diff --git a/applications/test/rigidBodyDynamics/pendulum/pendulum b/applications/test/rigidBodyDynamics/pendulum/pendulum
new file mode 100644
index 0000000000..4a8378b9f2
--- /dev/null
+++ b/applications/test/rigidBodyDynamics/pendulum/pendulum
@@ -0,0 +1,38 @@
+bodies0
+{
+    pendulum
+    {
+        type            rigidBody;
+        parent          root;
+        mass            1;
+        centreOfMass    (0 -1 0);
+        inertia         (0.001 0 0 0.001 0 0.001);
+        transform       (1 0 0 0 1 0 0 0 1) (0 0 0);
+        joint
+        {
+            type            Rz;
+        }
+    }
+}
+
+bodies
+{
+    hinge
+    {
+        type            masslessBody;
+        parent          root;
+        transform       (1 0 0 0 1 0 0 0 1) (0 0 0);
+        joint
+        {
+            type            Rz;
+        }
+    }
+    weight
+    {
+        type            sphere;
+        mergeWith       hinge;
+        mass            1;
+        radius          0.05;
+        transform       (1 0 0 0 1 0 0 0 1) (0 -1 0);
+    }
+}
diff --git a/applications/test/rigidBodyDynamics/pendulum/pendulum.C b/applications/test/rigidBodyDynamics/pendulum/pendulum.C
index 8a15aec82d..2401ec256c 100644
--- a/applications/test/rigidBodyDynamics/pendulum/pendulum.C
+++ b/applications/test/rigidBodyDynamics/pendulum/pendulum.C
@@ -34,6 +34,7 @@ Description
 #include "masslessBody.H"
 #include "sphere.H"
 #include "joints.H"
+#include "IFstream.H"
 
 using namespace Foam;
 using namespace RBD;
@@ -42,7 +43,8 @@ using namespace RBD;
 
 int main(int argc, char *argv[])
 {
-    bool testMerge = false;
+    /*
+    bool testMerge = true;
 
     // Create a model for the pendulum
     rigidBodyModel pendulum;
@@ -55,7 +57,7 @@ int main(int argc, char *argv[])
         (
             pendulum.bodyID("root"),
             Xt(Zero),
-            joint::New(new joints::Rz(pendulum)),
+            joint::New(new joints::Rz()),
             autoPtr<rigidBody>(new masslessBody("hinge"))
         );
 
@@ -72,10 +74,16 @@ int main(int argc, char *argv[])
         (
             pendulum.bodyID("root"),
             Xt(Zero),
-            joint::New(new joints::Rz(pendulum)),
+            joint::New(new joints::Rz()),
             rigidBody::New("pendulum", 1, vector(0, -1, 0), 1e-3*I)
         );
     }
+    */
+
+    // Create the pendulum model from dictionary
+    rigidBodyModel pendulum(dictionary(IFstream("pendulum")()));
+
+    pendulum.write(Info);
 
     // Create the joint-space state fields
     scalarField q(pendulum.nDoF(), Zero);
@@ -110,7 +118,7 @@ int main(int argc, char *argv[])
 
         qdot += 0.5*deltaT*qddot;
 
-        Info<< "Time << " << t << "s, angle = " << q[0] << "rad" << endl;
+        Info<< "Time " << t << "s, angle = " << q[0] << "rad" << endl;
     }
 
     Info<< "\nEnd\n" << endl;
diff --git a/src/OpenFOAM/primitives/spatialVectorAlgebra/spatialTransform/spatialTransformI.H b/src/OpenFOAM/primitives/spatialVectorAlgebra/spatialTransform/spatialTransformI.H
index 8c2724aa33..c245fde390 100644
--- a/src/OpenFOAM/primitives/spatialVectorAlgebra/spatialTransform/spatialTransformI.H
+++ b/src/OpenFOAM/primitives/spatialVectorAlgebra/spatialTransform/spatialTransformI.H
@@ -217,7 +217,7 @@ inline Foam::Ostream& Foam::operator<<
     const spatialTransform& X
 )
 {
-    os << X.E() << token::SPACE << X.r() << endl;
+    os << X.E() << token::SPACE << X.r();
     return os;
 }
 
diff --git a/src/rigidBodyDynamics/Make/files b/src/rigidBodyDynamics/Make/files
index c2c03b7172..7fc99c209a 100644
--- a/src/rigidBodyDynamics/Make/files
+++ b/src/rigidBodyDynamics/Make/files
@@ -1,5 +1,6 @@
 bodies/rigidBody/rigidBody.C
 bodies/masslessBody/masslessBody.C
+bodies/compositeBody/compositeBody.C
 bodies/subBody/subBody.C
 bodies/sphere/sphere.C
 
diff --git a/src/rigidBodyDynamics/bodies/compositeBody/compositeBody.C b/src/rigidBodyDynamics/bodies/compositeBody/compositeBody.C
new file mode 100644
index 0000000000..f898386c1a
--- /dev/null
+++ b/src/rigidBodyDynamics/bodies/compositeBody/compositeBody.C
@@ -0,0 +1,48 @@
+/*---------------------------------------------------------------------------*\
+  =========                 |
+  \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
+   \\    /   O peration     |
+    \\  /    A nd           | Copyright (C) 2016 OpenFOAM Foundation
+     \\/     M anipulation  |
+-------------------------------------------------------------------------------
+License
+    This file is part of OpenFOAM.
+
+    OpenFOAM is free software: you can redistribute it and/or modify it
+    under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    OpenFOAM is distributed in the hope that it will be useful, but WITHOUT
+    ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+    FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License
+    for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with OpenFOAM.  If not, see <http://www.gnu.org/licenses/>.
+
+\*---------------------------------------------------------------------------*/
+
+#include "compositeBody.H"
+
+// * * * * * * * * * * * * * * * * Destructor  * * * * * * * * * * * * * * * //
+
+Foam::RBD::compositeBody::~compositeBody()
+{}
+
+
+// * * * * * * * * * * * * * * Member Functions  * * * * * * * * * * * * * * //
+
+const Foam::word& Foam::RBD::compositeBody::type() const
+{
+    return body_->type();
+}
+
+
+void Foam::RBD::compositeBody::write(Ostream& os) const
+{
+    body_->write(os);
+}
+
+
+// ************************************************************************* //
diff --git a/src/rigidBodyDynamics/bodies/compositeBody/compositeBody.H b/src/rigidBodyDynamics/bodies/compositeBody/compositeBody.H
new file mode 100644
index 0000000000..c92d9bda31
--- /dev/null
+++ b/src/rigidBodyDynamics/bodies/compositeBody/compositeBody.H
@@ -0,0 +1,103 @@
+/*---------------------------------------------------------------------------*\
+  =========                 |
+  \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
+   \\    /   O peration     |
+    \\  /    A nd           | Copyright (C) 2016 OpenFOAM Foundation
+     \\/     M anipulation  |
+-------------------------------------------------------------------------------
+License
+    This file is part of OpenFOAM.
+
+    OpenFOAM is free software: you can redistribute it and/or modify it
+    under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    OpenFOAM is distributed in the hope that it will be useful, but WITHOUT
+    ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+    FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License
+    for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with OpenFOAM.  If not, see <http://www.gnu.org/licenses/>.
+
+Class
+    Foam::compositeBody
+
+Description
+    This specialized rigidBody holds the original body after it has been merged
+    into a parent.
+
+SourceFiles
+    compositeBodyI.H
+    compositeBody.C
+
+\*---------------------------------------------------------------------------*/
+
+#ifndef RBD_compositeBody_H
+#define RBD_compositeBody_H
+
+#include "rigidBody.H"
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+namespace Foam
+{
+namespace RBD
+{
+
+/*---------------------------------------------------------------------------*\
+                         Class compositeBody Declaration
+\*---------------------------------------------------------------------------*/
+
+class compositeBody
+:
+    public rigidBody
+{
+    // Private data
+
+        //- Original body from which this composite-body was constructed
+        autoPtr<rigidBody> body_;
+
+public:
+
+    // Constructors
+
+        //- Construct a merged version of the given rigidBody
+        //  providing the ID of the parent body to which this will be merged
+        //  and the transform relative to the parent
+        inline compositeBody(const autoPtr<rigidBody>& bodyPtr);
+
+
+    //- Destructor
+    virtual ~compositeBody();
+
+
+    // Member Functions
+
+        //- Return the type name of the original body
+        virtual const word& type() const;
+
+        //- Return the original body from which this composite-body
+        //  was constructed
+        inline const rigidBody& body() const;
+
+        //- Write
+        virtual void write(Ostream&) const;
+};
+
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+} // End namespace RBD
+} // End namespace Foam
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+#include "compositeBodyI.H"
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+#endif
+
+// ************************************************************************* //
diff --git a/src/rigidBodyDynamics/bodies/compositeBody/compositeBodyI.H b/src/rigidBodyDynamics/bodies/compositeBody/compositeBodyI.H
new file mode 100644
index 0000000000..dee27aec8c
--- /dev/null
+++ b/src/rigidBodyDynamics/bodies/compositeBody/compositeBodyI.H
@@ -0,0 +1,46 @@
+/*---------------------------------------------------------------------------*\
+  =========                 |
+  \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
+   \\    /   O peration     |
+    \\  /    A nd           | Copyright (C) 2016 OpenFOAM Foundation
+     \\/     M anipulation  |
+-------------------------------------------------------------------------------
+License
+    This file is part of OpenFOAM.
+
+    OpenFOAM is free software: you can redistribute it and/or modify it
+    under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    OpenFOAM is distributed in the hope that it will be useful, but WITHOUT
+    ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+    FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License
+    for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with OpenFOAM.  If not, see <http://www.gnu.org/licenses/>.
+
+\*---------------------------------------------------------------------------*/
+
+// * * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * //
+
+inline Foam::RBD::compositeBody::compositeBody
+(
+    const autoPtr<rigidBody>& bodyPtr
+)
+:
+    rigidBody(bodyPtr()),
+    body_(bodyPtr)
+{}
+
+
+// * * * * * * * * * * * * * * * Member Functions  * * * * * * * * * * * * * //
+
+inline const Foam::RBD::rigidBody& Foam::RBD::compositeBody::body() const
+{
+    return body_();
+}
+
+
+// ************************************************************************* //
diff --git a/src/rigidBodyDynamics/bodies/masslessBody/masslessBody.C b/src/rigidBodyDynamics/bodies/masslessBody/masslessBody.C
index 7e97bd8462..da0f731876 100644
--- a/src/rigidBodyDynamics/bodies/masslessBody/masslessBody.C
+++ b/src/rigidBodyDynamics/bodies/masslessBody/masslessBody.C
@@ -24,6 +24,25 @@ License
 \*---------------------------------------------------------------------------*/
 
