Reference coordinates trade more equations for a systematic solver

Reference coordinates make a multibody solver more systematic.

Instead of hand-picking the minimum number of coordinates for every mechanism, each body receives a standard coordinate set. Joints and drivers are then expressed as constraint equations.

The price is numerical: the solver must handle more coordinates and constraint equations. The benefit is architectural: mechanisms become easier to define, compose, debug, and generalize.

Programatic Mechanisms
2D Kinematics and Dynamics
Launching a MBSD framework