CrankNicolson.C

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#include "CrankNicolson.H"
#include "addToRunTimeSelectionTable.H"

// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //

namespace Foam
{
namespace sixDoFSolvers
{
    defineTypeNameAndDebug(CrankNicolson, 0);
    addToRunTimeSelectionTable(sixDoFSolver, CrankNicolson, dictionary);
}
}


// * * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * //

Foam::sixDoFSolvers::CrankNicolson::CrankNicolson
(
    const dictionary& dict,
    sixDoFRigidBodyMotion& body
)
:
    sixDoFSolver(body),
    aoc_(dict.lookupOrDefault<scalar>("aoc", 0.5)),
    voc_(dict.lookupOrDefault<scalar>("voc", 0.5))
{}


// * * * * * * * * * * * * * * * * Destructor  * * * * * * * * * * * * * * * //

Foam::sixDoFSolvers::CrankNicolson::~CrankNicolson()
{}


// * * * * * * * * * * * * * * * Member Functions  * * * * * * * * * * * * * //

void Foam::sixDoFSolvers::CrankNicolson::solve
(
    bool firstIter,
    const vector& fGlobal,
    const vector& tauGlobal,
    scalar deltaT,
    scalar deltaT0
)
{
    // Update the linear acceleration and torque
    updateAcceleration(fGlobal, tauGlobal);

    // Correct linear velocity
    v() = tConstraints()
      & (v0() + aDamp()*deltaT*(aoc_*a() + (1 - aoc_)*a0()));

    // Correct angular momentum
    pi() = rConstraints()
      & (pi0() + aDamp()*deltaT*(aoc_*tau() + (1 - aoc_)*tau0()));

    // Correct position
    centreOfRotation() =
        centreOfRotation0() + deltaT*(voc_*v() + (1 - voc_)*v0());

    // Correct orientation
    Tuple2<tensor, vector> Qpi =
        rotate(Q0(), (voc_*pi() + (1 - voc_)*pi0()), deltaT);
    Q() = Qpi.first();
}


// ************************************************************************* //