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Commit 9427d134 authored by Henry Weller's avatar Henry Weller
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sixDoFRigidBodyMotion: Time integration now switches between symplectic and Crank-Nicolson 

For explicit motion (and the first iteration of iterative motion
correction) the 2nd-order symplectic motion integrator is used.

For iterative correction a form of lagged Crank-Nicolson is used in
which the current time-step values correspond to the current iteration.
This converges to a 2nd-order implicit solution.
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