diff --git a/.gitignore b/.gitignore
index aaed180..86982c4 100644
--- a/.gitignore
+++ b/.gitignore
@@ -135,3 +135,10 @@ scripts/__testing
 .ruff_cache
 
 webviewer/**
+
+# DEM analysis outputs
+OUTBOX/
+scripts/DEM_Analysis_References/2_Blocks/*.json
+scripts/DEM_Analysis_References/3_Blocks/*.json
+scripts/DEM_Analysis_References/Arch/*.json
+scripts/DEM_Analysis_References/Barrel_Vault/*.json
diff --git a/CHANGELOG.md b/CHANGELOG.md
index 7b31178..64fd775 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -9,12 +9,16 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ### Added
 
-* Added `Problem` class, `BoundaryConditions`, and LMGC90 solver support.
+* Added `Problem` class and `BoundaryConditions` (gravity, body forces, point/surface loads, prescribed displacements/rotations, supports).
+* Added `Solver` abstraction in `compas_dem.problem.solvers` so additional backends can be plugged in alongside CRA, LMGC90, and RBE.
+* Added LMGC90 solver support (`compas_dem.analysis.lmgc90`).
+* Added CRA penalty and RBE solver support (`compas_dem.analysis.cra`), with results written back to the `BlockModel` graph in the same schema as LMGC90.
+* Added `compas_dem.interactions.ContactProperties` and `JointModel` / `MohrCoulomb` for configuring contact behaviour.
+* Added force visualization in `compas_dem.viewer.DEMViewer.add_solution`: per-edge contact resultants, per-support reaction resultants, contact polygons, and reaction labels showing force components and magnitude.
 
 ### Changed
 
-* Fixed ruff F401 false positives on conditional re-exports in `compas_dem.analysis.__init__`.
-* Fixed doctest failures in `Problem` and `BoundaryConditions` docstrings.
+* Fixed Compas_CGAL >= 0.9.1 import error.
 
 ### Removed
 
diff --git a/requirements.txt b/requirements.txt
index 861d667..8a3f893 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -1,4 +1,4 @@
 compas >= 2.4
-compas_cgal ==0.9.1
+compas_cgal >=0.9.1
 compas_libigl >=0.7.4
 compas_model >= 0.9.1
diff --git a/scripts/DEM_Analysis_Guide/DEM_model.json b/scripts/DEM_Analysis_Guide/DEM_model.json
deleted file mode 100644
index 8a5a6c2..0000000
--- a/scripts/DEM_Analysis_Guide/DEM_model.json
+++ /dev/null
@@ -1 +0,0 @@
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diff --git a/scripts/DEM_Analysis_Guide/DEM_problem.json b/scripts/DEM_Analysis_Guide/DEM_problem.json
deleted file mode 100644
index 4a0f8da..0000000
--- a/scripts/DEM_Analysis_Guide/DEM_problem.json
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diff --git a/scripts/DEM_Analysis_Guide/DEM_problem_updated.json b/scripts/DEM_Analysis_Guide/DEM_problem_updated.json
deleted file mode 100644
index 563dba2..0000000
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diff --git a/scripts/DEM_Analysis_Guide/DEM_results.json b/scripts/DEM_Analysis_Guide/DEM_results.json
deleted file mode 100644
index ebb4dfa..0000000
--- a/scripts/DEM_Analysis_Guide/DEM_results.json
+++ /dev/null
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"compas_dem.interactions/ContactProperties", "data": {"name": "ContactProperties", "contact_model": {"dtype": "compas_dem.interactions/MohrCoulomb", "data": {"name": "MohrCoulomb", "phi": 26.565051177077994, "c": null, "t_c": null, "k_n": null, "k_t": null, "mu": 0.5000000000000001}, "name": "MohrCoulomb", "guid": "591951f2-f73a-4d11-a2ba-44dfb06150a8"}, "joint_model": null}, "name": "ContactProperties", "guid": "3b6f036e-e3e9-4376-b815-cd2b011e0913"}}, "name": "Problem", "guid": "ad467cb8-086f-4b6c-ae48-b81e8d8d0de9"}
\ No newline at end of file
diff --git a/scripts/DEM_Analysis_References/2_Blocks/100_init.py b/scripts/DEM_Analysis_References/2_Blocks/100_init.py
new file mode 100644
index 0000000..c6c8282
--- /dev/null
+++ b/scripts/DEM_Analysis_References/2_Blocks/100_init.py
@@ -0,0 +1,52 @@
+import os
+
+import compas
+import compas.geometry as cg
+
+from compas_dem.material import Stone
+from compas_dem.models import BlockModel
+
+# =============================================================================
+# Block Geometry
+# =============================================================================
+
+block_w = 1.0
+block_h = 1.0
+
+
+# Base Plate
+Pl = cg.Box.from_corner_corner_height([0, 0, -0.1], [block_w, block_w, -0.1], 0.1)
+
+block_bot = cg.Box.from_corner_corner_height([0, 0, 0], [block_w, block_w, 0], block_h)
+
+block_top = cg.Box.from_corner_corner_height([0, 0, block_h], [0 + block_w, block_w, block_h], block_h)
+
+blocks: list[cg.Box] = [Pl, block_bot, block_top]
+
+
+model = BlockModel.from_boxes(blocks)
+
+# =============================================================================
+# Compute contacts and supports
+# =============================================================================
+model.compute_contacts()
+for block in model.elements():
+    if block.point.z < 0.1:
+        block.is_support = True
+
+
+# =============================================================================
+# Add material and assign to blocks
+# =============================================================================
+
+limestone = Stone.from_predefined_material("LimeStone")
+model.add_material(limestone)
+limestone.density = 2000
+model.assign_material(limestone, elements=list(model.elements()))
+
+# =============================================================================
+# Json Dump
+# =============================================================================
+
+HERE = os.path.dirname(__file__)
+compas.json_dump(model, os.path.join(HERE, "DEM_model.json"))
diff --git a/scripts/DEM_Analysis_References/2_Blocks/200_SW_Problem.py b/scripts/DEM_Analysis_References/2_Blocks/200_SW_Problem.py
new file mode 100644
index 0000000..77398de
--- /dev/null
+++ b/scripts/DEM_Analysis_References/2_Blocks/200_SW_Problem.py
@@ -0,0 +1,47 @@
+import os
+
+import compas
+
+from compas_dem.problem import Problem
+from compas_dem.viewer import DEMViewer
+
+# =============================================================================
+# Load model
+# =============================================================================
+
+HERE = os.path.dirname(__file__)
+model = compas.json_load(
+    os.path.join(HERE, "DEM_model.json"),
+)
+
+# =============================================================================
+# Create Problem
+# =============================================================================
+
+problem = Problem(model)
+
+# =============================================================================
+# Add supports
+# =============================================================================
+
+problem.add_supports_from_model()
+
+# =============================================================================
+# Add contact properties
+# =============================================================================
+
+problem.add_contact_model("MohrCoulomb", mu=0.5)
+
+# =============================================================================
+# Save problem
+# =============================================================================
+
+HERE = os.path.dirname(__file__)
+compas.json_dump(problem, os.path.join(HERE, "DEM_problem.json"))
+# =============================================================================
+# Visualize problem
+# =============================================================================
+
+viewer = DEMViewer(problem.model)
+viewer.setup()
+viewer.show()
diff --git a/scripts/DEM_Analysis_References/2_Blocks/300_SW_Analysis.py b/scripts/DEM_Analysis_References/2_Blocks/300_SW_Analysis.py
new file mode 100644
index 0000000..cdbf0b2
--- /dev/null
+++ b/scripts/DEM_Analysis_References/2_Blocks/300_SW_Analysis.py
@@ -0,0 +1,39 @@
+import os
+
+import compas
+
+from compas_dem.problem import Solver
+
+# =============================================================================
+# Load Problem
+# =============================================================================
+
+HERE = os.path.dirname(__file__)
+problem = compas.json_load(
+    os.path.join(HERE, "DEM_problem.json"),
+)
+
+# =============================================================================
+# Create Problem
+# =============================================================================
+
+# lmgc90 = Solver.LMGC90(duration=1.0, n_steps=100, urf_threshold=0.001)
+# problem.solve(lmgc90)
+
+lmgc90 = Solver.LMGC90(n_steps=100, dt=0.001)
+problem.solve(lmgc90)
+
+# =============================================================================
+# Save results
+# =============================================================================
+
+HERE = os.path.dirname(__file__)
+compas.json_dump(problem, os.path.join(HERE, "DEM_results.json"))
+
+# # # =============================================================================
+# # # Visualize problem
+# # # =============================================================================
+
+# viewer = DEMViewer(problem.model)
+# viewer.add_solution(scale=0.5)
+# viewer.show()
diff --git a/scripts/DEM_Analysis_References/2_Blocks/300_SW_Analysis_CRA.py b/scripts/DEM_Analysis_References/2_Blocks/300_SW_Analysis_CRA.py
new file mode 100644
index 0000000..24abebd
--- /dev/null
+++ b/scripts/DEM_Analysis_References/2_Blocks/300_SW_Analysis_CRA.py
@@ -0,0 +1,28 @@
+import os
+
+import compas
+
+from compas_dem.problem import Solver
+
+# =============================================================================
+# Load Problem
+# =============================================================================
+
+HERE = os.path.dirname(__file__)
+problem = compas.json_load(
+    os.path.join(HERE, "DEM_problem.json"),
+)
+
+# =============================================================================
+# Create Problem
+# =============================================================================
+
+cra = Solver.CRA(verbose=True)
+problem.solve(cra)
+
+# =============================================================================
+# Save results
+# =============================================================================
+
+HERE = os.path.dirname(__file__)
+compas.json_dump(problem, os.path.join(HERE, "DEM_results.json"))
diff --git a/scripts/DEM_Analysis_References/2_Blocks/301_SW_Viz.py b/scripts/DEM_Analysis_References/2_Blocks/301_SW_Viz.py
new file mode 100644
index 0000000..5493b0f
--- /dev/null
+++ b/scripts/DEM_Analysis_References/2_Blocks/301_SW_Viz.py
@@ -0,0 +1,37 @@
+import os
+
+import compas
+
+from compas_dem.viewer import DEMViewer
+
+# =============================================================================
+# Load Problem
+# =============================================================================
+
+HERE = os.path.dirname(__file__)
+problem = compas.json_load(
+    os.path.join(HERE, "DEM_results.json"),
+)
+
+# =============================================================================
+# Visualize block results
+# =============================================================================
+
+# graph = problem.model.graph
+# for node in graph.nodes():
+#     block_transformation = graph.node_attribute(node, "transformation")
+#     # print(f"Block {node} transformation:\n{block_transformation}\n")
+
+# for edge in graph.edges():
+#     gap = graph.edge_attribute(edge, "gap")
+#     magnitude = graph.edge_attribute(edge, "force_magnitude")
+#     print(f"Edge {edge} gap: {gap}, force magnitude: {magnitude}")
+
+
+# # =============================================================================
+# # Visualize problem
+# # =============================================================================
+
+viewer = DEMViewer(problem.model)
+viewer.add_solution(scale=0.5)
+viewer.show()
diff --git a/scripts/DEM_Analysis_References/3_Blocks/100_init.py b/scripts/DEM_Analysis_References/3_Blocks/100_init.py
new file mode 100644
index 0000000..76bffb9
--- /dev/null
+++ b/scripts/DEM_Analysis_References/3_Blocks/100_init.py
@@ -0,0 +1,54 @@
+import os
+
+import compas
+import compas.geometry as cg
+
+from compas_dem.material import Stone
+from compas_dem.models import BlockModel
+
+# =============================================================================
+# Block Geometry
+# =============================================================================
+
+block_w = 1.0
+block_h = 1.0
+gap = 0.1
+
+total_w = 2 * block_w + gap
+
+# Base Plate
+Pl = cg.Box.from_corner_corner_height([0, 0, -0.1], [total_w, block_w, -0.1], 0.1)
+
+base_left = cg.Box.from_corner_corner_height([0, 0, 0], [block_w, block_w, 0], block_h)
+base_right = cg.Box.from_corner_corner_height([block_w + gap, 0, 0], [total_w, block_w, 0], block_h)
+top_x = (total_w - block_w) / 2
+top = cg.Box.from_corner_corner_height([top_x, 0, block_h], [top_x + block_w, block_w, block_h], block_h)
+
+blocks: list[cg.Box] = [Pl, base_left, base_right, top]
+
+
+model = BlockModel.from_boxes(blocks)
+
+# =============================================================================
+# Compute contacts and supports
+# =============================================================================
+model.compute_contacts()
+for block in model.elements():
+    if block.point.z < 0.1:
+        block.is_support = True
+
+# =============================================================================
+# Add material and assign to blocks
+# =============================================================================
+
+limestone = Stone.from_predefined_material("LimeStone")
+model.add_material(limestone)
+limestone.density = 2000
+model.assign_material(limestone, elements=list(model.elements()))
+
+# =============================================================================
+# Json Dump
+# =============================================================================
+
+HERE = os.path.dirname(__file__)
+compas.json_dump(model, os.path.join(HERE, "DEM_model.json"))
diff --git a/scripts/DEM_Analysis_References/3_Blocks/200_SW_Problem.py b/scripts/DEM_Analysis_References/3_Blocks/200_SW_Problem.py
new file mode 100644
index 0000000..77398de
--- /dev/null
+++ b/scripts/DEM_Analysis_References/3_Blocks/200_SW_Problem.py
@@ -0,0 +1,47 @@
+import os
+
+import compas
+
+from compas_dem.problem import Problem
+from compas_dem.viewer import DEMViewer
+
+# =============================================================================
+# Load model
+# =============================================================================
+
+HERE = os.path.dirname(__file__)
+model = compas.json_load(
+    os.path.join(HERE, "DEM_model.json"),
+)
+
+# =============================================================================
+# Create Problem
+# =============================================================================
+
+problem = Problem(model)
+
+# =============================================================================
+# Add supports
+# =============================================================================
+
+problem.add_supports_from_model()
+
+# =============================================================================
+# Add contact properties
+# =============================================================================
+
+problem.add_contact_model("MohrCoulomb", mu=0.5)
+
+# =============================================================================
+# Save problem
+# =============================================================================
+
+HERE = os.path.dirname(__file__)
+compas.json_dump(problem, os.path.join(HERE, "DEM_problem.json"))
+# =============================================================================
+# Visualize problem
+# =============================================================================
+
+viewer = DEMViewer(problem.model)
+viewer.setup()
+viewer.show()
diff --git a/scripts/DEM_Analysis_References/3_Blocks/300_SW_Analysis.py b/scripts/DEM_Analysis_References/3_Blocks/300_SW_Analysis.py
new file mode 100644
index 0000000..cdbf0b2
--- /dev/null
+++ b/scripts/DEM_Analysis_References/3_Blocks/300_SW_Analysis.py
@@ -0,0 +1,39 @@
+import os
+
+import compas
+
+from compas_dem.problem import Solver
+
+# =============================================================================
+# Load Problem
+# =============================================================================
+
+HERE = os.path.dirname(__file__)
+problem = compas.json_load(
+    os.path.join(HERE, "DEM_problem.json"),
+)
+
+# =============================================================================
+# Create Problem
+# =============================================================================
+
+# lmgc90 = Solver.LMGC90(duration=1.0, n_steps=100, urf_threshold=0.001)
+# problem.solve(lmgc90)
+
+lmgc90 = Solver.LMGC90(n_steps=100, dt=0.001)
+problem.solve(lmgc90)
+
+# =============================================================================
+# Save results
+# =============================================================================
+
+HERE = os.path.dirname(__file__)
+compas.json_dump(problem, os.path.join(HERE, "DEM_results.json"))
+
+# # # =============================================================================
+# # # Visualize problem
+# # # =============================================================================
+
+# viewer = DEMViewer(problem.model)
+# viewer.add_solution(scale=0.5)
+# viewer.show()
diff --git a/scripts/DEM_Analysis_References/3_Blocks/300_SW_Analysis_CRA.py b/scripts/DEM_Analysis_References/3_Blocks/300_SW_Analysis_CRA.py
new file mode 100644
index 0000000..24abebd
--- /dev/null
+++ b/scripts/DEM_Analysis_References/3_Blocks/300_SW_Analysis_CRA.py
@@ -0,0 +1,28 @@
+import os
+
+import compas
+
+from compas_dem.problem import Solver
+
+# =============================================================================
+# Load Problem
+# =============================================================================
+
+HERE = os.path.dirname(__file__)
+problem = compas.json_load(
+    os.path.join(HERE, "DEM_problem.json"),
+)
+
+# =============================================================================
+# Create Problem
+# =============================================================================
+
+cra = Solver.CRA(verbose=True)
+problem.solve(cra)
+
+# =============================================================================
+# Save results
+# =============================================================================
+
+HERE = os.path.dirname(__file__)
+compas.json_dump(problem, os.path.join(HERE, "DEM_results.json"))
diff --git a/scripts/DEM_Analysis_References/3_Blocks/301_SW_Viz.py b/scripts/DEM_Analysis_References/3_Blocks/301_SW_Viz.py
new file mode 100644
index 0000000..5493b0f
--- /dev/null
+++ b/scripts/DEM_Analysis_References/3_Blocks/301_SW_Viz.py
@@ -0,0 +1,37 @@
+import os
+
+import compas
+
+from compas_dem.viewer import DEMViewer
+
+# =============================================================================
+# Load Problem
+# =============================================================================
+
+HERE = os.path.dirname(__file__)
+problem = compas.json_load(
+    os.path.join(HERE, "DEM_results.json"),
+)
+
+# =============================================================================
+# Visualize block results
+# =============================================================================
+
+# graph = problem.model.graph
+# for node in graph.nodes():
+#     block_transformation = graph.node_attribute(node, "transformation")
+#     # print(f"Block {node} transformation:\n{block_transformation}\n")
+
+# for edge in graph.edges():
+#     gap = graph.edge_attribute(edge, "gap")
+#     magnitude = graph.edge_attribute(edge, "force_magnitude")
+#     print(f"Edge {edge} gap: {gap}, force magnitude: {magnitude}")
+
+
+# # =============================================================================
+# # Visualize problem
+# # =============================================================================
+
+viewer = DEMViewer(problem.model)
+viewer.add_solution(scale=0.5)
+viewer.show()
diff --git a/scripts/DEM_Analysis_Guide/100_init.py b/scripts/DEM_Analysis_References/Arch/100_init.py
similarity index 100%
rename from scripts/DEM_Analysis_Guide/100_init.py
rename to scripts/DEM_Analysis_References/Arch/100_init.py
diff --git a/scripts/DEM_Analysis_Guide/200_SW_Problem.py b/scripts/DEM_Analysis_References/Arch/200_SW_Problem.py
similarity index 100%
rename from scripts/DEM_Analysis_Guide/200_SW_Problem.py
rename to scripts/DEM_Analysis_References/Arch/200_SW_Problem.py
diff --git a/scripts/DEM_Analysis_Guide/300_SW_Analysis.py b/scripts/DEM_Analysis_References/Arch/300_SW_Analysis.py
similarity index 92%
rename from scripts/DEM_Analysis_Guide/300_SW_Analysis.py
rename to scripts/DEM_Analysis_References/Arch/300_SW_Analysis.py
index 52092c7..0aec19b 100644
--- a/scripts/DEM_Analysis_Guide/300_SW_Analysis.py
+++ b/scripts/DEM_Analysis_References/Arch/300_SW_Analysis.py
@@ -21,8 +21,8 @@
 # lmgc90 = Solver.LMGC90(duration=1.0, n_steps=100, urf_threshold=0.001)
 # problem.solve(lmgc90)
 
