diff --git a/trick_sims/SIM_singlerigidbody/S_overrides.mk b/trick_sims/SIM_singlerigidbody/S_overrides.mk
index e1f6cccd..abd95c9b 100644
--- a/trick_sims/SIM_singlerigidbody/S_overrides.mk
+++ b/trick_sims/SIM_singlerigidbody/S_overrides.mk
@@ -1,2 +1,14 @@
 TRICK_CFLAGS += -Imodels
 TRICK_CXXFLAGS += -Imodels
+
+.PHONY: clean_graphics
+
+all: models/singlerigidbodygraphics/build/SingleRigidBodyDisplay.jar
+
+spotless: clean_graphics
+
+models/singlerigidbodygraphics/build/SingleRigidBodyDisplay.jar:
+	${MAKE} -C ./models/singlerigidbodygraphics
+
+clean_graphics:
+	${MAKE} -C ./models/singlerigidbodygraphics clean
diff --git a/trick_sims/SIM_singlerigidbody/models/singlerigidbodygraphics/Makefile b/trick_sims/SIM_singlerigidbody/models/singlerigidbodygraphics/Makefile
new file mode 100644
index 00000000..d3e0cbc0
--- /dev/null
+++ b/trick_sims/SIM_singlerigidbody/models/singlerigidbodygraphics/Makefile
@@ -0,0 +1,6 @@
+
+all:
+	mvn package
+
+clean:
+	rm -rf build
diff --git a/trick_sims/SIM_singlerigidbody/models/singlerigidbodygraphics/pom.xml b/trick_sims/SIM_singlerigidbody/models/singlerigidbodygraphics/pom.xml
new file mode 100644
index 00000000..9aa0f442
--- /dev/null
+++ b/trick_sims/SIM_singlerigidbody/models/singlerigidbodygraphics/pom.xml
@@ -0,0 +1,121 @@
+<?xml version="1.0" encoding="UTF-8"?>
+
+<project xmlns="http://maven.apache.org/POM/4.0.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+  xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 http://maven.apache.org/xsd/maven-4.0.0.xsd">
+  <modelVersion>4.0.0</modelVersion>
+
+  <groupId>trick-java</groupId>
+  <artifactId>trick-java</artifactId>
+  <version>23.0.0-beta</version>
+
+  <name>trick-java</name>
+
+  <url>https://github.com/nasa/trick</url>
+
+  <properties>
+    <project.build.sourceEncoding>UTF-8</project.build.sourceEncoding>
+    <maven.compiler.source>1.8</maven.compiler.source>
+    <maven.compiler.target>1.8</maven.compiler.target>
+  </properties>
+
+  <dependencies>
+    <dependency>
+      <groupId>junit</groupId>
+      <artifactId>junit</artifactId>
+      <version>4.13.1</version>
+      <scope>test</scope>
+    </dependency>
+  </dependencies>
+
+  <build>
+
+    <finalName>SingleRigidBodyDisplay</finalName>
+
+    <directory>build</directory>
+    <plugins>
+      <plugin>
+        <groupId>org.apache.maven.plugins</groupId>
+        <artifactId>maven-javadoc-plugin</artifactId>
+        <version>3.1.1</version>
+        <configuration>
+          <javadocExecutable>${java.home}/bin/javadoc</javadocExecutable>
+          <destDir>../../share/doc/trick/java</destDir>
+        </configuration>
+      </plugin>
+    </plugins>
+
+    <pluginManagement><!-- lock down plugins versions to avoid using Maven defaults (may be moved to parent pom) -->
+
+      <plugins>
+        <!-- clean lifecycle, see https://maven.apache.org/ref/current/maven-core/lifecycles.html#clean_Lifecycle -->
+        <plugin>
+          <artifactId>maven-clean-plugin</artifactId>
+          <version>3.1.0</version>
+        </plugin>
+
+        <!-- default lifecycle, jar packaging: see https://maven.apache.org/ref/current/maven-core/default-bindings.html#Plugin_bindings_for_jar_packaging -->
+        <plugin>
+          <artifactId>maven-resources-plugin</artifactId>
+          <version>3.0.2</version>
+        </plugin>
+
+        <plugin>
+          <artifactId>maven-compiler-plugin</artifactId>
+          <version>3.8.0</version>
+          <configuration>
+            <compilerArgs>
+              <arg>-g</arg>
+              <arg>-Xlint:unchecked</arg>
+              <arg>-Xlint:deprecation</arg>
+            </compilerArgs>
+          </configuration>
+        </plugin>
+
+        <plugin>
+          <!-- Build an executable JAR -->
+          <groupId>org.apache.maven.plugins</groupId>
+          <artifactId>maven-jar-plugin</artifactId>
+          <version>3.1.0</version>
+          <configuration>
+            <archive>
+              <manifest>
+                <addClasspath>true</addClasspath>
+                <classpathPrefix>lib/</classpathPrefix>
+                <mainClass>trick.SRBDisplay</mainClass>
+              </manifest>
+            </archive>
+          </configuration>
+        </plugin>
+
+        <plugin>
+          <artifactId>maven-surefire-plugin</artifactId>
+          <version>2.22.1</version>
+        </plugin>
+
+        <plugin>
+          <artifactId>maven-install-plugin</artifactId>
+          <version>2.5.2</version>
+        </plugin>
+
+        <plugin>
+          <artifactId>maven-deploy-plugin</artifactId>
+          <version>2.8.2</version>
+        </plugin>
+
+        <!-- site lifecycle, see https://maven.apache.org/ref/current/maven-core/lifecycles.html#site_Lifecycle -->
+        <plugin>
+          <artifactId>maven-site-plugin</artifactId>
+          <version>3.7.1</version>
+        </plugin>
+
+<!--
+        <plugin>
+          <artifactId>maven-project-info-reports-plugin</artifactId>
+          <version>3.0.0</version>
+        </plugin>
+-->
+
+      </plugins>
+    </pluginManagement>
+  </build>
+</project>
\ No newline at end of file
diff --git a/trick_sims/SIM_singlerigidbody/models/singlerigidbodygraphics/src/main/java/trick/matrixops/MatrixOps.java b/trick_sims/SIM_singlerigidbody/models/singlerigidbodygraphics/src/main/java/trick/matrixops/MatrixOps.java
new file mode 100644
index 00000000..463b303b
--- /dev/null
+++ b/trick_sims/SIM_singlerigidbody/models/singlerigidbodygraphics/src/main/java/trick/matrixops/MatrixOps.java
@@ -0,0 +1,152 @@
+// This file contains helper functions for the matrix operations necessary for the graphics to be generated.
