diff --git a/.github/workflows/continuous_integration.yml b/.github/workflows/continuous_integration.yml
index 8974798342..f3a30045ce 100644
--- a/.github/workflows/continuous_integration.yml
+++ b/.github/workflows/continuous_integration.yml
@@ -15,9 +15,9 @@ on:
       - '*'
 
 jobs:
-  windows2022:
-    runs-on: windows-2022
-    name: Windows 2022
+  windows:
+    runs-on: windows-2025
+    name: Windows
 
     outputs:
       version: ${{ steps.configure.outputs.version }}
@@ -35,11 +35,11 @@ jobs:
     - name: Install Python packages
       uses: actions/setup-python@v4
       with:
-        python-version: '3.10'
+        python-version: '3.11'
 
     - name: Install numpy
-      #Need numpy to use SWIG numpy typemaps.
-      run: python3 -m pip install numpy==1.25
+      # Need numpy to use SWIG numpy typemaps.
+      run: python3 -m pip install numpy==2.0
 
     - name: Install SWIG
       run: |
@@ -79,16 +79,15 @@ jobs:
         # TODO: Can remove /WX when we use that in CMakeLists.txt.
         # Set the CXXFLAGS environment variable to turn warnings into errors.
         # Skip timing test section included by default.
-        cmake -E env CXXFLAGS="/WX /MD -DSKIP_TIMING" cmake $env:GITHUB_WORKSPACE -LAH -G"Visual Studio 17 2022" -A x64 -DCMAKE_INSTALL_PREFIX=~/opensim-core-install -DOPENSIM_DEPENDENCIES_DIR=~/opensim_dependencies_install -DOPENSIM_C3D_PARSER=ezc3d -DOPENSIM_WITH_CASADI=on -DBUILD_PYTHON_WRAPPING=on -DBUILD_JAVA_WRAPPING=on -DPython3_ROOT_DIR=C:\hostedtoolcache\windows\Python\3.10.11\x64
+        cmake -E env CXXFLAGS="/WX /MD -DSKIP_TIMING" cmake $env:GITHUB_WORKSPACE -LAH -G"Visual Studio 17 2022" -A x64 -DCMAKE_INSTALL_PREFIX=~/opensim-core-install -DOPENSIM_DEPENDENCIES_DIR=~/opensim_dependencies_install -DOPENSIM_C3D_PARSER=ezc3d -DOPENSIM_WITH_CASADI=on -DBUILD_PYTHON_WRAPPING=on -DBUILD_JAVA_WRAPPING=on -DPython3_ROOT_DIR=C:\hostedtoolcache\windows\Python\3.11.9\x64
         $env:match = cmake -L . | Select-String -Pattern OPENSIM_QUALIFIED_VERSION
         $version = $env:match.split('=')[1]
         echo $version
         echo "VERSION=$version" >> $GITHUB_ENV
         echo "version=$version" >> $env:GITHUB_OUTPUT
 
-
     - name: Build opensim-core
-      # Install now to avoid building bindings twice (TODO: issue when using Visual Studio 2019, is this an issue too in Visual Studio 2022?).
+    # Install now to avoid building bindings twice (TODO: still an issue with Visual Studio 2022).
       run: |
         chdir $env:GITHUB_WORKSPACE\\build
         cmake --build . --config Release --target doxygen -- /maxcpucount:4
@@ -100,7 +99,7 @@ jobs:
         ctest --parallel 4 --output-on-failure --build-config Release -E Java_*
 
     - name: Install opensim-core
-      # TODO: This is where we wish to do the installing, but it's done above for now.
+    # TODO: This is where we wish to do the installing, but it's done above for now.
       run: |
         chdir $env:GITHUB_WORKSPACE\\build
         chdir $env:GITHUB_WORKSPACE
@@ -118,198 +117,9 @@ jobs:
     - name: Upload opensim-core
       uses: actions/upload-artifact@v4
       with:
-        name: opensim-core-${{ steps.configure.outputs.version }}-win2022
+        name: opensim-core-${{ steps.configure.outputs.version }}-win
         path: opensim-core-${{ steps.configure.outputs.version }}.zip
 