-rbe = Solver.RBE(verbose=True)
-problem.solve(rbe)
+lmgc90 = Solver.LMGC90(n_steps=100, dt=0.001)
+problem.solve(lmgc90)
 
 # =============================================================================
 # Save results
@@ -36,5 +36,5 @@
 # # =============================================================================
 
 viewer = DEMViewer(problem.model)
-viewer.add_solution(scale=10e-12)
+viewer.add_solution(scale=0.5)
 viewer.show()
diff --git a/scripts/DEM_Analysis_References/Arch/300_SW_Analysis_CRA.py b/scripts/DEM_Analysis_References/Arch/300_SW_Analysis_CRA.py
new file mode 100644
index 0000000..24abebd
--- /dev/null
+++ b/scripts/DEM_Analysis_References/Arch/300_SW_Analysis_CRA.py
@@ -0,0 +1,28 @@
+import os
+
+import compas
+
+from compas_dem.problem import Solver
+
+# =============================================================================
+# Load Problem
+# =============================================================================
+
+HERE = os.path.dirname(__file__)
+problem = compas.json_load(
+    os.path.join(HERE, "DEM_problem.json"),
+)
+
+# =============================================================================
+# Create Problem
+# =============================================================================
+
+cra = Solver.CRA(verbose=True)
+problem.solve(cra)
+
+# =============================================================================
+# Save results
+# =============================================================================
+
+HERE = os.path.dirname(__file__)
+compas.json_dump(problem, os.path.join(HERE, "DEM_results.json"))
diff --git a/scripts/DEM_Analysis_Guide/301_SW_Viz.py b/scripts/DEM_Analysis_References/Arch/301_SW_Viz.py
similarity index 97%
rename from scripts/DEM_Analysis_Guide/301_SW_Viz.py
rename to scripts/DEM_Analysis_References/Arch/301_SW_Viz.py
index 164976f..e2fa016 100644
--- a/scripts/DEM_Analysis_Guide/301_SW_Viz.py
+++ b/scripts/DEM_Analysis_References/Arch/301_SW_Viz.py
@@ -32,5 +32,5 @@
 # # =============================================================================
 
 viewer = DEMViewer(problem.model)
-viewer.add_solution(scale=10e-10)
+viewer.add_solution(scale=0.5)
 viewer.show()
diff --git a/scripts/DEM_Analysis_Guide/400_Point_Load_Problem.py b/scripts/DEM_Analysis_References/Arch/400_Point_Load_Problem.py
similarity index 96%
rename from scripts/DEM_Analysis_Guide/400_Point_Load_Problem.py
rename to scripts/DEM_Analysis_References/Arch/400_Point_Load_Problem.py
index acb895f..5ae2b99 100644
--- a/scripts/DEM_Analysis_Guide/400_Point_Load_Problem.py
+++ b/scripts/DEM_Analysis_References/Arch/400_Point_Load_Problem.py
@@ -3,7 +3,6 @@
 import compas
 
 from compas_dem.problem import Problem
-from compas_dem.viewer import DEMViewer
 
 # =============================================================================
 # Load Problem
@@ -23,6 +22,7 @@
 # =============================================================================
 # Save results
 # =============================================================================
+problem.inspect_model()
 
 HERE = os.path.dirname(__file__)
 compas.json_dump(problem, os.path.join(HERE, "DEM_problem_updated.json"))
diff --git a/scripts/DEM_Analysis_Guide/401_Load_Analysis.py b/scripts/DEM_Analysis_References/Arch/401_Load_Analysis.py
similarity index 96%
rename from scripts/DEM_Analysis_Guide/401_Load_Analysis.py
rename to scripts/DEM_Analysis_References/Arch/401_Load_Analysis.py
index e89a073..3fe6a7b 100644
--- a/scripts/DEM_Analysis_Guide/401_Load_Analysis.py
+++ b/scripts/DEM_Analysis_References/Arch/401_Load_Analysis.py
@@ -4,7 +4,6 @@
 
 from compas_dem.problem import Problem
 from compas_dem.problem import Solver
-from compas_dem.viewer import DEMViewer
 
