In all of the current dynamics examples we typically set the position of a point and then either differentiate to get the velocity and accel or specify the velocity in terms of the variable defined by the kinematic differential equations. How will this now work? Will your velocities be overwritten because you supplied a position?

I'm sorry to continue to pick at all this, but it is hard to see the big picture. Sachin wants to solve some electromag problems and I want to solve a complex multibody system. What will we both have to type to do that? I really want to see at least two example prototypes, one for a complicated m-body system and one that adds the electro dynamics stuff. If we can see how the API will be used, I think it will be easier to comment than on all these little details that don't make sense unless you understand the big picture.