-  windows2022_perf:
-    runs-on: windows-2022
-    name: Windows 2022 [main]
-
-    if: ${{ contains(github.event.pull_request.title, '[perf-win]') || contains(github.event.pull_request.body, '[perf-win]') }}
-
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        ref: ${{ github.event.pull_request.base.ref }}
-
-    - name: Install Doxygen
-      # choco install doxygen.portable # <-- too unreliable.
-      run: |
-        (New-Object System.Net.WebClient).DownloadFile("https://github.com/doxygen/doxygen/releases/download/Release_1_12_0/doxygen-1.12.0.windows.x64.bin.zip", "doxygen.zip")
-        7z x $env:GITHUB_WORKSPACE/doxygen.zip -odoxygen
-        echo "$env:GITHUB_WORKSPACE\\doxygen" >> $GITHUB_PATH
-
-    - name: Install Python packages
-      uses: actions/setup-python@v4
-      with:
-        python-version: '3.10'
-
-    - name: Install numpy
-      #Need numpy to use SWIG numpy typemaps.
-      run: python3 -m pip install numpy==1.25
-
-    - name: Install SWIG
-      run: |
-        choco install swig --version 4.1.1 --yes --limit-output --allow-downgrade
-        swig -swiglib
-
-    - name: Cache dependencies
-      id: cache-dependencies
-      uses: actions/cache@v3
-      with:
-        path: ~/opensim_dependencies_install
-        # Every time a cache is created, it's stored with this key.
-        # In subsequent runs, if the key matches the key of an existing cache,
-        # then the cache is used. We chose for this key to depend on the
-        # operating system and a hash of the hashes of all files in the
-        # dependencies directory (non-recursive).
-        # https://help.github.com/en/actions/automating-your-workflow-with-github-actions/caching-dependencies-to-speed-up-workflows#matching-a-cache-key
-        key: ${{ runner.os }}-dependencies-${{ hashFiles('dependencies/*') }}
-
-    - name: Build dependencies
-      if: steps.cache-dependencies.outputs.cache-hit != 'true'
-      run: |
-        echo $env:GITHUB_WORKSPACE\\build_deps
-        mkdir $env:GITHUB_WORKSPACE\\build_deps
-        chdir $env:GITHUB_WORKSPACE\\build_deps
-        # /W0 disables warnings.
-        # https://msdn.microsoft.com/en-us/library/19z1t1wy.aspx
-        # TODO: CMake provides /W3, which overrides our /W0
-        cmake -E env CXXFLAGS="/W0" cmake $env:GITHUB_WORKSPACE/dependencies -LAH -G"Visual Studio 17 2022" -A x64 -DCMAKE_INSTALL_PREFIX=~/opensim_dependencies_install -DSUPERBUILD_ezc3d=ON -DOPENSIM_WITH_CASADI=ON
-        cmake --build . --config Release -- /maxcpucount:4
-
-    - name: Configure opensim-core
-      id: configure
-      run: |
-        mkdir $env:GITHUB_WORKSPACE\\build
-        chdir $env:GITHUB_WORKSPACE\\build
-        # TODO: Can remove /WX when we use that in CMakeLists.txt.
-        # Set the CXXFLAGS environment variable to turn warnings into errors.
-        # Skip timing test section included by default.
-        cmake -E env CXXFLAGS="/WX -DSKIP_TIMING" cmake $env:GITHUB_WORKSPACE -LAH -G"Visual Studio 17 2022" -A x64 -DCMAKE_INSTALL_PREFIX=~/opensim-core-install -DOPENSIM_DEPENDENCIES_DIR=~/opensim_dependencies_install -DOPENSIM_C3D_PARSER=ezc3d -DBUILD_PYTHON_WRAPPING=on -DBUILD_JAVA_WRAPPING=on -DPython3_ROOT_DIR=C:\hostedtoolcache\windows\Python\3.10.11\x64
-        $env:match = cmake -L . | Select-String -Pattern OPENSIM_QUALIFIED_VERSION
-        $version = $env:match.split('=')[1]
-        echo $version
-        echo "VERSION=$version" >> $GITHUB_ENV
-        echo "version=$version" >> $env:GITHUB_OUTPUT
-
-
-    - name: Build opensim-core
-      # Install now to avoid building bindings twice (TODO: issue when using Visual Studio 2019, is this an issue too in Visual Studio 2022?).
-      run: |
-        chdir $env:GITHUB_WORKSPACE\\build
-        cmake --build . --config Release --target doxygen -- /maxcpucount:4
-        cmake --build . --config Release --target install -- /maxcpucount:4
-
-    - name: Test opensim-core
-      run: |
-        chdir $env:GITHUB_WORKSPACE\\build
-        ctest --parallel 4 --output-on-failure --build-config Release -E Java_*
-
-    - name: Install opensim-core
-      # TODO: This is where we wish to do the installing, but it's done above for now.
-      run: |
-        chdir $env:GITHUB_WORKSPACE\\build
-        chdir $env:GITHUB_WORKSPACE
-        Copy-Item -Path "~/opensim-core-install" -Destination "opensim-core-${{ github.event.pull_request.base.ref }}" -Recurse
-        7z a "opensim-core-${{ github.event.pull_request.base.ref }}.zip" "opensim-core-${{ github.event.pull_request.base.ref }}"
-
-    - name: Test Python bindings
-      run: |
-        echo "PYTHONPATH= $env:USERPROFILE/opensim-core-install/bin">> $GITHUB_ENV
-        # Move to the installed location of the python package.
-        cd ~/opensim-core-install/sdk/python
-        # Run python tests.
-        python -m unittest discover --start-directory opensim/tests --verbose
-
-    - name: Upload opensim-core
-      uses: actions/upload-artifact@v4
-      with:
-        name: opensim-core-${{ github.event.pull_request.base.ref }}-win2022
-        path: opensim-core-${{ github.event.pull_request.base.ref }}.zip
-
-  performance_analysis_win:
-    runs-on: ubuntu-latest
-    name: Performance Analysis [Windows 2022]
-
-    env:
-      GH_TOKEN: ${{ github.token }}
-
-    needs:
-      - windows2022
-      - windows2022_perf
-
-    if: ${{ contains(github.event.pull_request.title, '[perf-win]') || contains(github.event.pull_request.body, '[perf-win]') }}
-
-    steps:
-    - name: Trigger opensim-perf workflow
-      uses: Codex-/return-dispatch@v1.12.0
-      id: return_dispatch
-      with:
-        token: ${{ secrets.PERF_DISPATCH_PAT }}
-        repo: opensim-perf
-        owner: opensim-org
-        ref: main
-        workflow: performance_analysis_win.yml
-        workflow_inputs: '{"commit_sha": "${{ github.event.pull_request.head.sha }}", "target_artifact_name": "opensim-core-${{ github.event.pull_request.base.ref }}-win2022", "source_artifact_name": "opensim-core-${{ needs.windows2022.outputs.version }}-win2022", "target_artifact_zip": "opensim-core-${{ github.event.pull_request.base.ref }}.zip", "source_artifact_zip": "opensim-core-${{ needs.windows2022.outputs.version }}.zip"}'
-
-    - name: Await opensim-perf workflow
-      uses: Codex-/await-remote-run@v1.11.0
-      with:
-        token: ${{ secrets.PERF_DISPATCH_PAT }}
-        repo: opensim-perf
-        owner: opensim-org
-        run_id: ${{ steps.return_dispatch.outputs.run_id }}
-        run_timeout_seconds: 10000
-
-    - name: Download performance analysis results
-      id: download-artifact
-      uses: dawidd6/action-download-artifact@v6
-      with:
-        github_token: ${{ secrets.PERF_DISPATCH_PAT }}
-        run_id: ${{ steps.return_dispatch.outputs.run_id }}
-        workflow: performance_analysis_win.yml
-        name: performance-results
-        path: results
-        repo: opensim-org/opensim-perf
-
-    - name: Post results to pull request description
-      run: |
-        PR_NUMBER=$(jq --raw-output .pull_request.number "$GITHUB_EVENT_PATH")
-        EXISTING_COMMENT_CONTENT=$(gh api /repos/opensim-org/opensim-core/pulls/${PR_NUMBER} | jq -r '.body')
-        CUSTOM_HEADER="### Performance analysis"
-
-        REVIEWABLE_TAG="<!-- Reviewable:start -->"
-        REVIEWABLE_CONTENT=""
-        if [[ $EXISTING_COMMENT_CONTENT == *"$REVIEWABLE_TAG"* ]]; then
-            REVIEWABLE_CONTENT=$(echo "$EXISTING_COMMENT_CONTENT" | awk "/$REVIEWABLE_TAG/,0")
-        fi
-
-        if [[ $EXISTING_COMMENT_CONTENT == *"$CUSTOM_HEADER"* ]]; then
-            CONTENT_TO_REPLACE=$(echo "$EXISTING_COMMENT_CONTENT" | awk "/$CUSTOM_HEADER/,0")
-        else
-            CONTENT_TO_REPLACE=${REVIEWABLE_CONTENT}
-        fi
-
-        NEW_CONTENT="${CUSTOM_HEADER}
-
-        Platform: Windows, self-hosted runner
-
-        $(cat results/performance_results.md)
-
-        ${REVIEWABLE_CONTENT}
-        "
-        NEW_COMMENT_BODY="${EXISTING_COMMENT_CONTENT/"${CONTENT_TO_REPLACE}"/${NEW_CONTENT}}"
-
-        # Update the existing description
-        gh api \
-            --method PATCH \
-            -H "Content-Type: application/json" \
-            -H "Accept: application/vnd.github.v3+json" \
-            -H "Authorization: Bearer ${{ secrets.GITHUB_TOKEN }}" \
-            repos/opensim-org/opensim-core/pulls/${PR_NUMBER} \
-            -f "body=${NEW_COMMENT_BODY}"
-
   mac_x86_64:
     runs-on: macos-15-intel
     name: Mac x86_64
@@ -323,14 +133,14 @@ jobs:
     - name: Install Python packages
       uses: actions/setup-python@v4
       with:
-        python-version: '3.10'
+        python-version: '3.11'
 