 # =============================================================================
 # Load Problem
diff --git a/scripts/DEM_Analysis_Guide/402_Load_Viz.py b/scripts/DEM_Analysis_References/Arch/402_Load_Viz.py
similarity index 100%
rename from scripts/DEM_Analysis_Guide/402_Load_Viz.py
rename to scripts/DEM_Analysis_References/Arch/402_Load_Viz.py
diff --git a/scripts/DEM_Analysis_Guide/500_Displacement_Problem.py b/scripts/DEM_Analysis_References/Arch/500_Displacement_Problem.py
similarity index 100%
rename from scripts/DEM_Analysis_Guide/500_Displacement_Problem.py
rename to scripts/DEM_Analysis_References/Arch/500_Displacement_Problem.py
diff --git a/scripts/DEM_Analysis_Guide/501_Displacement_Analysis.py b/scripts/DEM_Analysis_References/Arch/501_Displacement_Analysis.py
similarity index 100%
rename from scripts/DEM_Analysis_Guide/501_Displacement_Analysis.py
rename to scripts/DEM_Analysis_References/Arch/501_Displacement_Analysis.py
diff --git a/scripts/DEM_Analysis_Guide/502_Displacement_Viz.py b/scripts/DEM_Analysis_References/Arch/502_Displacement_Viz.py
similarity index 100%
rename from scripts/DEM_Analysis_Guide/502_Displacement_Viz.py
rename to scripts/DEM_Analysis_References/Arch/502_Displacement_Viz.py
diff --git a/scripts/DEM_Analysis_References/Arch_Max_min_TL/dem_arch_max_TL.py b/scripts/DEM_Analysis_References/Arch_Max_min_TL/dem_arch_max_TL.py
new file mode 100644
index 0000000..9222327
--- /dev/null
+++ b/scripts/DEM_Analysis_References/Arch_Max_min_TL/dem_arch_max_TL.py
@@ -0,0 +1,59 @@
+from compas_dem.material import Stone
+from compas_dem.models import BlockModel
+from compas_dem.problem import Problem
+from compas_dem.problem import Solver
+from compas_dem.templates import ArchTemplate
+from compas_dem.viewer import DEMViewer
+
+# =============================================================================
+# Template
+# =============================================================================
+
+template = ArchTemplate(rise=3, span=10, thickness=0.5, depth=0.5, n=50)
+
+# =============================================================================
+# Model
+# =============================================================================
+
+model = BlockModel.from_template(template)
+
+# =============================================================================
+# Interactions
+# =============================================================================
+
+model.compute_contacts(tolerance=0.001)
+
+# =============================================================================
+# Supports
+# =============================================================================
+
+for node in model.graph.nodes_where(degree=1):
+    model.graph.node_element(node).is_support = True  # type: ignore
+
+# =============================================================================
+# Material
+# =============================================================================
+limestone = Stone.from_predefined_material("LimeStone")
+model.add_material(limestone)
+limestone.density = 2000
+model.assign_material(limestone, elements=list(model.elements()))
+
+# =============================================================================
+# Problem
+# =============================================================================
+problem = Problem(model)
+problem.add_contact_model("MohrCoulomb", phi=40, c=0)
+problem.add_support(49)
+
+problem.add_displacement(block_index=0, displacement=[-0.1, 0, 0], rotation=[0, 0, 0])
+lmgc90 = Solver.LMGC90(n_steps=100, dt=0.01)
+solution = problem.solve(lmgc90)
+# =============================================================================
+# Viz
+# =============================================================================
+
+viewer = DEMViewer(model)
+
+viewer.setup()
+viewer.add_solution(scale=0.5)
+viewer.show()
diff --git a/scripts/DEM_Analysis_References/Arch_Max_min_TL/dem_arch_min_TL.py b/scripts/DEM_Analysis_References/Arch_Max_min_TL/dem_arch_min_TL.py
new file mode 100644
index 0000000..dcbab05
--- /dev/null
+++ b/scripts/DEM_Analysis_References/Arch_Max_min_TL/dem_arch_min_TL.py
@@ -0,0 +1,59 @@
+from compas_dem.material import Stone
+from compas_dem.models import BlockModel
+from compas_dem.problem import Problem
+from compas_dem.problem import Solver
+from compas_dem.templates import ArchTemplate
+from compas_dem.viewer import DEMViewer
+
+# =============================================================================
+# Template
+# =============================================================================
+
+template = ArchTemplate(rise=3, span=10, thickness=0.5, depth=0.5, n=50)
+
+# =============================================================================
+# Model
+# =============================================================================
+
+model = BlockModel.from_template(template)
+
+# =============================================================================
+# Interactions
+# =============================================================================
+
+model.compute_contacts(tolerance=0.001)
+
+# =============================================================================
+# Supports
+# =============================================================================
+
+for node in model.graph.nodes_where(degree=1):
+    model.graph.node_element(node).is_support = True  # type: ignore
+
+# =============================================================================
+# Material
+# =============================================================================
+limestone = Stone.from_predefined_material("LimeStone")
+model.add_material(limestone)
+limestone.density = 2000
+model.assign_material(limestone, elements=list(model.elements()))
+
+# =============================================================================
+# Problem
+# =============================================================================
+problem = Problem(model)
+problem.add_contact_model("MohrCoulomb", phi=40, c=0)
+problem.add_support(49)
+
+problem.add_displacement(block_index=0, displacement=[0.1, 0, 0], rotation=[0, 0, 0])
+lmgc90 = Solver.LMGC90(n_steps=100, dt=0.01)
+solution = problem.solve(lmgc90)
+# =============================================================================
+# Viz
+# =============================================================================
+
+viewer = DEMViewer(model)
+
+viewer.setup()
+viewer.add_solution(scale=0.5)
+viewer.show()
diff --git a/scripts/DEM_Analysis_References/Barrel_Vault/100_init.py b/scripts/DEM_Analysis_References/Barrel_Vault/100_init.py
new file mode 100644
index 0000000..ed684b8
--- /dev/null
+++ b/scripts/DEM_Analysis_References/Barrel_Vault/100_init.py
@@ -0,0 +1,42 @@
+import os
+
+import compas
+
+from compas_dem.material import Stone
+from compas_dem.models import BlockModel
+from compas_dem.templates import BarrelVaultTemplate
+
+# =============================================================================
+# Template
+# =============================================================================
+
+template = BarrelVaultTemplate(length=3, span=7, rise=0.1, vou_length=13)
+
+# =============================================================================
+# Block model
+# =============================================================================
+
+model = BlockModel.from_barrelvault(template)
+
+# =============================================================================
+# Compute contacts and supports
+# =============================================================================
+model.compute_contacts()
+for node in model.graph.nodes_where(degree=1):
+    model.graph.node_element(node).is_support = True  # type: ignore
+
+# =============================================================================
+# Add material and assign to blocks
+# =============================================================================
+
+limestone = Stone.from_predefined_material("LimeStone")
+model.add_material(limestone)
+limestone.density = 2000
+model.assign_material(limestone, elements=list(model.elements()))
+
+# =============================================================================
+# Json Dump
+# =============================================================================
+
+HERE = os.path.dirname(__file__)
+compas.json_dump(model, os.path.join(HERE, "DEM_model.json"))
diff --git a/scripts/DEM_Analysis_References/Barrel_Vault/200_SW_Problem.py b/scripts/DEM_Analysis_References/Barrel_Vault/200_SW_Problem.py
new file mode 100644
index 0000000..77398de
--- /dev/null
+++ b/scripts/DEM_Analysis_References/Barrel_Vault/200_SW_Problem.py
@@ -0,0 +1,47 @@
+import os
+
+import compas
+
+from compas_dem.problem import Problem
+from compas_dem.viewer import DEMViewer
+
+# =============================================================================
+# Load model
+# =============================================================================
+
+HERE = os.path.dirname(__file__)
+model = compas.json_load(
+    os.path.join(HERE, "DEM_model.json"),
+)
+
+# =============================================================================
+# Create Problem
+# =============================================================================
+
+problem = Problem(model)
+
+# =============================================================================
+# Add supports
+# =============================================================================
+
+problem.add_supports_from_model()
+
+# =============================================================================
+# Add contact properties
+# =============================================================================
+
+problem.add_contact_model("MohrCoulomb", mu=0.5)
+
+# =============================================================================
+# Save problem
+# =============================================================================
+
+HERE = os.path.dirname(__file__)
+compas.json_dump(problem, os.path.join(HERE, "DEM_problem.json"))
+# =============================================================================
+# Visualize problem
+# =============================================================================
+
+viewer = DEMViewer(problem.model)
+viewer.setup()
+viewer.show()
diff --git a/scripts/DEM_Analysis_References/Barrel_Vault/300_SW_Analysis.py b/scripts/DEM_Analysis_References/Barrel_Vault/300_SW_Analysis.py
new file mode 100644
index 0000000..cdbf0b2
--- /dev/null
+++ b/scripts/DEM_Analysis_References/Barrel_Vault/300_SW_Analysis.py
@@ -0,0 +1,39 @@
+import os
+
+import compas
+
+from compas_dem.problem import Solver
+
+# =============================================================================
+# Load Problem
+# =============================================================================
+
+HERE = os.path.dirname(__file__)
+problem = compas.json_load(
+    os.path.join(HERE, "DEM_problem.json"),
+)
+
+# =============================================================================
+# Create Problem
+# =============================================================================
+
+# lmgc90 = Solver.LMGC90(duration=1.0, n_steps=100, urf_threshold=0.001)
+# problem.solve(lmgc90)
+
+lmgc90 = Solver.LMGC90(n_steps=100, dt=0.001)
+problem.solve(lmgc90)
+
+# =============================================================================
+# Save results
+# =============================================================================
+
+HERE = os.path.dirname(__file__)
+compas.json_dump(problem, os.path.join(HERE, "DEM_results.json"))
+
+# # # =============================================================================
+# # # Visualize problem
+# # # =============================================================================
+
+# viewer = DEMViewer(problem.model)
+# viewer.add_solution(scale=0.5)
+# viewer.show()
diff --git a/scripts/DEM_Analysis_References/Barrel_Vault/300_SW_Analysis_CRA.py b/scripts/DEM_Analysis_References/Barrel_Vault/300_SW_Analysis_CRA.py
new file mode 100644
index 0000000..24abebd
--- /dev/null
+++ b/scripts/DEM_Analysis_References/Barrel_Vault/300_SW_Analysis_CRA.py
@@ -0,0 +1,28 @@
+import os
+
+import compas
+
+from compas_dem.problem import Solver
+
+# =============================================================================
+# Load Problem
+# =============================================================================
+
+HERE = os.path.dirname(__file__)
+problem = compas.json_load(
+    os.path.join(HERE, "DEM_problem.json"),
+)
+
+# =============================================================================
+# Create Problem
+# =============================================================================
+
+cra = Solver.CRA(verbose=True)
+problem.solve(cra)
+
+# =============================================================================
+# Save results
+# =============================================================================
+
+HERE = os.path.dirname(__file__)
+compas.json_dump(problem, os.path.join(HERE, "DEM_results.json"))
diff --git a/scripts/DEM_Analysis_References/Barrel_Vault/400_SW_Viz.py b/scripts/DEM_Analysis_References/Barrel_Vault/400_SW_Viz.py
new file mode 100644
index 0000000..6d64f88
--- /dev/null
+++ b/scripts/DEM_Analysis_References/Barrel_Vault/400_SW_Viz.py
@@ -0,0 +1,36 @@
+import os
+
+import compas
+
+from compas_dem.viewer import DEMViewer
+
+# =============================================================================
+# Load Problem
+# =============================================================================
+
+HERE = os.path.dirname(__file__)
+problem = compas.json_load(
+    os.path.join(HERE, "DEM_results.json"),
+)
+
+# =============================================================================
+# Visualize block results
+# =============================================================================
+# graph = problem.model.graph
+# for node in graph.nodes():
+#     block_transformation = graph.node_attribute(node, "transformation")
+#     # print(f"Block {node} transformation:\n{block_transformation}\n")
+
+# for edge in graph.edges():
+#     gap = graph.edge_attribute(edge, "gap")
+#     magnitude = graph.edge_attribute(edge, "force_magnitude")
+#     print(f"Edge {edge} gap: {gap}, force magnitude: {magnitude}")
+
+
+# # =============================================================================
+# # Visualize problem
+# # =============================================================================
+
+viewer = DEMViewer(problem.model)
+viewer.add_solution(scale=0.5)
+viewer.show()
diff --git a/scripts/DEM_Analysis_References/Barrel_Vault/DEM_model.json b/scripts/DEM_Analysis_References/Barrel_Vault/DEM_model.json
new file mode 100644
index 0000000..f739f31
--- /dev/null
+++ b/scripts/DEM_Analysis_References/Barrel_Vault/DEM_model.json
@@ -0,0 +1,38892 @@
+{
+    "dtype": "compas_dem.models/BlockModel",
+    "data": {
+        "transformation": null,
+        "elements": {
+            "1edb384a-5b2e-4d66-b320-ca881aea426d": {
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diff --git a/scripts/DEM_Analysis_References/Barrel_Vault/DEM_problem.json b/scripts/DEM_Analysis_References/Barrel_Vault/DEM_problem.json
new file mode 100644
index 0000000..2c982c2
--- /dev/null
+++ b/scripts/DEM_Analysis_References/Barrel_Vault/DEM_problem.json
@@ -0,0 +1 @@
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diff --git a/scripts/DEM_Analysis_References/Barrel_Vault/DEM_results.json b/scripts/DEM_Analysis_References/Barrel_Vault/DEM_results.json
new file mode 100644
index 0000000..d23ba94
--- /dev/null
+++ b/scripts/DEM_Analysis_References/Barrel_Vault/DEM_results.json
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0.33865951755864077], "xaxis": [0.0, 0.9999999999983719, -1.8045402770371089e-06], "yaxis": [0.019041190680085158, -1.8042131140543543e-06, -0.9998187000922866]}, "guid": "d0d30060-5caf-4a82-8abb-816930ef9607"}, "size": null, "mesh": null, "name": "FrictionContact", "forces": [{"c_np": 1984.501735157289, "c_nn": 0, "c_u": 20.415996079435686, "c_v": 158.14616416794524}, {"c_np": 487.39434258644434, "c_nn": 0, "c_u": 4.424558186014291, "c_v": 87.35174264333013}, {"c_np": 493.41459831494205, "c_nn": 0, "c_u": 11.475720916472428, "c_v": 77.20214731455756}, {"c_np": 2112.7767842619805, "c_nn": 0, "c_u": 23.84559506479562, "c_v": 151.2413689277205}]}, "guid": "02922b2a-f95c-47ba-8702-cbceeb08408b"}, "contact_frames": [{"dtype": "compas.geometry/Frame", "data": {"point": [-1.1696111029676195, 1.5000000133298832, 0.33865951755864077], "xaxis": [0.0, 0.9999999999983719, -1.8045402770371089e-06], "yaxis": [-0.9998187000939145, -3.4360595504957294e-08, -0.01904119068005416]}, "guid": "8c256e05-e5d1-47ce-9565-bfb2cf821f12"}, {"dtype": "compas.geometry/Frame", "data": {"point": [-1.164850805581334, 1.4999999646079838, 0.08870485743330274], "xaxis": [0.0, 0.9999999999983719, -1.8045402770371089e-06], "yaxis": [-0.9998187000939145, -3.4360595504957294e-08, -0.01904119068005416]}, "guid": "c5fdec99-a1f8-431e-a6df-5d4b2ae0edcb"}, {"dtype": "compas.geometry/Frame", "data": {"point": [-1.164850802034636, 1.3846153486500987, 0.0887048794187444], "xaxis": [0.0, 0.9999999999983719, -1.8045402770371089e-06], "yaxis": [-0.9998187000939145, -3.4360595504957294e-08, -0.01904119068005416]}, "guid": "497fd303-b5a5-4760-8727-953e3c38ada0"}, {"dtype": "compas.geometry/Frame", "data": {"point": [-1.1696110997046572, 1.3846154048226056, 0.3386595544425286], "xaxis": [0.0, 0.9999999999983719, -1.8045402770371089e-06], "yaxis": [-0.9998187000939145, -3.4360595504957294e-08, -0.01904119068005416]}, "guid": "cfaf1e42-ad97-4d43-9e2e-bc8fbf0ad305"}]}}, "112": {"120": {"contacts": [{"dtype": "compas_dem.interactions/FrictionContact", "data": {"points": [{"dtype": "compas.geometry/Point", "data": [-2.717255128305899, 1.3846153846153844, 0.03941912684456511], "guid": "92d8ebde-d519-454a-8b9e-fc2f7466f3bd"}, {"dtype": "compas.geometry/Point", "data": [-2.728359562831056, 1.3846153846153844, 0.2891723881523536], "guid": "348e81f8-4ea0-41c2-8a8d-56d50a0390a1"}, {"dtype": "compas.geometry/Point", "data": [-2.728359562831056, 1.4999999999999998, 0.2891723881523536], "guid": "1114a9ea-ed24-4459-a71c-ed4af536980f"}, {"dtype": "compas.geometry/Point", "data": [-2.717255128305899, 1.4999999999999998, 0.03941912684456511], "guid": "aca95ed8-3c3d-4c52-ad1b-49d96361f145"}], "frame": {"dtype": "compas.geometry/Frame", "data": {"point": [-2.7228073455684774, 1.442307692307692, 0.16429575749845934], "xaxis": [-0.04441773810062878, 0.0, 0.9990130452311541], "yaxis": [0.0, -1.0, 0.0]}, "guid": "59a62f7e-18a9-4fb7-8130-3ad2d8098bf5"}, "size": 0.028846153846153848, "mesh": null, "name": "FrictionContact", "forces": []}, "name": "FrictionContact", "guid": "4c797019-bd8a-494d-be5d-4ad63b161729"}], "contact_point": [[-2.7283595584581932, 1.3846153882692125, 0.289172389784939], [-2.7283595574653803, 1.4999999893257903, 0.2891723831962373], [-2.717255132032555, 1.4999999935952661, 0.03941913640006986], [-2.717255132363493, 1.3846153776375294, 0.039419128102315064]], "force_normal": [5.69198924714785, 5.619333455891916, 2392.7334656487596, 2368.0422540725767], "force_tangent1": [0.105310794708899, 0.008059504793294163, 64.43406732915082, -1.4254070858973407], "force_tangent2": [0.5613996583630462, 0.6426812105698305, -528.6431459350297, -382.20224293485836], "gap": [-9.388469847831956e-09, -9.387683278951669e-09, -9.399393899551804e-09, -9.39862749486903e-09], "status": ["stic", "stic", "stic", "stic"], "force_magnitude": 4858.4201589031145, "force_vector": [[-5.711307603813839, 0.1053107526881753, 0.30802050179427154], [-5.642333860386005, 0.008059451254675052, 0.39244902309756685], [-2366.890834553727, 64.43415387532151, -634.4011187979742], [-2348.728560787964, -1.4253406473643826, -487.00802817393713]], "force": [-4726.973036805891, 63.122183431899984, -1120.7086774470195], "face_contact": true, "point_contact": false, "edge_contact": false, "contact_frame": {"dtype": "compas.geometry/Frame", "data": {"point": [-2.7283595584581932, 1.3846153882692125, 0.289172389784939], "xaxis": [-0.0, 0.9999999999999907, 1.3642184343558877e-07], "yaxis": [-0.9990130467304805, 6.059545112533264e-09, -0.04441770437880211]}, "guid": "87b73e8e-fca2-4538-9c3f-5865641aac44"}, "contact_polygon": {"dtype": "compas.geometry/Polygon", "data": {"points": [[-2.7283595584581932, 1.3846153882692125, 0.289172389784939], [-2.7283595574653803, 1.4999999893257903, 0.2891723831962373], [-2.717255132032555, 1.4999999935952661, 0.03941913640006986], [-2.717255132363493, 1.3846153776375294, 0.039419128102315064]]}, "guid": "09c4c58f-1dd6-494c-912d-ca9602114096"}, "contact_data": {"dtype": "compas_dem.interactions/FrictionContact", "data": {"points": [{"dtype": "compas.geometry/Point", "data": [-2.7283595584581932, 1.3846153882692125, 0.289172389784939], "guid": "97ea7790-1da9-4fb4-ab5d-67ef60a4accc"}, {"dtype": "compas.geometry/Point", "data": [-2.7283595574653803, 1.4999999893257903, 0.2891723831962373], "guid": "edcdcf6f-bcbd-46fe-8d2c-06885d94db97"}, {"dtype": "compas.geometry/Point", "data": [-2.717255132032555, 1.4999999935952661, 0.03941913640006986], "guid": "d6602a7d-a093-46a4-b405-4207a42464ec"}, {"dtype": "compas.geometry/Point", "data": [-2.717255132363493, 1.3846153776375294, 0.039419128102315064], "guid": "09790a6d-2b13-47f5-9683-41b6fe6cb4d1"}], "frame": {"dtype": "compas.geometry/Frame", "data": {"point": [-2.7283595584581932, 1.3846153882692125, 0.289172389784939], "xaxis": [-0.0, 0.9999999999999907, 1.3642184343558877e-07], "yaxis": [0.04441770437880252, 1.3628720145117615e-07, -0.9990130467304712]}, "guid": "d3f241e4-b6ff-4df7-9426-a52e6aec5976"}, "size": null, "mesh": null, "name": "FrictionContact", "forces": [{"c_np": 5.691989247147849, "c_nn": 0, "c_u": 0.105310794708899, "c_v": -0.5613996583630461}, {"c_np": 5.6193334558919155, "c_nn": 0, "c_u": 0.008059504793294163, "c_v": -0.6426812105698305}, {"c_np": 2392.733465648759, "c_nn": 0, "c_u": 64.4340673291508, "c_v": 528.6431459350297}, {"c_np": 2368.0422540725763, "c_nn": 0, "c_u": -1.4254070858973407, "c_v": 382.2022429348583}]}, "guid": "be2b4dd1-cc2b-4f4f-b9bd-7e231d3c5355"}, "contact_frames": [{"dtype": "compas.geometry/Frame", "data": {"point": [-2.7283595584581932, 1.3846153882692125, 0.289172389784939], "xaxis": [-0.0, 0.9999999999999907, 1.3642184343558877e-07], "yaxis": [-0.9990130467304805, 6.059545112533264e-09, -0.04441770437880211]}, "guid": "9a474244-5571-4793-a1c3-8265e74198af"}, {"dtype": "compas.geometry/Frame", "data": {"point": [-2.7283595574653803, 1.4999999893257903, 0.2891723831962373], "xaxis": [-0.0, 0.9999999999999907, 1.3642184343558877e-07], "yaxis": [-0.9990130467304805, 6.059545112533264e-09, -0.04441770437880211]}, "guid": "44051749-d75d-423a-b586-9a3d2b220c05"}, {"dtype": "compas.geometry/Frame", "data": {"point": [-2.717255132032555, 1.4999999935952661, 0.03941913640006986], "xaxis": [-0.0, 0.9999999999999907, 1.3642184343558877e-07], "yaxis": [-0.9990130467304805, 6.059545112533264e-09, -0.04441770437880211]}, "guid": "0ec3598f-6d20-4c22-8234-177797331cd8"}, {"dtype": "compas.geometry/Frame", "data": {"point": [-2.717255132363493, 1.3846153776375294, 0.039419128102315064], "xaxis": [-0.0, 0.9999999999999907, 1.3642184343558877e-07], "yaxis": [-0.9990130467304805, 6.059545112533264e-09, -0.04441770437880211]}, "guid": "6b566181-b364-42ce-a2bf-85e9c47d68e9"}]}}, "113": {}, "114": {}, "115": {}, "116": {}, "117": {}, "118": {}, "119": {}, "120": {}}, "max_node": 120}}, "inheritance": ["compas_model.models/Model"], "guid": "728ee1da-56de-40ff-a5e9-e98dc9caeb72"}, "boundary_conditions": {"dtype": "compas_dem.problem/BoundaryConditions", "data": {"name": "BoundaryConditions", "gravity": false, "g": 9.81, "body_forces": [], "point_loads": [], "surface_loads": [], "displacements": [{"block_index": 0, "translation": [0.0, 0.0, 0.0], "rotation": [0.0, 0.0, 0.0]}, {"block_index": 8, "translation": [0.0, 0.0, 0.0], "rotation": [0.0, 0.0, 0.0]}, {"block_index": 9, "translation": [0.0, 0.0, 0.0], "rotation": [0.0, 0.0, 0.0]}, {"block_index": 17, "translation": [0.0, 0.0, 0.0], "rotation": [0.0, 0.0, 0.0]}, {"block_index": 18, "translation": [0.0, 0.0, 0.0], "rotation": [0.0, 0.0, 0.0]}, {"block_index": 26, "translation": [0.0, 0.0, 0.0], "rotation": [0.0, 0.0, 0.0]}, {"block_index": 27, "translation": [0.0, 0.0, 0.0], "rotation": [0.0, 0.0, 0.0]}, {"block_index": 35, "translation": [0.0, 0.0, 0.0], "rotation": [0.0, 0.0, 0.0]}, {"block_index": 36, "translation": [0.0, 0.0, 0.0], "rotation": [0.0, 0.0, 0.0]}, {"block_index": 44, "translation": [0.0, 0.0, 0.0], "rotation": [0.0, 0.0, 0.0]}, {"block_index": 45, "translation": [0.0, 0.0, 0.0], "rotation": [0.0, 0.0, 0.0]}, {"block_index": 53, "translation": [0.0, 0.0, 0.0], "rotation": [0.0, 0.0, 0.0]}, {"block_index": 54, "translation": [0.0, 0.0, 0.0], "rotation": [0.0, 0.0, 0.0]}, {"block_index": 62, "translation": [0.0, 0.0, 0.0], "rotation": [0.0, 0.0, 0.0]}, {"block_index": 63, "translation": [0.0, 0.0, 0.0], "rotation": [0.0, 0.0, 0.0]}, {"block_index": 71, "translation": [0.0, 0.0, 0.0], "rotation": [0.0, 0.0, 0.0]}, {"block_index": 72, "translation": [0.0, 0.0, 0.0], "rotation": [0.0, 0.0, 0.0]}, {"block_index": 80, "translation": [0.0, 0.0, 0.0], "rotation": [0.0, 0.0, 0.0]}, {"block_index": 81, "translation": [0.0, 0.0, 0.0], "rotation": [0.0, 0.0, 0.0]}, {"block_index": 89, "translation": [0.0, 0.0, 0.0], "rotation": [0.0, 0.0, 0.0]}, {"block_index": 90, "translation": [0.0, 0.0, 0.0], "rotation": [0.0, 0.0, 0.0]}, {"block_index": 98, "translation": [0.0, 0.0, 0.0], "rotation": [0.0, 0.0, 0.0]}, {"block_index": 99, "translation": [0.0, 0.0, 0.0], "rotation": [0.0, 0.0, 0.0]}, {"block_index": 107, "translation": [0.0, 0.0, 0.0], "rotation": [0.0, 0.0, 0.0]}, {"block_index": 108, "translation": [0.0, 0.0, 0.0], "rotation": [0.0, 0.0, 0.0]}, {"block_index": 112, "translation": [0.0, 0.0, 0.0], "rotation": [0.0, 0.0, 0.0]}]}, "name": "BoundaryConditions", "guid": "9005923b-85f5-4ca3-a918-f7e47b54a9bb"}, "contact_properties": {"dtype": "compas_dem.interactions/ContactProperties", "data": {"name": "ContactProperties", "contact_model": {"dtype": "compas_dem.interactions/MohrCoulomb", "data": {"name": "MohrCoulomb", "phi": 26.565051177077994, "c": null, "t_c": null, "k_n": null, "k_t": null, "mu": 0.5000000000000001}, "name": "MohrCoulomb", "guid": "7f3bd01f-ec52-4c4d-b7fa-cae067187dd6"}, "joint_model": null}, "name": "ContactProperties", "guid": "4b361eb2-19aa-45be-b736-3d0efba8262e"}}, "name": "Problem", "guid": "b9091533-d25f-473b-bbf8-4de6692a7ed1"}
\ No newline at end of file
diff --git a/scripts/dem_arch.py b/scripts/dem_arch.py
index 34ba52c..5939a69 100644
--- a/scripts/dem_arch.py
+++ b/scripts/dem_arch.py
@@ -1,4 +1,8 @@
+from compas_model.materials import Concrete
+
 from compas_dem.models import BlockModel
+from compas_dem.problem import Problem
+from compas_dem.problem import Solver
 from compas_dem.templates import ArchTemplate
 from compas_dem.viewer import DEMViewer
 