 #include "masslessBody.H"
+#include "addToRunTimeSelectionTable.H"
+
+// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
+
+namespace Foam
+{
+namespace RBD
+{
+    defineTypeNameAndDebug(masslessBody, 0);
+
+    addToRunTimeSelectionTable
+    (
+        rigidBody,
+        masslessBody,
+        dictionary
+    );
+}
+}
+
 
 // * * * * * * * * * * * * * * * * Destructor  * * * * * * * * * * * * * * * //
 
diff --git a/src/rigidBodyDynamics/bodies/masslessBody/masslessBody.H b/src/rigidBodyDynamics/bodies/masslessBody/masslessBody.H
index 4c58f97616..d20c160d07 100644
--- a/src/rigidBodyDynamics/bodies/masslessBody/masslessBody.H
+++ b/src/rigidBodyDynamics/bodies/masslessBody/masslessBody.H
@@ -55,6 +55,10 @@ class masslessBody
 
 public:
 
+    //- Runtime type information
+    TypeName("masslessBody");
+
+
     // Constructors
 
         //- Construct a massless body
@@ -63,6 +67,13 @@ public:
         //- Construct a named massless body
         inline masslessBody(const word& name);
 
+        //- Construct from dictionary
+        inline masslessBody
+        (
+            const word& name,
+            const dictionary& dict
+        );
+
 
     //- Destructor
     virtual ~masslessBody();
diff --git a/src/rigidBodyDynamics/bodies/masslessBody/masslessBodyI.H b/src/rigidBodyDynamics/bodies/masslessBody/masslessBodyI.H
index 06acc415b6..e8319b4a39 100644
--- a/src/rigidBodyDynamics/bodies/masslessBody/masslessBodyI.H
+++ b/src/rigidBodyDynamics/bodies/masslessBody/masslessBodyI.H
@@ -37,4 +37,15 @@ inline Foam::RBD::masslessBody::masslessBody(const word& name)
 {}
 
 
+inline Foam::RBD::masslessBody::masslessBody
+(
+    const word& name,
+    const dictionary& dict
+)
+:
+    rigidBody(name, rigidBodyInertia())
+{}
+
+
+
 // ************************************************************************* //
diff --git a/src/rigidBodyDynamics/bodies/rigidBody/rigidBody.C b/src/rigidBodyDynamics/bodies/rigidBody/rigidBody.C
index d71a082b51..7d797f0142 100644
--- a/src/rigidBodyDynamics/bodies/rigidBody/rigidBody.C
+++ b/src/rigidBodyDynamics/bodies/rigidBody/rigidBody.C
@@ -25,6 +25,26 @@ License
 
 #include "rigidBody.H"
 #include "subBody.H"
+#include "addToRunTimeSelectionTable.H"
+
+// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
+
+namespace Foam
+{
+namespace RBD
+{
+    defineTypeNameAndDebug(rigidBody, 0);
+    defineRunTimeSelectionTable(rigidBody, dictionary);
+
+    addToRunTimeSelectionTable
+    (
+        rigidBody,
+        rigidBody,
+        dictionary
+    );
+}
+}
+
 
 // * * * * * * * * * * * * * * * * Selectors * * * * * * * * * * * * * * * * //
 
@@ -40,6 +60,31 @@ Foam::autoPtr<Foam::RBD::rigidBody> Foam::RBD::rigidBody::New
 }
 
 
+Foam::autoPtr<Foam::RBD::rigidBody> Foam::RBD::rigidBody::New
+(
+    const word& name,
+    const dictionary& dict
+)
+{
+    const word bodyType(dict.lookup("type"));
+
+    dictionaryConstructorTable::iterator cstrIter =
+        dictionaryConstructorTablePtr_->find(bodyType);
+
+    if (cstrIter == dictionaryConstructorTablePtr_->end())
+    {
+        FatalErrorInFunction
+            << "Unknown rigidBody type "
+            << bodyType << nl << nl
+            << "Valid rigidBody types are : " << endl
+            << dictionaryConstructorTablePtr_->sortedToc()
+            << exit(FatalError);
+    }
+
+    return autoPtr<rigidBody>(cstrIter()(name, dict));
+}
+
+
 // * * * * * * * * * * * * * * * * Destructor  * * * * * * * * * * * * * * * //
 
 Foam::RBD::rigidBody::~rigidBody()
@@ -72,7 +117,7 @@ void Foam::RBD::rigidBody::write(Ostream& os) const
     os.writeKeyword("centreOfMass")
         << c() << token::END_STATEMENT << nl;
 
-    os.writeKeyword("Inertia")
+    os.writeKeyword("inertia")
         << Ic() << token::END_STATEMENT << nl;
 }
 
diff --git a/src/rigidBodyDynamics/bodies/rigidBody/rigidBody.H b/src/rigidBodyDynamics/bodies/rigidBody/rigidBody.H
index 9a7aad09e1..9d2b3f279d 100644
--- a/src/rigidBodyDynamics/bodies/rigidBody/rigidBody.H
+++ b/src/rigidBodyDynamics/bodies/rigidBody/rigidBody.H
@@ -35,6 +35,8 @@ SourceFiles
 #define RBD_rigidBody_H
 