+
+package trick.matrixOps;
+
+
+
+public class MatrixOps { // Defines the matrix operation class.
+    
+    public static void printMatrix(double M[][]) { // Prints out the matrix.
+        int M_rows = M.length;
+        int M_cols = M[0].length;
+        for (int i = 0; i < M_rows; i++) {
+            for (int j = 0; j < M_cols; j++)
+                System.out.print(" " + M[i][j]);
+            System.out.println();
+        }
+    }
+    
+    public static void printDVector(double V[]) { // Prints out a vector passed as a double.
+        System.out.print("(");
+        for (int i = 0; i < V.length; i++) {
+            System.out.print(" " + V[i]);
+        }
+        System.out.println(")");
+    }
+    
+    public static void printIVector(int V[]) { // Prints out a vector passed as an integer.
+        System.out.print("(");
+        for (int i = 0; i < V.length; i++) {
+            System.out.print(" " + V[i]);
+        }
+        System.out.println(")");
+    }
+    
+    public static void MtimesM( double R[][], double A[][], double B[][]) { // Multiplies two matrices together.
+        int A_rows = A.length;
+        int A_cols = A[0].length;
+        int B_rows = B.length;
+        int B_cols = B[0].length;
+        int R_rows = R.length;
+        int R_cols = R[0].length;
+
+        if (A_cols != B_rows) { // Checks if the matrices can be multiplied.
+            System.out.println( "\nNot possible to multiply matrixes,");
+            System.out.println("where the first has " + A_cols + " columns,");
+            System.out.println("and the second has " + B_rows + "rows.");
+            return;
+        }
+        if ((R_rows != A_rows) || (R_cols != B_cols)) { // Checks if the defined result matrix is the wrong size.
+            System.out.println( "\n Result matrix is wrong size.");
+            return;
+        }
+
+        for (int i = 0; i < A_rows; i++) { // Multiplies the two matrices together.
+            for (int j = 0; j < B_cols; j++) {
+                R[i][j] = 0.0;
+                for (int k = 0; k < B_rows; k++)
+                    R[i][j] += A[i][k] * B[k][j];
+            }
+        }
+    }
+    
+    public static void MtimesV( double R[], double M[][], double V[]) { // Multiplies a matrix with a vector. 
+        int M_rows = M.length;
+        int M_cols = M[0].length;
+        int V_rows = V.length;
+
+        if (M_cols != V_rows) { // Checks if the matrix and the vector can be multiplied together.
+            System.out.println( "\nNot possible to multiply matrix and vector,");
+            System.out.println( "where the matrix has " + M_cols + " columns,");
+            System.out.println("and the vector has " + V_rows + " elements.");
+            return;
+        }
+
+        if (R.length != M.length) { // Checks if the defined result vector is the wrong size.
+          System.out.println( "\n Result vector is wrong size.");
+          return;
+        }
+
+        for (int i =0; i < M_rows ; i++) { // Multiplies the vector with the matrix.
+            R[i] = 0.0;
+            for (int j =0; j < M_cols ; j++) {
+                R[i] += M[i][j] * V[j];
+            }
+        }
+        return;
+    }
+    
+    public static void VplusV(double R[], double A[], double B[]) { // Adds two matrices together.
+        if ((A.length != B.length) || (A.length != R.length)) {
+          System.out.println( "\n MatrixOps::VplusV : Vectors are not the same size.");
+        }
+        for (int i=0; i<A.length ; i++) {
+          R[i] = A[i] + B[i];
+        }
+    }
+    
+    public static void VminusV(double R[], double A[], double B[]) { // Subtracts two matrices together.
+        if ((A.length != B.length) || (A.length != R.length)) {
+          System.out.println( "\n MatrixOps::VminusV : Vectors are not the same size.");
+          return;
+        }
+        for (int i=0; i<A.length ; i++) {
+          R[i] = A[i] - B[i];
+        }
+    }
+    
+    public static void VcrossV(double R[], double A[], double B[]) { // Finds the cross product of two matrices.
