diff --git a/src/rigidBodyDynamics/restraints/linearAxialAngularSpring/linearAxialAngularSpring.C b/src/rigidBodyDynamics/restraints/linearAxialAngularSpring/linearAxialAngularSpring.C
index a4ca22060..30cc3ce33 100644
--- a/src/rigidBodyDynamics/restraints/linearAxialAngularSpring/linearAxialAngularSpring.C
+++ b/src/rigidBodyDynamics/restraints/linearAxialAngularSpring/linearAxialAngularSpring.C
@@ -74,7 +74,8 @@ Foam::RBD::restraints::linearAxialAngularSpring::~linearAxialAngularSpring()
 void Foam::RBD::restraints::linearAxialAngularSpring::restrain
 (
     scalarField& tau,
-    Field<spatialVector>& fx
+    Field<spatialVector>& fx,
+    const rigidBodyModelState& state
 ) const
 {
     vector refDir = rotationTensor(vector(1, 0, 0), axis_) & vector(0, 1, 0);
diff --git a/src/rigidBodyDynamics/restraints/linearAxialAngularSpring/linearAxialAngularSpring.H b/src/rigidBodyDynamics/restraints/linearAxialAngularSpring/linearAxialAngularSpring.H
index 1756f865e..c633ed1c8 100644
--- a/src/rigidBodyDynamics/restraints/linearAxialAngularSpring/linearAxialAngularSpring.H
+++ b/src/rigidBodyDynamics/restraints/linearAxialAngularSpring/linearAxialAngularSpring.H
@@ -106,7 +106,8 @@ public:
         virtual void restrain
         (
             scalarField& tau,
-            Field<spatialVector>& fx
+            Field<spatialVector>& fx,
+            const rigidBodyModelState& state
         ) const;
 
         //- Update properties from given dictionary
diff --git a/src/rigidBodyDynamics/restraints/linearDamper/linearDamper.C b/src/rigidBodyDynamics/restraints/linearDamper/linearDamper.C
index dbb5f2292..d68018f37 100644
--- a/src/rigidBodyDynamics/restraints/linearDamper/linearDamper.C
+++ b/src/rigidBodyDynamics/restraints/linearDamper/linearDamper.C
@@ -74,7 +74,8 @@ Foam::RBD::restraints::linearDamper::~linearDamper()
 void Foam::RBD::restraints::linearDamper::restrain
 (
     scalarField& tau,
-    Field<spatialVector>& fx
+    Field<spatialVector>& fx,
+    const rigidBodyModelState& state
 ) const
 {
     vector force = -coeff_*model_.v(model_.master(bodyID_)).l();
diff --git a/src/rigidBodyDynamics/restraints/linearDamper/linearDamper.H b/src/rigidBodyDynamics/restraints/linearDamper/linearDamper.H
index 88de28c08..ba3234498 100644
--- a/src/rigidBodyDynamics/restraints/linearDamper/linearDamper.H
+++ b/src/rigidBodyDynamics/restraints/linearDamper/linearDamper.H
@@ -97,7 +97,8 @@ public:
         virtual void restrain
         (
             scalarField& tau,
-            Field<spatialVector>& fx
+            Field<spatialVector>& fx,
+            const rigidBodyModelState& state
         ) const;
 
         //- Update properties from given dictionary
diff --git a/src/rigidBodyDynamics/restraints/linearSpring/linearSpring.C b/src/rigidBodyDynamics/restraints/linearSpring/linearSpring.C
index dc0a1cdfe..2b08c015d 100644
--- a/src/rigidBodyDynamics/restraints/linearSpring/linearSpring.C
+++ b/src/rigidBodyDynamics/restraints/linearSpring/linearSpring.C
@@ -74,7 +74,8 @@ Foam::RBD::restraints::linearSpring::~linearSpring()
 void Foam::RBD::restraints::linearSpring::restrain
 (
     scalarField& tau,
-    Field<spatialVector>& fx
+    Field<spatialVector>& fx,
+    const rigidBodyModelState& state
 ) const
 {
     point attachmentPt = bodyPoint(refAttachmentPt_);
diff --git a/src/rigidBodyDynamics/restraints/linearSpring/linearSpring.H b/src/rigidBodyDynamics/restraints/linearSpring/linearSpring.H
index 7f9ddd6fa..a4f026d55 100644
--- a/src/rigidBodyDynamics/restraints/linearSpring/linearSpring.H
+++ b/src/rigidBodyDynamics/restraints/linearSpring/linearSpring.H
@@ -110,7 +110,8 @@ public:
         virtual void restrain
         (
             scalarField& tau,
-            Field<spatialVector>& fx
+            Field<spatialVector>& fx,
+            const rigidBodyModelState& state
         ) const;
 
