Here is a list of all modules with brief descriptions:
| CONSTANTS | Module of solver parameters |
| CONSTRAINTS | Module that manages the constraints |
| d2Jacobdt2 | Module of second derivatives of the Jacobian. It's NOT a user module, it's used by the solver |
| DERIVED_TYPES | Module of solver derived types definition and subroutines/functions to manage the derived types |
| dJacobdt | Module of total derivatives of the Jacobian. It's NOT a user module, it's used by the solver |
| djacobdt_qp | Module of derivatives of the Jacobian mutiplied by the velocity vector. It's NOT a user module, it's used by the solver |
| forces | |
| formulation_Dynamics | Dynamic simulation module |
| formulation_Kinematics | Kinematic simulation module |
| formulation_Sensitivity | Sensitivity analyis module |
| formulations | Module of generic formulations. Contains the generic functions that manage the use of different formulations |
| generalized_forces | Generalized forces module |
| Jacob | Module of primitive jacobians. It's NOT a user module, it's used by the solver |
| jacob_djacobdt_qp | Module of  . It's NOT a user module, it's used by the solver |
| jacob_jacob | Module of  , which is the jacobian of the primitive jacobian multiplied by a vector. It's NOT a user module, it's used by the solver |
| jacobT_jacob | Module of  , which is the transpose of the jacobian of the primitive jacobian multiplied by a vector. It's NOT a user module, it's used by the solver |
| Mass_Massq | Module of  , which is the jacobian of the mass matrix multiplied by a vector. It's NOT a user module, it's used by the solver |
| math_oper | Module of non-intrinsic mathematical operations. Contains all the operations necessary for multi body dynamics computations not supported by the Fortran 2003 standard |
| matlab_caller | Managment of sessions of MATLAB engine: This is a part of the matlab_caller module of MBSLIM |
| primitive_forces | Primitive forces module |
| restric | Module of primitive constraints. It's NOT a user module, it's used by the solver |
| SOLIDS | Solids module that adds and manages the bodies of the system |
| STATE | Module of solver state variables, subroutines and functions. It creates, manages and updates the state variables of the model |