+        if ((R.length != 3) || (A.length != 3) || (B.length != 3)) {
+          System.out.println( "\n MatrixOps::VcrossV : All vector args must be length 3.");
+          return;
+        }
+        R[0] = A[1] * B[2] - A[2] * B[1];
+        R[1] = A[2] * B[0] - A[0] * B[2];
+        R[2] = A[0] * B[1] - A[1] * B[0];
+    }
+    
+    public static double VdotV(double A[], double B[]) { // Finds the dot product of two matrices.
+        if (A.length != B.length) {
+          System.out.println( "\n MatrixOps::VdotV : Vectors are not the same size.");
+          return 0.0;
+        }
+        double R = 0.0;
+        for (int i=0; i<A.length ; i++) {
+          R += A[i] * B[i];
+        }
+        return R;
+    }
+    
+    public static void Vscale(double R[], double A[], double S) { // Scales a vector (Multiplies by a given number).
+        if (A.length != R.length) {
+          System.out.println( "\n MatrixOps::Vscale : Input and output vectors are not the same size.");
+          return;
+        }
+        for (int i=0; i<A.length ; i++) {
+          R[i] = A[i] * S;
+        }
+    }
+    
+    public static double Vmagnitude (double V[]) { // Returns the magnitude of a vector (Length of a vector).
+        double S = 0;
+        for (int i =0; i < V.length ; i++) {
+            S += V[i]*V[i];
+        }
+        return Math.sqrt(S);
+    }
+
+}
+    
+    
+       
+
diff --git a/trick_sims/SIM_singlerigidbody/models/singlerigidbodygraphics/src/main/java/trick/srbdisplay/SRBDisplay.java b/trick_sims/SIM_singlerigidbody/models/singlerigidbodygraphics/src/main/java/trick/srbdisplay/SRBDisplay.java
new file mode 100644
index 00000000..3597ea90
--- /dev/null
+++ b/trick_sims/SIM_singlerigidbody/models/singlerigidbodygraphics/src/main/java/trick/srbdisplay/SRBDisplay.java
@@ -0,0 +1,628 @@
+// This file contains the architecture for the single rigid body simulation's 3D graphics client.
+
+package trick;
+
+// AWT is the abstract window toolkit.
+import java.awt.Graphics2D;
+import java.awt.Graphics;
+import java.awt.Color;
+import java.awt.event.MouseEvent;
+
+import java.io.BufferedOutputStream;
+import java.io.BufferedReader;
+import java.io.DataOutputStream;
+import java.io.IOException;
+import java.io.InputStreamReader;
+import java.io.FileReader;
+
+import java.net.Socket;
+
+import java.util.*;
+
+// Swing is a GUI widget toolkit.
+import javax.swing.JFrame; // Allows you to manage a top-level window.
+import javax.swing.JPanel; // The stuff within the window (controls, buttons, etc.).
+import javax.swing.event.MouseInputAdapter;
+
+import trick.matrixOps.MatrixOps;
+
+/**
+ * @author Aditya Girish
+ */
+
+class SingleRigidBodyView extends JPanel { // Main body class of how we view the SRB.
+  
+  private int screen_half_width;
+  private int screen_half_height;
+
+  private double illumination_vector[]; // World coordinates
+
+  private double vantageAzimuth; // Secifies the direction of the celestial light source.
+  private double vantageElevation;
+
+  private double vantageDistance;
+  private double beta;
+
+  private double worldToVantageRotation[][];
+
+  private Color bodyLineColor;
+  private Color bodyFillColor;
+
+  private double[] bodyPos;
+
+  private double bodyToWorldRotation[][];
+
+  private double veh_vrtx_body[][];
+  private double veh_vrtx_world[][];
+  private int    veh_vrtx_screen[][];
+
+  private int veh_edges[][];
+  private int veh_triangles[][];
+
+  private double veh_unit_normals_body[][];
+  private double veh_unit_normals_world[][];
+  private double veh_unit_normals_vantage[][];
+
+  public SingleRigidBodyView() {
+
+      ViewListener viewListener = new ViewListener();
+      addMouseListener(viewListener);
+      addMouseMotionListener(viewListener);
+
+      // Direction of light.
+      illumination_vector = new double[] {-0.707, 0.0, -0.707};
+
+      // Location of the observer, looking toward the world's origin.