     - name: Install Homebrew packages
       # Save the gfortran version to a file so we can use it in the cache key.
       run: |
         brew install pkgconfig autoconf libtool automake wget pcre doxygen llvm
         brew reinstall gcc
-        pip3 install numpy==1.25
+        pip3 install numpy==2.0
         gfortran -v
         mkdir gfortran_version
         gfortran -v &> gfortran_version/gfortran_version.txt
@@ -362,7 +172,7 @@ jobs:
         key: ${{ runner.os }}-dependencies-${{ hashFiles('dependencies/*') }}-${{ hashFiles('gfortran_version/*') }}
 
     - name: Build dependencies
-      # if: steps.cache-dependencies.outputs.cache-hit != 'true'
+      if: steps.cache-dependencies.outputs.cache-hit != 'true'
       run: |
         mkdir $GITHUB_WORKSPACE/../build_deps
         cd $GITHUB_WORKSPACE/../build_deps
@@ -449,14 +259,14 @@ jobs:
     - name: Install Python packages
       uses: actions/setup-python@v4
       with:
-        python-version: '3.10'
+        python-version: '3.11'
 
     - name: Install Homebrew packages
       # Save the gfortran version to a file so we can use it in the cache key.
       run: |
         brew install pkgconfig autoconf libtool automake wget pcre doxygen llvm
         brew reinstall gcc
-        pip3 install numpy==1.25
+        pip3 install numpy==2.0
         gfortran -v
         mkdir gfortran_version
         gfortran -v &> gfortran_version/gfortran_version.txt
@@ -562,31 +372,25 @@ jobs:
         name: opensim-core-${{ steps.configure.outputs.version }}-mac-arm64
         path: opensim-core-${{ steps.configure.outputs.version }}.zip
 
-  mac_arm64_perf:
-    runs-on: macos-15
-    name: Mac Arm64 [main]
-
-    if: ${{ contains(github.event.pull_request.title, '[perf-mac]') || contains(github.event.pull_request.body, '[perf-mac]') }}
+  ubuntu22:
+    name: Ubuntu 22.04
+    runs-on: ubuntu-22.04
 
     steps:
     - uses: actions/checkout@v4
-      with:
-        ref: ${{ github.event.pull_request.base.ref }}
 
     - name: Install Python packages
       uses: actions/setup-python@v4
       with:
-        python-version: '3.10'
+        python-version: '3.11'
 
-    - name: Install Homebrew packages
-      # Save the gfortran version to a file so we can use it in the cache key.
+    - name: Install Numpy
       run: |
-        brew install pkgconfig autoconf libtool automake wget pcre doxygen llvm
-        brew reinstall gcc
-        pip3 install numpy==1.25
-        gfortran -v
-        mkdir gfortran_version
-        gfortran -v &> gfortran_version/gfortran_version.txt
+        pip install pip --upgrade
+        pip install numpy==2.0
+
+    - name: Install packages
+      run: sudo apt-get update && sudo apt-get install --yes build-essential libtool autoconf pkg-config gfortran libopenblas-dev liblapack-dev freeglut3-dev libxi-dev libxmu-dev doxygen patchelf
 
     - name: Cache SWIG
       id: cache-swig
@@ -609,10 +413,7 @@ jobs:
       uses: actions/cache@v3
       with:
         path: ~/opensim_dependencies_install
-        # If Homebrew updates the gcc package, then our cache of IPOPT is invalid.
-        # Specifically, the pkgcfg_lib_IPOPT_gfortran CMake variable becomes
-        # undefined.
-        key: ${{ runner.os }}-dependencies-${{ hashFiles('dependencies/*') }}-${{ hashFiles('gfortran_version/*') }}
+        key: ${{ runner.os }}-dependencies-${{ hashFiles('dependencies/*') }}
 
     - name: Build dependencies
       if: steps.cache-dependencies.outputs.cache-hit != 'true'
@@ -625,7 +426,6 @@ jobs:
         DEP_CMAKE_ARGS+=(-DSUPERBUILD_ezc3d=ON)
         DEP_CMAKE_ARGS+=(-DOPENSIM_WITH_CASADI=ON)
         DEP_CMAKE_ARGS+=(-DOPENSIM_DISABLE_LOG_FILE=ON)
-        DEP_CMAKE_ARGS+=(-DCMAKE_OSX_DEPLOYMENT_TARGET=11)
         printf '%s\n' "${DEP_CMAKE_ARGS[@]}"
         cmake "${DEP_CMAKE_ARGS[@]}"
         make --jobs 4
@@ -639,15 +439,15 @@ jobs:
         OSIM_CMAKE_ARGS+=(-DCMAKE_INSTALL_PREFIX=$GITHUB_WORKSPACE/../opensim-core-install)
         OSIM_CMAKE_ARGS+=(-DCMAKE_BUILD_TYPE=Release)
         OSIM_CMAKE_ARGS+=(-DOPENSIM_DEPENDENCIES_DIR=~/opensim_dependencies_install)
-        OSIM_CMAKE_ARGS+=(-DCMAKE_OSX_DEPLOYMENT_TARGET=11)
         OSIM_CMAKE_ARGS+=(-DOPENSIM_C3D_PARSER=ezc3d)
         OSIM_CMAKE_ARGS+=(-DBUILD_PYTHON_WRAPPING=on -DBUILD_JAVA_WRAPPING=on)
-        OSIM_CMAKE_ARGS+=(-DSWIG_EXECUTABLE=$HOME/swig/bin/swig)
+        OSIM_CMAKE_ARGS+=(-DSWIG_DIR=~/swig/share/swig)
+        OSIM_CMAKE_ARGS+=(-DSWIG_EXECUTABLE=~/swig/bin/swig)
         OSIM_CMAKE_ARGS+=(-DOPENSIM_INSTALL_UNIX_FHS=OFF)
         OSIM_CMAKE_ARGS+=(-DOPENSIM_DOXYGEN_USE_MATHJAX=off)
         # TODO: Update to simbody.github.io/latest
         OSIM_CMAKE_ARGS+=(-DOPENSIM_SIMBODY_DOXYGEN_LOCATION="https://simbody.github.io/simtk.org/api_docs/simbody/latest/")
-        OSIM_CMAKE_ARGS+=(-DCMAKE_CXX_FLAGS="-Werror, -Wdeprecated-copy")
+        OSIM_CMAKE_ARGS+=(-DCMAKE_CXX_FLAGS="-Werror")
         printf '%s\n' "${OSIM_CMAKE_ARGS[@]}"
         cmake "${OSIM_CMAKE_ARGS[@]}"
         VERSION=`cmake -L . | grep OPENSIM_QUALIFIED_VERSION | cut -d "=" -f2`
@@ -663,20 +463,23 @@ jobs:
     - name: Test opensim-core
       run: |
         cd $GITHUB_WORKSPACE/../build
+        # TODO: Temporary for python to find Simbody libraries.
+        export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$HOME/opensim_dependencies_install/simbody/lib
         ctest --parallel 4 --output-on-failure
 
