The numerical simulation of rigid body motion with six degrees-of-freedom plays an important role in several areas. A library based approach is presented for the simulation of such problems. Quaternions are utilized for the formulation and the 4th-order Runge-Kutta method is used for the time integration of the equations of motion. A hierarchical tree model is used for the specification of bodies with multiple components and for the appropriate transfer of forces and moments. The developed library provides the implementation of an application programming interface that can be used to add moving-body capabilities to existing computational simulation codes. The results from the validation and the estimation of the order of accuracy of the time integration are reported in this paper.
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