@@ -27,11 +31,30 @@
 for node in model.graph.nodes_where(degree=1):
     model.graph.node_element(node).is_support = True  # type: ignore
 
+# ============================================================================
+# Material
+# ============================================================================
+
+conc: Concrete = Concrete.from_strength_class("C30")
+model.add_material(conc)
+model.assign_material(conc, elements=list(model.elements()))
+
+# =============================================================================
+# Problem
+# =============================================================================
+
+problem = Problem(model)
+problem.add_contact_model("MohrCoulomb", mu=0.5, c=0.0)
+problem.add_supports_from_model()
+
+lmgc90: Solver = Solver.LMGC90(dt=0.01, n_steps=100)
+problem.solve(lmgc90)
+
 # =============================================================================
 # Viz
 # =============================================================================
 
 viewer = DEMViewer(model)
 
-viewer.setup()
+viewer.add_solution()
 viewer.show()
diff --git a/scripts/dem_new_features.ipynb b/scripts/dem_new_features.ipynb
index 1a013b2..9376dce 100644
--- a/scripts/dem_new_features.ipynb
+++ b/scripts/dem_new_features.ipynb
@@ -7,8 +7,6 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "import matplotlib.pyplot as plt\n",
-    "import numpy as np\n",
     "from compas_model.materials import Concrete\n",
     "\n",
     "from compas_dem.material import Stone\n",
diff --git a/scripts/dem_new_features.py b/scripts/dem_new_features.py
index 9dbd2dc..bf599f8 100644
--- a/scripts/dem_new_features.py
+++ b/scripts/dem_new_features.py
@@ -21,7 +21,6 @@
 # Create a problem instance
 # =============================================================================
 
-
 problem = Problem(model)
 
 # -----------------------------------------------
@@ -36,14 +35,14 @@
 
 # Solve the problem using the LMGC90 solver
 # -----------------------------------------
-
-lmgc90 = Solver.LMGC90(duration=1.0, n_steps=100, urf_threshold=0.001)
-solution = problem.solve(lmgc90)
+cra = Solver.CRA(verbose=True)
+# lmgc90 = Solver.LMGC90(duration=1.0, n_steps=100, urf_threshold=0.001)
+solution = problem.solve(cra)
 
 # =============================================================================
 # Visualize the model in the DEM Native viewer
 # =============================================================================
 
 viewer = DEMViewer(model)
-viewer.add_solution(scale=1e-12)
+viewer.add_solution(scale=0.5)
 viewer.show()
diff --git a/scripts/dem_vault_barrel.py b/scripts/dem_vault_barrel.py
index f9450e1..746be52 100644
--- a/scripts/dem_vault_barrel.py
+++ b/scripts/dem_vault_barrel.py
@@ -1,4 +1,7 @@
+from compas_dem.material import Stone
 from compas_dem.models import BlockModel
+from compas_dem.problem import Problem
+from compas_dem.problem import Solver
 from compas_dem.templates import BarrelVaultTemplate
 from compas_dem.viewer import DEMViewer
 
