Guide to Frames Functions in C++

FRAME is the fundamental dynamic container in the simulation. It contains math to handle frame kinematics in an inertial or frame-chain sense

BODY is a frame class extended to contain mass and inertia. It is used to resolve forces into accelerations on dynamic bodies, and serves as the base unit for vehicles.

NODE is a special frame container used for the application of forces and moments, as well as sensing acceleration.