         //- Update properties from given dictionary
diff --git a/src/rigidBodyDynamics/restraints/restraint/rigidBodyRestraint.H b/src/rigidBodyDynamics/restraints/restraint/rigidBodyRestraint.H
index 4013a038c..a840925ed 100644
--- a/src/rigidBodyDynamics/restraints/restraint/rigidBodyRestraint.H
+++ b/src/rigidBodyDynamics/restraints/restraint/rigidBodyRestraint.H
@@ -58,6 +58,7 @@ namespace RBD
 
 // Forward declaration of classes
 class rigidBodyModel;
+class rigidBodyModelState;
 
 /*---------------------------------------------------------------------------*\
                 Class restraint Declaration
@@ -162,7 +163,8 @@ public:
         virtual void restrain
         (
             scalarField& tau,
-            Field<spatialVector>& fx
+            Field<spatialVector>& fx,
+            const rigidBodyModelState& state
         ) const = 0;
 
         //- Update properties from given dictionary
diff --git a/src/rigidBodyDynamics/restraints/sphericalAngularDamper/sphericalAngularDamper.C b/src/rigidBodyDynamics/restraints/sphericalAngularDamper/sphericalAngularDamper.C
index c60cef599..0287af9b3 100644
--- a/src/rigidBodyDynamics/restraints/sphericalAngularDamper/sphericalAngularDamper.C
+++ b/src/rigidBodyDynamics/restraints/sphericalAngularDamper/sphericalAngularDamper.C
@@ -74,7 +74,8 @@ Foam::RBD::restraints::sphericalAngularDamper::~sphericalAngularDamper()
 void Foam::RBD::restraints::sphericalAngularDamper::restrain
 (
     scalarField& tau,
-    Field<spatialVector>& fx
+    Field<spatialVector>& fx,
+    const rigidBodyModelState& state
 ) const
 {
     vector moment = -coeff_*model_.v(model_.master(bodyID_)).w();
diff --git a/src/rigidBodyDynamics/restraints/sphericalAngularDamper/sphericalAngularDamper.H b/src/rigidBodyDynamics/restraints/sphericalAngularDamper/sphericalAngularDamper.H
index aedbb063f..332125fa8 100644
--- a/src/rigidBodyDynamics/restraints/sphericalAngularDamper/sphericalAngularDamper.H
+++ b/src/rigidBodyDynamics/restraints/sphericalAngularDamper/sphericalAngularDamper.H
@@ -98,7 +98,8 @@ public:
         virtual void restrain
         (
             scalarField& tau,
-            Field<spatialVector>& fx
+            Field<spatialVector>& fx,
+            const rigidBodyModelState& state
         ) const;
 
         //- Update properties from given dictionary
diff --git a/src/rigidBodyDynamics/rigidBodyModel/forwardDynamics.C b/src/rigidBodyDynamics/rigidBodyModel/forwardDynamics.C
index 4067f5365..8b8ae3104 100644
--- a/src/rigidBodyDynamics/rigidBodyModel/forwardDynamics.C
+++ b/src/rigidBodyDynamics/rigidBodyModel/forwardDynamics.C
@@ -32,7 +32,8 @@ License
 void Foam::RBD::rigidBodyModel::applyRestraints
 (
     scalarField& tau,
-    Field<spatialVector>& fx
+    Field<spatialVector>& fx,
+    const rigidBodyModelState& state
 ) const
 {
     if (restraints_.empty())
@@ -45,7 +46,7 @@ void Foam::RBD::rigidBodyModel::applyRestraints
         DebugInfo << "Restraint " << restraints_[ri].name();
 