     - name: Install opensim-core
       run: |
         cd $GITHUB_WORKSPACE/../build
         make doxygen
-        make install
+        make --jobs 4 install
         cd $GITHUB_WORKSPACE
-        mv $GITHUB_WORKSPACE/../opensim-core-install opensim-core-${{ github.event.pull_request.base.ref }}
-        zip --symlinks --recurse-paths --quiet opensim-core-${{ github.event.pull_request.base.ref }}.zip opensim-core-${{ github.event.pull_request.base.ref }}
-        mv opensim-core-${{ github.event.pull_request.base.ref }} $GITHUB_WORKSPACE/../opensim-core-install
+        mv $GITHUB_WORKSPACE/../opensim-core-install opensim-core-${{ steps.configure.outputs.version }}
+        zip --symlinks --recurse-paths --quiet opensim-core-${{ steps.configure.outputs.version }}-ubuntu22.zip opensim-core-${{ steps.configure.outputs.version }}
+        mv opensim-core-${{ steps.configure.outputs.version }} $GITHUB_WORKSPACE/../opensim-core-install
 
     - name: Test Python bindings
       run: |
+        export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$HOME/opensim_dependencies_install/simbody/lib
         cd $GITHUB_WORKSPACE/../opensim-core-install/sdk/Python
         # Run the python tests, verbosely.
         python3 -m unittest discover --start-directory opensim/tests --verbose
@@ -686,94 +489,12 @@ jobs:
       with:
         # The upload-artifact zipping does not preserve symlinks or executable
         # bits. So we zip ourselves, even though this causes a double-zip.
-        name: opensim-core-${{ github.event.pull_request.base.ref }}-mac-arm64
-        path: opensim-core-${{ github.event.pull_request.base.ref }}.zip
-
-  performance_analysis_mac:
-    runs-on: ubuntu-latest
-    name: Performance Analysis [Mac Arm64]
-
-    env:
-      GH_TOKEN: ${{ github.token }}
-
-    if: ${{ contains(github.event.pull_request.title, '[perf-mac]') || contains(github.event.pull_request.body, '[perf-mac]') }}
-
-    needs:
-        - mac_arm64
-        - mac_arm64_perf
-
-    steps:
-    - name: Trigger opensim-perf workflow
-      uses: Codex-/return-dispatch@v1.12.0
-      id: return_dispatch
-      with:
-        token: ${{ secrets.PERF_DISPATCH_PAT }}
-        repo: opensim-perf
-        owner: opensim-org
-        ref: main
-        workflow: performance_analysis_mac.yml
-        workflow_inputs: '{"commit_sha": "${{ github.event.pull_request.head.sha }}", "target_artifact_name": "opensim-core-${{ github.event.pull_request.base.ref }}-mac-arm64", "source_artifact_name": "opensim-core-${{ needs.mac_arm64.outputs.version }}-mac-arm64", "target_artifact_zip": "opensim-core-${{ github.event.pull_request.base.ref }}.zip", "source_artifact_zip": "opensim-core-${{ needs.mac_arm64.outputs.version }}.zip"}'
-
-    - name: Await opensim-perf workflow
-      uses: Codex-/await-remote-run@v1.11.0
-      with:
-        token: ${{ secrets.PERF_DISPATCH_PAT }}
-        repo: opensim-perf
-        owner: opensim-org
-        run_id: ${{ steps.return_dispatch.outputs.run_id }}
-        run_timeout_seconds: 10000
-
-    - name: Download performance analysis results
-      id: download-artifact
-      uses: dawidd6/action-download-artifact@v6
-      with:
-        github_token: ${{ secrets.PERF_DISPATCH_PAT }}
-        run_id: ${{ steps.return_dispatch.outputs.run_id }}
-        workflow: performance_analysis_mac.yml
-        name: performance-results
-        path: results
-        repo: opensim-org/opensim-perf
-
-    - name: Post results to pull request description
-      run: |
-        PR_NUMBER=$(jq --raw-output .pull_request.number "$GITHUB_EVENT_PATH")
-        EXISTING_COMMENT_CONTENT=$(gh api /repos/opensim-org/opensim-core/pulls/${PR_NUMBER} | jq -r '.body')
-        CUSTOM_HEADER="### Performance analysis"
-
-        REVIEWABLE_TAG="<!-- Reviewable:start -->"
-        REVIEWABLE_CONTENT=""
-        if [[ $EXISTING_COMMENT_CONTENT == *"$REVIEWABLE_TAG"* ]]; then
-          REVIEWABLE_CONTENT=$(echo "$EXISTING_COMMENT_CONTENT" | awk "/$REVIEWABLE_TAG/,0")
-        fi
-
-        if [[ $EXISTING_COMMENT_CONTENT == *"$CUSTOM_HEADER"* ]]; then
-          CONTENT_TO_REPLACE=$(echo "$EXISTING_COMMENT_CONTENT" | awk "/$CUSTOM_HEADER/,0")
-        else
-          CONTENT_TO_REPLACE=${REVIEWABLE_CONTENT}
-        fi
-
-        NEW_CONTENT="${CUSTOM_HEADER}
-
-        Platform: Mac, GitHub Actions runner
-
-        $(cat results/performance_results.md)
-
-        ${REVIEWABLE_CONTENT}
-        "
-        NEW_COMMENT_BODY="${EXISTING_COMMENT_CONTENT/"${CONTENT_TO_REPLACE}"/${NEW_CONTENT}}"
+        name: opensim-core-${{ steps.configure.outputs.version }}-ubuntu22-linux
+        path: opensim-core-${{ steps.configure.outputs.version }}-ubuntu22.zip
 
