This PhD thesis proposes a direct and unified method for generating global static equilibrium for 2D and 3D reciprocal form and force diagrams based on reciprocal discrete stress functions. This research combines and reinterprets knowledge from Maxwell’s 19th century graphic statics, projective geometry and rigidity theory to provide an interactive design and analysis framework through which information about designed structural performance can be geometrically encoded in the form of the characteristics of the stress function. This method results in novel, intuitive design and analysis freedoms. In contrast to contemporary computational frameworks, this method is direct and analytical. In this way, there is no need for iteration, the designer operates by default within the equilibrium space and the mathematically elegant nature of this framework results in its wide applicability as well as in added educational value. Moreover, it provides the designers with the agility to start from any one of the four interlinked reciprocal objects (form diagram, force diagram, corresponding stress functions). This method has the potential to be applied in a wide range of case studies and fields. Specifically, it leads to the design, analysis and load-path optimisation of tension-and compression 2D and 3D trusses, tensegrities, the exoskeletons of towers, and in conjunction with force density, to tension-and-compression grid-shells, shells and vaults. Moreover, the abstract nature of this method leads to wide cross-disciplinary applicability, such as 2D and 3D discrete stress fields in structural concrete and to a geometrical interpretation of yield line theory.