35namespace sixDoFSolvers
76 v() = tConstraints() & (v0() + aDamp()*0.5*deltaT0*a0());
77 pi() = rConstraints() & (pi0() + aDamp()*0.5*deltaT0*tau0());
79 centreOfRotation() = centreOfRotation0() + deltaT*v();
83 pi() = rConstraints() & Qpi.
second();
86 updateAcceleration(fGlobal, tauGlobal);
91 v() += tConstraints() & aDamp()*0.5*deltaT*a();
92 pi() += rConstraints() & aDamp()*0.5*deltaT*tau();
Macros for easy insertion into run-time selection tables.
#define addToRunTimeSelectionTable(baseType, thisType, argNames)
Add to construction table with typeName as the key.
Symplectic 2nd-order explicit time-integrator for rigid-body motion.
A 2-tuple for storing two objects of dissimilar types. The container is similar in purpose to std::pa...
const T1 & first() const noexcept
Return first.
const T2 & second() const noexcept
Return second.
A list of keyword definitions, which are a keyword followed by a number of values (eg,...
Six degree of freedom motion for a rigid body.
Symplectic 2nd-order explicit time-integrator for 6DoF solid-body motion.
virtual ~symplectic()
Destructor.
#define defineTypeNameAndDebug(Type, DebugSwitch)
Define the typeName and debug information.