Verlet integration () is a numerical method used to integrate Newton's equations of motion. It is frequently used to calculate trajectories of particles in molecular dynamics simulations and computer graphics. The algorithm was first used in 1791 by Jean Baptiste Delambre and has been rediscovered many times since then, most recently by Loup Verlet in the 1960s for use in molecular dynamics. It was also used by P. H. Cowell and A. C. C. Crommelin in 1909 to compute the orbit of Halley's Comet, and by Carl Størmer in 1907 to study the trajectories of electrical particles in a magnetic field (hence it is also called Størmer's method). The Verlet integrator provides good numerical stability, as well as other properties that are important in physical systems such as time reversibility and preservation of the symplectic form on phase space, at no significant additional computational cost over the simple Euler method.
Basic Størmer–Verlet
For a second-order differential equation of the type with initial conditions and , an approximate numerical solution at the times with step size can be obtained by the following method: set , for n = 1, 2, ... iterate
Equations of motion Newton's equation of motion for conservative physical systems is
or individually
where is the time, is the ensemble of the position vector of objects, is the scalar potential function, is the negative gradient of the potential, giving the ensemble of forces on the particles, is the mass matrix, typically diagonal with blocks with mass for every particle.
This equation, for various choices of the potential function , can be used to describe the evolution of diverse physical systems, from the motion of interacting molecules to the orbit of the planets.
After a transformation to bring the mass to the right side and forgetting the structure of multiple particles, the equation may be simplified to
with some suitable vector-valued function representing the position-dependent acceleration. Typically, an initial position and an initial velocity are also given.
Verlet integration (without velocities) To discretize and numerically solve this initial value problem, a time step is chosen, and the sampling-point sequence considered. The task is to construct a sequence of points that closely follow the points on the trajectory of the exact solution.
Where Euler's method uses the forward difference approximation to the first derivative in differential equations of order one, Verlet integration can be seen as using the central difference approximation to the second derivative:
Verlet integration in the form used as the Størmer methodwebpage with a description of the Størmer method. uses this equation to obtain the next position vector from the previous two without using the velocity as
Discretisation error The time symmetry inherent in the method reduces the level of local errors introduced into the integration by the discretization by removing all odd-degree terms, here the terms in of degree three. The local error is quantified by inserting the exact values into the iteration and computing the Taylor expansions at time of the position vector in different time directions:
where is the position, the velocity, the acceleration, and the jerk (third derivative of the position with respect to the time).
Adding these two expansions gives
We can see that the first- and third-order terms from the Taylor expansion cancel out, thus making the Verlet integrator an order more accurate than integration by simple Taylor expansion alone.
Caution should be applied to the fact that the acceleration here is computed from the exact solution, , whereas in the iteration it is computed at the central iteration point, . In computing the global error, that is the distance between exact solution and approximation sequence, those two terms do not cancel exactly, influencing the order of the global error.
A simple example
To gain insight into the relation of local and global errors, it is helpful to examine simple examples where the exact solution, as well as the approximate solution, can be expressed in explicit formulas. The standard example for this task is the exponential function.
Consider the linear differential equation with a constant . Its exact basis solutions are and .
The Størmer method applied to this differential equation leads to a linear recurrence relation
or
It can be solved by finding the roots of its characteristic polynomial . These are
The basis solutions of the linear recurrence are and . To compare them with the exact solutions, Taylor expansions are computed:
The quotient of this series with the exponential starts with so
From there it follows that for the first basis solution the error can be computed as
That is, although the local discretization error is of order 4, due to the second order of the differential equation the global error is of order 2, with a constant that grows exponentially in time.
Starting the iteration Note that at the start of the Verlet iteration at step , time , computing , one already needs the position vector at time . At first sight, this could give problems, because the initial conditions are known only at the initial time . However, from these the acceleration is known, and a suitable approximation for the position at the first time step can be obtained using the Taylor polynomial of degree two:
The error on the first time step then is of order . This is not considered a problem because on a simulation over a large number of time steps, the error on the first time step is only a negligibly small amount of the total error, which at time is of the order , both for the distance of the position vectors to as for the distance of the divided differences to . Moreover, to obtain this second-order global error, the initial error needs to be of at least third order.