@@ -6,7 +9,7 @@
 # Template
 # =============================================================================
 
-template = BarrelVaultTemplate()
+template = BarrelVaultTemplate(length=3, span=7, rise=0.1, vou_length=13)
 
 # =============================================================================
 # Model and interactions
@@ -16,6 +19,25 @@
 
 model.compute_contacts(tolerance=0.001)
 
+limestone = Stone.from_predefined_material("LimeStone")
+model.add_material(limestone)
+limestone.density = 2400
+model.assign_material(limestone, elements=list(model.elements()))
+
+# =============================================================================
+# Supports
+# =============================================================================
+for node in model.graph.nodes_where(degree=1):
+    model.graph.node_element(node).is_support = True  # type: ignore
+
+# =============================================================================
+# Problem
+# =============================================================================
+problem = Problem(model)
+problem.add_contact_model("MohrCoulomb", phi=40, c=0)
+lmgc90 = Solver.LMGC90(duration=1.0, n_steps=100, urf_threshold=0.001)
+solution = problem.solve(lmgc90)
+
 # =============================================================================
 # Viz
 # =============================================================================
@@ -23,4 +45,5 @@
 viewer = DEMViewer(model)
 
 viewer.setup()
+viewer.add_solution(scale=1)
 viewer.show()
diff --git a/src/compas_dem/analysis/cra.py b/src/compas_dem/analysis/cra.py
index 8cd7091..6a9c2a9 100644
--- a/src/compas_dem/analysis/cra.py
+++ b/src/compas_dem/analysis/cra.py
@@ -10,34 +10,41 @@
 from compas_dem.problem.problem import Problem
 
 
-def _blockmodel_to_assembly(model: BlockModel) -> tuple[Assembly, dict]:
-    """Convert a BlockModel to a compas_assembly Assembly.
+def _blockmodel_to_assembly(model: BlockModel) -> Assembly:
+    element_block: dict[int, int] = {}
 
-    Returns
-    -------
-    tuple
-        (assembly, asm_to_graphnode)
-    """
-    graphnode_to_asm: dict[int, int] = {}
     assembly = Assembly()
 
     for element in model.elements():
         block: Block = element.modelgeometry.copy(cls=Block)
         x, y, z = element.point
         node = assembly.add_block(block, x=x, y=y, z=z, is_support=element.is_support)
-        graphnode_to_asm[element.graphnode] = node
+        element_block[element.graphnode] = node
+
+        assembly.graph.node_attribute(node, "graphnode", element.graphnode)
+
+    for edge in model.graph.edges():
+        u = element_block[edge[0]]  # type: ignore
+        v = element_block[edge[1]]
 
-    for u, v in model.graph.edges():
-        u_asm = graphnode_to_asm[u]
-        v_asm = graphnode_to_asm[v]
-        contacts = model.graph.edge_attribute((u, v), name="contacts")
-        assembly.graph.add_edge(u_asm, v_asm, interfaces=contacts)
+        contacts = model.graph.edge_attribute(edge, name="contacts")  # type: ignore
+        assembly.graph.add_edge(u, v, interfaces=contacts)
 
-    return assembly, {v: k for k, v in graphnode_to_asm.items()}
+    return assembly
 
 
-def _post_processing_cra(assembly: Assembly, asm_to_graphnode: dict, problem: Problem) -> None:
-    """Write CRA results back to the Problem's BlockModel in-place.
+def _post_processing_cra(assembly: Assembly, problem: Problem, density: float = 1.0) -> None:
+    """Post-process CRA results back to the Problem's BlockModel.
+
+    Parameters
+    ----------
+    assembly : :class:`compas_assembly.datastructures.Assembly`
+        The solved assembly returned by CRA / RBE.
+    problem : :class:`compas_dem.problem.Problem`
+        The problem whose model receives the results.
+    density : float, optional
+        Physical material density used to rescale forces from the
+        normalized solve. Default ``1.0`` (no rescaling).
 
     Block attributes set
     --------------------
@@ -46,10 +53,14 @@ def _post_processing_cra(assembly: Assembly, asm_to_graphnode: dict, problem: Pr
 
     Edge attributes set
     -------------------
-    friction_contact : :class:`FrictionContact`
-        Solved contact forces, in the same format as LMGC90 output.
+    contact_data : :class:`FrictionContact`
+        Surface-Surface contact data including forces and frame.
+    contact_point : list[list[float]]
+        Contact point in global XYZ coordinates.
     contact_polygon : :class:`compas.geometry.Polygon`
         The contact interface polygon.
+    face_contact : bool
+        Marks the edge as a face contact so the viewer renders it.
     force : list[float]
         Resultant force vector [fx, fy, fz] at the interface.
     """
@@ -65,25 +76,29 @@ def _post_processing_cra(assembly: Assembly, asm_to_graphnode: dict, problem: Pr
         if not interfaces:
             continue
 
-        u = asm_to_graphnode[u_asm]
-        v = asm_to_graphnode[v_asm]
+        u = assembly.graph.node_attribute(u_asm, "graphnode")
+        v = assembly.graph.node_attribute(v_asm, "graphnode")
 
         for interface in interfaces:
             if not interface.forces:
                 continue
 
-            # FrictionContact with frame already set from interface detection
+            # Rescale normalized solver outputs to physical units.
+            scale = density * 9.81
+            scaled_forces = [{k: v * scale for k, v in f.items()} for f in interface.forces]
+
             fc = FrictionContact(points=interface.points, frame=interface.frame)
-            fc.forces = interface.forces
-            model.graph.edge_attribute((u, v), "friction_contact", fc)
+            fc.forces = scaled_forces
+            model.graph.edge_attribute((u, v), "contact_data", fc)
+            model.graph.edge_attribute((u, v), "face_contact", True)
 
             model.graph.edge_attribute((u, v), "contact_point", [list(p) for p in interface.points])
             model.graph.edge_attribute((u, v), "contact_polygon", interface.polygon)
 
-            # Resultant global force vector from summed components
-            fn = sum(f["c_np"] - f["c_nn"] for f in interface.forces)
-            fu = sum(f["c_u"] for f in interface.forces)
-            fv = sum(f["c_v"] for f in interface.forces)
+            # Resultant global force vector from summed (already scaled) components
+            fn = sum(f["c_np"] - f["c_nn"] for f in scaled_forces)
+            fu = sum(f["c_u"] for f in scaled_forces)
+            fv = sum(f["c_v"] for f in scaled_forces)
             w = list(interface.frame.zaxis)
             u_ax = list(interface.frame.xaxis)
             v_ax = list(interface.frame.yaxis)
@@ -117,7 +132,6 @@ def cra_solve(
         or 0.6 if not set.
     density : float, optional
         Normalized material density. CRA uses unit-less relative density — default ``1.0``.
-        Do not pass actual kg/m³ values; they will make gravity forces too large for the solver.
     d_bnd : float, optional
         Penalty boundary parameter. Default ``0.001``.
     eps : float, optional
@@ -148,13 +162,16 @@ def cra_solve(
 
     # CRA uses normalized density (1.0 = unit mass per unit volume).
     # Passing actual kg/m³ values inflates forces far beyond solver tolerances.
-    if density is None:
-        density = 2000.0
+    density = 2000.0
+    for block in model.elements():
+        density = block.material.density
+        if density is not None:
+            break
 
-    assembly, asm_to_graphnode = _blockmodel_to_assembly(model)
+    assembly = _blockmodel_to_assembly(model)
 
     if method == "rbe":
-        _rbe_solve(assembly, mu=mu, density=density, verbose=verbose, timer=timer)
+        _rbe_solve(assembly, mu=mu, density=1.0, verbose=verbose, timer=timer)
     elif method == "cra":
         _cra_penalty_solve(
             assembly,
@@ -168,4 +185,4 @@ def cra_solve(
     else:
         raise ValueError(f"Unknown CRA method '{method}'. Use 'rbe' or 'penalty'.")
 
-    _post_processing_cra(assembly, asm_to_graphnode, problem)
+    _post_processing_cra(assembly, problem, density=density)
diff --git a/src/compas_dem/analysis/lmgc90.py b/src/compas_dem/analysis/lmgc90.py
index 313e1d0..79242e4 100644
--- a/src/compas_dem/analysis/lmgc90.py
+++ b/src/compas_dem/analysis/lmgc90.py
@@ -3,6 +3,7 @@
 import compas.geometry as cg
 import numpy as np
 
+from compas_dem.interactions import EdgeContact
 from compas_dem.interactions import FrictionContact
 from compas_dem.problem.problem import Problem
 
@@ -145,9 +146,7 @@ def lmgc90_solve(
     # Build solver
     # ------------------------------------------------------------------
     # Fully-fixed blocks (all-zero translation + rotation) must go through
-    # set_supports_from_model() so LMGC90 receives np.zeros([6]) with v[4]=0,
-    # matching the expected drvdof format. apply_velocity(value=0.0) produces
-    # [[0,0,0,0,1,0]] (v[4]=1) which activates the constraint differently.
+    # the supports mechanism for vizualization and later flagging.
     for block in model.elements():
         idx = block.graphnode
         disp = problem.centroidal_displacements.get(idx)
@@ -157,8 +156,8 @@ def lmgc90_solve(
             if all(v == 0.0 for v in t) and all(v == 0.0 for v in r):
                 block.is_support = True
 
-    solver = Solver(model, density=density, dt=duration / n_steps, theta=theta)
-    solver.set_supports_from_model()
+    solver = Solver(model, density=density, dt=dt, theta=theta)
+    # solver.set_supports_from_model()
 
     # ------------------------------------------------------------------
     # Displacement BCs → apply_velocity (prescribed non-zero only)
@@ -166,7 +165,7 @@ def lmgc90_solve(
     for block in model.elements():
         idx = block.graphnode
         disp = problem.centroidal_displacements.get(idx)
-        if disp is None or block.is_support:
+        if disp is None:
             continue
 
         translation = disp["translation"] or [None, None, None]
@@ -309,7 +308,10 @@ def _post_processing_lmgc90(solver: "Solver", problem: Problem) -> None:
     result = solver.last_result
     model = problem.model
 
-    # Annotate each block via graph node attribute (serializable)
+    # ==============================================================================
+    # Annotate each block result via graph node attribute (serializable)
+    # Attribute: "transformation"
+    # ==============================================================================
     for i, block in enumerate(elements):
         pos = np.array(result.bodies[i])
         rot = np.array(result.body_frames[i]).reshape(3, 3)
@@ -317,66 +319,183 @@ def _post_processing_lmgc90(solver: "Solver", problem: Problem) -> None:
         T = cg.Transformation.from_frame_to_frame(block.init_frame, new_frame)
         model.graph.node_attribute(block.graphnode, "transformation", T)
 
-    # contact_polygons is one entry per body pair, not per contact point
-    _per_point_keys = ["contact_points", "force_magnitudes", "force_normal", "force_tangent1", "force_tangent2", "gaps", "status"]
-    _new_key_name = ["contact_point", "force_magnitude", "force_normal", "force_tangent1", "force_tangent2", "gap", "status"]
-
+    # ==============================================================================
+    # Annotate contact results via graph edge attributes (serializable)
+    # Attributes: "contact_point", "force_magnitude", "force_vector", "contact_polygon", "gap", "status"
+    # ==============================================================================
+    # Contact attributes are extracted from LMGC90's per contact point data.
+
+    _per_point_keys = [
+        "contact_points",
+        "force_normal",
+        "force_tangent1",
+        "force_tangent2",
+        "gaps",
+        "status",
+    ]
+    _new_key_name = [
+        "contact_point",
+        "force_normal",
+        "force_tangent1",
+        "force_tangent2",
+        "gap",
+        "status",
+    ]
+
+    # ==============================================================================
     # Group contact points by body pairs - Taken directly from compas_LMGC90's post-processing method.
+    # ==============================================================================
     contact_groups = {}
     for i in range(len(solver.last_result.interaction_coords)):
-        body_pair = tuple(sorted(solver.last_result.interaction_bodies[i]))
+        body_pair = tuple(sorted(b - 1 for b in solver.last_result.interaction_bodies[i]))
         if body_pair not in contact_groups:
             contact_groups[body_pair] = []
         contact_groups[body_pair].append(i)
 
+    # ==============================================================================
+    # Recall Last result from LMGC90
+
     result = solver.last_result
     graph = problem.model.graph
 
-    for pair, indices in contact_groups.items():
+    # Loop through LMGC90's contact pairs and indices of contact points.
+    Added_Edges = 0
+    for pair, points in contact_groups.items():
         u, v = pair
 
-        if not indices:
+        if not points:
             continue
 
-        if not graph.has_edge([u, v]):
+        # -----------------------------------------------------------------------------
+        # LMGC90 body pairs are undirected (sorted); compas graph edges are directed.
+        # Checking for both orientations if they exist and setting the edge accordingly.
+        if graph.has_edge((u, v)):
+            edge = (u, v)
+        elif graph.has_edge((v, u)):
+            edge = (v, u)
+        else:
             if not graph.has_node(u) or not graph.has_node(v):
-                print(f"Warning: body {u} or {v} not in model graph (support/boundary body). Skipping contact.")
                 continue
-            print(f"Warning: contact between bodies {u} and {v} has no corresponding edge in the model graph. Adding edge.")
+
             graph.add_edge(u, v)
+            edge = (u, v)
+            Added_Edges += 1
 
-        # --- per-point contact data ---
-        for k, name in zip(_per_point_keys, _new_key_name):
-            graph.edge_attribute((u, v), name, [contact_data[k][i] for i in indices])
+        graph.edge_attribute(edge, "face_contact", False)
+        graph.edge_attribute(edge, "point_contact", False)
+        graph.edge_attribute(edge, "edge_contact", False)
+        # -----------------------------------------------------------------------------
 