         // Accumulate the restraint forces
-        restraints_[ri].restrain(tau, fx);
+        restraints_[ri].restrain(tau, fx, state);
     }
 }
 
diff --git a/src/rigidBodyDynamics/rigidBodyModel/rigidBodyModel.H b/src/rigidBodyDynamics/rigidBodyModel/rigidBodyModel.H
index f35661659..6a32ef8be 100644
--- a/src/rigidBodyDynamics/rigidBodyModel/rigidBodyModel.H
+++ b/src/rigidBodyDynamics/rigidBodyModel/rigidBodyModel.H
@@ -327,7 +327,7 @@ public:
 
         //- Apply the restraints and accumulate the internal joint forces
         //  into the tau field and external forces into the fx field
-        void applyRestraints(scalarField& tau, Field<spatialVector>& fx) const;
+        void applyRestraints(scalarField& tau, Field<spatialVector>& fx, const rigidBodyModelState& state) const;
 
         //- Calculate the joint acceleration qDdot from the joint state q,
         //  velocity qDot, internal force tau (in the joint frame) and
diff --git a/src/rigidBodyDynamics/rigidBodySolvers/CrankNicolson/CrankNicolson.C b/src/rigidBodyDynamics/rigidBodySolvers/CrankNicolson/CrankNicolson.C
index 1a73fb177..e6670132f 100644
--- a/src/rigidBodyDynamics/rigidBodySolvers/CrankNicolson/CrankNicolson.C
+++ b/src/rigidBodyDynamics/rigidBodySolvers/CrankNicolson/CrankNicolson.C
@@ -72,7 +72,7 @@ void Foam::RBD::rigidBodySolvers::CrankNicolson::solve
     // Accumulate the restraint forces
     scalarField rtau(tau);
     Field<spatialVector> rfx(fx);
-    model_.applyRestraints(rtau, rfx);
+    model_.applyRestraints(rtau, rfx, state());
 
     // Calculate the accelerations for the given state and forces
     model_.forwardDynamics(state(), rtau, rfx);
diff --git a/src/rigidBodyDynamics/rigidBodySolvers/Newmark/Newmark.C b/src/rigidBodyDynamics/rigidBodySolvers/Newmark/Newmark.C
index 4be65978e..a72df8639 100644
--- a/src/rigidBodyDynamics/rigidBodySolvers/Newmark/Newmark.C
+++ b/src/rigidBodyDynamics/rigidBodySolvers/Newmark/Newmark.C
@@ -79,7 +79,7 @@ void Foam::RBD::rigidBodySolvers::Newmark::solve
     // Accumulate the restraint forces
     scalarField rtau(tau);
     Field<spatialVector> rfx(fx);
-    model_.applyRestraints(rtau, rfx);
+    model_.applyRestraints(rtau, rfx, state());
 
     // Calculate the accelerations for the given state and forces
     model_.forwardDynamics(state(), rtau, rfx);
diff --git a/src/rigidBodyDynamics/rigidBodySolvers/symplectic/symplectic.C b/src/rigidBodyDynamics/rigidBodySolvers/symplectic/symplectic.C
index fc865e4c6..f21772f4f 100644
--- a/src/rigidBodyDynamics/rigidBodySolvers/symplectic/symplectic.C
+++ b/src/rigidBodyDynamics/rigidBodySolvers/symplectic/symplectic.C
@@ -81,7 +81,7 @@ void Foam::RBD::rigidBodySolvers::symplectic::solve
     // Accumulate the restraint forces
     scalarField rtau(tau);
     Field<spatialVector> rfx(fx);
-    model_.applyRestraints(rtau, rfx);
+    model_.applyRestraints(rtau, rfx, state());
 
     // Calculate the body acceleration for the given state
     // and restraint forces