 #include "rigidBodyInertia.H"
+#include "dictionary.H"
+#include "runTimeSelectionTables.H"
 
 // * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
 
@@ -62,6 +64,22 @@ class rigidBody
 
 public:
 
+    //- Runtime type information
+    TypeName("rigidBody");
+
+
+    // Declare run-time constructor selection table
+
+        declareRunTimeSelectionTable
+        (
+            autoPtr,
+            rigidBody,
+            dictionary,
+            (const word& name, const dictionary& dict),
+            (name, dict)
+        );
+
+
     // Constructors
 
         //- Construct from mass, centre of mass and moment of inertia tensor
@@ -81,6 +99,13 @@ public:
             const rigidBodyInertia& rbi
         );
 
+        //- Construct from dictionary
+        inline rigidBody
+        (
+            const word& name,
+            const dictionary& dict
+        );
+
         //- Return clone of this rigidBody
         inline autoPtr<rigidBody> clone() const;
 
@@ -96,6 +121,13 @@ public:
             const symmTensor& Ic
         );
 
+        //- Select constructed from name and dictionary
+        static autoPtr<rigidBody> New
+        (
+            const word& name,
+            const dictionary& dict
+        );
+
 
     //- Destructor
     virtual ~rigidBody();
diff --git a/src/rigidBodyDynamics/bodies/rigidBody/rigidBodyI.H b/src/rigidBodyDynamics/bodies/rigidBody/rigidBodyI.H
index 2e68928a45..5b6a66e874 100644
--- a/src/rigidBodyDynamics/bodies/rigidBody/rigidBodyI.H
+++ b/src/rigidBodyDynamics/bodies/rigidBody/rigidBodyI.H
@@ -43,12 +43,23 @@ inline Foam::RBD::rigidBody::rigidBody
     const word& name,
     const rigidBodyInertia& rbi
 )
-    :
+:
     rigidBodyInertia(rbi),
     name_(name)
 {}
 
 
+inline Foam::RBD::rigidBody::rigidBody
+(
+    const word& name,
+    const dictionary& dict
+)
+:
+    rigidBodyInertia(dict),
+    name_(name)
+{}
+
+
 inline Foam::autoPtr<Foam::RBD::rigidBody> Foam::RBD::rigidBody::clone() const
 {
     return autoPtr<rigidBody>(new rigidBody(*this));
diff --git a/src/rigidBodyDynamics/bodies/sphere/sphere.C b/src/rigidBodyDynamics/bodies/sphere/sphere.C
index 275565ea9d..e581ce8648 100644
--- a/src/rigidBodyDynamics/bodies/sphere/sphere.C
+++ b/src/rigidBodyDynamics/bodies/sphere/sphere.C
@@ -24,6 +24,25 @@ License
 \*---------------------------------------------------------------------------*/
 
 #include "sphere.H"
+#include "addToRunTimeSelectionTable.H"
+
+// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
+
+namespace Foam
+{
+namespace RBD
+{
+    defineTypeNameAndDebug(sphere, 0);
+
+    addToRunTimeSelectionTable
+    (
+        rigidBody,
+        sphere,
+        dictionary
+    );
+}
+}
+
 
 // * * * * * * * * * * * * * * * * Destructor  * * * * * * * * * * * * * * * //
 
diff --git a/src/rigidBodyDynamics/bodies/sphere/sphere.H b/src/rigidBodyDynamics/bodies/sphere/sphere.H
index 72eb9c5788..ad5ca48bab 100644
--- a/src/rigidBodyDynamics/bodies/sphere/sphere.H
+++ b/src/rigidBodyDynamics/bodies/sphere/sphere.H
@@ -61,11 +61,22 @@ class sphere
 
 public:
 
+    //- Runtime type information
+    TypeName("sphere");
+
+
     // Constructors
 
         //- Construct from name, mass and radius
         inline sphere(const word& name, const scalar m, const scalar r);
 
+        //- Construct from dictionary
+        inline sphere
+        (
+            const word& name,
+            const dictionary& dict
+        );
+
 
     //- Destructor
     virtual ~sphere();
diff --git a/src/rigidBodyDynamics/bodies/sphere/sphereI.H b/src/rigidBodyDynamics/bodies/sphere/sphereI.H
index 9543e16a9d..42f429f1d4 100644
--- a/src/rigidBodyDynamics/bodies/sphere/sphereI.H
+++ b/src/rigidBodyDynamics/bodies/sphere/sphereI.H
@@ -37,6 +37,27 @@ inline Foam::RBD::sphere::sphere
 {}
 
 
+inline Foam::RBD::sphere::sphere
+(
+    const word& name,
+    const dictionary& dict
+)
+:
+    rigidBody
+    (
+        name,
+        rigidBodyInertia()
+    ),
+    r_(readScalar(dict.lookup("radius")))
+{
+    const scalar m(readScalar(dict.lookup("mass")));
+    rigidBodyInertia::operator=
+    (
+        rigidBodyInertia(m, Zero, (2.0/5.0)*m*sqr(r_)*I)
+    );
+}
+
+
 // * * * * * * * * * * * * * * Member Functions  * * * * * * * * * * * * * * //
 
 inline Foam::scalar Foam::RBD::sphere::r() const
diff --git a/src/rigidBodyDynamics/bodies/subBody/subBody.C b/src/rigidBodyDynamics/bodies/subBody/subBody.C
index e8756177c9..1508b8f431 100644
--- a/src/rigidBodyDynamics/bodies/subBody/subBody.C
+++ b/src/rigidBodyDynamics/bodies/subBody/subBody.C
@@ -35,7 +35,7 @@ Foam::RBD::subBody::~subBody()
 
 void Foam::RBD::subBody::write(Ostream& os) const
 {
-    os.writeKeyword("parentBody")
+    os.writeKeyword("parent")
         << parentName_ << token::END_STATEMENT << nl;
 
     os.writeKeyword("transform")
diff --git a/src/rigidBodyDynamics/bodies/subBody/subBody.H b/src/rigidBodyDynamics/bodies/subBody/subBody.H
index f47fa2c299..a9163e8e3f 100644
--- a/src/rigidBodyDynamics/bodies/subBody/subBody.H
+++ b/src/rigidBodyDynamics/bodies/subBody/subBody.H
@@ -78,7 +78,7 @@ public:
         //  and the transform relative to the parent
         inline subBody
         (
-            autoPtr<rigidBody> bodyPtr,
+            const autoPtr<rigidBody>& bodyPtr,
             const word& parentName,
             const label parentID,
             const spatialTransform& parentXT
diff --git a/src/rigidBodyDynamics/bodies/subBody/subBodyI.H b/src/rigidBodyDynamics/bodies/subBody/subBodyI.H
index 84f705ef4b..b8c2813d42 100644
--- a/src/rigidBodyDynamics/bodies/subBody/subBodyI.H
+++ b/src/rigidBodyDynamics/bodies/subBody/subBodyI.H
@@ -27,7 +27,7 @@ License
 
 inline Foam::RBD::subBody::subBody
 (
-    autoPtr<rigidBody> bodyPtr,
+    const autoPtr<rigidBody>& bodyPtr,
     const word& parentName,
     const label parentID,
     const spatialTransform& parentXT
diff --git a/src/rigidBodyDynamics/joints/Pa/Pa.C b/src/rigidBodyDynamics/joints/Pa/Pa.C
index 8472269504..2263ce3283 100644
--- a/src/rigidBodyDynamics/joints/Pa/Pa.C
+++ b/src/rigidBodyDynamics/joints/Pa/Pa.C
@@ -50,17 +50,17 @@ namespace joints
 
 // * * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * //
 
-Foam::RBD::joints::Pa::Pa(const rigidBodyModel& model, const vector& axis)
+Foam::RBD::joints::Pa::Pa(const vector& axis)
 :
-    joint(model, 1)
+    joint(1)
 {
     S_[0] = spatialVector(Zero, axis);
 }
 
