Conservative rigid body dynamics by convected base vectors with implicit constraints
Rigid body formulation in terms of a set of local base vectors, constrained to be orthonormal. Lagrange multipliers associated with the base vectors eliminated from equations of motion. Energy and momentum conserving time integration scheme developed based on mean values and increments. Orthonormal base vectors retained implicitly as part of the equations of motion.
rigid body dynamics implicit constraints conservative time integration hamiltonian dynamics