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Simple and efficient integration of rigid rotations suitable for constraint solvers

This paper presents a practical technique, which has since been applied in the context of Koziara's collaboration with EDF Energy and implemented in an open-source software Solfec https://code.google.com/p/solfec/. The technique presented in the paper was among the state-of-the-art approaches included in a comparative PhD thesis of Giulia Ortolan (Topics on geometric integration, Padova, Italy, 2011) and subsequently in her article (International Journal for Numerical Methods in Engineering, Volume 90, Issue 3, pages 390–402, 2012).