 
-Foam::RBD::joints::Pa::Pa(const rigidBodyModel& model, const dictionary& dict)
+Foam::RBD::joints::Pa::Pa(const dictionary& dict)
 :
-    joint(model, 1)
+    joint(1)
 {
     S_[0] = spatialVector(Zero, dict.lookup("axis"));
 }
diff --git a/src/rigidBodyDynamics/joints/Pa/Pa.H b/src/rigidBodyDynamics/joints/Pa/Pa.H
index 99208d1e72..09f7eee753 100644
--- a/src/rigidBodyDynamics/joints/Pa/Pa.H
+++ b/src/rigidBodyDynamics/joints/Pa/Pa.H
@@ -72,10 +72,10 @@ public:
     // Constructors
 
         //- Construct for given model and axis
-        Pa(const rigidBodyModel& model, const vector& axis);
+        Pa(const vector& axis);
 
         //- Construct for given model from dictionary
-        Pa(const rigidBodyModel&, const dictionary& dict);
+        Pa(const dictionary& dict);
 
         //- Clone this joint
         virtual autoPtr<joint> clone() const;
diff --git a/src/rigidBodyDynamics/joints/Px/Px.C b/src/rigidBodyDynamics/joints/Px/Px.C
index 3edbb7a2a3..412a3df472 100644
--- a/src/rigidBodyDynamics/joints/Px/Px.C
+++ b/src/rigidBodyDynamics/joints/Px/Px.C
@@ -50,17 +50,17 @@ namespace joints
 
 // * * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * //
 
-Foam::RBD::joints::Px::Px(const rigidBodyModel& model)
+Foam::RBD::joints::Px::Px()
 :
-    joint(model, 1)
+    joint(1)
 {
     S_[0] = spatialVector(0, 0, 0, 1, 0, 0);
 }
 
 
-Foam::RBD::joints::Px::Px(const rigidBodyModel& model, const dictionary& dict)
+Foam::RBD::joints::Px::Px(const dictionary& dict)
 :
-    joint(model, 1)
+    joint(1)
 {
     S_[0] = spatialVector(0, 0, 0, 1, 0, 0);
 }
diff --git a/src/rigidBodyDynamics/joints/Px/Px.H b/src/rigidBodyDynamics/joints/Px/Px.H
index 0bbd6028b8..b7d77f344a 100644
--- a/src/rigidBodyDynamics/joints/Px/Px.H
+++ b/src/rigidBodyDynamics/joints/Px/Px.H
@@ -72,10 +72,10 @@ public:
     // Constructors
 
         //- Construct for given model
-        Px(const rigidBodyModel& model);
+        Px();
 
         //- Construct for given model from dictionary
-        Px(const rigidBodyModel&, const dictionary& dict);
+        Px(const dictionary& dict);
 
         //- Clone this joint
         virtual autoPtr<joint> clone() const;
diff --git a/src/rigidBodyDynamics/joints/Pxyz/Pxyz.C b/src/rigidBodyDynamics/joints/Pxyz/Pxyz.C
index 131bcad8c9..fcb5dac7e8 100644
--- a/src/rigidBodyDynamics/joints/Pxyz/Pxyz.C
+++ b/src/rigidBodyDynamics/joints/Pxyz/Pxyz.C
@@ -50,9 +50,9 @@ namespace joints
 
 // * * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * //
 
-Foam::RBD::joints::Pxyz::Pxyz(const rigidBodyModel& model)
+Foam::RBD::joints::Pxyz::Pxyz()
 :
-    joint(model, 3)
+    joint(3)
 {
     S_[0] = spatialVector(0, 0, 0, 1, 0, 0);
     S_[1] = spatialVector(0, 0, 0, 0, 1, 0);
@@ -60,13 +60,9 @@ Foam::RBD::joints::Pxyz::Pxyz(const rigidBodyModel& model)
 }
 
 
-Foam::RBD::joints::Pxyz::Pxyz
-(
-    const rigidBodyModel& model,
-    const dictionary& dict
-)
+Foam::RBD::joints::Pxyz::Pxyz(const dictionary& dict)
 :
-    joint(model, 3)
+    joint(3)
 {
     S_[0] = spatialVector(0, 0, 0, 1, 0, 0);
     S_[1] = spatialVector(0, 0, 0, 0, 1, 0);
diff --git a/src/rigidBodyDynamics/joints/Pxyz/Pxyz.H b/src/rigidBodyDynamics/joints/Pxyz/Pxyz.H
index b5e87f6f1f..5fbdeb7833 100644
--- a/src/rigidBodyDynamics/joints/Pxyz/Pxyz.H
+++ b/src/rigidBodyDynamics/joints/Pxyz/Pxyz.H
@@ -72,10 +72,10 @@ public:
     // Constructors
 
         //- Construct for given model
-        Pxyz(const rigidBodyModel& model);
+        Pxyz();
 
         //- Construct for given model from dictionary
-        Pxyz(const rigidBodyModel&, const dictionary& dict);
+        Pxyz(const dictionary& dict);
 
         //- Clone this joint
         virtual autoPtr<joint> clone() const;
diff --git a/src/rigidBodyDynamics/joints/Py/Py.C b/src/rigidBodyDynamics/joints/Py/Py.C
index e7e5b147ff..4b297bbcab 100644
--- a/src/rigidBodyDynamics/joints/Py/Py.C
+++ b/src/rigidBodyDynamics/joints/Py/Py.C
@@ -50,17 +50,17 @@ namespace joints
 
 // * * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * //
 
-Foam::RBD::joints::Py::Py(const rigidBodyModel& model)
+Foam::RBD::joints::Py::Py()
 :
-    joint(model, 1)
+    joint(1)
 {
     S_[0] = spatialVector(0, 0, 0, 0, 1, 0);
 }
 
 
-Foam::RBD::joints::Py::Py(const rigidBodyModel& model, const dictionary& dict)
+Foam::RBD::joints::Py::Py(const dictionary& dict)
 :
-    joint(model, 1)
+    joint(1)
 {
     S_[0] = spatialVector(0, 0, 0, 0, 1, 0);
 }
diff --git a/src/rigidBodyDynamics/joints/Py/Py.H b/src/rigidBodyDynamics/joints/Py/Py.H
index fb2a87601a..981e7154af 100644
--- a/src/rigidBodyDynamics/joints/Py/Py.H
+++ b/src/rigidBodyDynamics/joints/Py/Py.H
@@ -72,10 +72,10 @@ public:
     // Constructors
 
         //- Construct for given model
-        Py(const rigidBodyModel& model);
+        Py();
 
         //- Construct for given model from dictionary
-        Py(const rigidBodyModel&, const dictionary& dict);
+        Py(const dictionary& dict);
 
         //- Clone this joint
         virtual autoPtr<joint> clone() const;
diff --git a/src/rigidBodyDynamics/joints/Pz/Pz.C b/src/rigidBodyDynamics/joints/Pz/Pz.C
index cbccb6dddd..83850020dd 100644
--- a/src/rigidBodyDynamics/joints/Pz/Pz.C
+++ b/src/rigidBodyDynamics/joints/Pz/Pz.C
@@ -50,17 +50,17 @@ namespace joints
 
 // * * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * //
 
-Foam::RBD::joints::Pz::Pz(const rigidBodyModel& model)
+Foam::RBD::joints::Pz::Pz()
 :
-    joint(model, 1)
+    joint(1)
 {
     S_[0] = spatialVector(0, 0, 0, 0, 0, 1);
 }
 
