#include <RigidBodyMotion.h>

Public Types
enum	PositionConstraintEnum { positionHasNoConstraint =0, positionConstrainedToAPlane, positionConstrainedToALine, positionIsFixed }

enum	RotationConstraintEnum { rotationHasNoConstraint =0, rotationConstrainedToAPlane, rotationConstrainedToALine, rotationIsFixed }

enum	TimeSteppingMethodEnum { leapFrogTrapezoidal =0, improvedEuler, implicitRungeKutta }

enum	TwilightZoneTypeEnum { polynomialTwilightZone =0, trigonometricTwilightZone }

enum	BodyForceTypeEnum { timePolynomialBodyForce =0, timeFunctionBodyForce }

enum	{ defaultOrderOfAccuracy =-1234 }

Public Member Functions
	RigidBodyMotion (int numberOfDimensions=3)

	~RigidBodyMotion ()

bool	centerOfMassHasBeenInitialized () const

int	correct (real t, const RealArray &force, const RealArray &torque, RealArray &xCM, RealArray &rotation)
	Correct the solution at time t using new values for the forces and torques.

int	correct (real t, const RealArray &force, const RealArray &torque, const RealArray &A11, const RealArray &A12, const RealArray &A21, const RealArray &A22, RealArray &xCM, RealArray &rotation)
	Correct the solution at time t using new values for the forces and torques. This version takes added mass matrices.

int	get (const GenericDataBase &dir, const aString &name)

int	getAcceleration (real t, RealArray &vCM) const

int	getAddedMassMatrices (const real t, RealArray &A11, RealArray &A12, RealArray &A21, RealArray &A22) const
	: Evaluate the added mass matrices at time t.

int	getAngularAcceleration (real t, RealArray &omegaDot) const

int	getAngularVelocities (real t, RealArray &omega) const

int	getAxesOfInertia (real t, RealArray &axesOfInertia) const

int	getBodyForces (const real t, RealArray &bodyForce, RealArray &bodyTorque) const
	: Evaluate the body force and torque.

bool	getCorrectionHasConverged ()
	Return true if the correction steps for moving grids have converged. This is usually only an issue for "light" bodies.

int	getCoordinates (real t, RealArray &xCM=Overture::nullRealArray(), RealArray &vCM=Overture::nullRealArray(), RealArray &rotation=Overture::nullRealArray(), RealArray &omega=Overture::nullRealArray(), RealArray &omegaDot=Overture::nullRealArray(), RealArray &aCM=Overture::nullRealArray(), RealArray &axesOfInertia=Overture::nullRealArray()) const

real	getDensity () const

int	getExactSolution (const int deriv, const real t, RealArray &xe, RealArray &ve, RealArray &we) const
	Evaluate the exact solution (for twilightZone)

int	getForce (const real t, RealArray &fv, RealArray &gv) const
	: Return the force and torque at time t (interpolate in time if necessary).

int	getInitialConditions (RealArray &x0=Overture::nullRealArray(), RealArray &v0=Overture::nullRealArray(), RealArray &w0=Overture::nullRealArray(), RealArray &axesOfInertia=Overture::nullRealArray()) const

real	getMass () const

real	getMaximumRelativeCorrection ()
	Return the maximum relative change in the moving grid correction scheme. This is usually only an issue for "light" bodies.

RealArray	getMomentsOfInertia () const

int	getPosition (real t, RealArray &xCM) const

int	getPointAcceleration (real t, const RealArray &p, RealArray &ap) const

int	getPointVelocity (real t, const RealArray &p, RealArray &vp) const

int	getPointTransformationMatrix (real t, RealArray &rDotRt=Overture::nullRealArray(), RealArray &rDotDotRt=Overture::nullRealArray()) const

real	getTimeStepEstimate () const

aString	getTimeSteppingMethodName () const

int	getVelocity (real t, RealArray &vCM) const

int	getRotationMatrix (real t, RealArray &r, RealArray &rDot=Overture::nullRealArray(), RealArray &rDotDot=Overture::nullRealArray()) const

int	includeAddedMass (bool trueOrFalse=true)
	Indicate whether added mass matrices will be used (and provided by the user).

int	integrate (real tf, const RealArray &force, const RealArray &torque, real t, RealArray &xCM, RealArray &rotation)
	Integrate the equations of motion from time t0 to time t using force and moment information at time t0.

