I pulled some of the base code up into the blRigidBody and hinge to verify that the problem was the fact that the RigidBody matrix has to be off of the main OSG Root using global coord space instead of using relative transforms. I set it up so m_osgMT gets set with the global coords and then is attached to root. This works, but to get it to work fully with all the other code it will require some extensive changes in the way OsgAnimatSim is setup. Now that I have proof my theory on why things were not working, I believe I will not do what I was saying about reverting VortexAnimatSim to be standalone.