Hi Xolhardal,
I don't think it would be too hard to come up with a Kinematics Class for a SCARA configuration.
You might start with the Kinematic3Rod example and put your equations into the TransformCADtoActuators function.
The base class has a helper function to find the intersection of 2 circles:
int CKinematics::IntersectionTwoCircles(CPT2D c0, double r0, CPT2D c1, double r1, CPT2D *q)
I think that would provide the elbow position and from that it should be straightforward to determine the link and actuator angles.
Does this sound reasonable?
Are you able to install Visual Studio 2015 Community and re-build our Libraries using the BuildAllLibs.sln solution?
Regards