 
 		const thrust::device_vector<int> & flexIdentifierD,
 		const thrust::device_vector<real_> & parametricDist,
+		const thrust::device_vector<real_> & ANCF_Beam_Length,
 		const thrust::host_vector<int2> & referenceArray,
 
-		thrust::device_vector<real4> & derivVelRhoD,
-
-		const thrust::device_vector<real3> & rigidSPH_MeshPos_LRF_D,
-		const thrust::device_vector<real3> & jD1,
-		const thrust::device_vector<real3> & jD2,
-		const thrust::device_vector<real3> & jInvD1,
-		const thrust::device_vector<real3> & jInvD2,
 		SimParams paramsH,
-		int startRigidMarkers,
-		int numRigid_SphMarkers,
 		float fracSimulation,
 		real_ dT) {
 	int numFlexBodies = ANCF_ReferenceArrayNodesOnBeams.size();

	velMasD[rigidParticleIndex] = R4(R3(vM_Rigid) + R3(dot(a1, omegaCrossS), dot(a2, omegaCrossS), dot(a3, omegaCrossS)), vM.w);
}
//--------------------------------------------------------------------------------------------------------------------------------
//updates the rigid body particles
__global__ void UpdateFlexParticlesPosition(
		real3 * posRadD,
		real4 * velMasD,
		const real3 * rigidSPH_MeshPos_LRF_D,
		const int * rigidIdentifierD,
		real3 * posRigidD,

}
//--------------------------------------------------------------------------------------------------------------------------------
//updates the rigid body particles
__global__ void UpdateRigidMarkersPosition(
		real3 * posRadD,
		real4 * velMasD,
		const real3 * rigidSPH_MeshPos_LRF_D,
