Newmark.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) 2015-2016 OpenFOAM Foundation
9 Copyright (C) 2020 OpenCFD Ltd.
10-------------------------------------------------------------------------------
11License
12 This file is part of OpenFOAM.
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15 under the terms of the GNU General Public License as published by
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22 for more details.
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24 You should have received a copy of the GNU General Public License
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27\*---------------------------------------------------------------------------*/
28
29#include "Newmark.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 gamma_(dict.getOrDefault<scalar>("gamma", 0.5)),
54 beta_
55 (
56 max
57 (
58 0.25*sqr(gamma_ + 0.5),
59 dict.getOrDefault<scalar>("beta", 0.25)
60 )
61 )
62{}
63
64
65// * * * * * * * * * * * * * * * * Destructor * * * * * * * * * * * * * * * //
66
68{}
69
70
71// * * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * //
72
74(
75 bool firstIter,
76 const vector& fGlobal,
77 const vector& tauGlobal,
78 scalar deltaT,
79 scalar deltaT0
80)
81{
82 // Update the linear acceleration and torque
83 updateAcceleration(fGlobal, tauGlobal);
84
85 // Correct linear velocity
86 v() =
87 tConstraints()
88 & (v0() + aDamp()*deltaT*(gamma_*a() + (1 - gamma_)*a0()));
89
90 // Correct angular momentum
91 pi() =
92 rConstraints()
93 & (pi0() + aDamp()*deltaT*(gamma_*tau() + (1 - gamma_)*tau0()));
94
95 // Correct position
96 centreOfRotation() =
97 centreOfRotation0()
98 + (
99 tConstraints()
100 & (
101 deltaT*v0()
102 + aDamp()*sqr(deltaT)*(beta_*a() + (0.5 - beta_)*a0())
103 )
104 );
105
106 // Correct orientation
107 vector piDeltaT =
108 rConstraints()
109 & (
110 deltaT*pi0()
111 + aDamp()*sqr(deltaT)*(beta_*tau() + (0.5 - beta_)*tau0())
112 );
113 Tuple2<tensor, vector> Qpi = rotate(Q0(), piDeltaT, 1);
114 Q() = Qpi.first();
115}
116
117// ************************************************************************* //
Y[inertIndex] max(0.0)
Macros for easy insertion into run-time selection tables.
#define addToRunTimeSelectionTable(baseType, thisType, argNames)
Add to construction table with typeName as the key.
Newmark 2nd-order time-integrator for 6DoF solid-body motion.
Definition: Newmark.H:74
A 2-tuple for storing two objects of dissimilar types. The container is similar in purpose to std::pa...
Definition: Tuple2.H:58
const T1 & first() const noexcept
Return first.
Definition: Tuple2.H:118
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.
Newmark 2nd-order time-integrator for 6DoF solid-body motion.
Definition: Newmark.H:75
virtual ~Newmark()
Destructor.
Definition: Newmark.C:67
#define defineTypeNameAndDebug(Type, DebugSwitch)
Define the typeName and debug information.
Definition: className.H:121
Namespace for OpenFOAM.
dimensionedSymmTensor sqr(const dimensionedVector &dv)
dictionary dict
CEqn solve()