int	integrate (real tf, const RealArray &force, const RealArray &torque, real t, const RealArray &A11, const RealArray &A12, const RealArray &A21, const RealArray &A22, RealArray &xCM, RealArray &rotation)
	Integrate the equations of motion from time t0 to time t using force and moment information at time t0. This version takes added mass matrices.

bool	massHasBeenInitialized () const

int	momentumTransfer (real t, RealArray &v)

int	put (GenericDataBase &dir, const aString &name) const

int	reset ()
	Reset the rigid body to it's initial state. (e.g. remove saved solutions etc.)

int	setInitialCentreOfMass (const RealArray &x0)

int	setInitialConditions (real t0=0., const RealArray &x0=Overture::nullRealArray(), const RealArray &v0=Overture::nullRealArray(), const RealArray &w0=Overture::nullRealArray(), const RealArray &axesOfInertia=Overture::nullRealArray())

void	setMass (const real totalMass)

int	setNewtonTolerance (real tol)
	Set the convergence tolerance for the Newton iteration of implicit solvers.

int	setPastTimeForcing (real t, const RealArray &force, const RealArray &torque)
	Supply forcing at "negative" times for startup.

int	setPastTimeForcing (real t, const RealArray &force, const RealArray &torque, const RealArray &A11, const RealArray &A12, const RealArray &A21, const RealArray &A22)
	Supply forcing at "negative" times for startup.

int	setPositionConstraint (PositionConstraintEnum constraint, const RealArray &values)

int	setProperties (real totalMass, const RealArray &momentsOfInertia, const int numberOfDimensions=3)

int	setRotationConstraint (RotationConstraintEnum constraint, const RealArray &values)

int	setTwilightZone (bool trueOrFalse, TwilightZoneTypeEnum type=trigonometricTwilightZone)
	Turn on (or off) twilight-zone forcing.

int	setTimeSteppingMethod (const TimeSteppingMethodEnum method, int orderOfAccuracy=defaultOrderOfAccuracy)
	Choose the time stepping method. Optionally set the order of accuracy.

int	update (GenericGraphicsInterface &gi)

bool	useAddedMass () const
	Return true if the added mass matrices are being used.

Public Attributes
enum RigidBodyMotion::TimeSteppingMethodEnum	timeSteppingMethod

Static Public Attributes
static int	debug = 0

Protected Types
enum	ConstraintApplicationEnum { applyConstraintsToPosition =0, applyConstraintsToVelocity, applyConstraintsToForces }

Protected Member Functions
int	applyConstraints (const int step, const ConstraintApplicationEnum option)

int	buildBodyForceOptionsDialog (DialogData &dialog)
	Build the plot options dialog.

int	dirkImplicitSolve (const real dt, const real aii, const real tc, const RealArray &yv, const RealArray &yv0, RealArray &kv)
	: Solve the implicit DIRK equation for kv. This is a protected routine.

int	getBodyForceOption (const aString &answer, DialogData &dialog)
	: Look for a plot option in the string "answer"

int	getForceInternal (const real t, RealArray &fv, RealArray &gv, RealArray *pA=NULL) const
	: Return the force and torque at time t (interpolate in time if necessary). This is a protected routine. The force and torque do NOT include the added mass terms.

int	takeStepImplicitRungeKutta (const real t0, const real dt)
	Take a time step with the implicit Runge-Kutta method. This is a protected routine.

int	takeStepLeapFrog (const real t0, const real dt)
	Take a time step with the leap-frog (predictor). This is a protected routine.

int	takeStepTrapezoid (const real t0, const real dt)
	Take a time step with the trapezoidal rule (corrector). This is a protected routine.

int	takeStepExtrapolation (const real t0, const real dt)
	Take a (predictor) time step by extrapolation in time. This can be used with the DIRK schemes, for example.

