diff --git a/Gui/opensim/branding/core/core.jar/org/netbeans/core/startup/Bundle.properties b/Gui/opensim/branding/core/core.jar/org/netbeans/core/startup/Bundle.properties
index 0cdd08bdc..45a79e487 100644
--- a/Gui/opensim/branding/core/core.jar/org/netbeans/core/startup/Bundle.properties
+++ b/Gui/opensim/branding/core/core.jar/org/netbeans/core/startup/Bundle.properties
@@ -1,4 +1,4 @@
-currentVersion=OpenSim 4.4
+currentVersion=OpenSim 4.5
 SPLASH_HEIGHT=472
 SPLASH_WIDTH=380
 SplashProgressBarBounds=0,466,380,6
@@ -6,5 +6,5 @@ SplashProgressBarColor=0xD1E27F
 SplashRunningTextBounds=8,455,163,8
 SplashRunningTextColor=0xFFFFFF
 SplashRunningTextFontSize=15
-LBL_splash_window_title=Starting OpenSim 4.4
+LBL_splash_window_title=Starting OpenSim 4.5
 SplashShowProgressBar=true
diff --git a/Gui/opensim/branding/core/core.jar/org/netbeans/core/startup/splash.gif b/Gui/opensim/branding/core/core.jar/org/netbeans/core/startup/splash.gif
index 84487f583..e280f63a8 100644
Binary files a/Gui/opensim/branding/core/core.jar/org/netbeans/core/startup/splash.gif and b/Gui/opensim/branding/core/core.jar/org/netbeans/core/startup/splash.gif differ
diff --git a/Gui/opensim/branding/modules/org-netbeans-core-windows.jar/org/netbeans/core/windows/view/ui/Bundle.properties b/Gui/opensim/branding/modules/org-netbeans-core-windows.jar/org/netbeans/core/windows/view/ui/Bundle.properties
index 86ce1852d..34691af98 100644
--- a/Gui/opensim/branding/modules/org-netbeans-core-windows.jar/org/netbeans/core/windows/view/ui/Bundle.properties
+++ b/Gui/opensim/branding/modules/org-netbeans-core-windows.jar/org/netbeans/core/windows/view/ui/Bundle.properties
@@ -1,3 +1,3 @@
-CTL_MainWindow_Title=OpenSim 4.4
-CTL_MainWindow_Title_No_Project=OpenSim 4.4
+CTL_MainWindow_Title=OpenSim 4.5
+CTL_MainWindow_Title_No_Project=OpenSim 4.5
 
diff --git a/Gui/opensim/helpUtils/src/org/opensim/helputils/helpmenu/OpenDoxygenAction.java b/Gui/opensim/helpUtils/src/org/opensim/helputils/helpmenu/OpenDoxygenAction.java
index 6f7d469d9..b3757ae4e 100644
--- a/Gui/opensim/helpUtils/src/org/opensim/helputils/helpmenu/OpenDoxygenAction.java
+++ b/Gui/opensim/helpUtils/src/org/opensim/helputils/helpmenu/OpenDoxygenAction.java
@@ -47,7 +47,7 @@ public final class OpenDoxygenAction extends CallableSystemAction {
     public void performAction() {
         try {
             String basePath = TheApp.getCrossPlatformInstallDir();
-            String doxygenPath = BrowserLauncher.isConnected() ? "https://simtk.org/api_docs/opensim/api_docs44/" :
+            String doxygenPath = BrowserLauncher.isConnected() ? "https://simtk.org/api_docs/opensim/api_docs45/" :
                     new File(basePath + "/sdk/doc/OpenSimAPI.html").toURI().toURL().toString();
             
             BrowserLauncher.openURL(doxygenPath);
diff --git a/Gui/opensim/helpUtils/src/org/opensim/helputils/helpmenu/images/splash.gif b/Gui/opensim/helpUtils/src/org/opensim/helputils/helpmenu/images/splash.gif
index 741f423d1..e280f63a8 100644
Binary files a/Gui/opensim/helpUtils/src/org/opensim/helputils/helpmenu/images/splash.gif and b/Gui/opensim/helpUtils/src/org/opensim/helputils/helpmenu/images/splash.gif differ
diff --git a/Gui/opensim/modeling/src/org/opensim/modeling/MocoTrajectory.java b/Gui/opensim/modeling/src/org/opensim/modeling/MocoTrajectory.java
index 5d1f62e3b..79edea599 100644
--- a/Gui/opensim/modeling/src/org/opensim/modeling/MocoTrajectory.java
+++ b/Gui/opensim/modeling/src/org/opensim/modeling/MocoTrajectory.java
@@ -623,6 +623,14 @@ public int getNumSpeeds() {
     return opensimMocoJNI.MocoTrajectory_getNumSpeeds(swigCPtr, this);
   }
 
+  public int getNumMultibodyStates() {
+    return opensimMocoJNI.MocoTrajectory_getNumMultibodyStates(swigCPtr, this);
+  }
+
+  public int getNumAuxiliaryStates() {
+    return opensimMocoJNI.MocoTrajectory_getNumAuxiliaryStates(swigCPtr, this);
+  }
+
