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40 #ifndef sixDoFSolver_H
41 #define sixDoFSolver_H
107 inline scalar
aDamp()
const;
tensor rConstraints() const
Rotational constraint tensor.
tensor & Q()
Return the orientation.
void write(Ostream &) const
Write.
const vector & tau0() const
Return the torque at previous time-step.
point & centreOfRotation()
Return the current centre of rotation.
vector & a()
Return non-const access to acceleration.
static autoPtr< sixDoFSolver > New(const dictionary &dict, sixDoFRigidBodyMotion &body)
const vector & v0() const
Return the velocity at previous time-step.
vector & v()
Return non-const access to vector.
const tensor & Q0() const
Return the orientation at previous time-step.
sixDoFSolver(const dictionary &dict, sixDoFRigidBodyMotion &body)
dictionary dict_
Model dictionary.
Tuple2< tensor, vector > rotate(const tensor &Q0, const vector &pi, const scalar deltaT) const
Apply rotation tensors to Q0 for the given torque (pi) and deltaT.
virtual void solve(bool firstIter, const vector &fGlobal, const vector &tauGlobal, scalar deltaT, scalar deltaT0)=0
Drag coefficient.
const point & centreOfRotation0() const
Return the centre of rotation at previous time-step.
A list of keyword definitions, which are a keyword followed by a number of values (eg,...
virtual ~sixDoFSolver()
Destructor.
declareRunTimeSelectionTable(autoPtr, sixDoFSolver, dictionary,(const dictionary &dict, sixDoFRigidBodyMotion &body),(dict, body))
TypeName("sixDoFSolver")
Runtime type information.
vector & pi()
Return non-const access to angular momentum.
Pointer management similar to std::unique_ptr, with some additional methods and type checking.
Six degree of freedom motion for a rigid body.
scalar aDamp() const
Acceleration damping coefficient (for steady-state simulations)
virtual autoPtr< sixDoFSolver > clone() const =0
Construct and return a clone.
Macros to ease declaration of run-time selection tables.
void updateAcceleration(const vector &fGlobal, const vector &tauGlobal)
Update and relax accelerations from the force and torque.
tensor tConstraints() const
Translational constraint tensor.
const vector & pi0() const
Return the angular momentum at previous time-step.
vector & tau()
Return non-const access to torque.
An Ostream is an abstract base class for all output systems (streams, files, token lists,...
A 2-tuple for storing two objects of dissimilar types. The container is similar in purpose to std::pa...
sixDoFRigidBodyMotion & body_
The rigid body.
const vector & a0() const
Return the acceleration at previous time-step.