CrankNicolson.C

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    Copyright (C) 2016 OpenFOAM Foundation
    Copyright (C) 2020 OpenCFD Ltd.
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License
    This file is part of OpenFOAM.
 
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#include "CrankNicolson.H"
#include "addToRunTimeSelectionTable.H"
 
// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
 
namespace Foam
{
namespace RBD
{
namespace rigidBodySolvers
{
    defineTypeNameAndDebug(CrankNicolson, 0);
    addToRunTimeSelectionTable(rigidBodySolver, CrankNicolson, dictionary);
}
}
}
 
 
// * * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * //
 
Foam::RBD::rigidBodySolvers::CrankNicolson::CrankNicolson
(
    rigidBodyMotion& body,
    const dictionary& dict
)
:
    rigidBodySolver(body),
    aoc_(dict.getOrDefault<scalar>("aoc", 0.5)),
    voc_(dict.getOrDefault<scalar>("voc", 0.5))
{}
 
 
// * * * * * * * * * * * * * * * * Destructor  * * * * * * * * * * * * * * * //
 
Foam::RBD::rigidBodySolvers::CrankNicolson::~CrankNicolson()
{}
 
 
// * * * * * * * * * * * * * * * Member Functions  * * * * * * * * * * * * * //
 
void Foam::RBD::rigidBodySolvers::CrankNicolson::solve
(
    const scalarField& tau,
    const Field<spatialVector>& fx
)
{
    // Accumulate the restraint forces
    scalarField rtau(tau);
    Field<spatialVector> rfx(fx);
    model_.applyRestraints(rtau, rfx, state());
 
    // Calculate the accelerations for the given state and forces
    model_.forwardDynamics(state(), rtau, rfx);
 
    // Correct velocity
    qDot() = qDot0() + deltaT()*(aoc_*qDdot() + (1 - aoc_)*qDdot0());
 
    // Correct position
    q() = q0() + deltaT()*(voc_*qDot() + (1 - voc_)*qDot0());
 
    correctQuaternionJoints();
}
 
 
// ************************************************************************* //