[fsaltara]

When using sixdof solver, how are velocities and displacements advanced in time?

Looking in the code, I assume that:

v(t+0.5dt)=v(t)+0.5*dt0*a(t)

x(t+dt)=x(t)+v(t+0.5dt)*dt

v(t+dt)=v(t+0.5dt)+0.5*dt*a(t)

Is that correct?