+      vantageAzimuth   = Math.toRadians(45.0);
+      vantageElevation = Math.toRadians(20.0);
+      vantageDistance = 22.0;
+
+      // Half field of view angle
+      beta = Math.toRadians(40.0);
+
+      worldToVantageRotation = new double[3][3];
+      setAzElRotation(worldToVantageRotation, vantageAzimuth, vantageElevation);
+
+      bodyLineColor =  Color.GRAY;
+      bodyFillColor = new Color(255, 255, 250);
+
+      bodyPos = new double[] {0.0, 0.0, 0.0};
+
+      bodyToWorldRotation = new double[][] {{1.0, 0.0, 0.0},
+                                            {0.0, 1.0, 0.0},
+                                            {0.0, 0.0, 1.0}};
+
+      
+      // The dodecahedron has 4 "layers" to it. I have labeled them as follows: top (T), upper-middle (UM), lower-middle (LM), and bottom (B)
+      veh_vrtx_body = new double[][]
+        { {-1.37638,0.000000,0.262866}, // 0 - UM
+        {1.37638,0.000000,-0.262866}, // 1 - LM
+        {-0.425325,-1.30902,0.262866}, // 2 - UM
+        {-0.425325,1.30902,0.262866}, // 3 - UM
+        {1.11352,-0.809017,0.262866}, // 4 - UM
+        {1.11352,0.809017,0.262866}, // 5 - UM
+        {-0.262866,-0.809017,1.11352}, // 6 - T
+        {-0.262866,0.809017,1.11352}, // 7 - T
+        {-0.688191,-0.5,-1.11352}, // 8 - B
+        {-0.688191,0.5,-1.11352}, // 9 - B
+        {0.688191,-0.5,1.11352}, // 10 - T
+        {0.688191,0.5,1.11352}, // 11 - T
+        {0.850651,0.000000,-1.11352}, // 12 - B
+        {-1.11352,-0.809017,-0.262866}, // 13 - LM
+        {-1.11352,0.809017,-0.262866}, // 14 - LM
+        {-0.850651,0.000000,1.11352}, // 15 - T
+        {0.262866,-0.809017,-1.11352}, // 16 - B
+        {0.262866,0.809017,-1.11352}, // 17 - B
+        {0.425325,-1.30902,-0.262866}, // 18 - LM
+        {0.425325,1.30902,-0.262866},}; // 19 - LM
+
+        veh_vrtx_world = new double[veh_vrtx_body.length][3];
+        veh_vrtx_screen = new int[veh_vrtx_body.length][2];
+
+        // The edges of the dodecahedron are defined by taking a vertex at the UM or LM of the shape, and defining an edge to the top vertex (for UM) or bottom vertex (for LM), and defining edges to
+        // each immediate adjacent vertex. The resulting pattern looks like 3 spokes coming out of the original UM or LM vertex.
+        veh_edges = new int[][]
+        { {0, 13}, {0, 14}, {0, 15}, 
+          {1, 4}, {1, 5}, {1, 12}, 
+          {2, 6}, {2, 13}, {2, 18}, 
+          {3, 7}, {3, 14}, {3, 19}, 
+          {4, 10}, {4, 18}, {4, 1}, 
+          {5, 11}, {5, 19}, {5, 1}, 
+          {6, 2}, {6, 15}, {6, 10}, 
+          {7, 11}, {7, 15}, {7, 3}, 
+          {8, 9}, {8, 13}, {8, 16}, 
+          {9, 14}, {9, 8}, {9, 17}, 
+          {10, 4}, {10,6}, {10, 11}, 
+          {11, 10}, {11, 7}, {11, 5}, 
+          {12, 1}, {12, 16}, {12, 17}, 
+          {13, 0}, {13, 2}, {13, 8},  
+          {14, 3}, {14, 0}, {14, 9}, 
+          {15, 0}, {15, 7}, {15, 6}, 
+          {16, 18}, {16, 8}, {16, 12}, 
+          {17, 9}, {17, 12}, {17, 19},
+          {18, 4}, {18, 2}, {18, 16}, 
+          {19, 3}, {19, 5}, {19, 17} 
+        };
+        
+
+        // The order of the vertices in each of the triangles is significant. The points should follow
+        // a path counter clock wise about the triangle's normal vector. The position normal side of
+        // the triangle is the visable side.
+
+        veh_triangles = new int[][]
+        {
+          {0, 14, 9}, {0, 9, 8}, {0, 8, 13}, // First pentagon using vertices 0, 8, 9, 13, 14
+          {13, 15, 0}, {13, 6, 15}, {13, 2, 6}, // Second pentagon using vertices 0, 2, 6, 13, 15
+          {2, 13, 8}, {2, 8, 16}, {2, 16, 18}, // Third pentagon using vertices 2, 8, 13, 16, 18
+          {18, 6, 2}, {18, 10 ,6}, {18, 4, 10}, // Fourth pentagon using vertices 2, 4, 6, 10, 18
+          {4, 18, 16}, {4, 16, 12}, {4, 12, 1}, // Fifth pentagon using 1, 4, 12, 16, 18
+          {1, 10, 4}, {1, 11, 10}, {1, 5, 11}, // Sixth pentagon using vertices 1, 4, 5, 10, 11
+          {5, 1, 12}, {5, 12, 17}, {5, 17, 19}, // Seventh pentagon using vertices 1, 5, 12, 17, 19