Protected Attributes
real	mass

int	numberOfDimensions

int	current

int	numberOfSteps

int	numberSaved

int	maximumNumberToSave

int	initialConditionsGiven

real	density

real	damping

RealArray	mI

RealArray	e

RealArray	e0

RealArray	x

RealArray	v

RealArray	x0

RealArray	v0

RealArray	w0

RealArray	f

RealArray	g

RealArray	w

RealArray	time

RealArray	bodyForceCoeff

RealArray	bodyTorqueCoeff

const Range	R

PositionConstraintEnum	positionConstraint

RotationConstraintEnum	rotationConstraint

RealArray	constraintValues

bool	relaxCorrectionSteps

bool	correctionHasConverged

real	maximumRelativeCorrection

real	correctionAbsoluteToleranceForce

real	correctionRelativeToleranceForce

real	correctionRelaxationParameterForce

real	correctionAbsoluteToleranceTorque

real	correctionRelativeToleranceTorque

real	correctionRelaxationParameterTorque

bool	twilightZone

TwilightZoneTypeEnum	twilightZoneType

FILE *	logFile

BodyForceTypeEnum	bodyForceType

DataBase	dbase

Member Enumeration Documentation

anonymous enum

Enumerator
defaultOrderOfAccuracy

enum RigidBodyMotion::BodyForceTypeEnum

Enumerator
timePolynomialBodyForce
timeFunctionBodyForce

enum RigidBodyMotion::ConstraintApplicationEnum

protected

Enumerator
applyConstraintsToPosition
applyConstraintsToVelocity
applyConstraintsToForces

enum RigidBodyMotion::PositionConstraintEnum

Enumerator
positionHasNoConstraint
positionConstrainedToAPlane
positionConstrainedToALine
positionIsFixed

enum RigidBodyMotion::RotationConstraintEnum

Enumerator
rotationHasNoConstraint
rotationConstrainedToAPlane
rotationConstrainedToALine
rotationIsFixed

enum RigidBodyMotion::TimeSteppingMethodEnum

Enumerator
leapFrogTrapezoidal
improvedEuler
implicitRungeKutta

enum RigidBodyMotion::TwilightZoneTypeEnum

Enumerator
polynomialTwilightZone
trigonometricTwilightZone

Constructor & Destructor Documentation

RigidBodyMotion::RigidBodyMotion ( int numberOfDimensions = 3 )

RigidBodyMotion::~RigidBodyMotion ( )

Member Function Documentation

int RigidBodyMotion::applyConstraints	(	const int	step,
		const ConstraintApplicationEnum	option
	)

protected

int RigidBodyMotion::buildBodyForceOptionsDialog ( DialogData & dialog )

protected

Build the plot options dialog.

Parameters

dialog (input) : graphics dialog to use.

References assert(), bodyForceCoeff, bodyForceType, and bodyTorqueCoeff.

Referenced by update().

bool RigidBodyMotion::centerOfMassHasBeenInitialized ( ) const

References initialConditionsGiven.

Referenced by update().

int RigidBodyMotion::correct	(	real	t,
		const RealArray &	force,
		const RealArray &	torque,
		RealArray &	xCM,
		RealArray &	rotation
	)

Correct the solution at time t using new values for the forces and torques.

This routine might be called by a predictor-corrector type algorithm.

Parameters

t	(input) : time (corresponding to the end of the time step).
force(0:2)	(input) : components of the total force at time t
torque(0:2)	(input) : components of the torque (about the center of mass) at time t
xCM(0:2)	(output) : new positions of the centre of mass at time t
rotation(0:2,0:2)	(output) : rotation matrix at time t. This matrix will be orthonormal (explicitly enforced by this routine).

Referenced by main(), MovingGrids::rigidBodyMotion(), and TestRigidBody::solve().

int RigidBodyMotion::correct	(	real	t,
		const RealArray &	force,
		const RealArray &	torque,
		const RealArray &	A11,
		const RealArray &	A12,
		const RealArray &	A21,
		const RealArray &	A22,
		RealArray &	xCM,
		RealArray &	rotation
	)

Correct the solution at time t using new values for the forces and torques. This version takes added mass matrices.

This routine might be called by a predictor-corrector type algorithm.

Parameters

t	(input) : time (corresponding to the end of the time step).
force(0:2)	(input) : components of the total force at time t
torque(0:2)	(input) : components of the torque (about the center of mass) at time t
A11,A12,A21,A22	(input) : added matrices of size (0:2,0:2). These are used if the use of added mass matrices has been turned on with a call to includeAddedMass.
xCM(0:2)	(output) : new positions of the centre of mass at time t
rotation(0:2,0:2)	(output) : rotation matrix at time t. This matrix will be orthonormal (explicitly enforced by this routine).