 
-Foam::RBD::joints::Pz::Pz(const rigidBodyModel& model, const dictionary& dict)
+Foam::RBD::joints::Pz::Pz(const dictionary& dict)
 :
-    joint(model, 1)
+    joint(1)
 {
     S_[0] = spatialVector(0, 0, 0, 0, 0, 1);
 }
diff --git a/src/rigidBodyDynamics/joints/Pz/Pz.H b/src/rigidBodyDynamics/joints/Pz/Pz.H
index d1a7a4e61f..18783f0d49 100644
--- a/src/rigidBodyDynamics/joints/Pz/Pz.H
+++ b/src/rigidBodyDynamics/joints/Pz/Pz.H
@@ -72,10 +72,10 @@ public:
     // Constructors
 
         //- Construct for given model
-        Pz(const rigidBodyModel& model);
+        Pz();
 
         //- Construct for given model from dictionary
-        Pz(const rigidBodyModel&, const dictionary& dict);
+        Pz(const dictionary& dict);
 
         //- Clone this joint
         virtual autoPtr<joint> clone() const;
diff --git a/src/rigidBodyDynamics/joints/Ra/Ra.C b/src/rigidBodyDynamics/joints/Ra/Ra.C
index 2230863898..6d9e6aa5fe 100644
--- a/src/rigidBodyDynamics/joints/Ra/Ra.C
+++ b/src/rigidBodyDynamics/joints/Ra/Ra.C
@@ -50,17 +50,17 @@ namespace joints
 
 // * * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * //
 
-Foam::RBD::joints::Ra::Ra(const rigidBodyModel& model, const vector& axis)
+Foam::RBD::joints::Ra::Ra(const vector& axis)
 :
-    joint(model, 1)
+    joint(1)
 {
     S_[0] = spatialVector(axis, Zero);
 }
 
 
-Foam::RBD::joints::Ra::Ra(const rigidBodyModel& model, const dictionary& dict)
+Foam::RBD::joints::Ra::Ra(const dictionary& dict)
 :
-    joint(model, 1)
+    joint(1)
 {
     S_[0] = spatialVector(dict.lookup("axis"), Zero);
 }
diff --git a/src/rigidBodyDynamics/joints/Ra/Ra.H b/src/rigidBodyDynamics/joints/Ra/Ra.H
index b429678318..d098b2c82e 100644
--- a/src/rigidBodyDynamics/joints/Ra/Ra.H
+++ b/src/rigidBodyDynamics/joints/Ra/Ra.H
@@ -72,10 +72,10 @@ public:
     // Constructors
 
         //- Construct for given model and axis
-        Ra(const rigidBodyModel& model, const vector& axis);
+        Ra(const vector& axis);
 
         //- Construct for given model from dictionary
-        Ra(const rigidBodyModel&, const dictionary& dict);
+        Ra(const dictionary& dict);
 
         //- Clone this joint
         virtual autoPtr<joint> clone() const;
diff --git a/src/rigidBodyDynamics/joints/Rs/Rs.C b/src/rigidBodyDynamics/joints/Rs/Rs.C
index c5da501f0e..9658b7595e 100644
--- a/src/rigidBodyDynamics/joints/Rs/Rs.C
+++ b/src/rigidBodyDynamics/joints/Rs/Rs.C
@@ -50,9 +50,9 @@ namespace joints
 
 // * * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * //
 
-Foam::RBD::joints::Rs::Rs(const rigidBodyModel& model)
+Foam::RBD::joints::Rs::Rs()
 :
-    joint(model, 3)
+    joint(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(const rigidBodyModel& model)
 }
 
 
-Foam::RBD::joints::Rs::Rs(const rigidBodyModel& model, const dictionary& dict)
+Foam::RBD::joints::Rs::Rs(const dictionary& dict)
 :
-    joint(model, 3)
+    joint(3)
 {
     S_[0] = spatialVector(1, 0, 0, 0, 0, 0);
     S_[1] = spatialVector (0, 1, 0, 0, 0, 0);
diff --git a/src/rigidBodyDynamics/joints/Rs/Rs.H b/src/rigidBodyDynamics/joints/Rs/Rs.H
index 3e1b0655f3..386a869bf6 100644
--- a/src/rigidBodyDynamics/joints/Rs/Rs.H
+++ b/src/rigidBodyDynamics/joints/Rs/Rs.H
@@ -73,10 +73,10 @@ public:
     // Constructors
 
         //- Construct for given model
-        Rs(const rigidBodyModel& model);
+        Rs();
 
         //- Construct for given model from dictionary
-        Rs(const rigidBodyModel&, const dictionary& dict);
+        Rs(const dictionary& dict);
 
         //- Clone this joint
         virtual autoPtr<joint> clone() const;
diff --git a/src/rigidBodyDynamics/joints/Rx/Rx.C b/src/rigidBodyDynamics/joints/Rx/Rx.C
index c90f6fd976..87343fe55f 100644
--- a/src/rigidBodyDynamics/joints/Rx/Rx.C
+++ b/src/rigidBodyDynamics/joints/Rx/Rx.C
@@ -50,17 +50,17 @@ namespace joints
 
 // * * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * //
 
-Foam::RBD::joints::Rx::Rx(const rigidBodyModel& model)
+Foam::RBD::joints::Rx::Rx()
 :
-    joint(model, 1)
+    joint(1)
 {
     S_[0] = spatialVector(1, 0, 0, 0, 0, 0);
 }
 
 
-Foam::RBD::joints::Rx::Rx(const rigidBodyModel& model, const dictionary& dict)
+Foam::RBD::joints::Rx::Rx(const dictionary& dict)
 :
-    joint(model, 1)
+    joint(1)
 {
     S_[0] = spatialVector(1, 0, 0, 0, 0, 0);
 }
diff --git a/src/rigidBodyDynamics/joints/Rx/Rx.H b/src/rigidBodyDynamics/joints/Rx/Rx.H
index 79ca52d9f2..3da54830a9 100644
--- a/src/rigidBodyDynamics/joints/Rx/Rx.H
+++ b/src/rigidBodyDynamics/joints/Rx/Rx.H
@@ -72,10 +72,10 @@ public:
     // Constructors
 
         //- Construct for given model
-        Rx(const rigidBodyModel& model);
+        Rx();
 
         //- Construct for given model from dictionary
-        Rx(const rigidBodyModel&, const dictionary& dict);
+        Rx(const dictionary& dict);
 
         //- Clone this joint
         virtual autoPtr<joint> clone() const;
diff --git a/src/rigidBodyDynamics/joints/Rxyz/Rxyz.C b/src/rigidBodyDynamics/joints/Rxyz/Rxyz.C
index 8dda6d3e6a..39b3d5f7de 100644
--- a/src/rigidBodyDynamics/joints/Rxyz/Rxyz.C
+++ b/src/rigidBodyDynamics/joints/Rxyz/Rxyz.C
@@ -50,9 +50,9 @@ namespace joints
 
 // * * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * //
 
-Foam::RBD::joints::Rxyz::Rxyz(const rigidBodyModel& model)
+Foam::RBD::joints::Rxyz::Rxyz()
 :
-    joint(model, 3)
+    joint(3)
 {
     S_[0] = spatialVector(1, 0, 0, 0, 0, 0);
     S_[1] = spatialVector(0, 1, 0, 0, 0, 0);
@@ -60,13 +60,9 @@ Foam::RBD::joints::Rxyz::Rxyz(const rigidBodyModel& model)
 }
 
 
-Foam::RBD::joints::Rxyz::Rxyz
-(
-    const rigidBodyModel& model,
-    const dictionary& dict
-)
+Foam::RBD::joints::Rxyz::Rxyz(const dictionary& dict)
 :
-    joint(model, 3)
+    joint(3)
 {
     S_[0] = spatialVector(1, 0, 0, 0, 0, 0);
     S_[1] = spatialVector(0, 1, 0, 0, 0, 0);
diff --git a/src/rigidBodyDynamics/joints/Rxyz/Rxyz.H b/src/rigidBodyDynamics/joints/Rxyz/Rxyz.H
index 7ada2cc4a5..3a63a4ffbe 100644
--- a/src/rigidBodyDynamics/joints/Rxyz/Rxyz.H
+++ b/src/rigidBodyDynamics/joints/Rxyz/Rxyz.H
@@ -73,10 +73,10 @@ public:
     // Constructors
 