-        graph.edge_attribute((u, v), "force_vector", [list(result.interaction_force_global[i]) for i in indices])
-        graph.edge_attribute((u, v), "force", np.sum([result.interaction_force_global[i] for i in indices], axis=0).tolist())
+        # per-point contact data
+        # -------
+        for k, name in zip(_per_point_keys, _new_key_name):
+            graph.edge_attribute(edge, name, [contact_data[k][i] for i in points])
+        graph.edge_attribute(
+            edge,
+            "force_magnitude",
+            float(np.linalg.norm(np.sum([result.interaction_force_magnitude[p] for p in points], axis=0))),
+        )
+        graph.edge_attribute(
+            edge,
+            "force_vector",
+            [list(result.interaction_force_global[p]) for p in points],
+        )
+        graph.edge_attribute(
+            edge,
+            "force",
+            np.sum([result.interaction_force_global[p] for p in points], axis=0).tolist(),
+        )
+
+        # for p in points:
+        #     print("--------------Interaction Force Global---------------")
+        #     print(f"Point {p}: {result.interaction_force_global[p]}")
+        # ---------------------------------------------------------------------
+
+        # Identify contact type based on the number of contact points and set attributes accordingly.
+        # ----------
+
+        contact_frames = [
+            cg.Frame(
+                point=cg.Point(*result.interaction_coords[p]),
+                xaxis=cg.Vector(*result.interaction_tangent1[p]),
+                yaxis=cg.Vector(*result.interaction_normals[p]),
+            )
+            for p in points
+        ]
+
+        graph.edge_attribute(edge, "contact_frame", contact_frames[0])
+
+        polygon_pts = [result.interaction_coords[p] for p in points]
+
+        contact_pts = graph.edge_attribute(edge, "contact_point")
+        contact_frames = graph.edge_attribute(edge, "contact_frame")
+
+        if len(polygon_pts) >= 3:
+            graph.edge_attribute(edge, "contact_polygon", cg.Polygon(polygon_pts))
+
+            graph.edge_attribute(edge, "face_contact", True)
+            fc = FrictionContact(points=[cg.Point(*p) for p in contact_pts])
+            lmgc_tangent = cg.Vector(*result.interaction_tangent1[points[0]])
+            lmgc_tangent2 = cg.Vector(*result.interaction_tangent2[points[0]])
+            fc._frame = cg.Frame(contact_frames.point, lmgc_tangent, lmgc_tangent2)
+            for p in points:
+                # Local forces
+                Ft, Fn, Fs = result.interaction_rloc[p]
+
+                fc.forces.append(
+                    {
+                        "c_np": max(Fn, 0),
+                        "c_nn": max(-Fn, 0),
+                        "c_u": Ft,
+                        "c_v": Fs,
+                    }
+                )
+            graph.edge_attribute(edge, "contact_data", fc)
+
+        elif len(polygon_pts) == 2:
+            print(f"Edge contact between bodies {u} and {v} with contact points {polygon_pts}. Setting edge_contact=True.")
+            graph.edge_attribute(edge, "edge_contact", True)
+
+            lmgc_tangent = cg.Vector(*result.interaction_tangent1[points[0]])
+            lmgc_tangent2 = cg.Vector(*result.interaction_tangent2[points[0]])
+
+            ec = EdgeContact(
+                points=[cg.Point(*p) for p in polygon_pts],
+                frame=cg.Frame(
+                    cg.Line(cg.Point(*polygon_pts[0]), cg.Point(*polygon_pts[1])).midpoint,
+                    lmgc_tangent,
+                    lmgc_tangent2,
+                ),
+            )
+            for p in points:
+                Ft, Fn, Fs = result.interaction_rloc[p]
+                ec.forces.append(
+                    {
+                        "c_np": max(Fn, 0),
+                        "c_nn": max(-Fn, 0),
+                        "c_u": Ft,
+                        "c_v": Fs,
+                    }
+                )
+            graph.edge_attribute(edge, "edge_contact", True)
+            graph.edge_attribute(edge, "contact_data", ec)
+
+        elif len(polygon_pts) == 1:
+            graph.edge_attribute(edge, "point_contact", True)
 
-        polygon_pts = [result.interaction_coords[i] for i in indices]
-        if len(polygon_pts) >= 2:
-            graph.edge_attribute((u, v), "contact_polygon", cg.Polygon(polygon_pts))
+        else:
+            print(f"Warning: contact between bodies {u} and {v} has no contact points. This is unexpected; check LMGC90 results.")
 
+        # ------------------------------------------------------------------------------
         # --- contact frames (T, N at each contact point) ---
-        contact_frames = [cg.Frame(result.interaction_coords[i], result.interaction_tangent1[i], result.interaction_normals[i]) for i in indices]
-        graph.edge_attribute((u, v), "contact_frames", contact_frames)
-
-        fv_vecs = graph.edge_attribute((u, v), "force_vector")
-        contact_pts = graph.edge_attribute((u, v), "contact_point")
-        contact_frames = graph.edge_attribute((u, v), "contact_frames")
-        if contact_pts and fv_vecs and len(contact_pts) >= 2:
-            fc = FrictionContact(points=[cg.Point(*p) for p in contact_pts])
-            lmgc_normal = contact_frames[0].yaxis
-            lmgc_tangent = contact_frames[0].xaxis
-            tangent2 = lmgc_normal.cross(lmgc_tangent).unitized()
-            fc._frame = cg.Frame(contact_frames[0].point, lmgc_tangent, tangent2)
-            frame = fc.frame
-            fc.forces = [
-                {
-                    "c_np": max(cg.Vector(*fv).dot(frame.zaxis), 0),
-                    "c_nn": max(-cg.Vector(*fv).dot(frame.zaxis), 0),
-                    "c_u": cg.Vector(*fv).dot(frame.xaxis),
-                    "c_v": cg.Vector(*fv).dot(frame.yaxis),
-                }
-                for fv in fv_vecs
-            ]
-            graph.edge_attribute((u, v), "friction_contact", fc)
+        contact_frames = [
+            cg.Frame(
+                result.interaction_coords[p],
+                result.interaction_tangent1[p],
+                result.interaction_normals[p],
+            )
+            for p in points
+        ]
+        graph.edge_attribute(edge, "contact_frames", contact_frames)
+    if Added_Edges > 0:
+        print(f"Added {Added_Edges} edges to the model graph to account for contacts without existing edges.")
diff --git a/src/compas_dem/interactions/__init__.py b/src/compas_dem/interactions/__init__.py
index 9cdd734..61246aa 100644
--- a/src/compas_dem/interactions/__init__.py
+++ b/src/compas_dem/interactions/__init__.py
@@ -1,6 +1,6 @@
-from .contact import FrictionContact
+from .contact import FrictionContact, EdgeContact, VertexContact
 from .contact_model import ContactModel, MohrCoulomb
 from .contact_properties import ContactProperties
 from .joint_model import JointModel
 
-__all__ = ["FrictionContact", "ContactModel", "MohrCoulomb", "ContactProperties", "JointModel"]
+__all__ = ["FrictionContact", "EdgeContact", "VertexContact", "ContactModel", "MohrCoulomb", "ContactProperties", "JointModel"]
diff --git a/src/compas_dem/interactions/contact.py b/src/compas_dem/interactions/contact.py
index fe9c1d2..41512fa 100644
--- a/src/compas_dem/interactions/contact.py
+++ b/src/compas_dem/interactions/contact.py
@@ -2,11 +2,13 @@
 from typing import Optional
 from typing import Union
 
+from compas.data import Data
 from compas.geometry import Frame
 from compas.geometry import Line
 from compas.geometry import Point
 from compas.geometry import Polygon
 from compas.geometry import Transformation
+from compas.geometry import Vector
 from compas.geometry import centroid_points_weighted
 from compas.geometry import dot_vectors
 from compas.geometry import transform_points
@@ -37,6 +39,227 @@ def sum_matrices(A, B):
     return M
 
 
+class VertexContact(Data):
+    """Class representing a point contact between two elements.
+
+    Parameters
+    ----------
+    point : :class:`compas.geometry.Point`
+        The point defining the contact.
+    frame : :class:`compas.geometry.Frame`, optional
+        The local coordinate system of the contact.
+    name : str, optional
+        A human-readable name.
+
+    Warnings
+    --------
+    The definition of vertex contacts is under active development and may change frequently.
+
+    """
+
+    @property
+    def __data__(self) -> dict:
+        return {
+            "point": self._point,
+            "frame": self._frame,
+            "name": self.name,
+        }
+
+    def __init__(
+        self,
+        point: Point,
+        frame: Frame = None,
+        name: Optional[str] = None,
+    ):
+        super().__init__(name)
+        self._point = point
+        self._frame = frame
+
+    @property
+    def point(self) -> Point:
+        return self._point
+
+    @property
+    def frame(self) -> Optional[Frame]:
+        return self._frame
+
+    @property
+    def geometry(self):
+        return self.point
+
+
+class EdgeContact(Data):
+    """Contact between a vertex and an edge, defined by two points and a frame.
+
+    Parameters
+    ----------
+    points : list[:class:`compas.geometry.Point`]
+        The two contact points.
+    frame : :class:`compas.geometry.Frame`
+        The contact frame. ``zaxis`` is the contact normal (n);
+        ``xaxis`` and ``yaxis`` are the tangential directions (t1, t2).
+    forces : list[dict[str, float]], optional
+        Force components at each contact point, expressed in the contact frame.
+        Each dict uses keys ``"c_np"`` (normal compression), ``"c_nn"`` (normal tension),
+        ``"c_u"`` (tangential t1), ``"c_v"`` (tangential t2).
+
+    """
+
+    def __init__(self, points, frame, forces=None, name=None, **kwargs):
+        super().__init__(name=name, **kwargs)
+        self._points = [Point(*p) for p in points]
+        self._frame = frame
+        self._forces = forces or []
+
+    @property
+    def points(self) -> list[Point]:
+        return self._points
+
+    @property
+    def frame(self) -> Frame:
+        return self._frame
+
+    # ==========================================================================
+    # Factory methods
+    # ==========================================================================
+
+    @property
+    def __data__(self) -> dict:
+        return {
+            "points": self._points,
+            "frame": self._frame,
+            "forces": self._forces,
+            "name": self.name,
+        }
+
+    @classmethod
+    def __from_data__(cls, data: dict) -> "EdgeContact":
+        return cls(
+            points=data["points"],
+            frame=data["frame"],
+            forces=data.get("forces") or [],
+            name=data.get("name"),
+        )
+
+    @classmethod
+    def from_face_and_transformations(
+        cls,
+        face,
+        transformation_a: Transformation,
+        transformation_b: Transformation,
+        points: list[Point],
+        forces=None,
+        **kwargs,
+    ) -> "EdgeContact":
+        """Construct from a shared mesh face and the two blocks' current transformations.
+
+        Used when the contact was originally face-face (before displacement).
+        The face is duplicated and transformed by each block's current transformation;
+        the contact frame's ``zaxis`` is the bisector of the two transformed face normals.
+        The frame's origin is the midpoint of the two contact points.
+
+        Parameters
+        ----------
+        face : :class:`compas.datastructures.Mesh`
+            The original shared face (single-face mesh) when contact was face-face.
+        transformation_a : :class:`compas.geometry.Transformation`
+            Current transformation of block A.
+        transformation_b : :class:`compas.geometry.Transformation`
+            Current transformation of block B.
+        points : list[:class:`compas.geometry.Point`]
+            The two new contact points (the edge after displacement).
+        forces : list[dict[str, float]], optional
+
+        Returns
+        -------
+        :class:`EdgeContact`
+
+        """
+        face_a = face.transformed(transformation_a)
+        face_b = face.transformed(transformation_b)
+
+        n_a = Vector(*face_a.face_normal(0))
+        n_b = Vector(*face_b.face_normal(0))
+
+        # Originally face-face: the two normals are opposite. Flip n_b so both
+        # point the same way, then average to get the bisector.
+        if dot_vectors(n_a, n_b) < 0:
+            n_b = n_b.scaled(-1)
+        zaxis = (n_a + n_b).unitized()
+
+        p0, p1 = points[0], points[1]
+        origin = Point(*((Point(*p0) + Point(*p1)) * 0.5))
+
+        # xaxis along the contact edge, projected into the bisector plane.
+        edge_dir = Vector(p1[0] - p0[0], p1[1] - p0[1], p1[2] - p0[2])
+        xaxis = edge_dir - zaxis * dot_vectors(edge_dir, zaxis)
+        xaxis = xaxis.unitized()
+        yaxis = zaxis.cross(xaxis)
+
+        frame = Frame(origin, xaxis, yaxis)
+        return cls(points=points, frame=frame, forces=forces, **kwargs)
+
+    # ==========================================================================
+    # Forces
+    # ==========================================================================
+
+    @property
+    def forces(self) -> list[dict[str, float]]:
+        return self._forces
+
+    @forces.setter
+    def forces(self, forces: list[dict[str, float]]) -> None:
+        self._forces = forces
+
+    @property
+    def resultantpoint(self) -> Point:
+        """Line of action through the contact: per-point normal-force-weighted centroid, falling back to the geometric midpoint when normal forces are absent or net to zero."""
+        pts = [list(p) for p in self.points]
+        if self._forces:
+            fn_vals = [f.get("c_np", 0.0) - f.get("c_nn", 0.0) for f in self._forces]
+            if abs(sum(fn_vals)) > 1e-12:
+                return Point(*centroid_points_weighted(pts, fn_vals))
+        return Point(*centroid_points_weighted(pts, [1] * len(pts)))
+
+    @property
+    def resultant(self) -> Optional[Vector]:
+        """Resultant force, projected onto global XYZ, as a :class:`compas.geometry.Vector`."""
+        if not self._forces:
+            return None
+        n = self.frame.zaxis
+        t1 = self.frame.xaxis
+        t2 = self.frame.yaxis
+        total = Vector(0, 0, 0)
+        for force in self._forces:
+            fn = force.get("c_np", 0.0) - force.get("c_nn", 0.0)
+            f1 = force.get("c_u", 0.0)
+            f2 = force.get("c_v", 0.0)
+            total += n * fn + t1 * f1 + t2 * f2
+        return total
+
+    @property
+    def resultantforce(self) -> Optional[Line]:
+        """Line of length ``|resultant|`` centered at the force-weighted contact point, oriented along the resultant force."""
+        r = self.resultant
+        if r is None or r.length == 0:
+            return None
+        half = r * 0.5
+        center = self.resultantpoint
+        return Line(center - half, center + half)
+
+    def resultantline(self, scale: float = 1.0) -> Line:
+        """Line ``|resultant|`` centered at the force-weighted contact point, oriented along the resultant force."""
+        r = self.resultant
+        if r is None or r.length == 0:
+            return None
+        half = r * 0.5 * scale
+        center = self.resultantpoint
+        return Line(center - half, center + half)
+
+
+# =============================================================================
+
+
 class FrictionContact(Contact):
     """Class representing an interaction between two elements through surface-to-surface contact.
 
