void Foam::sixDoFRigidBodyMotion::updateAcceleration
(
const vector& fGlobal,
const vector& tauGlobal
)
{
static bool first = false;
// Save the previous iteration accelerations for relaxation
vector aPrevIter = a();
vector tauPrevIter = tau();
// Calculate new accelerations
a() = fGlobal/mass_;
tau() = (Q().T() & tauGlobal);
applyRestraints();
// Relax accelerations on all but first iteration
if (!first)
{
a() = aRelax_*a() + (1 - aRelax_)*aPrevIter;
tau() = aRelax_*tau() + (1 - aRelax_)*tauPrevIter;
}
first = false;
}
void Foam::sixDoFRigidBodyMotion::updateForce
(
const vector& fGlobal,
const vector& tauGlobal,
scalar deltaT
)
{
// Second leapfrog velocity adjust part, required after motion and
// force calculation
if (Pstream::master())
{
a() = fGlobal/mass_;
tau() = (Q().T() & tauGlobal);
applyRestraints();
applyConstraints(deltaT);
vector aClip = a();
scalar aMag = mag(aClip);
if (aMag > SMALL)
{
aClip /= aMag;
}
if (aMag > aLim_)
{
WarningIn
(
"void Foam::sixDoFRigidBodyMotion::updateForce"
"("
"const vector& fGlobal, "
"const vector& tauGlobal, "
"scalar deltaT"
")"
)
<< "Limited acceleration " << a()
<< " to " << aClip*aLim_
<< endl;
}
v() += 0.5*(1 - cDamp_)*deltaT*aClip*min(aMag, aLim_);
pi() += 0.5*(1 - cDamp_)*deltaT*tau();
if(report_)
{
status();
}
}
Pstream::scatter(motionState_);
}
void Foam::sixDoFRigidBodyMotion::updateAcceleration
(
bool firstIter,
const vector& fGlobal,
const vector& tauGlobal,
scalar deltaT,
scalar deltaT0
)
{
static bool first = false;
if (Pstream::master())
{
// Save the previous iteration accelerations for relaxation
vector aPrevIter = a();
vector tauPrevIter = tau();
// Calculate new accelerations
a() = fGlobal/mass_;
tau() = (Q().T() & tauGlobal);
applyRestraints();
// Relax accelerations on all but first iteration
if (!first)
{
a() = aRelax_*a() + (1 - aRelax_)*aPrevIter;
tau() = aRelax_*tau() + (1 - aRelax_)*tauPrevIter;
}
first = false;
if (firstIter)
{
// Second simplectic step:
// Complete update of linear and angular velocities
v() += tConstraints_ & aDamp_*0.5*deltaT*a();
pi() += rConstraints_ & aDamp_*0.5*deltaT*tau();
}
else
{
// For subsequent iterations use Crank-Nicolson
v() = tConstraints_
& (v0() + aDamp_*0.5*deltaT*(a() + motionState0_.a()));
pi() = rConstraints_
& (pi0() + aDamp_*0.5*deltaT*(tau() + motionState0_.tau()));
}
if (report_)
{
status();
}
}
Pstream::scatter(motionState_);
}
void Foam::sixDoFRigidBodyMotion::updateAcceleration
(
const vector& fGlobal,
const vector& tauGlobal,
scalar deltaT
)
{
static bool first = false;
// Second leapfrog velocity adjust part, required after motion and
// acceleration calculation
if (Pstream::master())
{
// Save the previous iteration accelerations for relaxation
vector aPrevIter = a();
vector tauPrevIter = tau();
// Calculate new accelerations
a() = fGlobal/mass_;
tau() = (Q().T() & tauGlobal);
applyRestraints();
// Relax accelerations on all but first iteration
if (!first)
{
a() = aRelax_*a() + (1 - aRelax_)*aPrevIter;
tau() = aRelax_*tau() + (1 - aRelax_)*tauPrevIter;
}
first = false;
// Correct velocities
v() += tConstraints_ & aDamp_*0.5*deltaT*a();
pi() += rConstraints_ & aDamp_*0.5*deltaT*tau();
if (report_)
{
status();
}
}
Pstream::scatter(motionState_);
}