Non-constant time differences A disadvantage of the Størmer–Verlet method is that if the time step () changes, the method does not approximate the solution to the differential equation. This can be corrected using the formula
A more exact derivation uses the Taylor series (to second order) at for times and to obtain after elimination of
so that the iteration formula becomes
Computing velocities – Størmer–Verlet method The velocities are not explicitly given in the basic Størmer equation, but often they are necessary for the calculation of certain physical quantities like the kinetic energy. This can create technical challenges in molecular dynamics simulations, because kinetic energy and instantaneous temperatures at time cannot be calculated for a system until the positions are known at time . This deficiency can either be dealt with using the velocity Verlet algorithm or by estimating the velocity using the position terms and the mean value theorem:
Note that this velocity term is a step behind the position term, since this is for the velocity at time , not , meaning that is a second-order approximation to . With the same argument, but halving the time step, is a second-order approximation to , with .
One can shorten the interval to approximate the velocity at time at the cost of accuracy:
Velocity Verlet A related, and more commonly used algorithm is the velocity Verlet algorithm, similar to the leapfrog method, except that the velocity and position are calculated at the same value of the time variable (leapfrog does not, as the name suggests). This uses a similar approach, but explicitly incorporates velocity, solving the problem of the first time step in the basic Verlet algorithm:
It can be shown that the error in the velocity Verlet is of the same order as in the basic Verlet. Note that the velocity algorithm is not necessarily more memory-consuming, because, in basic Verlet, we keep track of two vectors of position, while in velocity Verlet, we keep track of one vector of position and one vector of velocity. The standard implementation scheme of this algorithm is: Calculate . Calculate . Derive from the interaction potential using . Calculate . This algorithm also works with variable time steps, and is identical to the 'kick-drift-kick' form of leapfrog method integration.
Eliminating the half-step velocity, this algorithm may be shortened to Calculate . Derive from the interaction potential using . Calculate .
Note, however, that this algorithm assumes that acceleration only depends on position and does not depend on velocity .
One might note that the long-term results of velocity Verlet, and similarly of leapfrog are one order better than the semi-implicit Euler method. The algorithms are almost identical up to a shift by half a time step in the velocity. This can be proven by rotating the above loop to start at step 3 and then noticing that the acceleration term in step 1 could be eliminated by combining steps 2 and 4. The only difference is that the midpoint velocity in velocity Verlet is considered the final velocity in semi-implicit Euler method.
The global error of all Euler methods is of order one, whereas the global error of this method is, similar to the midpoint method, of order two. Additionally, if the acceleration indeed results from the forces in a conservative mechanical or Hamiltonian system, the energy of the approximation essentially oscillates around the constant energy of the exactly solved system, with a global error bound again of order one for semi-explicit Euler and order two for Verlet-leapfrog. The same goes for all other conserved quantities of the system like linear or angular momentum, that are always preserved or nearly preserved in a symplectic integrator.
The velocity Verlet method is a special case of the Newmark-beta method with and .
Algorithmic representation Since velocity Verlet is a generally useful algorithm in 3D applications, a solution written in C++ could look like below. This type of position integration will significantly increase accuracy in 3D simulations and games when compared with the regular Euler method. struct Body { Vec3d pos { 0.0, 0.0, 0.0 }; Vec3d vel { 2.0, 0.0, 0.0 }; // 2 m/s along x-axis Vec3d acc { 0.0, 0.0, 0.0 }; // no acceleration at first double mass = 1.0; // 1kg
/** * Updates pos and vel using "Velocity Verlet" integration * @param dt DeltaTime / time step [eg: 0.01] */ void update(double dt)
Vec3d new_pos = pos + vel*dt + acc*(dt*dt*0.5); Vec3d new_acc = apply_forces(); Vec3d new_vel = vel + (acc+new_acc)*(dt*0.5); pos = new_pos; vel = new_vel; acc = new_acc;
/** * To apply velocity to your objects, calculate the required Force vector instead * and apply the accumulated forces here. */ Vec3d apply_forces() const
Vec3d new_acc = Vec3d{0.0, 0.0, -9.81 }; // 9.81 m/s² down in the z-axis // Apply any other forces here... // NOTE: Avoid depending on `vel` because Velocity Verlet assumes acceleration depends on position. return new_acc;
Error terms
The global truncation error of the Verlet method is , both for position and velocity. This is in contrast with the fact that the local error in position is only as described above. The difference is due to the accumulation of the local truncation error over all of the iterations.
The global error can be derived by noting the following:
and
Therefore
Similarly:
which can be generalized to (it can be shown by induction, but it is given here without proof):
If we consider the global error in position between and , where , by substituting into the previous equation we obtain
and therefore, the global (cumulative) error over a constant interval of time is given by
Because the velocity is determined in a non-cumulative way from the positions in the Verlet integrator, the global error in velocity is also
In molecular dynamics simulations, the global error is typically far more important than the local error, and the Verlet integrator is therefore known as a second-order integrator.
Constraints