Crank-Nicolson 2nd-order time-integrator for 6DoF solid-body motion. More...

Inheritance diagram for CrankNicolson:

Collaboration diagram for CrankNicolson:

Public Member Functions
	TypeName ("CrankNicolson")
	Runtime type information. More...

	CrankNicolson (rigidBodyMotion &body, const dictionary &dict)
	Construct for the given body from dictionary. More...

virtual	~CrankNicolson ()
	Destructor. More...

virtual void	solve (const scalarField &tau, const Field< spatialVector > &fx)
	Integrate the rigid-body motion for one time-step. More...

Public Member Functions inherited from rigidBodySolver
	TypeName ("rigidBodySolver")
	Runtime type information. More...

	declareRunTimeSelectionTable (autoPtr, rigidBodySolver, dictionary,(rigidBodyMotion &body, const dictionary &dict),(body, dict))

	rigidBodySolver (rigidBodyMotion &body)

virtual	~rigidBodySolver ()
	Destructor. More...

Additional Inherited Members
Static Public Member Functions inherited from rigidBodySolver
static autoPtr< rigidBodySolver >	New (rigidBodyMotion &body, const dictionary &dict)

Protected Member Functions inherited from rigidBodySolver
rigidBodyModelState &	state ()
	Return the motion state. More...

scalarField &	q ()
	Return the current joint position and orientation. More...

scalarField &	qDot ()
	Return the current joint quaternion. More...

scalarField &	qDdot ()
	Return the current joint acceleration. More...

scalar	deltaT () const
	Return the current time-step. More...

const rigidBodyModelState &	state0 () const
	Return the previous motion state. More...

const scalarField &	q0 () const
	Return the current joint position and orientation. More...

const scalarField &	qDot0 () const
	Return the current joint quaternion. More...

const scalarField &	qDdot0 () const
	Return the current joint acceleration. More...

scalar	deltaT0 () const
	Return the previous time-step. More...

void	correctQuaternionJoints ()
	Correct the quaternion joints based on the current change in q. More...

Protected Attributes inherited from rigidBodySolver
rigidBodyMotion &	model_
	The rigid-body model. More...

Detailed Description

Crank-Nicolson 2nd-order time-integrator for 6DoF solid-body motion.

The off-centering coefficients for acceleration (velocity integration) and velocity (position/orientation integration) may be specified but default values of 0.5 for each are used if they are not specified. With the default off-centering this scheme is equivalent to the Newmark scheme with default coefficients.

Example specification in dynamicMeshDict:

solver
{
    type    CrankNicolson;
    aoc     0.5;    // Acceleration off-centering coefficient
    voc     0.5;    // Velocity off-centering coefficient
}