Can anyone help me with a matrix vector multiplication in Verilog-ams, where the matrices and vectors contain a combination of kinematic and translational signals?

An example:

A static 3 degrees-of-freedom beam without the use of vectors and matrices:

//Verilog-AMS HDL for "Libaryname", "Beam3dof" "verilogams"

`include "constants.vams"
`include "disciplines.vams"

module Beam3dof (tx1, tx2, ty1, ty2, tphi1, tphi2);
   inout tx1, tx2, ty1, ty2, tphi1, tphi2;
   kinematic tx1, tx2, ty1, ty2,gnd;
   rotational tphi1, tphi2, rotgnd;

   ground gnd, rotgnd;

// mechanical properties    
   parameter real k1=1;
   parameter real k2=1;
   parameter real k3=1;
   parameter real k4= 1;  
   parameter real k5= 1;  
   parameter real k6= 1;  // N/m
 
   real x1, x2, y1, y2, phi1, phi2;

analog begin
     x1 = Pos(tx1);
     x2 = Pos(tx2);
     y1 = Pos(ty1);
     y2 = Pos(ty2);
     phi1 = Theta(tphi1);
     phi2 = Theta(tphi2);
     F(tx1,gnd) <+ k1*cd_x1 - k1*x2;
     F(tx2,gnd) <+ -k1*x1 + k1*x2;
     F(ty1,gnd) <+ k2*y1 + k3*phi1 - k2*y2 + k3*phi2;
     F(ty2,gnd) <+ -k2*y1 - k3*phi1 + k2*y2 - k3*phi2;
     Tau(tphi1,rotgnd) <+ k4*y1 + k5*phi1 - k4*y2 + k6*phi2;
     Tau(tphi2,rotgnd) <+ k4*y1 + k6*phi1 - k4*y2 + k5*phi2;
end

endmodule


To use vectors I guess something like this is required:

inout [0:5] dispvector
kinematic ......   inout[0], inout[1], inout[3], inout[4]
rotational ...... inout[2], inout[5]

so effectively this would be obtained:

dispvector = [x1 y1 phi1 x2 y2 phi2]
forcevector = [fx1 fy1 Tau1 fx2 fy2 Tau2]

Declaring:

k11=k1
k14=-k1
k22=k2
k23=k3
k25=-k2
k12=k13=k21=k24=0
...
...

would give the coefficients of the k (stiffness) matrix.
Then the matrix vector multiplication would be required.


Any suggestions are welcome.