-        # Update the existing description
-        gh api \
-          --method PATCH \
-          -H "Content-Type: application/json" \
-          -H "Accept: application/vnd.github.v3+json" \
-          -H "Authorization: Bearer ${{ secrets.GITHUB_TOKEN }}" \
-          repos/opensim-org/opensim-core/pulls/${PR_NUMBER} \
-          -f "body=${NEW_COMMENT_BODY}"
-
-  ubuntu22:
-    name: Ubuntu 22.04
-    runs-on: ubuntu-22.04
+  ubuntu24:
+    name: Ubuntu 24.04
+    runs-on: ubuntu-24.04
 
     steps:
     - uses: actions/checkout@v4
@@ -781,16 +502,23 @@ jobs:
     - name: Install Python packages
       uses: actions/setup-python@v4
       with:
-        python-version: '3.10'
+        python-version: '3.11'
 
     - name: Install Numpy
       run: |
         pip install pip --upgrade
-        pip install numpy==1.25
+        pip install numpy==2.0
 
     - name: Install packages
       run: sudo apt-get update && sudo apt-get install --yes build-essential libtool autoconf pkg-config gfortran libopenblas-dev liblapack-dev freeglut3-dev libxi-dev libxmu-dev doxygen patchelf
 
+    - name: Cache SWIG
+      id: cache-swig
+      uses: actions/cache@v3
+      with:
+        path: ~/swig
+        key: ${{ runner.os }}-swig
+
     - name: Install SWIG
       # if: steps.cache-swig.outputs.cache-hit != 'true'
       run: |
@@ -808,7 +536,7 @@ jobs:
         key: ${{ runner.os }}-dependencies-${{ hashFiles('dependencies/*') }}
 
     - name: Build dependencies
-      # if: steps.cache-dependencies.outputs.cache-hit != 'true'
+      if: steps.cache-dependencies.outputs.cache-hit != 'true'
       run: |
         mkdir $GITHUB_WORKSPACE/../build_deps
         cd $GITHUB_WORKSPACE/../build_deps
@@ -817,6 +545,7 @@ jobs:
         DEP_CMAKE_ARGS+=(-DCMAKE_BUILD_TYPE=Release)
         DEP_CMAKE_ARGS+=(-DSUPERBUILD_ezc3d=ON)
         DEP_CMAKE_ARGS+=(-DOPENSIM_WITH_CASADI=ON)
+        DEP_CMAKE_ARGS+=(-DOPENSIM_DISABLE_LOG_FILE=ON)
         printf '%s\n' "${DEP_CMAKE_ARGS[@]}"
         cmake "${DEP_CMAKE_ARGS[@]}"
         make --jobs 4
@@ -880,8 +609,8 @@ jobs:
       with:
         # The upload-artifact zipping does not preserve symlinks or executable
         # bits. So we zip ourselves, even though this causes a double-zip.
-        name: opensim-core-${{ steps.configure.outputs.version }}-ubuntu22-linux
-        path: opensim-core-${{ steps.configure.outputs.version }}-ubuntu22.zip
+        name: opensim-core-${{ steps.configure.outputs.version }}-ubuntu24-linux
+        path: opensim-core-${{ steps.configure.outputs.version }}-ubuntu24.zip
 
   build_gui:
     name: Build GUI
diff --git a/Applications/CMC/test/testCMCGait10dof18musc.cpp b/Applications/CMC/test/testCMCGait10dof18musc.cpp
index a7f4519f01..132f6cf5d0 100644
--- a/Applications/CMC/test/testCMCGait10dof18musc.cpp
+++ b/Applications/CMC/test/testCMCGait10dof18musc.cpp
@@ -29,31 +29,7 @@
 
 using namespace OpenSim;
 
-TEST_CASE("testGait10dof18musc (Windows)", "[win]") {
-    CMCTool cmc("gait10dof18musc_Setup_CMC.xml");
-    cmc.run();
-
-    const TimeSeriesTable results(
-        "gait10dof18musc_ResultsCMC/walk_subject_states.sto");
-    const TimeSeriesTable std(
-        "gait10dof18musc_std_walk_subject_states_win.sto");
-
-    // TODO: Replace with macro from OpenSim/Moco/Test/Testing.h
-    const auto& actual = results.getMatrix();
-    const auto& expected = std.getMatrix();
-    REQUIRE((actual.nrow() == expected.nrow()));
-    REQUIRE((actual.ncol() == expected.ncol()));
-    for (int ir = 0; ir < actual.nrow(); ++ir) {
-        for (int ic = 0; ic < actual.ncol(); ++ic) {
-            INFO("(" << ir << "," << ic << "): " << actual.getElt(ir, ic) <<
-                " vs " << expected.getElt(ir, ic));
-            REQUIRE((Catch::Approx(actual.getElt(ir, ic)).margin(1e-3)
-                == expected.getElt(ir, ic)));
-        }
-    }
-}
-
-TEST_CASE("testGait10dof18musc (Mac/Linux)", "[unix]") {
+TEST_CASE("testGait10dof18musc") {
     CMCTool cmc("gait10dof18musc_Setup_CMC.xml");
     cmc.run();
 
@@ -62,12 +38,12 @@ TEST_CASE("testGait10dof18musc (Mac/Linux)", "[unix]") {
     const TimeSeriesTable std(
         "gait10dof18musc_std_walk_subject_states_unix.sto");
 
-    // Unix systems produce inconsistent results compared to Windows. Somehow,
-    // CMC produces results with differing number of time points, so we need to
-    // interpolate the results to the same time points as the standard results.
-    // The shapes of the muscle activity curves also differ slightly, so we
-    // allow a larger margin of error for the muscle activity curves. Therefore,
-    // this is a weaker test compared to the Windows test.
+    // CMC produces results with differing number of time points on different
+    // systems, so we need to interpolate the results to the same time points as
+    // the standard results. The shapes of the muscle activity curves also
+    // differ slightly, so we allow a larger margin of error for the muscle
+    // activity curves. Therefore, this is a weaker test compared to other
+    // CMC tests.
     GCVSplineSet resultSplines(results);
     GCVSplineSet stdSplines(std);
 
diff --git a/Bindings/SWIGSimTK/Mat.h b/Bindings/SWIGSimTK/Mat.h
index a0b205e35d..63932317a8 100644
--- a/Bindings/SWIGSimTK/Mat.h
+++ b/Bindings/SWIGSimTK/Mat.h
@@ -30,6 +30,9 @@
 
 #include "SimTKcommon/internal/common.h"
 