         //- Construct for given model
-        Rxyz(const rigidBodyModel& model);
+        Rxyz();
 
         //- Construct for given model from dictionary
-        Rxyz(const rigidBodyModel&, const dictionary& dict);
+        Rxyz(const dictionary& dict);
 
         //- Clone this joint
         virtual autoPtr<joint> clone() const;
diff --git a/src/rigidBodyDynamics/joints/Ry/Ry.C b/src/rigidBodyDynamics/joints/Ry/Ry.C
index 4814264f1b..d771a7130f 100644
--- a/src/rigidBodyDynamics/joints/Ry/Ry.C
+++ b/src/rigidBodyDynamics/joints/Ry/Ry.C
@@ -50,17 +50,17 @@ namespace joints
 
 // * * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * //
 
-Foam::RBD::joints::Ry::Ry(const rigidBodyModel& model)
+Foam::RBD::joints::Ry::Ry()
 :
-    joint(model, 1)
+    joint(1)
 {
     S_[0] = spatialVector(0, 1, 0, 0, 0, 0);
 }
 
 
-Foam::RBD::joints::Ry::Ry(const rigidBodyModel& model, const dictionary& dict)
+Foam::RBD::joints::Ry::Ry(const dictionary& dict)
 :
-    joint(model, 1)
+    joint(1)
 {
     S_[0] = spatialVector(0, 1, 0, 0, 0, 0);
 }
diff --git a/src/rigidBodyDynamics/joints/Ry/Ry.H b/src/rigidBodyDynamics/joints/Ry/Ry.H
index 4a88a659a4..4bfa32401f 100644
--- a/src/rigidBodyDynamics/joints/Ry/Ry.H
+++ b/src/rigidBodyDynamics/joints/Ry/Ry.H
@@ -72,10 +72,10 @@ public:
     // Constructors
 
         //- Construct for given model
-        Ry(const rigidBodyModel& model);
+        Ry();
 
         //- Construct for given model from dictionary
-        Ry(const rigidBodyModel&, const dictionary& dict);
+        Ry(const dictionary& dict);
 
         //- Clone this joint
         virtual autoPtr<joint> clone() const;
diff --git a/src/rigidBodyDynamics/joints/Ryxz/Ryxz.C b/src/rigidBodyDynamics/joints/Ryxz/Ryxz.C
index a52896299a..2de4088517 100644
--- a/src/rigidBodyDynamics/joints/Ryxz/Ryxz.C
+++ b/src/rigidBodyDynamics/joints/Ryxz/Ryxz.C
@@ -50,9 +50,9 @@ namespace joints
 
 // * * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * //
 
-Foam::RBD::joints::Ryxz::Ryxz(const rigidBodyModel& model)
+Foam::RBD::joints::Ryxz::Ryxz()
 :
-    joint(model, 3)
+    joint(3)
 {
     S_[0] = spatialVector(0, 1, 0, 0, 0, 0);
     S_[1] = spatialVector(1, 0, 0, 0, 0, 0);
@@ -60,13 +60,9 @@ Foam::RBD::joints::Ryxz::Ryxz(const rigidBodyModel& model)
 }
 
 
-Foam::RBD::joints::Ryxz::Ryxz
-(
-    const rigidBodyModel& model,
-    const dictionary& dict
-)
+Foam::RBD::joints::Ryxz::Ryxz(const dictionary& dict)
 :
-    joint(model, 3)
+    joint(3)
 {
     S_[0] = spatialVector(0, 1, 0, 0, 0, 0);
     S_[1] = spatialVector(1, 0, 0, 0, 0, 0);
diff --git a/src/rigidBodyDynamics/joints/Ryxz/Ryxz.H b/src/rigidBodyDynamics/joints/Ryxz/Ryxz.H
index 604e849b3a..02a7fe4200 100644
--- a/src/rigidBodyDynamics/joints/Ryxz/Ryxz.H
+++ b/src/rigidBodyDynamics/joints/Ryxz/Ryxz.H
@@ -73,10 +73,10 @@ public:
     // Constructors
 
         //- Construct for given model
-        Ryxz(const rigidBodyModel& model);
+        Ryxz();
 
         //- Construct for given model from dictionary
-        Ryxz(const rigidBodyModel&, const dictionary& dict);
+        Ryxz(const dictionary& dict);
 
         //- Clone this joint
         virtual autoPtr<joint> clone() const;
diff --git a/src/rigidBodyDynamics/joints/Rz/Rz.C b/src/rigidBodyDynamics/joints/Rz/Rz.C
index 1465dfc460..9027e2d8c7 100644
--- a/src/rigidBodyDynamics/joints/Rz/Rz.C
+++ b/src/rigidBodyDynamics/joints/Rz/Rz.C
@@ -50,17 +50,17 @@ namespace joints
 
 // * * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * //
 
-Foam::RBD::joints::Rz::Rz(const rigidBodyModel& model)
+Foam::RBD::joints::Rz::Rz()
 :
-    joint(model, 1)
+    joint(1)
 {
     S_[0] = spatialVector(0, 0, 1, 0, 0, 0);
 }
 
 
-Foam::RBD::joints::Rz::Rz(const rigidBodyModel& model, const dictionary& dict)
+Foam::RBD::joints::Rz::Rz(const dictionary& dict)
 :
-    joint(model, 1)
+    joint(1)
 {
     S_[0] = spatialVector(0, 0, 1, 0, 0, 0);
 }
diff --git a/src/rigidBodyDynamics/joints/Rz/Rz.H b/src/rigidBodyDynamics/joints/Rz/Rz.H
index b14b6408fb..19a7697503 100644
--- a/src/rigidBodyDynamics/joints/Rz/Rz.H
+++ b/src/rigidBodyDynamics/joints/Rz/Rz.H
@@ -72,10 +72,10 @@ public:
     // Constructors
 
         //- Construct for given model
-        Rz(const rigidBodyModel& model);
+        Rz();
 
         //- Construct for given model from dictionary
-        Rz(const rigidBodyModel&, const dictionary& dict);
+        Rz(const dictionary& dict);
 
         //- Clone this joint
         virtual autoPtr<joint> clone() const;
diff --git a/src/rigidBodyDynamics/joints/Rzyx/Rzyx.C b/src/rigidBodyDynamics/joints/Rzyx/Rzyx.C
index f55775330f..7b1a8bc1fc 100644
--- a/src/rigidBodyDynamics/joints/Rzyx/Rzyx.C
+++ b/src/rigidBodyDynamics/joints/Rzyx/Rzyx.C
@@ -50,9 +50,9 @@ namespace joints
 
 // * * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * //
 
-Foam::RBD::joints::Rzyx::Rzyx(const rigidBodyModel& model)
+Foam::RBD::joints::Rzyx::Rzyx()
 :
-    joint(model, 3)
+    joint(3)
 {
     S_[0] = spatialVector(0, 0, 1, 0, 0, 0);
     S_[1] = spatialVector(0, 1, 0, 0, 0, 0);
@@ -60,13 +60,9 @@ Foam::RBD::joints::Rzyx::Rzyx(const rigidBodyModel& model)
 }
 
 
-Foam::RBD::joints::Rzyx::Rzyx
-(
-    const rigidBodyModel& model,
-    const dictionary& dict
-)
+Foam::RBD::joints::Rzyx::Rzyx(const dictionary& dict)
 :
-    joint(model, 3)
+    joint(3)
 {
     S_[0] = spatialVector(0, 0, 1, 0, 0, 0);
     S_[1] = spatialVector(0, 1, 0, 0, 0, 0);
diff --git a/src/rigidBodyDynamics/joints/Rzyx/Rzyx.H b/src/rigidBodyDynamics/joints/Rzyx/Rzyx.H
index 52c53939f1..344ad4fbc1 100644
--- a/src/rigidBodyDynamics/joints/Rzyx/Rzyx.H
+++ b/src/rigidBodyDynamics/joints/Rzyx/Rzyx.H
@@ -73,10 +73,10 @@ public:
     // Constructors
 