   public int getNumAccelerations() {
     return opensimMocoJNI.MocoTrajectory_getNumAccelerations(swigCPtr, this);
   }
@@ -659,6 +667,14 @@ public StdVectorString getSpeedNames() {
     return new StdVectorString(opensimMocoJNI.MocoTrajectory_getSpeedNames(swigCPtr, this), true);
   }
 
+  public StdVectorString getMultibodyStateNames() {
+    return new StdVectorString(opensimMocoJNI.MocoTrajectory_getMultibodyStateNames(swigCPtr, this), true);
+  }
+
+  public StdVectorString getAuxiliaryStateNames() {
+    return new StdVectorString(opensimMocoJNI.MocoTrajectory_getAuxiliaryStateNames(swigCPtr, this), true);
+  }
+
   public StdVectorString getAccelerationNames() {
     return new StdVectorString(opensimMocoJNI.MocoTrajectory_getAccelerationNames(swigCPtr, this), true);
   }
@@ -715,6 +731,14 @@ public Matrix getSpeedsTrajectory() {
     return new Matrix(opensimMocoJNI.MocoTrajectory_getSpeedsTrajectory(swigCPtr, this), true);
   }
 
+  public Matrix getMultibodyStatesTrajectory() {
+    return new Matrix(opensimMocoJNI.MocoTrajectory_getMultibodyStatesTrajectory(swigCPtr, this), true);
+  }
+
+  public Matrix getAuxiliaryStatesTrajectory() {
+    return new Matrix(opensimMocoJNI.MocoTrajectory_getAuxiliaryStatesTrajectory(swigCPtr, this), true);
+  }
+
   public Matrix getAccelerationsTrajectory() {
     return new Matrix(opensimMocoJNI.MocoTrajectory_getAccelerationsTrajectory(swigCPtr, this), true);
   }
diff --git a/Gui/opensim/modeling/src/org/opensim/modeling/Model.java b/Gui/opensim/modeling/src/org/opensim/modeling/Model.java
index b87c0e312..cc229de35 100644
--- a/Gui/opensim/modeling/src/org/opensim/modeling/Model.java
+++ b/Gui/opensim/modeling/src/org/opensim/modeling/Model.java
@@ -1217,6 +1217,27 @@ public SWIGTYPE_p_SimTK__GeneralForceSubsystem updForceSubsystem() {
     return new SWIGTYPE_p_SimTK__GeneralForceSubsystem(opensimSimulationJNI.Model_updForceSubsystem(swigCPtr, this), false);
   }
 
+  /**
+   *  (Advanced) Get read only access to internal Simbody RigidBodyForces at Dynamics stage *
+   */
+  public VectorOfSpatialVec getRigidBodyForces(State state) {
+    return new VectorOfSpatialVec(opensimSimulationJNI.Model_getRigidBodyForces(swigCPtr, this, State.getCPtr(state), state), false);
+  }
+
+  /**
+   *  (Advanced) Get read only access to internal Simbody Mobility Forces at Dynamics stage *
+   */
+  public Vector getMobilityForces(State state) {
+    return new Vector(opensimSimulationJNI.Model_getMobilityForces(swigCPtr, this, State.getCPtr(state), state), false);
+  }
+
+  /**
+   *  (Advanced) Get read only access to internal Simbody Body Forces due to Gravity *
+   */
+  public VectorOfSpatialVec getGravityBodyForces(State state) {
+    return new VectorOfSpatialVec(opensimSimulationJNI.Model_getGravityBodyForces(swigCPtr, this, State.getCPtr(state), state), false);
+  }
+
   /**
    * ** Perform computations that depend only on time and earlier stages. *
    */
diff --git a/Gui/opensim/modeling/src/org/opensim/modeling/PolynomialPathFitter.java b/Gui/opensim/modeling/src/org/opensim/modeling/PolynomialPathFitter.java
index 85d024a06..b4c8d21d2 100644
--- a/Gui/opensim/modeling/src/org/opensim/modeling/PolynomialPathFitter.java
+++ b/Gui/opensim/modeling/src/org/opensim/modeling/PolynomialPathFitter.java
@@ -197,11 +197,12 @@ public PolynomialPathFitter(PolynomialPathFitter arg0) {
    * polynomial-based path objects will be fitted.<br>
    * <br>
    * The model should be provided using a `ModelProcessor` object. We expect<br>
-   * the model to contain at least one path object derived from `AbstractGeometryPath`<br>
-   * and does not already contain any `FunctionBasedPath` objects. The bounds<br>
-   * for clamped coordinates are obeyed during the fitting process. Locked<br>
-   * coordinates are unlocked if data is provided for them, or replaced with<br>
-   * WeldJoints if no data is provided for them.
