Running: ./testmodel.py --libraries=/home/hudson/saved_omc/libraries/.openmodelica/libraries/ --ompython_omhome=/usr Modelica_3.2.3_cpp_Modelica.Mechanics.Rotational.Examples.LossyGearDemo3.conf.json
loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex 3.2.3+maint.om/package.mo", uses=false)
loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 3.2.3+maint.om/package.mo", uses=false)
loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices 3.2.3+maint.om/package.mo", uses=false)
Using package ModelicaServices with version 3.2.3 (/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices 3.2.3+maint.om/package.mo)
Using package Modelica with version 3.2.3 (/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 3.2.3+maint.om/package.mo)
Using package Complex with version 3.2.3 (/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex 3.2.3+maint.om/package.mo)
Running command: "" <> buildModelFMU(Modelica.Mechanics.Rotational.Examples.LossyGearDemo3,fileNamePrefix="Modelica_3_2_3_cpp_Modelica_Mechanics_Rotational_Examples_LossyGearDemo3",fmuType="me",version="2.0",platforms={"static"})
"" <> buildModelFMU(Modelica.Mechanics.Rotational.Examples.LossyGearDemo3,fileNamePrefix="Modelica_3_2_3_cpp_Modelica_Mechanics_Rotational_Examples_LossyGearDemo3",fmuType="me",version="2.0",platforms={"static"})
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex 3.2.3+maint.om/package.mo): time 0.0009117/0.0009117, allocations: 175.5 kB / 16.72 MB, free: 5.082 MB / 13.93 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 3.2.3+maint.om/package.mo): time 1.138/1.138, allocations: 205.4 MB / 222.9 MB, free: 9.023 MB / 186.7 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices 3.2.3+maint.om/package.mo): time 0.000681/0.0006809, allocations: 92.86 kB / 271.2 MB, free: 8.246 MB / 218.7 MB
Notification: Performance of FrontEnd - loaded program: time 0.0002645/0.0002645, allocations: 8 kB / 327.6 MB, free: 15.8 MB / 282.7 MB
Notification: Performance of FrontEnd - Absyn->SCode: time 0.179/0.1793, allocations: 47.57 MB / 375.2 MB, free: 45.44 MB / 298.7 MB
Notification: Performance of NFInst.instantiate(Modelica.Mechanics.Rotational.Examples.LossyGearDemo3): time 0.00172/0.181, allocations: 1.962 MB / 377.1 MB, free: 43.9 MB / 298.7 MB
Notification: Performance of NFInst.instExpressions: time 0.001054/0.1821, allocations: 0.917 MB / 378.1 MB, free: 43.17 MB / 298.7 MB
Notification: Performance of NFInst.updateImplicitVariability: time 9.576e-05/0.1822, allocations: 3.375 kB / 378.1 MB, free: 43.17 MB / 298.7 MB
Notification: Performance of NFTyping.typeComponents: time 0.0001365/0.1823, allocations: 32.03 kB / 378.1 MB, free: 43.15 MB / 298.7 MB
Notification: Performance of NFTyping.typeBindings: time 0.0002974/0.1826, allocations: 112 kB / 378.2 MB, free: 43.07 MB / 298.7 MB
Notification: Performance of NFTyping.typeClassSections: time 0.0002207/0.1829, allocations: 136.4 kB / 378.3 MB, free: 42.97 MB / 298.7 MB
Notification: Performance of NFFlatten.flatten: time 0.0002798/0.1832, allocations: 367.8 kB / 378.7 MB, free: 42.76 MB / 298.7 MB
Notification: Performance of NFFlatten.resolveConnections: time 0.00012/0.1833, allocations: 59.67 kB / 378.8 MB, free: 42.73 MB / 298.7 MB