         //- Construct for given model
-        Rzyx(const rigidBodyModel& model);
+        Rzyx();
 
         //- Construct for given model from dictionary
-        Rzyx(const rigidBodyModel&, const dictionary& dict);
+        Rzyx(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 04f41d65a4..4374990eb5 100644
--- a/src/rigidBodyDynamics/joints/joint/joint.C
+++ b/src/rigidBodyDynamics/joints/joint/joint.C
@@ -49,6 +49,30 @@ Foam::autoPtr<Foam::RBD::joint> Foam::RBD::joint::New(joint* jointPtr)
 }
 
 
+Foam::autoPtr<Foam::RBD::joint> Foam::RBD::joint::New
+(
+    const dictionary& dict
+)
+{
+    const word bodyType(dict.lookup("type"));
+
+    dictionaryConstructorTable::iterator cstrIter =
+        dictionaryConstructorTablePtr_->find(bodyType);
+
+    if (cstrIter == dictionaryConstructorTablePtr_->end())
+    {
+        FatalErrorInFunction
+            << "Unknown joint type "
+            << bodyType << nl << nl
+            << "Valid joint types are : " << endl
+            << dictionaryConstructorTablePtr_->sortedToc()
+            << exit(FatalError);
+    }
+
+    return autoPtr<joint>(cstrIter()(dict));
+}
+
+
 // * * * * * * * * * * * * * * * * Destructor  * * * * * * * * * * * * * * * //
 
 Foam::RBD::joint::~joint()
@@ -57,15 +81,12 @@ Foam::RBD::joint::~joint()
 
 // * * * * * * * * * * * * * * Member Functions  * * * * * * * * * * * * * * //
 
-Foam::PtrList<Foam::RBD::joint> Foam::RBD::joint::floating
-(
-    const rigidBodyModel& model
-)
+Foam::PtrList<Foam::RBD::joint> Foam::RBD::joint::floating()
 {
     PtrList<joint> cj(2);
-    cj.set(0, new joints::Pxyz(model));
-    //cj.set(1, new joints::Rs(model));
-    cj.set(1, new joints::Rzyx(model));
+    cj.set(0, new joints::Pxyz());
+    //cj.set(1, new joints::Rs());
+    cj.set(1, new joints::Rzyx());
     return cj;
 }
 
diff --git a/src/rigidBodyDynamics/joints/joint/joint.H b/src/rigidBodyDynamics/joints/joint/joint.H
index 4acfb7da95..58d68190de 100644
--- a/src/rigidBodyDynamics/joints/joint/joint.H
+++ b/src/rigidBodyDynamics/joints/joint/joint.H
@@ -157,20 +157,16 @@ public:
             autoPtr,
             joint,
             dictionary,
-            (
-                const rigidBodyModel& model,
-                const dictionary& dict
-            ),
-            (model, dict)
+            (const dictionary& dict),
+            (dict)
         );
 
 
     // Constructors
 
-        //- Construct joint for given rigidBodyModel
-        //  setting the size of the motion sub-space
+        //- Construct joint setting the size of the motion sub-space
         //  to the given degrees of freedom of the joint
-        inline joint(const rigidBodyModel&, const label nDoF);
+        inline joint(const label nDoF);
 
         //- Clone this joint (needed by PtrList)
         virtual autoPtr<joint> clone() const = 0;
@@ -185,12 +181,8 @@ public:
         //- Simple selector to return an autoPtr<joint> of the given joint*
         static autoPtr<joint> New(joint* jointPtr);
 
-        //- Select constructed from dictionary
-        static autoPtr<joint> New
-        (
-            const rigidBodyModel& model,
-            const dictionary& dict
-        );
+        //- Select from dictionary
+        static autoPtr<joint> New(const dictionary& dict);
 
 
     // Member Functions
@@ -216,7 +208,7 @@ public:
         inline const List<spatialVector>& S() const;
 
         //- Return a list of joints needed to emulate a floating body
-        static PtrList<joint> floating(const rigidBodyModel& model);
+        static PtrList<joint> floating();
 
         //- Update the rigidBodyModel state for the joint given
         //  the joint state q, w and velocity qDot
diff --git a/src/rigidBodyDynamics/joints/joint/jointI.H b/src/rigidBodyDynamics/joints/joint/jointI.H
index f2020c047c..47db466a7d 100644
--- a/src/rigidBodyDynamics/joints/joint/jointI.H
+++ b/src/rigidBodyDynamics/joints/joint/jointI.H
@@ -25,7 +25,7 @@ License
 
 // * * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * //
 
-inline Foam::RBD::joint::joint(const rigidBodyModel&, const label nDoF)
+inline Foam::RBD::joint::joint(const label nDoF)
 :
     S_(nDoF),
     index_(0),
diff --git a/src/rigidBodyDynamics/joints/nullJoint/nullJoint.C b/src/rigidBodyDynamics/joints/nullJoint/nullJoint.C
index 04cccfb6c2..30b72b1907 100644
--- a/src/rigidBodyDynamics/joints/nullJoint/nullJoint.C
+++ b/src/rigidBodyDynamics/joints/nullJoint/nullJoint.C
@@ -50,19 +50,15 @@ namespace joints
 
 // * * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * //
 
-Foam::RBD::joints::null::null(const rigidBodyModel& model)
+Foam::RBD::joints::null::null()
 :
-    joint(model, 0)
+    joint(0)
 {}
 
 
-Foam::RBD::joints::null::null
-(
-    const rigidBodyModel& model,
-    const dictionary& dict
-)
+Foam::RBD::joints::null::null(const dictionary& dict)
 :
-    joint(model, 0)
+    joint(0)
 {}
 
 
diff --git a/src/rigidBodyDynamics/joints/nullJoint/nullJoint.H b/src/rigidBodyDynamics/joints/nullJoint/nullJoint.H
index d7fc158d1a..68844d2e5f 100644
--- a/src/rigidBodyDynamics/joints/nullJoint/nullJoint.H
+++ b/src/rigidBodyDynamics/joints/nullJoint/nullJoint.H
@@ -72,10 +72,10 @@ public:
     // Constructors
 
         //- Construct for given model
-        null(const rigidBodyModel& model);
+        null();
 
         //- Construct for given model from dictionary
-        null(const rigidBodyModel&, const dictionary& dict);
+        null(const dictionary& dict);
 
         //- Clone this joint
         virtual autoPtr<joint> clone() const;
diff --git a/src/rigidBodyDynamics/rigidBodyInertia/rigidBodyInertia.H b/src/rigidBodyDynamics/rigidBodyInertia/rigidBodyInertia.H
index b5f1233837..44cc221c14 100644
--- a/src/rigidBodyDynamics/rigidBodyInertia/rigidBodyInertia.H
+++ b/src/rigidBodyDynamics/rigidBodyInertia/rigidBodyInertia.H
@@ -111,6 +111,9 @@ public:
             const symmTensor& Ic
         );
 
+        //- Construct from dictionary
+        inline rigidBodyInertia(const dictionary& dict);
+
         //- Construct from the components of a spatial tensor
         inline explicit rigidBodyInertia(const spatialTensor& st);
 
diff --git a/src/rigidBodyDynamics/rigidBodyInertia/rigidBodyInertiaI.H b/src/rigidBodyDynamics/rigidBodyInertia/rigidBodyInertiaI.H
index 96d0264126..78d74db215 100644
--- a/src/rigidBodyDynamics/rigidBodyInertia/rigidBodyInertiaI.H
+++ b/src/rigidBodyDynamics/rigidBodyInertia/rigidBodyInertiaI.H
@@ -25,6 +25,7 @@ License
 
