Preprocessed Discrete Moser-Veselov algorithm for the full dynamics of
the rigid body
E. Hairer and G. Vilmart
Abstract. The Discrete Moser-Veselov algorithm is an integrable discretisation
of the equations of motion for the free rigid body. It is symplectic and time-reversible,
and it conserves all first integrals of the system. The only drawback is its low
order. We present a modification of this algorithm to arbitrarily high order which
has negligeable overhead but considerably improves the accuracy.
Key Words. rigid body, preprocessed vector field integrator, geometric
numerical integration, Discrete Moser-Veselov algorithm.