OpenFOAM: API Guide
v2112
The open source CFD toolbox
Newmark.C
Go to the documentation of this file.
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/*---------------------------------------------------------------------------*\
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========= |
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\\ / F ield | OpenFOAM: The Open Source CFD Toolbox
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\\ / O peration |
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\\ / A nd | www.openfoam.com
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\\/ M anipulation |
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-------------------------------------------------------------------------------
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Copyright (C) 2016 OpenFOAM Foundation
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Copyright (C) 2020 OpenCFD Ltd.
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-------------------------------------------------------------------------------
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License
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This file is part of OpenFOAM.
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OpenFOAM is free software: you can redistribute it and/or modify it
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under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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OpenFOAM is distributed in the hope that it will be useful, but WITHOUT
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ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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for more details.
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You should have received a copy of the GNU General Public License
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along with OpenFOAM. If not, see <http://www.gnu.org/licenses/>.
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\*---------------------------------------------------------------------------*/
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#include "
Newmark.H
"
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#include "
addToRunTimeSelectionTable.H
"
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// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
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namespace
Foam
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{
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namespace
RBD
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{
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namespace
rigidBodySolvers
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{
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defineTypeNameAndDebug
(
Newmark
, 0);
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addToRunTimeSelectionTable
(
rigidBodySolver
,
Newmark
,
dictionary
);
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}
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}
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}
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// * * * * * * * * * * * * * * * * Constructors * * * * * * * * * * * * * * //
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Foam::RBD::rigidBodySolvers::Newmark::Newmark
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(
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rigidBodyMotion
& body,
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const
dictionary
&
dict
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)
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:
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rigidBodySolver
(body),
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gamma_(
dict
.getOrDefault<scalar>(
"gamma"
, 0.5)),
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beta_
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(
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max
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(
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0.25*
sqr
(gamma_ + 0.5),
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dict
.getOrDefault<scalar>(
"beta"
, 0.25)
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)
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)
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{}
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// * * * * * * * * * * * * * * * * Destructor * * * * * * * * * * * * * * * //
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Foam::RBD::rigidBodySolvers::Newmark::~Newmark
()
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{}
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// * * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * //
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void
Foam::RBD::rigidBodySolvers::Newmark::solve
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(
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const
scalarField
& tau,
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const
Field<spatialVector>
& fx
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)
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{
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// Accumulate the restraint forces
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scalarField
rtau(tau);
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Field<spatialVector>
rfx(fx);
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model_.applyRestraints(rtau, rfx, state());
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// Calculate the accelerations for the given state and forces
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model_.forwardDynamics(state(), rtau, rfx);
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// Correct velocity
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qDot() = qDot0()
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+ deltaT()*(gamma_*qDdot() + (1 - gamma_)*qDdot0());
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// Correct position
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q() = q0()
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+ deltaT()*qDot0()
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+
sqr
(deltaT())*(beta_*qDdot() + (0.5 - beta_)*qDdot0());
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correctQuaternionJoints();
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}
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// ************************************************************************* //
max
Y[inertIndex] max(0.0)
addToRunTimeSelectionTable.H
Macros for easy insertion into run-time selection tables.
addToRunTimeSelectionTable
#define addToRunTimeSelectionTable(baseType, thisType, argNames)
Add to construction table with typeName as the key.
Definition:
addToRunTimeSelectionTable.H:42
Foam::Field< scalar >
Foam::RBD::rigidBodyMotion
Six degree of freedom motion for a rigid body.
Definition:
rigidBodyMotion.H:78
Foam::RBD::rigidBodySolver
Definition:
rigidBodySolver.H:54
Foam::RBD::rigidBodySolvers::Newmark
Newmark 2nd-order time-integrator for 6DoF solid-body motion.
Definition:
Newmark.H:74
Foam::RBD::rigidBodySolvers::Newmark::~Newmark
virtual ~Newmark()
Destructor.
Definition:
Newmark.C:70
Foam::dictionary
A list of keyword definitions, which are a keyword followed by a number of values (eg,...
Definition:
dictionary.H:126
defineTypeNameAndDebug
#define defineTypeNameAndDebug(Type, DebugSwitch)
Define the typeName and debug information.
Definition:
className.H:121
Foam
Namespace for OpenFOAM.
Definition:
atmBoundaryLayer.C:34
Foam::sqr
dimensionedSymmTensor sqr(const dimensionedVector &dv)
Definition:
dimensionedSymmTensor.C:51
dict
dictionary dict
Definition:
searchingEngine.H:14
Newmark.H
solve
CEqn solve()
src
rigidBodyDynamics
rigidBodySolvers
Newmark
Newmark.C
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of OpenCFD Ltd.