+   * the model to contain at least one path object derived from<br>
+   * `AbstractGeometryPath` and does not already contain any<br>
+   * `FunctionBasedPath` objects. The bounds for clamped coordinates are<br>
+   * obeyed during the fitting process. Locked coordinates are unlocked if<br>
+   * data is provided for them, or replaced with WeldJoints if no data is<br>
+   * provided for them.
    */
   public void setModel(ModelProcessor model) {
     opensimActuatorsAnalysesToolsJNI.PolynomialPathFitter_setModel(swigCPtr, this, ModelProcessor.getCPtr(model), model);
diff --git a/Gui/opensim/modeling/src/org/opensim/modeling/SmoothSegmentedFunction.java b/Gui/opensim/modeling/src/org/opensim/modeling/SmoothSegmentedFunction.java
index 15407868c..8a9b223f6 100644
--- a/Gui/opensim/modeling/src/org/opensim/modeling/SmoothSegmentedFunction.java
+++ b/Gui/opensim/modeling/src/org/opensim/modeling/SmoothSegmentedFunction.java
@@ -142,6 +142,75 @@ public double calcDerivative(double x, int order) {
     return opensimCommonJNI.SmoothSegmentedFunction_calcDerivative(swigCPtr, this, x, order);
   }
 
+  static public class ValueAndDerivative {
+    private transient long swigCPtr;
+    protected transient boolean swigCMemOwn;
+  
+    public ValueAndDerivative(long cPtr, boolean cMemoryOwn) {
+      swigCMemOwn = cMemoryOwn;
+      swigCPtr = cPtr;
+    }
+  
+    public static long getCPtr(ValueAndDerivative obj) {
+      return (obj == null) ? 0 : obj.swigCPtr;
+    }
+  
+    public static long swigRelease(ValueAndDerivative obj) {
+      long ptr = 0;
+      if (obj != null) {
+        if (!obj.swigCMemOwn)
+          throw new RuntimeException("Cannot release ownership as memory is not owned");
+        ptr = obj.swigCPtr;
+        obj.swigCMemOwn = false;
+        obj.delete();
+      }
+      return ptr;
+    }
+  
+    @SuppressWarnings("deprecation")
+    protected void finalize() {
+      delete();
+    }
+  
+    public synchronized void delete() {
+      if (swigCPtr != 0) {
+        if (swigCMemOwn) {
+          swigCMemOwn = false;
+          opensimCommonJNI.delete_SmoothSegmentedFunction_ValueAndDerivative(swigCPtr);
+        }
+        swigCPtr = 0;
+      }
+    }
+  
+    public void setValue(double value) {
+      opensimCommonJNI.SmoothSegmentedFunction_ValueAndDerivative_value_set(swigCPtr, this, value);
+    }
+  
+    public double getValue() {
+      return opensimCommonJNI.SmoothSegmentedFunction_ValueAndDerivative_value_get(swigCPtr, this);
+    }
+  
+    public void setDerivative(double value) {
+      opensimCommonJNI.SmoothSegmentedFunction_ValueAndDerivative_derivative_set(swigCPtr, this, value);
+    }
+  
+    public double getDerivative() {
+      return opensimCommonJNI.SmoothSegmentedFunction_ValueAndDerivative_derivative_get(swigCPtr, this);
+    }
+  
+    public ValueAndDerivative() {
+      this(opensimCommonJNI.new_SmoothSegmentedFunction_ValueAndDerivative(), true);
+    }
+  
+  }
+
+  /**
+   *  Returns the same as calcValue(x) and calcDerivative(x, 1), but more
+   */
+  public SmoothSegmentedFunction.ValueAndDerivative calcValueAndFirstDerivative(double x) {
+    return new SmoothSegmentedFunction.ValueAndDerivative(opensimCommonJNI.SmoothSegmentedFunction_calcValueAndFirstDerivative(swigCPtr, this, x), true);
+  }
+
   /**
    * This will return the value of the integral of this objects curve <br>