 #include "spatialTransform.H"
 #include "transform.H"
+#include "dictionary.H"
 
 // * * * * * * * * * * * * * Static Member Functions * * * * * * * * * * * * //
 
@@ -61,6 +62,14 @@ inline Foam::RBD::rigidBodyInertia::rigidBodyInertia
 {}
 
 
+inline Foam::RBD::rigidBodyInertia::rigidBodyInertia(const dictionary& dict)
+:
+    m_(readScalar(dict.lookup("mass"))),
+    c_(dict.lookup("centreOfMass")),
+    Ic_(dict.lookup("inertia"))
+{}
+
+
 inline Foam::RBD::rigidBodyInertia::rigidBodyInertia(const spatialTensor& st)
 :
     m_(st(3, 3)),
diff --git a/src/rigidBodyDynamics/rigidBodyModel/rigidBodyModel.C b/src/rigidBodyDynamics/rigidBodyModel/rigidBodyModel.C
index 7c8679dcf8..af3d70b19a 100644
--- a/src/rigidBodyDynamics/rigidBodyModel/rigidBodyModel.C
+++ b/src/rigidBodyDynamics/rigidBodyModel/rigidBodyModel.C
@@ -25,6 +25,7 @@ License
 
 #include "rigidBodyModel.H"
 #include "masslessBody.H"
+#include "compositeBody.H"
 #include "nullJoint.H"
 
 // * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
@@ -42,10 +43,10 @@ namespace RBD
 
 void Foam::RBD::rigidBodyModel::initializeRootBody()
 {
-    bodies_.append(new masslessBody);
+    bodies_.append(new masslessBody("root"));
     lambda_.append(0);
     bodyIDs_.insert("root", 0);
-    joints_.append(new joints::null(*this));
+    joints_.append(new joints::null());
     XT_.append(spatialTransform());
 
     nDoF_ = 0;
@@ -86,6 +87,41 @@ Foam::RBD::rigidBodyModel::rigidBodyModel()
 }
 
 
+Foam::RBD::rigidBodyModel::rigidBodyModel(const dictionary& dict)
+:
+    g_(Zero)
+{
+    initializeRootBody();
+
+    const dictionary& bodiesDict = dict.subDict("bodies");
+
+    forAllConstIter(IDLList<entry>, bodiesDict, iter)
+    {
+        const dictionary& bodyDict = iter().dict();
+
+        if (bodyDict.found("mergeWith"))
+        {
+            merge
+            (
+                bodyID(bodyDict.lookup("mergeWith")),
+                bodyDict.lookup("transform"),
+                rigidBody::New(iter().keyword(), bodyDict)
+            );
+        }
+        else
+        {
+            join
+            (
+                bodyID(bodyDict.lookup("parent")),
+                bodyDict.lookup("transform"),
+                joint::New(bodyDict.subDict("joint")),
+                rigidBody::New(iter().keyword(), bodyDict)
+            );
+        }
+    }
+}
+
+
 // * * * * * * * * * * * * * * Member Functions  * * * * * * * * * * * * * * //
 
 Foam::label Foam::RBD::rigidBodyModel::join
@@ -168,6 +204,23 @@ Foam::label Foam::RBD::rigidBodyModel::join
 }
 
 
+void Foam::RBD::rigidBodyModel::makeComposite(const label bodyID)
+{
+    if (!isA<compositeBody>(bodies_[bodyID]))
+    {
+        // Retrieve the un-merged body
+        autoPtr<rigidBody> bodyPtr = bodies_.set(bodyID, NULL);
+
+        // Insert the compositeBody containing the original body
+        bodies_.set
+        (
+            bodyID,
+            new compositeBody(bodyPtr)
+        );
+    }
+}
+
+
 Foam::label Foam::RBD::rigidBodyModel::merge
 (
     const label parentID,
@@ -183,6 +236,9 @@ Foam::label Foam::RBD::rigidBodyModel::merge
     if (merged(parentID))
     {
         const subBody& sBody = mergedBody(parentID);
+
+        makeComposite(sBody.parentID());
+
         sBodyPtr.set
         (
             new subBody
@@ -196,6 +252,8 @@ Foam::label Foam::RBD::rigidBodyModel::merge
     }
     else
     {
+        makeComposite(parentID);
+
         sBodyPtr.set
         (
             new subBody
@@ -238,4 +296,62 @@ Foam::spatialTransform Foam::RBD::rigidBodyModel::X0
 }
 
 
+void Foam::RBD::rigidBodyModel::write(Ostream& os) const
+{
+    os  << indent << "bodies" << nl
+        << indent << token::BEGIN_BLOCK << incrIndent << nl;
+
+    for (label i=1; i<nBodies(); i++)
+    {
+        os  << indent << bodies_[i].name() << nl
+            << indent << token::BEGIN_BLOCK << incrIndent << endl;
+
+        os.writeKeyword("type")
+            << bodies_[i].type() << token::END_STATEMENT << nl;
+
+        os.writeKeyword("parent")
+            << bodies_[lambda_[i]].name() << token::END_STATEMENT << nl;
+
+        bodies_[i].write(os);
+
+        os.writeKeyword("transform")
+            << XT_[i] << token::END_STATEMENT << nl;
+
+        os  << indent << "joint" << nl
+            << indent << token::BEGIN_BLOCK << incrIndent << endl;
+
+        os.writeKeyword("type")
+            << joints_[i].type() << token::END_STATEMENT << nl;
+
+        joints_[i].write(os);
+
+        os  << decrIndent << indent << token::END_BLOCK << endl;
+
+        os  << decrIndent << indent << token::END_BLOCK << endl;
+    }
+
+
+    forAll (mergedBodies_, i)
+    {
+        os  << indent << mergedBodies_[i].name() << nl
+            << indent << token::BEGIN_BLOCK << incrIndent << endl;
+
+        os.writeKeyword("type")
+            << mergedBodies_[i].body().type() << token::END_STATEMENT << nl;
+
+        os.writeKeyword("mergeWith")
+            << mergedBodies_[i].parentName() << token::END_STATEMENT << nl;
+
+        mergedBodies_[i].body().write(os);
+
+        os.writeKeyword("transform")
+            << mergedBodies_[i].parentXT() << token::END_STATEMENT << nl;
+
+        os  << decrIndent << indent << token::END_BLOCK << endl;
+    }
+
+    os  << decrIndent << indent << token::END_BLOCK << nl;
+}
+
+
 // ************************************************************************* //
diff --git a/src/rigidBodyDynamics/rigidBodyModel/rigidBodyModel.H b/src/rigidBodyDynamics/rigidBodyModel/rigidBodyModel.H
index 57c7a17e87..9c51cd280b 100644
--- a/src/rigidBodyDynamics/rigidBodyModel/rigidBodyModel.H
+++ b/src/rigidBodyDynamics/rigidBodyModel/rigidBodyModel.H
@@ -66,12 +66,17 @@ namespace RBD
 
 class rigidBodyModel
 {
-    //- Initialize the model with the root-body which is a fixed massless body
-    //  at the origin.
-    void initializeRootBody();
+    // Private member functions
 
-    //- Resize the state fields following the joining of a body
-    void resizeState();
+        //- Initialize the model with the root-body
+        //  which is a fixed massless bodyat the origin.
+        void initializeRootBody();
+
+        //- Resize the state fields following the joining of a body
+        void resizeState();
+
+        //- Convert the body with given ID into a composite-body
+        void makeComposite(const label bodyID);
 
 
 protected:
@@ -183,6 +188,9 @@ public:
         //- Null-constructor which adds the single root-body at the origin
         rigidBodyModel();
 
+        //- Construct from dictionary
+        rigidBodyModel(const dictionary& dict);
+
 
     //- Destructor
     virtual ~rigidBodyModel()
@@ -301,6 +309,9 @@ public:
             const scalarField& qDot,
             const scalarField& qDdot
         ) const;
+
+        //- Write
+        virtual void write(Ostream&) const;
 };