+#include <tuple>
+#include <type_traits>
+
 namespace SimTK {
 
 /** This class represents a small matrix whose size is known at compile time, 
@@ -336,71 +339,36 @@ template <int M, int N, class ELT, int CS, int RS> class Mat {
     explicit Mat(int i) 
       { new (this) Mat(ELT(Precision(i))); }
 
-    // A bevy of constructors from individual exact-match elements IN ROW ORDER.
-    Mat(const ELT& e0,const ELT& e1)
-      {assert(M*N==2);d[rIx(0)]=e0;d[rIx(1)]=e1;}
-    Mat(const ELT& e0,const ELT& e1,const ELT& e2)
-      {assert(M*N==3);d[rIx(0)]=e0;d[rIx(1)]=e1;d[rIx(2)]=e2;}
-    Mat(const ELT& e0,const ELT& e1,const ELT& e2,const ELT& e3)
-      {assert(M*N==4);d[rIx(0)]=e0;d[rIx(1)]=e1;d[rIx(2)]=e2;d[rIx(3)]=e3;}
-    Mat(const ELT& e0,const ELT& e1,const ELT& e2,const ELT& e3,const ELT& e4)
-      {assert(M*N==5);d[rIx(0)]=e0;d[rIx(1)]=e1;d[rIx(2)]=e2;d[rIx(3)]=e3;d[rIx(4)]=e4;}
-    Mat(const ELT& e0,const ELT& e1,const ELT& e2,const ELT& e3,const ELT& e4,
-        const ELT& e5)
-      {assert(M*N==6);d[rIx(0)]=e0;d[rIx(1)]=e1;d[rIx(2)]=e2;d[rIx(3)]=e3;d[rIx(4)]=e4;
-       d[rIx(5)]=e5;}
-    Mat(const ELT& e0,const ELT& e1,const ELT& e2,const ELT& e3,const ELT& e4,
-        const ELT& e5,const ELT& e6)
-      {assert(M*N==7);d[rIx(0)]=e0;d[rIx(1)]=e1;d[rIx(2)]=e2;d[rIx(3)]=e3;d[rIx(4)]=e4;
-       d[rIx(5)]=e5;d[rIx(6)]=e6;}
-    Mat(const ELT& e0,const ELT& e1,const ELT& e2,const ELT& e3,const ELT& e4,
-        const ELT& e5,const ELT& e6,const ELT& e7)
-      {assert(M*N==8);d[rIx(0)]=e0;d[rIx(1)]=e1;d[rIx(2)]=e2;d[rIx(3)]=e3;d[rIx(4)]=e4;
-       d[rIx(5)]=e5;d[rIx(6)]=e6;d[rIx(7)]=e7;}
-    Mat(const ELT& e0,const ELT& e1,const ELT& e2,const ELT& e3,const ELT& e4,
-        const ELT& e5,const ELT& e6,const ELT& e7,const ELT& e8)
-      {assert(M*N==9);d[rIx(0)]=e0;d[rIx(1)]=e1;d[rIx(2)]=e2;d[rIx(3)]=e3;d[rIx(4)]=e4;
-       d[rIx(5)]=e5;d[rIx(6)]=e6;d[rIx(7)]=e7;d[rIx(8)]=e8;}
-    Mat(const ELT& e0,const ELT& e1,const ELT& e2,const ELT& e3,const ELT& e4,
-        const ELT& e5,const ELT& e6,const ELT& e7,const ELT& e8,const ELT& e9)
-      {assert(M*N==10);d[rIx(0)]=e0;d[rIx(1)]=e1;d[rIx(2)]=e2;d[rIx(3)]=e3;d[rIx(4)]=e4;
-       d[rIx(5)]=e5;d[rIx(6)]=e6;d[rIx(7)]=e7;d[rIx(8)]=e8;d[rIx(9)]=e9;}
-    Mat(const ELT& e0,const ELT& e1,const ELT& e2,const ELT& e3,const ELT& e4,
-        const ELT& e5,const ELT& e6,const ELT& e7,const ELT& e8,const ELT& e9,
-        const ELT& e10)
-      {assert(M*N==11);d[rIx(0)]=e0;d[rIx(1)]=e1;d[rIx(2)]=e2;d[rIx(3)]=e3;d[rIx(4)]=e4;
-       d[rIx(5)]=e5;d[rIx(6)]=e6;d[rIx(7)]=e7;d[rIx(8)]=e8;d[rIx(9)]=e9;d[rIx(10)]=e10;}
-    Mat(const ELT& e0,const ELT& e1,const ELT& e2,const ELT& e3,const ELT& e4,
-        const ELT& e5,const ELT& e6,const ELT& e7,const ELT& e8,const ELT& e9,
-        const ELT& e10, const ELT& e11)
-      {assert(M*N==12);d[rIx(0)]=e0;d[rIx(1)]=e1;d[rIx(2)]=e2;d[rIx(3)]=e3;d[rIx(4)]=e4;
-       d[rIx(5)]=e5;d[rIx(6)]=e6;d[rIx(7)]=e7;d[rIx(8)]=e8;d[rIx(9)]=e9;d[rIx(10)]=e10;
-       d[rIx(11)]=e11;}
-    Mat(const ELT& e0,const ELT& e1,const ELT& e2,const ELT& e3,const ELT& e4,
-        const ELT& e5,const ELT& e6,const ELT& e7,const ELT& e8,const ELT& e9,
-        const ELT& e10, const ELT& e11, const ELT& e12)
-      {assert(M*N==13);d[rIx(0)]=e0;d[rIx(1)]=e1;d[rIx(2)]=e2;d[rIx(3)]=e3;d[rIx(4)]=e4;
-       d[rIx(5)]=e5;d[rIx(6)]=e6;d[rIx(7)]=e7;d[rIx(8)]=e8;d[rIx(9)]=e9;d[rIx(10)]=e10;
-       d[rIx(11)]=e11;d[rIx(12)]=e12;}
-    Mat(const ELT& e0,const ELT& e1,const ELT& e2,const ELT& e3,const ELT& e4,
-        const ELT& e5,const ELT& e6,const ELT& e7,const ELT& e8,const ELT& e9,
-        const ELT& e10, const ELT& e11, const ELT& e12, const ELT& e13)
-      {assert(M*N==14);d[rIx(0)]=e0;d[rIx(1)]=e1;d[rIx(2)]=e2;d[rIx(3)]=e3;d[rIx(4)]=e4;
-       d[rIx(5)]=e5;d[rIx(6)]=e6;d[rIx(7)]=e7;d[rIx(8)]=e8;d[rIx(9)]=e9;d[rIx(10)]=e10;
-       d[rIx(11)]=e11;d[rIx(12)]=e12;d[rIx(13)]=e13;}
-    Mat(const ELT& e0,const ELT& e1,const ELT& e2,const ELT& e3,const ELT& e4,
-        const ELT& e5,const ELT& e6,const ELT& e7,const ELT& e8,const ELT& e9,
-        const ELT& e10, const ELT& e11, const ELT& e12, const ELT& e13, const ELT& e14)
-      {assert(M*N==15);d[rIx(0)]=e0;d[rIx(1)]=e1;d[rIx(2)]=e2;d[rIx(3)]=e3;d[rIx(4)]=e4;
-       d[rIx(5)]=e5;d[rIx(6)]=e6;d[rIx(7)]=e7;d[rIx(8)]=e8;d[rIx(9)]=e9;d[rIx(10)]=e10;
-       d[rIx(11)]=e11;d[rIx(12)]=e12;d[rIx(13)]=e13;d[rIx(14)]=e14;}
-    Mat(const ELT& e0,const ELT& e1,const ELT& e2,const ELT& e3,const ELT& e4,
-        const ELT& e5,const ELT& e6,const ELT& e7,const ELT& e8,const ELT& e9,
-        const ELT& e10, const ELT& e11, const ELT& e12, const ELT& e13, const ELT& e14, 
-        const ELT& e15)
-      {assert(M*N==16);d[rIx(0)]=e0;d[rIx(1)]=e1;d[rIx(2)]=e2;d[rIx(3)]=e3;d[rIx(4)]=e4;
-       d[rIx(5)]=e5;d[rIx(6)]=e6;d[rIx(7)]=e7;d[rIx(8)]=e8;d[rIx(9)]=e9;d[rIx(10)]=e10;
-       d[rIx(11)]=e11;d[rIx(12)]=e12;d[rIx(13)]=e13;d[rIx(14)]=e14;d[rIx(15)]=e15;}
+#ifndef SWIG
+    // Constructs a `Mat` from individual exact-match elements IN ROW ORDER.
+    template<
+        typename... Elements,
+        typename = std::enable_if_t<
+            (M*N==sizeof...(Elements)) &&
+            (std::is_convertible_v<Elements&&, const E&> && ...)
+        >
+    >
+    Mat(Elements&&... elementsRowByRow)
+    {
+        assignDataRowByRow(
+            std::forward_as_tuple(elementsRowByRow...),
+            std::make_integer_sequence<int, sizeof...(Elements)>{}
+        );
+    }
+#else
+    template <int MM = M, int NN = N,
+              typename std::enable_if<(MM==3 && NN==3), int>::type = 0>
+    Mat(const E& e00, const E& e01, const E& e02,
+        const E& e10, const E& e11, const E& e12,
+        const E& e20, const E& e21, const E& e22)
+    {
+        const E elems[9] = {e00, e01, e02,
+                            e10, e11, e12,
+                            e20, e21, e22};
+        for (int idx = 0; idx < 9; ++idx)
+            d[rIx(idx)] = elems[idx];
+    }
+#endif
 
