Hello, I just found this document on Pro Mechanica. WF2. I know this is not brand new, but the base is always the same, it can troubleshoot it. The literature on simulation is not easy to find. If someone in a recent paper, it will surely be welcome. Why can not we have access to these books in the knowledge base or downloading programs. Now it is no longer necessary to publish textbooks on paper, so the diffusion is easier and cheaper. Cordially. Denis.