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A velocity Verlet algorithm for velocity dependent forces is described for modeling a suspension of rigid body inclusions. The rigid body motion is determined from the quaternion-based scheme of Omelyan Comput. Phys. 12, 97 (1998). An iterative method to determine angular velocity in a self-consistent fashion for this quaternion-based algorithm is presented. This method is tested for the case of liquid water. We also describe a method for evaluating the stress tensor for a system of rigid bodies that is consistent with the velocity Verlet alogorithm. Results are compared to the constraint-based rattle algorithm of Anderson J. Comput. Phys. 52, 24 (1993).
Martys et al. (1999) studied this question.