4.1 Organization of computations Preprocessor ■ Enter body naming/number Define body connectivity by kinematic joints and drivers Enter geometry of bodies,initial position Enter data that define individual joints Enter data that define period of simulation, numerical methods desired,and error tolerances Enter data that define drivers Geometry of bodies is necessary only for animationOrganization Preprocessor § Enter body naming/number § Define body connectivity by kinematic joints and drivers § Enter geometry of bodies, initial position § Enter data that define individual joints § Enter data that define period of simulation, numerical methods desired, and error tolerances § Enter data that define drivers Geometry of bodies is necessary only for animation