    *        evaluated at x. <br>
diff --git a/Gui/opensim/modeling/src/org/opensim/modeling/opensimCommonJNI.java b/Gui/opensim/modeling/src/org/opensim/modeling/opensimCommonJNI.java
index 0cf52edf7..26a4cd751 100644
--- a/Gui/opensim/modeling/src/org/opensim/modeling/opensimCommonJNI.java
+++ b/Gui/opensim/modeling/src/org/opensim/modeling/opensimCommonJNI.java
@@ -1078,6 +1078,13 @@ public class opensimCommonJNI {
   public final static native void delete_SmoothSegmentedFunction(long jarg1);
   public final static native double SmoothSegmentedFunction_calcValue(long jarg1, SmoothSegmentedFunction jarg1_, double jarg2);
   public final static native double SmoothSegmentedFunction_calcDerivative(long jarg1, SmoothSegmentedFunction jarg1_, double jarg2, int jarg3);
+  public final static native void SmoothSegmentedFunction_ValueAndDerivative_value_set(long jarg1, SmoothSegmentedFunction.ValueAndDerivative jarg1_, double jarg2);
+  public final static native double SmoothSegmentedFunction_ValueAndDerivative_value_get(long jarg1, SmoothSegmentedFunction.ValueAndDerivative jarg1_);
+  public final static native void SmoothSegmentedFunction_ValueAndDerivative_derivative_set(long jarg1, SmoothSegmentedFunction.ValueAndDerivative jarg1_, double jarg2);
+  public final static native double SmoothSegmentedFunction_ValueAndDerivative_derivative_get(long jarg1, SmoothSegmentedFunction.ValueAndDerivative jarg1_);
+  public final static native long new_SmoothSegmentedFunction_ValueAndDerivative();
+  public final static native void delete_SmoothSegmentedFunction_ValueAndDerivative(long jarg1);
+  public final static native long SmoothSegmentedFunction_calcValueAndFirstDerivative(long jarg1, SmoothSegmentedFunction jarg1_, double jarg2);
   public final static native double SmoothSegmentedFunction_calcIntegral(long jarg1, SmoothSegmentedFunction jarg1_, double jarg2);
   public final static native boolean SmoothSegmentedFunction_isIntegralAvailable(long jarg1, SmoothSegmentedFunction jarg1_);
   public final static native boolean SmoothSegmentedFunction_isIntegralComputedLeftToRight(long jarg1, SmoothSegmentedFunction jarg1_);
diff --git a/Gui/opensim/modeling/src/org/opensim/modeling/opensimMocoJNI.java b/Gui/opensim/modeling/src/org/opensim/modeling/opensimMocoJNI.java
index 9bdd97a94..10409998a 100644
--- a/Gui/opensim/modeling/src/org/opensim/modeling/opensimMocoJNI.java
+++ b/Gui/opensim/modeling/src/org/opensim/modeling/opensimMocoJNI.java
@@ -1134,6 +1134,8 @@ public class opensimMocoJNI {
   public final static native int MocoTrajectory_getNumDerivatives(long jarg1, MocoTrajectory jarg1_);
   public final static native int MocoTrajectory_getNumValues(long jarg1, MocoTrajectory jarg1_);
   public final static native int MocoTrajectory_getNumSpeeds(long jarg1, MocoTrajectory jarg1_);
+  public final static native int MocoTrajectory_getNumMultibodyStates(long jarg1, MocoTrajectory jarg1_);
+  public final static native int MocoTrajectory_getNumAuxiliaryStates(long jarg1, MocoTrajectory jarg1_);
   public final static native int MocoTrajectory_getNumAccelerations(long jarg1, MocoTrajectory jarg1_);
   public final static native int MocoTrajectory_getNumDerivativesWithoutAccelerations(long jarg1, MocoTrajectory jarg1_);
   public final static native int MocoTrajectory_getNumParameters(long jarg1, MocoTrajectory jarg1_);
@@ -1143,6 +1145,8 @@ public class opensimMocoJNI {
