On the numerical integration of motion for rigid polyatomics: The modified quaternion approach

A revised version of the quaternion approach for numerical integration of the equations of motion for rigid polyatomic molecules is proposed. The modified approach is based on a formulation of the quaternion dynamics with constraints. This allows one to resolve the rigidity problem rigorously using constraint forces. It is shown that the procedure for preservation of molecular rigidity can be realized particularly simply within the Verlet algorithm in velocity form. We demonstrate that the method presented leads to an improved numerical stability with respect to the usual quaternion rescaling scheme and it is roughly as good as the cumbersome atomic-constraint technique