 #ifndef SWIG
     // Construction from 1-6 *exact match* Rows
@@ -1199,6 +1167,14 @@ template <int M, int N, class ELT, int CS, int RS> class Mat {
         const int col = k % N; // that's modulus, not cross product!
         return row*RS + col*CS;
     }
+
+#ifndef SWIG
+    template<typename ElementsRowByRowTuple, int... Idx>
+    void assignDataRowByRow(ElementsRowByRowTuple&& els, std::integer_sequence<int, Idx...>)
+    {
+        ((d[rIx(Idx)] = std::get<Idx>(els)) , ...);
+    }
+#endif
 };
 
 //////////////////////////////////////////////
diff --git a/Bindings/SWIGSimTK/Vec.h b/Bindings/SWIGSimTK/Vec.h
index a4722944b0..7a2fdbfca3 100644
--- a/Bindings/SWIGSimTK/Vec.h
+++ b/Bindings/SWIGSimTK/Vec.h
@@ -191,7 +191,7 @@ class Vec {
         NRows               = M,
         NCols               = 1,
         NPackedElements     = M,
-        NActualElements     = M * STRIDE,   // includes trailing gap
+        NActualElements     = (M-1)*STRIDE + 1, // no trailing gap
         NActualScalars      = CNT<E>::NActualScalars * NActualElements,
         RowSpacing          = STRIDE,
         ColSpacing          = NActualElements,
diff --git a/CHANGELOG.md b/CHANGELOG.md
index 95b3007a87..1533745333 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -36,6 +36,7 @@ performance and stability in wrapping solutions.
 - Added `Component::removeComponent` and `Component::extractComponent` methods, which enable removing subcomponents that were previously added via `Component::addComponent` or the `<components>` XML element (#4174).
 - Updated required language level to C++20. (#3929)
 - Breaking: removed the `operator==` and `operator<` overloads in `ControlLinearNode` and replaced usages with the equivalent utility functions `isEqual()` and `isLessThan()`. (#4095)
+- Made various changes to support builds on Ubuntu 24.04 with GCC 13. (#4186)
 
 
 v4.5.2
diff --git a/OpenSim/Analyses/Test/testOutputReporter.cpp b/OpenSim/Analyses/Test/testOutputReporter.cpp
index c1451df6a4..35580e0b3f 100644
--- a/OpenSim/Analyses/Test/testOutputReporter.cpp
+++ b/OpenSim/Analyses/Test/testOutputReporter.cpp
@@ -213,9 +213,9 @@ void simulateMuscle(
     TimeSeriesTable_<SimTK::SpatialVec> tableSV("testOutputReporter_OutputsSpatialVec.sto");
 
     double val_t0 = tableD.getIndependentColumn()[0];
-    const SimTK::Real& val_ke0 = tableD.getRowAtIndex(0)[0];
-    const Vec3& val_omega0 = tableV3.getRowAtIndex(0)[1];
-    const SimTK::SpatialVec& val_jrf0 = tableSV.getRowAtIndex(0)[1];
+    const SimTK::Real val_ke0 = tableD.getRowAtIndex(0)[0];
+    const Vec3 val_omega0 = tableV3.getRowAtIndex(0)[1];
+    const SimTK::SpatialVec val_jrf0 = tableSV.getRowAtIndex(0)[1];
 
