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 (const dictionary &dict, sixDoFRigidBodyMotion &body)
	Construct from a dictionary and the body. More...

virtual	~CrankNicolson ()
	Destructor. More...

virtual void	solve (bool firstIter, const vector &fGlobal, const vector &tauGlobal, scalar deltaT, scalar deltaT0)
	Drag coefficient. More...

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

	declareRunTimeSelectionTable (autoPtr, sixDoFSolver, dictionary,(const dictionary &dict, sixDoFRigidBodyMotion &body),(dict, body))

	sixDoFSolver (sixDoFRigidBodyMotion &body)

virtual	~sixDoFSolver ()
	Destructor. More...

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

Protected Member Functions inherited from sixDoFSolver
point &	centreOfRotation ()
	Return the current centre of rotation. More...

tensor &	Q ()
	Return the orientation. More...

vector &	v ()
	Return non-const access to vector. More...

vector &	a ()
	Return non-const access to acceleration. More...

vector &	pi ()
	Return non-const access to angular momentum. More...

vector &	tau ()
	Return non-const access to torque. More...

const point &	centreOfRotation0 () const
	Return the centre of rotation at previous time-step. More...

const tensor &	Q0 () const
	Return the orientation at previous time-step. More...

const vector &	v0 () const
	Return the velocity at previous time-step. More...

const vector &	a0 () const
	Return the acceleration at previous time-step. More...

const vector &	pi0 () const
	Return the angular momentum at previous time-step. More...

const vector &	tau0 () const
	Return the torque at previous time-step. More...

scalar	aDamp () const
	Acceleration damping coefficient (for steady-state simulations) More...

tensor	tConstraints () const
	Translational constraint tensor. More...

tensor	rConstraints () const
	Rotational constraint tensor. More...

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. More...

void	updateAcceleration (const vector &fGlobal, const vector &tauGlobal)
	Update and relax accelerations from the force and torque. More...

Protected Attributes inherited from sixDoFSolver
sixDoFRigidBodyMotion &	body_
	The rigid body. 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
}