   public final static native long MocoTrajectory_getDerivativeNames(long jarg1, MocoTrajectory jarg1_);
   public final static native long MocoTrajectory_getValueNames(long jarg1, MocoTrajectory jarg1_);
   public final static native long MocoTrajectory_getSpeedNames(long jarg1, MocoTrajectory jarg1_);
+  public final static native long MocoTrajectory_getMultibodyStateNames(long jarg1, MocoTrajectory jarg1_);
+  public final static native long MocoTrajectory_getAuxiliaryStateNames(long jarg1, MocoTrajectory jarg1_);
   public final static native long MocoTrajectory_getAccelerationNames(long jarg1, MocoTrajectory jarg1_);
   public final static native long MocoTrajectory_getDerivativeNamesWithoutAccelerations(long jarg1, MocoTrajectory jarg1_);
   public final static native long MocoTrajectory_getParameterNames(long jarg1, MocoTrajectory jarg1_);
@@ -1157,6 +1161,8 @@ public class opensimMocoJNI {
   public final static native long MocoTrajectory_getDerivativesTrajectory(long jarg1, MocoTrajectory jarg1_);
   public final static native long MocoTrajectory_getValuesTrajectory(long jarg1, MocoTrajectory jarg1_);
   public final static native long MocoTrajectory_getSpeedsTrajectory(long jarg1, MocoTrajectory jarg1_);
+  public final static native long MocoTrajectory_getMultibodyStatesTrajectory(long jarg1, MocoTrajectory jarg1_);
+  public final static native long MocoTrajectory_getAuxiliaryStatesTrajectory(long jarg1, MocoTrajectory jarg1_);
   public final static native long MocoTrajectory_getAccelerationsTrajectory(long jarg1, MocoTrajectory jarg1_);
   public final static native long MocoTrajectory_getDerivativesWithoutAccelerationsTrajectory(long jarg1, MocoTrajectory jarg1_);
   public final static native long MocoTrajectory_getParameters(long jarg1, MocoTrajectory jarg1_);
diff --git a/Gui/opensim/modeling/src/org/opensim/modeling/opensimSimulationJNI.java b/Gui/opensim/modeling/src/org/opensim/modeling/opensimSimulationJNI.java
index 66107d9ee..ab9b2cd74 100644
--- a/Gui/opensim/modeling/src/org/opensim/modeling/opensimSimulationJNI.java
+++ b/Gui/opensim/modeling/src/org/opensim/modeling/opensimSimulationJNI.java
@@ -5343,6 +5343,9 @@ public class opensimSimulationJNI {
   public final static native long Model_updGravityForce(long jarg1, Model jarg1_);
   public final static native long Model_getForceSubsystem(long jarg1, Model jarg1_);
   public final static native long Model_updForceSubsystem(long jarg1, Model jarg1_);
+  public final static native long Model_getRigidBodyForces(long jarg1, Model jarg1_, long jarg2, State jarg2_);
+  public final static native long Model_getMobilityForces(long jarg1, Model jarg1_, long jarg2, State jarg2_);
+  public final static native long Model_getGravityBodyForces(long jarg1, Model jarg1_, long jarg2, State jarg2_);
   public final static native void Model_realizeTime(long jarg1, Model jarg1_, long jarg2, State jarg2_);
   public final static native void Model_realizePosition(long jarg1, Model jarg1_, long jarg2, State jarg2_);
   public final static native void Model_realizeVelocity(long jarg1, Model jarg1_, long jarg2, State jarg2_);
diff --git a/opensim-visualizer b/opensim-visualizer
index f2648aa0a..7d784527a 160000
--- a/opensim-visualizer
+++ b/opensim-visualizer
@@ -1 +1 @@
-Subproject commit f2648aa0a815d0a4f4afc1621ca620b13602f8f4
+Subproject commit 7d784527a25c48b71417608f280de40639119d23