CrankNicolson.C
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1/*---------------------------------------------------------------------------*\
2 ========= |
3 \\ / F ield | OpenFOAM: The Open Source CFD Toolbox
4 \\ / O peration |
5 \\ / A nd | www.openfoam.com
6 \\/ M anipulation |
7-------------------------------------------------------------------------------
8 Copyright (C) 2015 OpenFOAM Foundation
9 Copyright (C) 2020 OpenCFD Ltd.
10-------------------------------------------------------------------------------
11License
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27\*---------------------------------------------------------------------------*/
28
29#include "CrankNicolson.H"
31
32// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
33
34namespace Foam
35{
36namespace sixDoFSolvers
37{
40}
41}
42
43
44// * * * * * * * * * * * * * * * * Constructors * * * * * * * * * * * * * * //
45
47(
48 const dictionary& dict,
50)
51:
52 sixDoFSolver(dict, body),
53 aoc_(dict.getOrDefault<scalar>("aoc", 0.5)),
54 voc_(dict.getOrDefault<scalar>("voc", 0.5))
55{}
56
57
58// * * * * * * * * * * * * * * * * Destructor * * * * * * * * * * * * * * * //
59
61{}
62
63
64// * * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * //
65
67(
68 bool firstIter,
69 const vector& fGlobal,
70 const vector& tauGlobal,
71 scalar deltaT,
72 scalar deltaT0
73)
74{
75 // Update the linear acceleration and torque
76 updateAcceleration(fGlobal, tauGlobal);
77
78 // Correct linear velocity
79 v() = tConstraints()
80 & (v0() + aDamp()*deltaT*(aoc_*a() + (1 - aoc_)*a0()));
81
82 // Correct angular momentum
83 pi() = rConstraints()
84 & (pi0() + aDamp()*deltaT*(aoc_*tau() + (1 - aoc_)*tau0()));
85
86 // Correct position
87 centreOfRotation() =
88 centreOfRotation0() + deltaT*(voc_*v() + (1 - voc_)*v0());
89
90 // Correct orientation
92 rotate(Q0(), (voc_*pi() + (1 - voc_)*pi0()), deltaT);
93 Q() = Qpi.first();
94}
95
96// ************************************************************************* //
Macros for easy insertion into run-time selection tables.
#define addToRunTimeSelectionTable(baseType, thisType, argNames)
Add to construction table with typeName as the key.
Crank-Nicolson 2nd-order time-integrator for 6DoF solid-body motion.
Definition: CrankNicolson.H:76
A 2-tuple for storing two objects of dissimilar types. The container is similar in purpose to std::pa...
Definition: Tuple2.H:58
A list of keyword definitions, which are a keyword followed by a number of values (eg,...
Definition: dictionary.H:126
Six degree of freedom motion for a rigid body.
Crank-Nicolson 2nd-order time-integrator for 6DoF solid-body motion.
Definition: CrankNicolson.H:77
virtual ~CrankNicolson()
Destructor.
Definition: CrankNicolson.C:60
#define defineTypeNameAndDebug(Type, DebugSwitch)
Define the typeName and debug information.
Definition: className.H:121
Namespace for OpenFOAM.
dictionary dict
CEqn solve()