Notification: Performance of NFEvalConstants.evaluate: time 0.0001491/0.1834, allocations: 159.5 kB / 378.9 MB, free: 42.64 MB / 298.7 MB
Notification: Performance of NFSimplifyModel.simplify: time 0.00019/0.1836, allocations: 189.3 kB / 379.1 MB, free: 42.53 MB / 298.7 MB
Notification: Performance of NFPackage.collectConstants: time 4.492e-05/0.1837, allocations: 18.03 kB / 379.1 MB, free: 42.53 MB / 298.7 MB
Notification: Performance of NFFlatten.collectFunctions: time 0.0001545/0.1839, allocations: 92.53 kB / 379.2 MB, free: 42.49 MB / 298.7 MB
Notification: Performance of NFScalarize.scalarize: time 9.43e-05/0.184, allocations: 85.55 kB / 379.3 MB, free: 42.43 MB / 298.7 MB
Notification: Performance of NFVerifyModel.verify: time 0.0001258/0.1841, allocations: 171.5 kB / 379.5 MB, free: 42.3 MB / 298.7 MB
Notification: Performance of NFConvertDAE.convert: time 0.0002456/0.1843, allocations: 313.5 kB / 379.8 MB, free: 42.09 MB / 298.7 MB
Notification: Performance of FrontEnd - DAE generated: time 3.927e-06/0.1844, allocations: 0 / 379.8 MB, free: 42.09 MB / 298.7 MB
Notification: Performance of FrontEnd: time 1.042e-06/0.1844, allocations: 0 / 379.8 MB, free: 42.09 MB / 298.7 MB
Notification: Performance of Transformations before backend: time 5.079e-06/0.1844, allocations: 1.312 kB / 379.8 MB, free: 42.09 MB / 298.7 MB
Notification: Model statistics after passing the front-end and creating the data structures used by the back-end:
 * Number of equations: 67
 * Number of variables: 67
Notification: Performance of Generate backend data structure: time 0.0008181/0.1852, allocations: 0.5894 MB / 380.3 MB, free: 41.56 MB / 298.7 MB
Notification: Performance of prepare preOptimizeDAE: time 3.465e-05/0.1852, allocations: 9.25 kB / 380.4 MB, free: 41.56 MB / 298.7 MB
Notification: Performance of preOpt introduceOutputAliases (simulation): time 6.087e-05/0.1853, allocations: 64.73 kB / 380.4 MB, free: 41.5 MB / 298.7 MB
Notification: Performance of preOpt normalInlineFunction (simulation): time 0.0002538/0.1856, allocations: 50.78 kB / 380.5 MB, free: 41.48 MB / 298.7 MB
Notification: Performance of preOpt evaluateParameters (simulation): time 0.0002975/0.1859, allocations: 295.6 kB / 380.8 MB, free: 41.2 MB / 298.7 MB
Notification: Performance of preOpt simplifyIfEquations (simulation): time 9.167e-05/0.186, allocations: 87.95 kB / 380.8 MB, free: 41.12 MB / 298.7 MB
Notification: Performance of preOpt expandDerOperator (simulation): time 4.949e-05/0.186, allocations: 31 kB / 380.9 MB, free: 41.11 MB / 298.7 MB
Notification: Performance of preOpt clockPartitioning (simulation): time 0.0005919/0.1866, allocations: 377.1 kB / 381.2 MB, free: 40.86 MB / 298.7 MB
Notification: Performance of preOpt findStateOrder (simulation): time 1.551e-05/0.1867, allocations: 6.188 kB / 381.3 MB, free: 40.86 MB / 298.7 MB
Notification: Performance of preOpt replaceEdgeChange (simulation): time 3.134e-05/0.1867, allocations: 14.5 kB / 381.3 MB, free: 40.85 MB / 298.7 MB
Notification: Performance of preOpt inlineArrayEqn (simulation): time 8.365e-06/0.1867, allocations: 6.156 kB / 381.3 MB, free: 40.85 MB / 298.7 MB
Notification: Performance of preOpt removeEqualRHS (simulation): time 0.0007757/0.1875, allocations: 425.2 kB / 381.7 MB, free: 40.67 MB / 298.7 MB