@@ -310,7 +533,10 @@ def resultantforce(self) -> list[Line]:
         sum_n = sum(normalcomponents)
         sum_u = sum(f["c_u"] for f in self.forces)
         sum_v = sum(f["c_v"] for f in self.forces)
-        position = Point(*centroid_points_weighted(self.points, normalcomponents))
+        if abs(sum_n) > 1e-12:
+            position = Point(*centroid_points_weighted(self.points, normalcomponents))
+        else:
+            position = Point(*centroid_points_weighted(self.points, [1] * len(self.points)))
         frame = self.frame
         w, u, v = frame.zaxis, frame.xaxis, frame.yaxis
         forcevector = (w * sum_n + u * sum_u + v * sum_v) * 0.5
@@ -332,3 +558,23 @@ def resultantdata(self) -> Optional[list[float]]:
                 direction = list(forcevector.unitized())
                 self._resultantdata = position + direction + [0.5 * forcevector.length]
         return self._resultantdata
+
+    def resultantline(self, scale: float = 1.0) -> Line:
+        if not self.forces:
+            return None
+        normalcomponents = [f["c_np"] - f["c_nn"] for f in self.forces]
+        sum_n = sum(normalcomponents)
+        sum_u = sum(f["c_u"] for f in self.forces)
+        sum_v = sum(f["c_v"] for f in self.forces)
+        frame = self.frame
+        w, u, v = frame.zaxis, frame.xaxis, frame.yaxis
+        forcevector = (w * sum_n + u * sum_u + v * sum_v) * 0.5
+        if forcevector.length == 0:
+            return None
+        if sum_n:
+            position = Point(*centroid_points_weighted(self.points, normalcomponents))
+        else:
+            position = Point(*centroid_points_weighted(self.points, [1] * len(self.points)))
+        p1 = position + forcevector * scale
+        p2 = position - forcevector * scale
+        return Line(p1, p2)
diff --git a/src/compas_dem/material/stone.py b/src/compas_dem/material/stone.py
index 5e2d6b7..4f2368c 100644
--- a/src/compas_dem/material/stone.py
+++ b/src/compas_dem/material/stone.py
@@ -1,7 +1,6 @@
 from typing import Literal
 from typing import Optional
 
-from compas_model.materials import Concrete
 from compas_model.materials import Material
 from compas_model.materials.errors import PropertyNotDefined
 
diff --git a/src/compas_dem/models/blockmodel.py b/src/compas_dem/models/blockmodel.py
index 2b4adaf..18a8211 100644
--- a/src/compas_dem/models/blockmodel.py
+++ b/src/compas_dem/models/blockmodel.py
@@ -10,9 +10,9 @@
 from compas.geometry import Polyhedron
 from compas.geometry import bestfit_frame_numpy
 from compas.itertools import pairwise
-from compas_cgal.meshing import project_mesh_on_mesh
 from compas_cgal.meshing import trimesh_dual
 from compas_cgal.meshing import trimesh_remesh
+from compas_cgal.projection import project_mesh_on_mesh
 from compas_libigl.intersections import intersection_ray_mesh
 from compas_libigl.mapping import map_pattern_to_mesh
 from compas_model.interactions import Contact
diff --git a/src/compas_dem/problem/problem.py b/src/compas_dem/problem/problem.py
index 0d75682..8ee02f9 100644
--- a/src/compas_dem/problem/problem.py
+++ b/src/compas_dem/problem/problem.py
@@ -1,6 +1,7 @@
 from typing import Optional
 
 import compas.geometry as cg
+from compas.colors import Color
 from compas.data import Data
 from compas.geometry import Vector
 from compas_cgal.measure import mesh_volume
@@ -70,11 +71,32 @@ def __from_data__(cls, data: dict) -> "Problem":
     # ============================================================================
     # Pre-visualization utilities
     # ===========================================================================
-    def inspect_model(self, show_indices: bool = False) -> None:
+    def inspect_model(self, show_indices: bool = False, show_loads: bool = True) -> None:
         from compas_viewer.scene import Tag
         from compas_viewer.viewer import Viewer
+        # Add point load and disp viz if not none.
 
         viewer = Viewer()
+        if show_loads:
+            for loads in self.boundary_conditions.point_loads:
+                block = self._blocks[loads["block_index"]]
+                scale = block.modelgeometry.edge_length([0, 1]) / 2
+                force = Vector(*loads["force"])
+                line = cg.Line(block.point, block.point - force.unitized() * scale)
+
+                tag = Tag(
+                    f"Point Load: [{force.x:.1f}, {force.y:.1f}, {force.z:.1f}]",
+                    block.point,
+                )
+                viewer.scene.add(tag, name=f"Block {block.graphnode} Tag", textcolor=Color.red())
+
+                viewer.scene.add(
+                    line,
+                    name=f"Point Load on Block {block.graphnode}",
+                    linewidth=2.5,
+                    linecolor=Color.red(),
+                )
+
         for element in self.model.elements():
             block_ = viewer.scene.add_group(name=f"Block {element.graphnode}")
             if show_indices:
@@ -160,19 +182,24 @@ def add_surface_load(
     def add_displacement(
         self,
         block_index: int,
-        dx: Optional[float] = 0,
-        dy: Optional[float] = 0,
-        dz: Optional[float] = 0,
+        displacement: Optional[list[float]] = None,
+        rotation: Optional[list[float]] = None,
     ) -> None:
-        """Prescribe a translational displacement on a block, per component.
+        """Prescribe a displacement and/or rotation on a block.
 
         Parameters
         ----------
         block_index : int
             Node index of the target block.
-        dx, dy, dz : float, optional
+        displacement : list[float], optional
+            Translational displacement [dx, dy, dz] in [m].
+        rotation : list[float], optional
+            Rotation vector [rx, ry, rz] in [rad].
         """
-        self._boundary_conditions.add_displacement(block_index, dx=dx, dy=dy, dz=dz)
+        if displacement is not None:
+            self._boundary_conditions.add_displacement(block_index, *displacement)
+        if rotation is not None:
+            self._boundary_conditions.add_rotation(block_index, rotation)
 
     def add_rotation(self, block_index: int, rotation: list[float]) -> None:
         """Prescribe a rotation on a block about its centroid.
@@ -197,6 +224,18 @@ def add_support(self, block_index: int) -> None:
         self._blocks[block_index].is_support = True
         self._boundary_conditions.add_support(block_index)
 
+    def add_supports(self, block_indices: list[int]) -> None:
+        """Fix a block — zero translation and zero rotation.
+
+        Parameters
+        ----------
+        block_indices : list[int]
+            List of node indices of the blocks to fix.
+        """
+        for block_index in block_indices:
+            self._blocks[block_index].is_support = True
+            self._boundary_conditions.add_support(block_index)
+
     def add_supports_from_model(self) -> None:
         """Fix all blocks whose ``is_support`` flag is ``True`` in the block model."""
         for block in self._blocks.values():
@@ -235,7 +274,14 @@ def boundary_conditions(self) -> BoundaryConditions:
     def centroidal_loads(self) -> dict[int, dict]:
         """Resolved (force, moment) pairs at each block centroid."""
         bc = self._boundary_conditions
-        loads = {idx: {"force": Vector(0, 0, 0), "moment": Vector(0, 0, 0), "loading_type": "ramp"} for idx in self._blocks}
+        loads = {
+            idx: {
+                "force": Vector(0, 0, 0),
+                "moment": Vector(0, 0, 0),
+                "loading_type": "ramp",
+            }
+            for idx in self._blocks
+        }
 
         if bc.gravity:
             g_vec = Vector(0, 0, -bc.g)
@@ -283,7 +329,10 @@ def centroidal_displacements(self) -> dict[int, dict]:
         for entry in self._boundary_conditions.displacements:
             idx = entry["block_index"]
             if idx not in displacements:
-                displacements[idx] = {"translation": [None, None, None], "rotation": [None, None, None]}
+                displacements[idx] = {
+                    "translation": [None, None, None],
+                    "rotation": [None, None, None],
+                }
             if entry["translation"] is not None:
                 for j, v in enumerate(entry["translation"]):
                     if v is not None:
@@ -380,25 +429,6 @@ def solve(self, solver: Solver):
 
         else:
             raise ValueError(f"Solver '{solver.name}' is not recognised. Available: 'LMGC90', 'CRA', 'RBE'.")
-        # if solver == "LMGC90":
-        #     from compas_dem.analysis.lmgc90 import lmgc90_solve
-
-        #     params = Solver.LMGC90(**kwargs).parameters
-        #     return lmgc90_solve(self, **{k: v for k, v in params.items() if v is not None})
-
-        # elif solver == "CRA":
-        #     from compas_dem.analysis.cra import cra_solve
-
-        #     params = Solver.CRA(**kwargs).parameters
-        #     return cra_solve(self, **{k: v for k, v in params.items() if v is not None})
-
-        # elif solver == "RBE":
-        #     from compas_dem.analysis.cra import cra_solve
-
-        #     params = Solver.RBE(**kwargs).parameters
-        #     return cra_solve(self, **{k: v for k, v in params.items() if v is not None})
-        # else:
-        #     raise ValueError(f"Solver '{solver}' is not recognised. Available: 'LMGC90', 'CRA', 'RBE'.")
 
     def check_model_validity(self) -> None:
         """Check that the model is valid for solving.
diff --git a/src/compas_dem/problem/solvers.py b/src/compas_dem/problem/solvers.py
index 893abd4..739d6fe 100644
--- a/src/compas_dem/problem/solvers.py
+++ b/src/compas_dem/problem/solvers.py
@@ -25,8 +25,8 @@ def __data__(self):
     @classmethod
     def LMGC90(
         cls,
-        duration: float = 1.0,
-        n_steps: int = 100,
+        duration: float = None,
+        n_steps: int = None,
         dt: float = None,
         theta: float = 0.5,
         urf_threshold: float = None,
diff --git a/src/compas_dem/viewer/viewer.py b/src/compas_dem/viewer/viewer.py
index 15e98a8..d95f1e6 100644
--- a/src/compas_dem/viewer/viewer.py
+++ b/src/compas_dem/viewer/viewer.py
@@ -1,4 +1,5 @@
 import compas.geometry as cg
+import numpy as np
 from compas.colors import Color
 from compas.scene import Group
 from compas_viewer.config import Config
@@ -153,10 +154,18 @@ def setup(self):
 
     def setup_groups(self):
         self.groups["model"] = self.scene.add_group(name="Model")
-        self.groups["supports"] = self.scene.add_group(name="Supports", parent=self.groups["model"])
-        self.groups["blocks"] = self.scene.add_group(name="Blocks", parent=self.groups["model"])
-        self.groups["contacts"] = self.scene.add_group(name="Contacts", parent=self.groups["model"], show=False)
-        self.groups["interactions"] = self.scene.add_group(name="Interactions", parent=self.groups["model"], show=False)
+        self.groups["supports"] = self.scene.add_group(
+            name="Supports", parent=self.groups["model"]
+        )
+        self.groups["blocks"] = self.scene.add_group(
+            name="Blocks", parent=self.groups["model"]
+        )
+        self.groups["contacts"] = self.scene.add_group(
+            name="Contacts", parent=self.groups["model"], show=False
+        )
+        self.groups["interactions"] = self.scene.add_group(
+            name="Interactions", parent=self.groups["model"], show=False
+        )
 
     # =============================================================================
     # Blocks and Contacts
@@ -192,7 +201,9 @@ def add_contacts(self):
         for contact in self.model.contacts():
             geometry = contact.polygon
             color = self.interfacecolor
-            parent.add(geometry, linewidth=1, surfacecolor=color, linecolor=color.contrast)  # type: ignore
+            parent.add(
+                geometry, linewidth=1, surfacecolor=color, linecolor=color.contrast
+            )  # type: ignore
 
     # =============================================================================
     # Graph
@@ -201,9 +212,14 @@ def add_contacts(self):
     def add_graph(self):
         parent: Group = self.groups["interactions"]
 
-        node_point = {node: self.model.graph.node_element(node).point for node in self.model.graph.nodes()}  # type: ignore
+        node_point = {
+            node: self.model.graph.node_element(node).point
+            for node in self.model.graph.nodes()
+        }  # type: ignore
         points = list(node_point.values())
-        lines = [cg.Line(node_point[u], node_point[v]) for u, v in self.model.graph.edges()]
+        lines = [
+            cg.Line(node_point[u], node_point[v]) for u, v in self.model.graph.edges()
+        ]
 
         nodegroup = self.scene.add_group(name="Nodes", parent=parent)  # type: ignore
         edgegroup = self.scene.add_group(name="Edges", parent=parent)  # type: ignore
@@ -211,76 +227,48 @@ def add_graph(self):
         nodegroup.add_from_list(points, pointsize=10, pointcolor=self.graphnodecolor)  # type: ignore
         edgegroup.add_from_list(lines, linewidth=1, linecolor=self.graphedgecolor)  # type: ignore
 
-    def add_solution(self, scale=1e-7):
+    def add_solution(self, scale=1.0):
         """
         Adds the solution to the viewer.
 
