symplectic.C
Go to the documentation of this file.
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-------------------------------------------------------------------------------
10License
11 This file is part of OpenFOAM.
12
13 OpenFOAM is free software: you can redistribute it and/or modify it
14 under the terms of the GNU General Public License as published by
15 the Free Software Foundation, either version 3 of the License, or
16 (at your option) any later version.
17
18 OpenFOAM is distributed in the hope that it will be useful, but WITHOUT
19 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
20 FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
21 for more details.
22
23 You should have received a copy of the GNU General Public License
24 along with OpenFOAM. If not, see <http://www.gnu.org/licenses/>.
25
26\*---------------------------------------------------------------------------*/
27
28#include "symplectic.H"
30
31// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
32
33namespace Foam
34{
35namespace sixDoFSolvers
36{
39}
40}
41
42
43// * * * * * * * * * * * * * * * * Constructors * * * * * * * * * * * * * * //
44
46(
47 const dictionary& dict,
49)
50:
51 sixDoFSolver(dict, body)
52{}
53
54
55// * * * * * * * * * * * * * * * * Destructor * * * * * * * * * * * * * * * //
56
58{}
59
60
61// * * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * //
62
64(
65 bool firstIter,
66 const vector& fGlobal,
67 const vector& tauGlobal,
68 scalar deltaT,
69 scalar deltaT0
70)
71{
72 // First simplectic step:
73 // Half-step for linear and angular velocities
74 // Update position and orientation
75
76 v() = tConstraints() & (v0() + aDamp()*0.5*deltaT0*a0());
77 pi() = rConstraints() & (pi0() + aDamp()*0.5*deltaT0*tau0());
78
79 centreOfRotation() = centreOfRotation0() + deltaT*v();
80
81 Tuple2<tensor, vector> Qpi = rotate(Q0(), pi(), deltaT);
82 Q() = Qpi.first();
83 pi() = rConstraints() & Qpi.second();
84
85 // Update the linear acceleration and torque
86 updateAcceleration(fGlobal, tauGlobal);
87
88 // Second simplectic step:
89 // Complete update of linear and angular velocities
90
91 v() += tConstraints() & aDamp()*0.5*deltaT*a();
92 pi() += rConstraints() & aDamp()*0.5*deltaT*tau();
93}
94
95// ************************************************************************* //
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.
Definition: symplectic.H:81
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
const T2 & second() const noexcept
Return second.
Definition: Tuple2.H:130
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.
Symplectic 2nd-order explicit time-integrator for 6DoF solid-body motion.
Definition: symplectic.H:82
virtual ~symplectic()
Destructor.
Definition: symplectic.C:57
#define defineTypeNameAndDebug(Type, DebugSwitch)
Define the typeName and debug information.
Definition: className.H:121
Namespace for OpenFOAM.
dictionary dict
CEqn solve()