Title: SPIRAL: Third-order integration algorithm for Rigid Body Dynamics

Author (Talk): Carlos del Valle Urberuaga, Yale University

Abstract:

We present SPIRAL, a third-order integration algorithm designed for simulating the rotational motion of rigid bodies. SPIRAL overcomes several limitations of existing methods by providing higher accuracy, stability, and better energy conservation. Unlike traditional algorithms, SPIRAL does not require quaternion normalization at every timestep and works seamlessly with both leapfrog and standard integration schemes. Through comprehensive testing against analytical solutions and established benchmarks, SPIRAL demonstrates superior performance in accuracy, efficiency, and robustness compared to the algorithms used in state-of-the-art discrete element methods (DEM) codes, such as YADE, MERCURY DPM, LIGHTS, and PFC, without compromising performance.