Simple and efficient integration of rigid rotations suitable for constraint solvers
Simple and efficient way of integrating rigid rotations is presented. The algorithm is stable, second order accurate, and in its explicit version involves evaluation of only two exponential maps per time step. The semi-explicit version of the proposed scheme improves upon the long term stability, while it retains the explicitness in the force evaluation. The algebraic structure of both schemes makes them suitable for the analysis of constrained multi-body systems. The explicit algorithm is specifically aimed at the analysis involving small incremental rotations, where its modest computational cost becomes the maior advantage. The semi-explicit scheme naturally broadens the scope of possible applications.
rigid rotations time integration explicit scheme constrained motion
Tomasz Koziara Nenad Bi(c)ani(c)
Department of Civil Engineering University of Glasgow,Glasgow G12 8LT,UK
国际会议
北京
英文
278-287
2008-09-24（万方平台首次上网日期，不代表论文的发表时间）