• ConstraintCorrection is an option for SolveFree. With ConstraintCorrection->True, each body's location and velocity are corrected at each integration step so as to be consistent with the constraints.
• The default setting is ConstraintCorrection->False.
• The equations of motion solved by SolveFree do not explicitly contain the kinematic constraints, therefore the cumulative errors in numerical integration may result in a solution that violates the constraints. ConstraintCorrection->True causes SolveFree to correct the integration at each time step so that the result does not violate the constraints.
• ConstraintCorrection->True slows SolveFree by approximately a factor of two.
• See also: FitDegree.