Notification: Performance of preOpt removeSimpleEquations (simulation): time 0.001625/0.1891, allocations: 1.251 MB / 382.9 MB, free: 39.68 MB / 298.7 MB
Notification: Performance of preOpt comSubExp (simulation): time 0.000591/0.1897, allocations: 374.7 kB / 383.3 MB, free: 39.5 MB / 298.7 MB
Notification: Performance of preOpt resolveLoops (simulation): time 0.0003346/0.1901, allocations: 188.4 kB / 383.5 MB, free: 39.41 MB / 298.7 MB
Notification: Performance of preOpt evalFunc (simulation): time 3.168e-05/0.1901, allocations: 8.734 kB / 383.5 MB, free: 39.4 MB / 298.7 MB
Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 1.505e-05/0.1901, allocations: 40.59 kB / 383.5 MB, free: 39.36 MB / 298.7 MB
Notification: Performance of pre-optimization done (n=43): time 1.483e-06/0.1901, allocations: 0 / 383.5 MB, free: 39.36 MB / 298.7 MB
Notification: Performance of matching and sorting (n=45): time 0.004143/0.1943, allocations: 1.967 MB / 385.5 MB, free: 38.03 MB / 298.7 MB
Notification: Performance of inlineWhenForInitialization (initialization): time 2.541e-05/0.1943, allocations: 88.86 kB / 385.6 MB, free: 37.93 MB / 298.7 MB
Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.0001988/0.1945, allocations: 240.6 kB / 385.8 MB, free: 37.68 MB / 298.7 MB
Notification: Performance of collectPreVariables (initialization): time 2.922e-05/0.1946, allocations: 37.7 kB / 385.9 MB, free: 37.64 MB / 298.7 MB
Notification: Performance of collectInitialEqns (initialization): time 4.645e-05/0.1946, allocations: 132.7 kB / 386 MB, free: 37.51 MB / 298.7 MB
Notification: Performance of collectInitialBindings (initialization): time 6.907e-05/0.1947, allocations: 145.8 kB / 386.1 MB, free: 37.36 MB / 298.7 MB
Notification: Performance of simplifyInitialFunctions (initialization): time 2.456e-05/0.1947, allocations: 12 kB / 386.1 MB, free: 37.35 MB / 298.7 MB
Notification: Performance of setup shared object (initialization): time 4.267e-05/0.1948, allocations: 338.8 kB / 386.5 MB, free: 37.01 MB / 298.7 MB
Notification: Performance of preBalanceInitialSystem (initialization): time 0.0003072/0.1951, allocations: 172.8 kB / 386.6 MB, free: 36.84 MB / 298.7 MB
Notification: Performance of partitionIndependentBlocks (initialization): time 0.0003171/0.1954, allocations: 225.9 kB / 386.9 MB, free: 36.6 MB / 298.7 MB
Notification: Performance of analyzeInitialSystem (initialization): time 0.000546/0.196, allocations: 359.2 kB / 387.2 MB, free: 36.24 MB / 298.7 MB
Notification: Performance of solveInitialSystemEqSystem (initialization): time 1.312e-06/0.196, allocations: 0 / 387.2 MB, free: 36.24 MB / 298.7 MB
Notification: Performance of matching and sorting (n=52) (initialization): time 0.0008638/0.1969, allocations: 0.5558 MB / 387.8 MB, free: 35.68 MB / 298.7 MB
Notification: Performance of prepare postOptimizeDAE: time 1.321e-05/0.1969, allocations: 16.11 kB / 387.8 MB, free: 35.66 MB / 298.7 MB
Notification: Performance of postOpt simplifyComplexFunction (initialization): time 5.009e-06/0.1969, allocations: 0 / 387.8 MB, free: 35.66 MB / 298.7 MB
Notification: Performance of postOpt tearingSystem (initialization): time 0.0005992/0.1975, allocations: 246.4 kB / 388 MB, free: 35.42 MB / 298.7 MB
Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.0002056/0.1977, allocations: 51.91 kB / 388.1 MB, free: 35.37 MB / 298.7 MB
Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 0.002723/0.2004, allocations: 2.661 MB / 390.7 MB, free: 32.57 MB / 298.7 MB
Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.0002284/0.2007, allocations: 32.08 kB / 390.8 MB, free: 32.54 MB / 298.7 MB
Notification: Performance of postOpt collapseArrayExpressions (initialization): time 3.621e-05/0.2007, allocations: 23.92 kB / 390.8 MB, free: 32.52 MB / 298.7 MB
Notification: Model statistics after passing the back-end for initialization:
 * Number of independent subsystems: 5
 * Number of states: 0 ()
 * Number of discrete variables: 7 (gear.tau_aPos,gear.startForward,gear.startBackward,gear.locked,$PRE.gear.mode,gear.mode,gear.ideal)
 * Number of discrete states: 0 ()
 * Number of clocked states: 0 ()
 * Top-level inputs: 0
Notification: Strong component statistics for initialization (27):
 * Single equations (assignments): 26
 * Array equations: 0
 * Algorithm blocks: 0
 * Record equations: 0
 * When equations: 0
 * If-equations: 0
 * Equation systems (linear and non-linear blocks): 0
 * Torn equation systems: 1
 * Mixed (continuous/discrete) equation systems: 0
Notification: Torn system details for strict tearing set:
 * Linear torn systems: 0
 * Non-linear torn systems: 1 {2 24}
Notification: Performance of prepare postOptimizeDAE: time 0.0001183/0.2009, allocations: 149.8 kB / 390.9 MB, free: 32.36 MB / 298.7 MB
Notification: Performance of postOpt lateInlineFunction (simulation): time 5.408e-05/0.2009, allocations: 27.66 kB / 391 MB, free: 32.34 MB / 298.7 MB
Notification: Performance of postOpt wrapFunctionCalls (simulation): time 7.854e-05/0.201, allocations: 50.97 kB / 391 MB, free: 32.29 MB / 298.7 MB
Notification: Performance of postOpt inlineArrayEqn (simulation): time 3.066e-06/0.201, allocations: 11.94 kB / 391 MB, free: 32.27 MB / 298.7 MB
Notification: Performance of postOpt constantLinearSystem (simulation): time 2.294e-06/0.201, allocations: 0 / 391 MB, free: 32.27 MB / 298.7 MB
Notification: Performance of postOpt simplifysemiLinear (simulation): time 4.057e-06/0.201, allocations: 0 / 391 MB, free: 32.27 MB / 298.7 MB
Notification: Performance of postOpt removeSimpleEquations (simulation): time 0.001394/0.2024, allocations: 1.089 MB / 392.1 MB, free: 31.12 MB / 298.7 MB
Notification: Performance of postOpt simplifyComplexFunction (simulation): time 2.284e-06/0.2024, allocations: 7.938 kB / 392.1 MB, free: 31.12 MB / 298.7 MB
Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.0001949/0.2026, allocations: 43.97 kB / 392.2 MB, free: 31.07 MB / 298.7 MB
Notification: Performance of postOpt tearingSystem (simulation): time 0.0005509/0.2032, allocations: 236.8 kB / 392.4 MB, free: 30.84 MB / 298.7 MB
Notification: Performance of postOpt inputDerivativesUsed (simulation): time 2.814e-05/0.2032, allocations: 12 kB / 392.4 MB, free: 30.83 MB / 298.7 MB
Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 0.002541/0.2058, allocations: 2.605 MB / 395 MB, free: 28.09 MB / 298.7 MB
Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 1.874e-06/0.2058, allocations: 3.984 kB / 395 MB, free: 28.09 MB / 298.7 MB
