalc(J, state);
 
         S_[i] = J.S;
         S1_[i] = J.S1;
@@ -247,7 +264,11 @@ void Foam::RBD::rigidBodyModel::forwardDynamicsCorrection
         c_[i] = J.c + (v_[i] ^ J.v);
         a_[i] = (Xlambda_[i] & a_[lambdai]) + c_[i];
 
-        if (jnt.nDoF() == 1)
+        if (jnt.nDoF() == 0)
+        {
+            // do nothing
+        }
+        else if (jnt.nDoF() == 1)
         {
             a_[i] += S1_[i]*qDdot[qi];
         }
diff --git a/src/rigidBodyDynamics/rigidBodyModel/rigidBodyModel.C b/src/rigidBodyDynamics/rigidBodyModel/rigidBodyModel.C
index 4a8de4eac..e9306c564 100644
--- a/src/rigidBodyDynamics/rigidBodyModel/rigidBodyModel.C
+++ b/src/rigidBodyDynamics/rigidBodyModel/rigidBodyModel.C
@@ -2,7 +2,7 @@
   =========                 |
   \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
    \\    /   O peration     |
-    \\  /    A nd           | Copyright (C) 2016 OpenFOAM Foundation
+    \\  /    A nd           | Copyright (C) 2016-2018 OpenFOAM Foundation
      \\/     M anipulation  |
 -------------------------------------------------------------------------------
 License
@@ -48,7 +48,7 @@ void Foam::RBD::rigidBodyModel::initializeRootBody()
     bodies_.append(new masslessBody("root"));
     lambda_.append(0);
     bodyIDs_.insert("root", 0);
-    joints_.append(new joints::null());
+    joints_.append(new joints::null(*this));
     XT_.append(spatialTransform());
 
     nDoF_ = 0;
@@ -198,7 +198,7 @@ Foam::RBD::rigidBodyModel::rigidBodyModel(const dictionary& dict)
             (
                 bodyID(bodyDict.lookup("parent")),
                 bodyDict.lookup("transform"),
-                joint::New(bodyDict.subDict("joint")),
+                joint::New(*this, bodyDict.subDict("joint")),
                 rigidBody::New(iter().keyword(), bodyDict)
             );
         }