+          {19, 11, 5}, {19, 7, 11}, {19, 3, 7}, // Eight pentagon using vertices 3, 4, 7, 11, 19
+          {3, 19, 17}, {3, 17, 9}, {3, 9, 14}, // Ninth pentagon using vertices 3, 9, 14, 17, 19
+          {14, 7, 3}, {14, 15, 7}, {14, 0, 15}, // Tenth pentagon using vertices 0, 3, 7, 14, 15
+          {15, 6, 10}, {15, 10, 11}, {15, 11, 7}, // Top pentagon (perpendicular above to xy plane)
+          {12, 16, 8}, {12, 8, 9}, {12, 9, 17} // Bottom pentagon (perpendicular below to xy plane)
+        };
+
+        // Create the normals for the triangles
+        veh_unit_normals_body = new double[veh_triangles.length][3];
+        double v1[] = {0.0, 0.0, 0.0};
+        double v2[] = {0.0, 0.0, 0.0};
+        for (int i=0; i < veh_unit_normals_body.length; i++ ) {
+            MatrixOps.VminusV (v1, veh_vrtx_body[ veh_triangles[i][1] ], veh_vrtx_body[ veh_triangles[i][0] ]);
+            MatrixOps.VminusV (v2, veh_vrtx_body[ veh_triangles[i][2] ], veh_vrtx_body[ veh_triangles[i][0] ]);
+            MatrixOps.VcrossV (veh_unit_normals_body[i], v1, v2);
+            double vmag = MatrixOps.Vmagnitude(veh_unit_normals_body[i]);
+            MatrixOps.Vscale (veh_unit_normals_body[i], veh_unit_normals_body[i], 1.0/vmag);
+        }
+
+        veh_unit_normals_world = new double[ veh_unit_normals_body.length ][3];
+        veh_unit_normals_vantage = new double[ veh_unit_normals_body.length ][3];
+
+    }
+
+  private class ViewListener extends MouseInputAdapter {
+    private int start_x;
+    private int start_y;
+    public void mousePressed(MouseEvent e) {
+        start_x = e.getX();
+        start_y = e.getY();
+    }
+    public void mouseDragged(MouseEvent e) {
+      int dx = ( e.getX() - start_x );
+      int dy = ( start_y  - e.getY());
+      start_x = e.getX();
+      start_y = e.getY();
+      mouseVantage( dx, dy);
+    }
+  }
+
+  public void setVantageRange(double range) {
+    vantageDistance = range;
+  }
+
+  public void setBodyToWorldRotation( double xx, double xy, double xz,
+                                      double yx, double yy, double yz,
+                                      double zx, double zy, double zz ) {
+    bodyToWorldRotation[0][0] = xx;
+    bodyToWorldRotation[0][1] = xy;
+    bodyToWorldRotation[0][2] = xz;
+    bodyToWorldRotation[1][0] = yx;
+    bodyToWorldRotation[1][1] = yy;
+    bodyToWorldRotation[1][2] = yz;
+    bodyToWorldRotation[2][0] = zx;
+    bodyToWorldRotation[2][1] = zy;
+    bodyToWorldRotation[2][2] = zz;
+  }
+
+  public void mouseVantage(int dx, int dy) {
+    vantageAzimuth   += (dx * Math.PI) / getWidth();
+    if (vantageAzimuth >  Math.PI) vantageAzimuth -= Math.PI;
+    if (vantageAzimuth < -Math.PI) vantageAzimuth += Math.PI;
+    vantageElevation -= (dy * Math.PI) / getHeight();
+    if (vantageElevation >  Math.toRadians( 89.0)) vantageElevation = Math.toRadians( 89.0);
+    if (vantageElevation <  Math.toRadians(-89.0)) vantageElevation = Math.toRadians(-89.0);
+    setAzElRotation(worldToVantageRotation, vantageAzimuth, vantageElevation);
+    repaint();
+  }
+
+  public void setAzElRotation(double RotationMatrix[][], double azimuth, double elevation) { // Sets the azimuth and elevation rotation.
+      double Rotation_about_Y[][] = {
+        { Math.cos(elevation), 0.0, Math.sin(elevation)},
+        {                 0.0, 1.0,                 0.0},
+        {-Math.sin(elevation), 0.0, Math.cos(elevation)}
+      };
+
+      double Rotation_about_Z[][] = {
+        {Math.cos(azimuth), -Math.sin(azimuth), 0.0},
+        {Math.sin(azimuth),  Math.cos(azimuth), 0.0},
+        {              0.0,                0.0, 1.0}
+      };
+      MatrixOps.MtimesM( RotationMatrix, Rotation_about_Y, Rotation_about_Z);
+  }
+
+  public void worldToScreenPoint( int result[], double V_world[]) {
+    double V_vantage[] = new double[3];
+    // Tranform vector in world coordinates to vantage coordinates.
+    MatrixOps.MtimesV(V_vantage, worldToVantageRotation, V_world);
+    // Perspective projection of point in 3D vantage coordinates to 2D screen coordinates.