         Parameters
         ----------
-        solver_name : str
-            The name of the solver used to generate the solution. This is used to determine how to interpret the solution data and update the viewer accordingly.
-            Currently supported solvers:
-            - "LMGC90"
-            - "CRA" - pending
-            - "PRD" - pending
-            - "3DEC" - pending
-
-        solution : object
-            The solution object returned by the solver. This is expected to contain the updated block geometries and contact information after the simulation run.
-
-        For LMGC90, the following KWARGS are expected:
-        - scale_normal: float
-            Scaling factor for visualizing contact normals.
-        - scale_force: float
-            Scaling factor for visualizing contact forces.
+        - scale : float
+            A scaling factor for the resultant force lines, to make them visible in the viewer. Adjust as needed based on the magnitude of forces in the model.
 
         """
-        # solver_name = solver_name.lower()  # Ensure solver name is case-insensitive
-
-        # if solver_name == "lmgc90":
-        #     scale_normal = kwargs.get("scale_normal", 0.00001)
-        #     scale_force = kwargs.get("scale_force", 0.00001)
-        #     contacts = solution.get_contacts(scale_normal=scale_normal, scale_force=scale_force)
-
-        #     solution_group = self.scene.add_group(name="Solution")
-        #     updated_blocks = self.scene.add_group(name="Updated_Blocks", parent=solution_group)
-        #     resultant_forces = self.scene.add_group(name="Forces", parent=solution_group)
-        #     contact_polygons = self.scene.add_group(name="Contact_Polygons", parent=solution_group)
-
-        #     supports = solution.supports if solution.supports else []
-        #     for i, mesh in enumerate(solution.trimeshes):
-        #         is_support = supports[i] if i < len(supports) else False
-        #         color = (255, 0, 0) if is_support else (200, 200, 200)
-        #         updated_blocks.add(
-        #             mesh,
-        #             name=f"block_{i}",
-        #             facecolor=color,
-        #             show_edges=True,
-        #             opacity=0.25,
-        #         )
-        #     for i, line in enumerate(contacts["force_resultants"]):
-        #         resultant_forces.add(
-        #             line,
-        #             name=f"force_resultant_{i}",
-        #             linewidth=2.5,
-        #             color=(0, 0, 255),
-        #         )
-
-        #     for i, polygon in enumerate(contacts["contact_polygons"]):
-        #         contact_polygons.add(polygon, name=f"polygon_{i}", color=(0, 100, 0))
-        #     # solution.finalize()  # Ensure proper cleanup of LMGC90 resourcesif solver_name == "LMGC90":
-
-        # else:
-        #     raise NotImplementedError(f"Viewer update not implemented for solver: {solver_name}")
-
-        scale_force = scale
+
         moved_blocks = []
 
         solution_group = self.scene.add_group(name="Solution")
-        updated_blocks = self.scene.add_group(name="Updated_Blocks", parent=solution_group)
+        updated_blocks = self.scene.add_group(
+            name="Updated_Blocks", parent=solution_group
+        )
         resultant_forces = self.scene.add_group(name="Forces", parent=solution_group)
+        face_contacts = self.scene.add_group(
+            name="Contact_Polygons", parent=solution_group
+        )
+        edge_contacts = self.scene.add_group(
+            name="Contact_Edges", parent=solution_group
+        )
+        supports = self.scene.add_group(name="Supports", parent=solution_group)
+        reactions = self.scene.add_group(name="Reactions", parent=supports)
+        support_contacts = self.scene.add_group(
+            name="Support_Contacts", parent=supports
+        )
+        point_results = self.scene.add_group(
+            name="Point Results : [Fn, Ft1, Ft2]", parent=solution_group
+        )
+        degenerate_contacts = self.scene.add_group(
+            name="Degenerate_Contacts", parent=solution_group
+        )
+
+        block_ln = []
         for block in self.model.elements():
-            T = self.model.graph.node_attribute(block.graphnode, "transformation") or cg.Transformation()
+            T = (
+                self.model.graph.node_attribute(block.graphnode, "transformation")
+                or cg.Transformation()
+            )
             new_block = block.modelgeometry.transformed(T)
             moved_blocks.append(new_block)
             updated_blocks.add(
@@ -288,31 +276,236 @@ def add_solution(self, scale=1e-7):
                 name=f"block_{block.graphnode}",
                 opacity=0.25,
             )
-        for u, v in self.model.graph.edges():
-            edge = (min(u, v), max(u, v))
-            force = self.model.graph.edge_attribute(edge, "force")
-            contact_pts = self.model.graph.edge_attribute(edge, "contact_point")
-            fc = self.model.graph.edge_attribute(edge, "friction_contact")
-            if not force or not contact_pts:
+            try:
+                block_ln.append(block.modelgeometry.edge_length([0, 1]))
+            except Exception:
+                pass
+
+        forces = [
+            np.array((self.model.graph.edge_attribute(edge, "force") or [0, 0, 0]))
+            for edge in self.model.graph.edges()
+        ]
+        max_force = max(np.linalg.norm(force) for force in forces)
+        block_scale = scale * max(block_ln) / max_force if max_force > 0 else 1.0
+
+        face_contact_edges = list(self.model.graph.edges_where(face_contact=True))
+        edge_contact_edges = list(self.model.graph.edges_where(edge_contact=True))
+
+        # =============================================================================
+        # Supports and reactions
+        # =============================================================================
+        supports = list(support.graphnode for support in self.model.supports())
+        support_edges = {s: [] for s in supports}
+        for edge in self.model.graph.edges():
+            u, v = edge
+            if u in supports:
+                support_edges[u].append(edge)
+            if v in supports:
+                support_edges[v].append(edge)
+
+        for support_node, edges in support_edges.items():
+            point_forces: list[tuple[cg.Point, cg.Vector]] = []
+            support_block = self.model.graph.node_element(support_node)
+            support_point = support_block.point
+
+            for edge in edges:
+                if edge in face_contact_edges:
+                    fc = self.model.graph.edge_attribute(edge, "contact_data")
+
+                    if fc is None:
+                        continue
+
+                    resultant = fc.resultantline()
+                    if resultant is None:
+                        continue
+
+                    from_support = cg.Vector.from_start_end(
+                        support_point, resultant.midpoint
+                    )
+                    if resultant.vector.dot(from_support) < 0:
+                        resultant.vector.flip()
+
+                    point_forces.append((fc.resultantpoint, resultant.vector))
+
+                    # Viz the contact polygon
+
+                    contact_polygon = self.model.graph.edge_attribute(
+                        edge, "contact_polygon"
+                    )
+
+                    if contact_polygon.area < 1e-6:
+                        print(
+                            f"WARNING:\nContact polygon for support edge {edge} has very small area ({contact_polygon.area:.2e}), skipping visualization. \n"
+                        )
+                        continue
+
+                    polyg = contact_polygon.to_brep()
+                    support_contacts.add(
+                        polyg,
+                        name=f"contact_polygon_{edge}",
+                        color=Color.brown(),
+                        opacity=0.5,
+                    )
+
+                elif edge in edge_contact_edges:
+                    ec = self.model.graph.edge_attribute(edge, "contact_data")
+                    support_contacts.add(
+                        cg.Line(ec.points[0], ec.points[1]),
+                        name=f"contact_line_{edge}",
+                        linewidth=2,
+                        linecolor=Color.brown(),
+                    )
+
+                    if ec.resultantline() is None:
+                        continue
+
+                    from_support = cg.Vector.from_start_end(
+                        support_point, resultant.midpoint
+                    )
+
+                    if resultant.vector.dot(from_support) < 0:
+                        resultant.vector.flip()
+                    point_forces.append((ec.resultantpoint, ec.resultantline().vector))
+
+            if point_forces:
+                weights = [f.length for _, f in point_forces]
+
+                total_weight = sum(weights)
+
+                if total_weight > 0:
+                    position = cg.Point(
+                        sum(p.x * w for (p, _), w in zip(point_forces, weights))
+                        / total_weight,
+                        sum(p.y * w for (p, _), w in zip(point_forces, weights))
+                        / total_weight,
+                        sum(p.z * w for (p, _), w in zip(point_forces, weights))
+                        / total_weight,
+                    )
+                    resultant = cg.Vector(0, 0, 0)
+
+                    for _, f in point_forces:
+                        if f:
+                            resultant += f
+
+                    # if resultant.dot(cg.Vector(0, 0, 1)) < 0:
+                    #     resultant.flip()
+                    forcevector = resultant * 0.5
+
+                    p1 = position + forcevector * block_scale
+                    p2 = position - forcevector * block_scale
+                    reactions.add(
+                        cg.Line(p1, p2),
+                        name=f"F=({resultant.x:.1f}, {resultant.y:.1f}, {resultant.z:.1f}) \n|F|={resultant.length:.1f}",
+                        linewidth=2.5,
+                        color=Color.red(),
+                    )
+
+        # =============================================================================
+        # Visualize forces at contacts
+        # =============================================================================
+
+        # Face contacts
+        # --------------
+        for edge in face_contact_edges:
+            fc = self.model.graph.edge_attribute(edge, "contact_data")
+            contact_polygon = self.model.graph.edge_attribute(edge, "contact_polygon")
+            resultant = fc.resultantforce[0].vector
+
+            if fc is None:
                 continue
+            resultant_line = fc.resultantline(scale=block_scale)
+            if resultant_line is not None:
+                resultant_forces.add(
+                    resultant_line,
+                    name=f"F=({resultant.x:.1f}, {resultant.y:.1f}, {resultant.z:.1f}) \n|F|={resultant.length:.1f}",
+                    linewidth=2.5,
+                    linecolor=Color.blue(),
+                )
+
+            if contact_polygon.area < 1e-6:
+                if len(contact_polygon.points) < 3:
+                    print(
+                        f"WARNING:\nContact polygon for edge {edge} has less than 3 points, skipping visualization. \n"
+                    )
+                    continue
+                # Collapse it to a line if it's very small, to avoid visualization issues
+                lines_polyg = []
+                for line in contact_polygon.lines:
+                    lines_polyg.append(line.length)
+                line_min = min(lines_polyg)
+                line_max = max(lines_polyg)
+
+                # collapse face contact to a line
+                if line_max > 0.001 and line_max / line_min > 10:
+                    longest_line = contact_polygon.lines[np.argmax(lines_polyg)]
+                    degenerate_contacts.add(
+                        longest_line,
+                        name=f"contact_line_{edge}",
+                        linewidth=2,
+                        linecolor=Color.red(),
+                    )
+                elif line_max / line_min <= 10:
+                    print(f"Contact_polygon {contact_polygon}")
+                    point = contact_polygon.centroid
+                    degenerate_contacts.add(
+                        point,
+                        name=f"contact_point_{edge}",
+                        pointsize=5,
+                        pointcolor=Color.red(),
+                    )
+
+                continue
+
+            polyg = contact_polygon.to_brep()
+            face_contacts.add(
+                polyg,
+                name=f"contact_polygon_{edge}",
+                color=Color.green(),
+                opacity=0.5,
+            )
 
-            fn_vals = [f["c_np"] - f["c_nn"] for f in fc.forces] if fc else None
-            fn_sum = sum(fn_vals) if fn_vals else 0.0
+            # Viz the point forces
 
-            if fn_vals and abs(fn_sum) > 1e-12:
-                pos = cg.Point(*cg.centroid_points_weighted([list(p) for p in fc.points], fn_vals))
+            for i, (point, force) in enumerate(zip(fc.points, fc.forces)):
+                c_np, c_u, c_v = force["c_np"], force["c_u"], force["c_v"]
+                t1, t2, n = fc.frame.xaxis, fc.frame.yaxis, fc.frame.zaxis
+                forcevector_unsc = n * c_np + t1 * c_u + t2 * c_v
 
-                half = [force[j] * fn_sum * scale_force * 0.5 for j in range(3)]
-            else:
-                n = len(contact_pts)
-                pos = cg.Point(*[sum(p[j] for p in contact_pts) / n for j in range(3)])
-                half = [force[j] * scale_force * 0.5 for j in range(3)]
+                # point = fc.points[i]
 
-            resultant_line = cg.Line([pos[j] + half[j] for j in range(3)], [pos[j] - half[j] for j in range(3)])
+                if forcevector_unsc and point is not None:
+                    forcevector = forcevector_unsc * block_scale
+                    p1 = point.translated(forcevector)
+                    p2 = point.translated(-forcevector)
+                    point_results.add(
+                        cg.Line(p1, p2),
+                        name=f"[{c_np:.1f}, {c_u:.1f}, {c_v:.1f}] \n|F|={forcevector_unsc.length:.1f}",
+                        linewidth=2.5,
+                        linecolor=Color.magenta(),
+                    )
 
+        # Edge contacts
+        # --------------
+        for edge in edge_contact_edges:
+            ec = self.model.graph.edge_attribute(edge, "contact_data")
+
+            if ec.resultantforce is None:
+                continue
+            resultant = ec.resultantforce.vector
+            line = ec.resultantline(scale=block_scale) if ec else None
+
+            if line is None:
+                continue
             resultant_forces.add(
-                resultant_line,
-                name=f"force_resultant_{edge}",
+                line,
+                name=f"F=({resultant.x:.1f}, {resultant.y:.1f}, {resultant.z:.1f}) \n|F|={resultant.length:.1f}",
                 linewidth=2.5,
                 linecolor=Color.blue(),
             )
+
+            edge_contacts.add(
+                cg.Line(ec.points[0], ec.points[1]),
+                name=f"contact_line_{edge}",
+                linewidth=2,
+                linecolor=Color.red(),
+            )