OpenFOAM: API Guide
v2112
The open source CFD toolbox
symplectic.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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-------------------------------------------------------------------------------
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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 "
symplectic.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
(
symplectic
, 0);
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addToRunTimeSelectionTable
(
rigidBodySolver
,
symplectic
,
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::symplectic::symplectic
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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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{}
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// * * * * * * * * * * * * * * * * Destructor * * * * * * * * * * * * * * * //
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Foam::RBD::rigidBodySolvers::symplectic::~symplectic
()
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{}
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// * * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * //
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void
Foam::RBD::rigidBodySolvers::symplectic::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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// First simplectic step:
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// Half-step for linear and angular velocities
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// Update position and orientation
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qDot() = qDot0() + 0.5*deltaT0()*qDdot();
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q() = q0() + deltaT()*qDot();
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correctQuaternionJoints();
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// Update the body-state prior to the evaluation of the restraints
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model_.forwardDynamicsCorrection(state());
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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 body acceleration for the given state
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// and restraint forces
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model_.forwardDynamics(state(), rtau, rfx);
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// Second simplectic step:
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// Complete update of linear and angular velocities
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qDot() += 0.5*deltaT()*qDdot();
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}
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// ************************************************************************* //
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::symplectic
Symplectic 2nd-order explicit time-integrator for rigid-body motion.
Definition:
symplectic.H:81
Foam::RBD::rigidBodySolvers::symplectic::~symplectic
virtual ~symplectic()
Destructor.
Definition:
symplectic.C:60
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
dict
dictionary dict
Definition:
searchingEngine.H:14
symplectic.H
solve
CEqn solve()
src
rigidBodyDynamics
rigidBodySolvers
symplectic
symplectic.C
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