+    double perspective_scale = screen_half_width/(Math.tan(beta)*(vantageDistance-V_vantage[0]));
+    result[0] = (int)(perspective_scale * V_vantage[1] + screen_half_width);
+    result[1] = (int)(screen_half_height - perspective_scale * V_vantage[2]);
+  }
+
+  public void setBodyPos( double x, double y, double z) {
+      bodyPos[0] = x;
+      bodyPos[1] = y;
+      bodyPos[2] = z;
+  }
+
+  public void drawLineSegmentInWorld(Graphics2D g, Color color, double start[], double end[]) {
+    g.setPaint(color);
+    int start_screen[] = {0, 0};
+    int end_screen[] = {0, 0};
+    worldToScreenPoint( start_screen, start);
+    worldToScreenPoint( end_screen, end);
+    g.drawLine( start_screen[0], start_screen[1], end_screen[0], end_screen[1]);
+  }
+
+  public void drawLabelInWorld(Graphics2D g, Color color, double loc_world[], String s) {
+    g.setPaint(color);
+    int loc_screen[] = {0, 0};
+    worldToScreenPoint( loc_screen, loc_world);
+    g.drawString ( s, loc_screen[0], loc_screen[1]);
+  }
+
+  private void doDrawing( Graphics g) {
+    Graphics2D g2d = (Graphics2D) g;
+
+    int width  = getWidth();
+    int height = getHeight();
+
+    screen_half_width = (width/2);
+    screen_half_height = (height/2);
+
+    g2d.setPaint(Color.WHITE);
+    g2d.fillRect(0, 0, width, height);
+
+    
+    // Draw the vehicle.
+
+    // Transform the vehicle vertices from body -> world, apply the vehicle position offset, and then to 2D screen points.
+    for (int i=0; i<veh_vrtx_body.length ; i++) {
+      MatrixOps.MtimesV(veh_vrtx_world[i], bodyToWorldRotation, veh_vrtx_body[i]);
+      MatrixOps.VplusV(veh_vrtx_world[i], veh_vrtx_world[i], bodyPos);
+
+      worldToScreenPoint (veh_vrtx_screen[i], veh_vrtx_world[i]);
+    }
+
+    // Draw Solid Model
+
+    for (int i=0; i<veh_triangles.length ; i++) {
+      double LOS_vantage[] = {1.0, 0.0, 0.0};
+
+      // Transform the vehicle triangle normals from Body -> World -> Vantage
+      MatrixOps.MtimesV(veh_unit_normals_world[i], bodyToWorldRotation, veh_unit_normals_body[i]);
+      MatrixOps.MtimesV(veh_unit_normals_vantage[i], worldToVantageRotation, veh_unit_normals_world[i]);
+
+      // Render the triangle only if it's facing us.
+      double facing_angle = MatrixOps.VdotV(veh_unit_normals_vantage[i], LOS_vantage);
+      if ( (facing_angle > 0.0) && (facing_angle < Math.toRadians(90))) {
+
+          // Calculate the diffuse reflection intensity.
+          double neg_illumination_vector[] = {0.0, 0.0, 0.0};
+          MatrixOps.Vscale(neg_illumination_vector, illumination_vector, -1.0);
+          double diffuse_intensity = MatrixOps.VdotV(neg_illumination_vector, veh_unit_normals_world[i]);
+          if (diffuse_intensity < 0.0) diffuse_intensity = 0.0;
+
+          // Proportion of the total light due to ambient light.
+          // (1.0 - ambient) is the proportion of reflected light.
+          double ambient = 0.8; // Must be between 0.0 and 1.0.
+
+          // The color intensity is a combination of ambient light intensity,
+          // and diffuse reflection intensity.
+          double color_intensity = (ambient + (1.0 - ambient) * diffuse_intensity);
+          
+          g2d.setPaint( new Color( (int)(bodyFillColor.getRed()   * color_intensity),
+                                    (int)(bodyFillColor.getGreen() * color_intensity),
+                                    (int)(bodyFillColor.getBlue()  * color_intensity)));
+
+          // Draw the triangle.
+          int triangle_poly_x[] = {0, 0, 0};
+          int triangle_poly_y[] = {0, 0, 0};
+          // For each point of the triangle.
+          for (int j=0; j < 3; j++) {
+
+            triangle_poly_x[j] = veh_vrtx_screen[ veh_triangles[i][j] ][0];
+            triangle_poly_y[j] = veh_vrtx_screen[ veh_triangles[i][j] ][1];
+
+          }
+          g2d.fillPolygon(triangle_poly_x, triangle_poly_y, 3);
+        }
+      }
+
+      // Draw Wireframe Model
+
+      g2d.setPaint( bodyLineColor );
+      
+      for (int i = 0; i<veh_edges.length; i++) {
+        int point0[] = veh_vrtx_screen[ veh_edges[i][0] ];
+        int point1[] = veh_vrtx_screen[ veh_edges[i][1] ];
+        g2d.drawLine( point0[0], point0[1], point1[0], point1[1]);
+      }
+
+      // Draw Center of Gravity Point
+      int CG_screen[] = {0, 0};
+      int CG_symbol_size = 15;
+      worldToScreenPoint( CG_screen, bodyPos);
+      g2d.setPaint( Color.WHITE);
+      g2d.fillOval(CG_screen[0]-CG_symbol_size/2, CG_screen[1]-CG_symbol_size/2, CG_symbol_size, CG_symbol_size);
+      g2d.setPaint( Color.BLACK);
+      g2d.fillArc( CG_screen[0]-CG_symbol_size/2, CG_screen[1]-CG_symbol_size/2, CG_symbol_size, CG_symbol_size,   0, 90 );
+      g2d.fillArc( CG_screen[0]-CG_symbol_size/2, CG_screen[1]-CG_symbol_size/2, CG_symbol_size, CG_symbol_size, 180, 90);
+
+      // Draw World Coordinate Axes
+      double origin_world[] = {0.0, 0.0, 0.0};
+      double x_axis_world[] = {9.0, 0.0, 0.0};
+      drawLineSegmentInWorld(g2d, Color.RED, origin_world, x_axis_world);
+      drawLabelInWorld(g2d, Color.RED, x_axis_world, "X");
+      double y_axis_world[] = {0.0, 9.0, 0.0};
+      drawLineSegmentInWorld(g2d, Color.GREEN, origin_world, y_axis_world);
+      drawLabelInWorld(g2d, Color.GREEN, y_axis_world, "Y");
+      double z_axis_world[] = {0.0, 0.0, 9.0};
+      drawLineSegmentInWorld(g2d, Color.BLUE, origin_world, z_axis_world);
+      drawLabelInWorld(g2d, Color.BLUE, z_axis_world, "Z");
+    }
+  
+
+  @Override
+  public void paintComponent( Graphics g) {
+      super.paintComponent(g);
+      doDrawing(g);
+  }
+
+ }
+
+public class SRBDisplay extends JFrame {
+
+  private SingleRigidBodyView singleRigidBodyView;
+  private BufferedReader in;
+  private DataOutputStream out;
+
+  public SRBDisplay( SingleRigidBodyView srbv) { // Creates the display window.