Notification: Performance of postOpt symbolicJacobian (simulation): time 0.001175/0.207, allocations: 0.8219 MB / 395.8 MB, free: 27.25 MB / 298.7 MB
Notification: Performance of postOpt removeConstants (simulation): time 0.0001107/0.2071, allocations: 140.8 kB / 396 MB, free: 27.09 MB / 298.7 MB
Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 4.657e-05/0.2072, allocations: 16.06 kB / 396 MB, free: 27.07 MB / 298.7 MB
Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.0002436/0.2074, allocations: 27.97 kB / 396 MB, free: 27.05 MB / 298.7 MB
Notification: Performance of postOpt findZeroCrossings (simulation): time 0.0001494/0.2076, allocations: 67.88 kB / 396.1 MB, free: 26.98 MB / 298.7 MB
Notification: Performance of postOpt collapseArrayExpressions (simulation): time 2.76e-05/0.2076, allocations: 15.98 kB / 396.1 MB, free: 26.96 MB / 298.7 MB
Notification: Performance of sorting global known variables: time 0.0001446/0.2077, allocations: 180.2 kB / 396.3 MB, free: 26.79 MB / 298.7 MB
Notification: Performance of sort global known variables: time 2.21e-07/0.2078, allocations: 0 / 396.3 MB, free: 26.79 MB / 298.7 MB
Notification: Performance of remove unused functions: time 0.0004845/0.2082, allocations: 144 kB / 396.4 MB, free: 26.65 MB / 298.7 MB
Notification: Model statistics after passing the back-end for simulation:
 * Number of independent subsystems: 1
 * Number of states: 2 (Inertia2.phi,Inertia2.w)
 * Number of discrete variables: 5 (gear.tau_aPos,gear.startForward,gear.startBackward,gear.locked,gear.mode)
 * Number of discrete states: 1 (gear.mode)
 * Number of clocked states: 0 ()
 * Top-level inputs: 0
Notification: Strong component statistics for simulation (21):
 * Single equations (assignments): 20
 * Array equations: 0
 * Algorithm blocks: 0
 * Record equations: 0
 * When equations: 0
 * If-equations: 0
 * Equation systems (linear and non-linear blocks): 0
 * Torn equation systems: 1
 * Mixed (continuous/discrete) equation systems: 0
Notification: Torn system details for strict tearing set:
 * Linear torn systems: 0
 * Non-linear torn systems: 1 {2 23}
Notification: Performance of Backend phase and start with SimCode phase: time 0.001484/0.2097, allocations: 1.431 MB / 397.9 MB, free: 25.18 MB / 298.7 MB
Notification: Performance of simCode: created initialization part: time 0.0009435/0.2107, allocations: 0.6253 MB / 398.5 MB, free: 24.55 MB / 298.7 MB
Notification: Performance of simCode: created event and clocks part: time 2.094e-06/0.2107, allocations: 0 / 398.5 MB, free: 24.55 MB / 298.7 MB
Notification: Performance of simCode: created simulation system equations: time 0.0005608/0.2113, allocations: 441.3 kB / 398.9 MB, free: 24.1 MB / 298.7 MB
Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.0003564/0.2116, allocations: 35.92 kB / 398.9 MB, free: 24.07 MB / 298.7 MB
Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 0.002795/0.2144, allocations: 2.169 MB / 401.1 MB, free: 21.83 MB / 298.7 MB
Notification: Performance of simCode: some other stuff during SimCode phase: time 0.0001569/0.2146, allocations: 0.7799 MB / 401.9 MB, free: 21.02 MB / 298.7 MB
Notification: Performance of simCode: all other stuff during SimCode phase: time 0.0001372/0.2148, allocations: 91.39 kB / 402 MB, free: 20.93 MB / 298.7 MB