     CHECK_THAT(t0, Catch::Matchers::WithinAbs(val_t0, SimTK::Eps));
     CHECK_THAT(ke0, Catch::Matchers::WithinAbs(val_ke0, SimTK::Eps));
@@ -229,9 +229,9 @@ void simulateMuscle(
     }
 
     double val_tf = tableD.getIndependentColumn()[tableD.getNumRows() - 1];
-    const SimTK::Real& val_ke = tableD.getRowAtIndex(tableD.getNumRows() - 1)[0];
-    const Vec3& val_omega = tableV3.getRowAtIndex(tableV3.getNumRows() - 1)[1];
-    const SimTK::SpatialVec& val_jrf = 
+    const SimTK::Real val_ke = tableD.getRowAtIndex(tableD.getNumRows() - 1)[0];
+    const Vec3 val_omega = tableV3.getRowAtIndex(tableV3.getNumRows() - 1)[1];
+    const SimTK::SpatialVec val_jrf = 
         tableSV.getRowAtIndex(tableSV.getNumRows() - 1)[1];
 
     model.realizeReport(state);
diff --git a/OpenSim/Simulation/Wrap/PathWrapPoint.cpp b/OpenSim/Simulation/Wrap/PathWrapPoint.cpp
index ad48f0897d..dfae17e4cc 100644
--- a/OpenSim/Simulation/Wrap/PathWrapPoint.cpp
+++ b/OpenSim/Simulation/Wrap/PathWrapPoint.cpp
@@ -27,9 +27,11 @@ void OpenSim::PathWrapPoint::extendAddToSystem(SimTK::MultibodySystem& system) c
 {
     Super::extendAddToSystem(system);
 
-    _wrapPath = addCacheVariable("wrap_path", Array<SimTK::Vec3>{}, SimTK::Stage::Position);
+    _wrapPath = addCacheVariable("wrap_path",
+            Array<SimTK::Vec3>(SimTK::Vec3(SimTK::NaN), 0, 1),
+            SimTK::Stage::Position);
     _wrapPathLength = addCacheVariable("wrap_path_length", 0.0, SimTK::Stage::Position);
-    _location = addCacheVariable("wrap_location", SimTK::Vec3{}, SimTK::Stage::Position);
+    _location = addCacheVariable("wrap_location", SimTK::Vec3(SimTK::NaN), SimTK::Stage::Position);
 }
 
 const OpenSim::WrapObject* OpenSim::PathWrapPoint::getWrapObject() const
diff --git a/OpenSim/Simulation/Wrap/WrapResult.cpp b/OpenSim/Simulation/Wrap/WrapResult.cpp
index 460d0c9094..8abcecfe4a 100644
--- a/OpenSim/Simulation/Wrap/WrapResult.cpp
+++ b/OpenSim/Simulation/Wrap/WrapResult.cpp
@@ -32,47 +32,40 @@
 using namespace std;
 using namespace OpenSim;
 
-WrapResult::WrapResult(const WrapResult& other) {
-    copyData(other);
-}
-
-//_____________________________________________________________________________
-/**
- * Copy data members from one WrapResult to another.
- *
- * @param aWrapResult WrapResult to be copied.
- */
-void WrapResult::copyData(const WrapResult& aWrapResult) {
-    wrap_pts = aWrapResult.wrap_pts;
-    wrap_path_length = aWrapResult.wrap_path_length;
-
-    startPoint = aWrapResult.startPoint;
-    endPoint = aWrapResult.endPoint;
-
-    int i;
-    for (i = 0; i < 3; i++) {
-        r1[i] = aWrapResult.r1[i];
-        r2[i] = aWrapResult.r2[i];
-        c1[i] = aWrapResult.c1[i];
-        sv[i] = aWrapResult.sv[i];
-    }
+WrapResult::WrapResult()
+    : startPoint{-1},
+      endPoint{-1},
+      wrap_pts{SimTK::Vec3(SimTK::NaN), 0, 1},
+      wrap_path_length{SimTK::NaN},
+      r1{SimTK::Vec3(SimTK::NaN)},
+      r2{SimTK::Vec3(SimTK::NaN)},
+      c1{SimTK::Vec3(SimTK::NaN)},
+      sv{SimTK::Vec3(SimTK::NaN)} {}
 
-    singleWrap = aWrapResult.singleWrap;
-    // TODO: Should factor be omitted from the copy?
-}
+WrapResult::WrapResult(const WrapResult& other)
+    : startPoint{other.startPoint},
+      endPoint{other.endPoint},
+      wrap_pts{other.wrap_pts},
+      wrap_path_length{other.wrap_path_length},
+      r1{other.r1},
+      r2{other.r2},
+      c1{other.c1},
+      sv{other.sv},
+      factor{SimTK::NaN},
+      singleWrap{other.singleWrap} {}
 
-//=============================================================================
-// OPERATORS
-//=============================================================================
-//_____________________________________________________________________________
-/**
- * Assignment operator.
- *
- * @return Reference to this object.
- */
-WrapResult& WrapResult::operator=(const WrapResult& aWrapResult) {
-    if (this != &aWrapResult) {
-        copyData(aWrapResult);
+WrapResult& WrapResult::operator=(const WrapResult& other) {
+    if (this != &other) {
+        startPoint = other.startPoint;
+        endPoint = other.endPoint;
+        wrap_pts = other.wrap_pts;
+        wrap_path_length = other.wrap_path_length;
+        r1 = other.r1;
+        r2 = other.r2;
+        c1 = other.c1;
+        sv = other.sv;
+        factor = SimTK::NaN;
+        singleWrap = other.singleWrap;
     }
 
     return *this;
diff --git a/OpenSim/Simulation/Wrap/WrapResult.h b/OpenSim/Simulation/Wrap/WrapResult.h
index 5c469c49a4..6ca8f5fd63 100644
--- a/OpenSim/Simulation/Wrap/WrapResult.h
+++ b/OpenSim/Simulation/Wrap/WrapResult.h
@@ -69,14 +69,11 @@ class OSIMSIMULATION_API WrapResult
     // CONSTRUCTION
     //--------------------------------------------------------------------------
 public:
-    WrapResult() = default;
+    WrapResult();
     virtual ~WrapResult() = default;
     WrapResult(const WrapResult& other);
     WrapResult& operator=(const WrapResult& aWrapResult);
 
-private:
-    void copyData(const WrapResult& aWrapResult);
-
 //=============================================================================
 };  // END of class WrapResult
 //=============================================================================
diff --git a/dependencies/CMakeLists.txt b/dependencies/CMakeLists.txt
index b126aaa3ad..e7a55a425e 100644
--- a/dependencies/CMakeLists.txt
+++ b/dependencies/CMakeLists.txt
@@ -185,7 +185,7 @@ AddDependency(NAME       ezc3d
 AddDependency(NAME       simbody
               DEFAULT    ON
               GIT_URL    https://github.com/simbody/simbody.git
-              GIT_TAG    77bf63c030e4c30112952602abe120afedbdb1e6
+              GIT_TAG    f9ab12cbad9d0da106473259d34c50577f934f49
               CMAKE_ARGS -DBUILD_EXAMPLES:BOOL=OFF
                          -DBUILD_TESTING:BOOL=OFF
                          ${SIMBODY_EXTRA_CMAKE_ARGS})