+        singleRigidBodyView = srbv;
+        add(singleRigidBodyView);
+        setTitle("SRB Display");
+        setSize(1597, 987);
+        setLocationRelativeTo(null);
+        setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE);
+  }
+
+  public void connectToServer( String host, int port ) throws IOException { // Connects to the server.
+    Socket socket = new Socket(host, port);
+    in = new BufferedReader( new InputStreamReader( socket.getInputStream()));
+    out = new DataOutputStream(new BufferedOutputStream(socket.getOutputStream()));
+  }
+
+  public void drawSRBView() {
+    singleRigidBodyView.repaint();
+  }
+
+  private static void printHelpText() {
+    System.out.println(
+        "----------------------------------------------------------------------\n"
+      + "usage: java jar SingleRigidBodyDisplay.jar <port-number>\n"
+      + "----------------------------------------------------------------------\n"
+      );
+  }
+
+  public static void main(String[] args) throws IOException {
+
+    String host = "localHost";
+    int port = 0;
+    String bodyImageFile = null;
+
+    int ii = 0;
+    while (ii < args.length) {
+        switch (args[ii]) {
+            case "-help" :
+            case "--help" : {
+                printHelpText();
+                System.exit(0);
+            } break;
+            default : {
+                port = (Integer.parseInt(args[ii]));
+            } break;
+        }
+        ++ii;
+    }
+
+    if (port == 0) {
+      System.out.println("No variable server port specified.");
+      printHelpText();
+      System.exit(0);
+    }
+
+    SingleRigidBodyView singleRigidBodyView = new SingleRigidBodyView();
+
+    SRBDisplay sd = new SRBDisplay(singleRigidBodyView);
+    sd.setVisible(true);
+
+    double f_init_x = 0.0;
+    double f_init_y = 0.0;
+    double f_init_z = 0.0;
+
+    double accX = 0.0;
+    double accY = 0.0;
+    double accZ = 0.0;
+
+    double angleX = 0.0;
+    double angleY = 0.0;
+    double angleZ = 0.0;
+
+    double f_angleX = 0.0;
+    double f_angleY = 0.0;
+    double f_angleZ = 0.0;
+
+    double forceX = 0.0;
+    double forceY = 0.0;
+    double forceZ = 0.0;
+
+    double omegaX = 0.0;
+    double omegaY = 0.0;
+    double omegaZ = 0.0;
+
+    double omegaDotX = 0.0;
+    double omegaDotY = 0.0;
+    double omegaDotZ = 0.0;
+
+    double posX = 0.0;
+    double posY = 0.0;
+    double posZ = 0.0;
+
+    double Rxx  = 0.0; 
+    double Rxy  = 0.0;
+    double Rxz  = 0.0;
+    double Ryx  = 0.0;
+    double Ryy  = 0.0;
+    double Ryz  = 0.0; 
+    double Rzx  = 0.0;
+    double Rzy  = 0.0;
+    double Rzz  = 0.0;
+
+    double velX = 0.0;
+    double velY = 0.0;
+    double velZ = 0.0;
+
+    System.out.println("Connecting to: " + host + ":" + port);
+    sd.connectToServer(host, port);
+
+    sd.out.writeBytes("trick.var_set_client_tag(\"SRBDisplay\") \n" +
+                          "trick.var_pause() \n" +
+
+                          "trick.var_add(\"dyn.body.FORCE_INIT[0]\") \n" + // 36
+                          "trick.var_add(\"dyn.body.FORCE_INIT[1]\") \n" +
+                          "trick.var_add(\"dyn.body.FORCE_INIT[2]\") \n" +
+
+                          "trick.var_add(\"dyn.body.acc[0]\") \n" +
+                          "trick.var_add(\"dyn.body.acc[1]\") \n" +
+                          "trick.var_add(\"dyn.body.acc[2]\") \n" +
+
+                          "trick.var_add(\"dyn.body.angle[0]\") \n" +
+                          "trick.var_add(\"dyn.body.angle[1]\") \n" +
+                          "trick.var_add(\"dyn.body.angle[2]\") \n" +
+
+                          "trick.var_add(\"dyn.body.angle_force[0]\") \n" +
+                          "trick.var_add(\"dyn.body.angle_force[1]\") \n" +
+                          "trick.var_add(\"dyn.body.angle_force[2]\") \n" +
+
+                          "trick.var_add(\"dyn.body.force[0]\") \n" +
+                          "trick.var_add(\"dyn.body.force[1]\") \n" +
+                          "trick.var_add(\"dyn.body.force[2]\") \n" +
+
+                          "trick.var_add(\"dyn.body.omega[0]\") \n" +
+                          "trick.var_add(\"dyn.body.omega[1]\") \n" +