Notification: Performance of SimCode: time 2.3e-07/0.2148, allocations: 3.938 kB / 402 MB, free: 20.93 MB / 298.7 MB
Notification: Performance of buildModelFMU: Generate C++ for platform static: time 3.977/4.192, allocations: 5.766 MB / 407.7 MB, free: 15.16 MB / 298.7 MB
(rm -f Modelica_3.2.3_cpp_Modelica.Mechanics.Rotational.Examples.LossyGearDemo3.pipe ; mkfifo Modelica_3.2.3_cpp_Modelica.Mechanics.Rotational.Examples.LossyGearDemo3.pipe ; head -c 1048576 < Modelica_3.2.3_cpp_Modelica.Mechanics.Rotational.Examples.LossyGearDemo3.pipe >> ../files/Modelica_3.2.3_cpp_Modelica.Mechanics.Rotational.Examples.LossyGearDemo3.sim & /home/hudson/saved_omc/OMSimulator/install/linux/bin/OMSimulator -r=Modelica_3.2.3_cpp_Modelica.Mechanics.Rotational.Examples.LossyGearDemo3_res.mat --tempDir=temp_Modelica_3_2_3_cpp_Modelica_Mechanics_Rotational_Examples_LossyGearDemo3_fmu --startTime=0 --stopTime=1 --timeout=50 --tolerance=1e-06 Modelica_3_2_3_cpp_Modelica_Mechanics_Rotational_Examples_LossyGearDemo3.fmu > Modelica_3.2.3_cpp_Modelica.Mechanics.Rotational.Examples.LossyGearDemo3.pipe 2>&1)
diffSimulationResults("Modelica_3.2.3_cpp_Modelica.Mechanics.Rotational.Examples.LossyGearDemo3_res.mat","/var/lib/jenkins1/ws/OpenModelicaLibraryTestingWork/Reference-modelica.org/ReferenceResults/MAP-LIB_ReferenceResults/v3.2.3+build.4/Modelica/Mechanics/Rotational/Examples/LossyGearDemo3/LossyGearDemo3.csv","../files/Modelica_3.2.3_cpp_Modelica.Mechanics.Rotational.Examples.LossyGearDemo3.diff",relTol=0.003,relTolDiffMinMax=0.003,rangeDelta=0.001)
""

Variables in the reference:time,Inertia2.phi,Inertia2.w,gear.mode

Variables in the result:Inertia1.J,Inertia1.a,Inertia1.flange_a.phi,Inertia1.flange_a.tau,Inertia1.flange_b.phi,Inertia1.flange_b.tau,Inertia1.phi,Inertia1.stateSelect,Inertia1.w,Inertia2.J,Inertia2.a,Inertia2.flange_a.phi,Inertia2.flange_a.tau,Inertia2.flange_b.phi,Inertia2.flange_b.tau,Inertia2.phi,Inertia2.stateSelect,Inertia2.w,der(Inertia1.w),der(Inertia2.phi),der(Inertia2.w),der(gear.phi_a),gear.a_a,gear.eta_mf1,gear.eta_mf1_0,gear.eta_mf2,gear.eta_mf2_0,gear.flange_a.phi,gear.flange_a.tau,gear.flange_b.phi,gear.flange_b.tau,gear.ideal,gear.interpolation_result[1,1],gear.interpolation_result[1,2],gear.interpolation_result[1,3],gear.interpolation_result[1,4],gear.locked,gear.lossPower,gear.lossTable[1,1],gear.lossTable[1,2],gear.lossTable[1,3],gear.lossTable[1,4],gear.lossTable[1,5],gear.mode,gear.phi_a,gear.phi_b,gear.phi_support,gear.quadrant1,gear.quadrant1_p,gear.quadrant2,gear.quadrant2_p,gear.quadrant3,gear.quadrant3_m,gear.quadrant4,gear.quadrant4_m,gear.ratio,gear.sa,gear.startBackward,gear.startForward,gear.tauLoss,gear.tauLossMax,gear.tauLossMax_p,gear.tauLossMin,gear.tauLossMin_m,gear.tau_aPos,gear.tau_bf1,gear.tau_bf1_0,gear.tau_bf2,gear.tau_bf2_0,gear.tau_bf_a,gear.tau_bf_a_0,gear.tau_eta,gear.tau_etaPos,gear.tau_eta_m,gear.tau_eta_p,gear.useHeatPort,gear.useSupport,gear.w_a,step.height,step.offset,step.startTime,step.y,step1.height,step1.offset,step1.startTime,step1.y,time,torque1.flange.phi,torque1.flange.tau,torque1.phi_support,torque1.tau,torque1.useSupport,torque2.flange.phi,torque2.flange.tau,torque2.phi_support,torque2.tau,torque2.useSupport