+                          "trick.var_add(\"dyn.body.omega[2]\") \n" +
+
+                          "trick.var_add(\"dyn.body.omegaDot[0]\") \n" +
+                          "trick.var_add(\"dyn.body.omegaDot[1]\") \n" +
+                          "trick.var_add(\"dyn.body.omegaDot[2]\") \n" +
+
+                          "trick.var_add(\"dyn.body.pos[0]\") \n" +
+                          "trick.var_add(\"dyn.body.pos[1]\") \n" +
+                          "trick.var_add(\"dyn.body.pos[2]\") \n" +
+
+                          "trick.var_add(\"dyn.body.rotate[0][0]\") \n" +
+                          "trick.var_add(\"dyn.body.rotate[0][1]\") \n" +
+                          "trick.var_add(\"dyn.body.rotate[0][2]\") \n" +
+                          "trick.var_add(\"dyn.body.rotate[1][0]\") \n" +
+                          "trick.var_add(\"dyn.body.rotate[1][1]\") \n" +
+                          "trick.var_add(\"dyn.body.rotate[1][2]\") \n" +
+                          "trick.var_add(\"dyn.body.rotate[2][0]\") \n" +
+                          "trick.var_add(\"dyn.body.rotate[2][1]\") \n" +
+                          "trick.var_add(\"dyn.body.rotate[2][2]\") \n" +
+                          
+                          "trick.var_add(\"dyn.body.vel[0]\") \n" +
+                          "trick.var_add(\"dyn.body.vel[1]\") \n" +
+                          "trick.var_add(\"dyn.body.vel[2]\") \n" +
+
+                          "trick.var_ascii() \n" +
+                          "trick.var_cycle(0.1) \n" +
+                          "trick.var_unpause()\n" );
+    
+    sd.out.flush();
+
+    sd.drawSRBView();
+
+    Boolean go = true;
+
+    while (go) {
+
+      String field[];
+
+      try {
+          String line;
+          line = sd.in.readLine();
+          field = line.split("\t");
+
+          f_init_x = Double.parseDouble( field[1] );
+          f_init_y = Double.parseDouble( field[2] );
+          f_init_z = Double.parseDouble( field[3] );
+
+          accX = Double.parseDouble( field[4] );
+          accY = Double.parseDouble( field[5] );
+          accZ = Double.parseDouble( field[6] );
+
+          angleX = Double.parseDouble( field[7] );
+          angleY = Double.parseDouble( field[8] );
+          angleZ = Double.parseDouble( field[9] );
+
+          f_angleX = Double.parseDouble( field[10] );
+          f_angleY = Double.parseDouble( field[11] );
+          f_angleZ = Double.parseDouble( field[12] );
+
+          forceX = Double.parseDouble( field[13] );
+          forceY = Double.parseDouble( field[14] );
+          forceZ = Double.parseDouble( field[15] );
+
+          omegaX = Double.parseDouble( field[16] );
+          omegaY = Double.parseDouble( field[17] );
+          omegaZ = Double.parseDouble( field[18] );
+
+          omegaDotX = Double.parseDouble( field[19] );
+          omegaDotY = Double.parseDouble( field[20] );
+          omegaDotZ = Double.parseDouble( field[21] );
+
+          posX = Double.parseDouble( field[22] );
+          posY = Double.parseDouble( field[23] );
+          posZ = Double.parseDouble( field[24] );
+
+          Rxx = Double.parseDouble( field[25] );
+          Rxy = Double.parseDouble( field[26] );
+          Rxz = Double.parseDouble( field[27] );
+          Ryx = Double.parseDouble( field[28] );
+          Ryy = Double.parseDouble( field[29] );
+          Ryz = Double.parseDouble( field[30] );
+          Rzx = Double.parseDouble( field[31] );
+          Rzy = Double.parseDouble( field[32] );
+          Rzz = Double.parseDouble( field[33] );
+
+          velX = Double.parseDouble( field[34] );
+          velY = Double.parseDouble( field[35] );
+          velZ = Double.parseDouble( field[36] );
+
+          // Set the body position
+          singleRigidBodyView.setBodyPos(posX, posY, posZ);
+
+          singleRigidBodyView.setBodyToWorldRotation( Rxx, Rxy, Rxz,
+                                                      Ryx, Ryy, Ryz,
+                                                      Rzx, Rzy, Rzz );
+
+      } catch (IOException | NullPointerException e ) {
+          go = false;
+      }
+      sd.drawSRBView();
+      }
+    }
+}
\ No newline at end of file