References applyConstraints(), applyConstraintsToForces, assert(), correctionAbsoluteToleranceForce, correctionAbsoluteToleranceTorque, correctionHasConverged, correctionRelativeToleranceForce, correctionRelativeToleranceTorque, correctionRelaxationParameterForce, correctionRelaxationParameterTorque, current, dbase, debug, e, e0, f, g, getBodyForces(), implicitRungeKutta, improvedEuler, includeAddedMass(), k, leapFrogTrapezoidal, logFile, maximumNumberToSave, maximumRelativeCorrection, n, numberOfSteps, OV_ABORT(), printF(), R, relaxCorrectionSteps, takeStepImplicitRungeKutta(), takeStepTrapezoid(), time, timeSteppingMethod, v, w, and x.

int RigidBodyMotion::dirkImplicitSolve	(	const real	dt,
		const real	aii,
		const real	tc,
		const RealArray &	yv,
		const RealArray &	yv0,
		RealArray &	kv
	)

protected

: Solve the implicit DIRK equation for kv. This is a protected routine.

This code is based on the matlab code in ??

References arrayToState(), dbase, debug, dot(), getAddedMassMatrices(), getCrossProductMatrix(), getExactSolution(), getForceInternal(), j, k, logFile, m, mass, mI, mr, mult(), orderOfAccuracy, printF(), r, R, solve(), trans(), twilightZone, and vvn.

Referenced by takeStepImplicitRungeKutta().

int RigidBodyMotion::get	(	const GenericDataBase &	dir,
		const aString &	name
	)

int RigidBodyMotion::getAcceleration	(	real	t,
		RealArray &	vCM
	)		const

Referenced by MovingGrids::getBoundaryAcceleration(), and MovingGrids::gridAccelerationBC().

int RigidBodyMotion::getAddedMassMatrices	(	const real	t,
		RealArray &	A11,
		RealArray &	A12,
		RealArray &	A21,
		RealArray &	A22
	)		const

: Evaluate the added mass matrices at time t.

Interpolate from the sequence of saved values in time.

Parameters

t	(input) : evaluate matrices at this time.
A11,A12,A21,A22	(output) : added mass matrices.

References assert(), c1, c2, current, dbase, includeAddedMass(), k, maximumNumberToSave, numberSaved, orderOfAccuracy, OV_ABORT(), printF(), R, and time.

Referenced by dirkImplicitSolve(), getForce(), and getForceInternal().

int RigidBodyMotion::getAngularAcceleration	(	real	t,
		RealArray &	omegaDot
	)		const

int RigidBodyMotion::getAngularVelocities	(	real	t,
		RealArray &	omega
	)		const

References omega.

Referenced by MovingGrids::getBoundaryAcceleration(), getForce(), MovingGrids::getGridVelocity(), MovingGrids::gridAccelerationBC(), MovingGrids::rigidBodyMotion(), and TestRigidBody::solve().

int RigidBodyMotion::getAxesOfInertia	(	real	t,
		RealArray &	axesOfInertia
	)		const

Referenced by TestRigidBody::getErrors(), TestRigidBody::output(), and TestRigidBody::solve().

int RigidBodyMotion::getBodyForceOption	(	const aString &	answer,
		DialogData &	dialog
	)

protected

: Look for a plot option in the string "answer"

Parameters

answer (input) : check this command

Returns: return 1 if the command was found, 0 otherwise.

References assert(), axis, bodyForceCoeff, bodyForceType, bodyTorqueCoeff, dbase, OV_ABORT(), P, printF(), timeFunctionBodyForce, timePolynomialBodyForce, and TimeFunction::update().

Referenced by update().

int RigidBodyMotion::getBodyForces	(	const real	t,
		RealArray &	bodyForce,
		RealArray &	bodyTorque
	)		const

: Evaluate the body force and torque.

Parameters

t	(input) : evaluate at this time.
bodyForce,bodyTorque	(output) : body force and boy torque at time t

References axis, bodyForceCoeff, bodyForceType, bodyTorqueCoeff, dbase, TimeFunction::eval(), f, g, OV_ABORT(), printF(), R, timeFunctionBodyForce, and timePolynomialBodyForce.

Referenced by correct(), and integrate().

int RigidBodyMotion::getCoordinates	(	real	t,
		RealArray &	xCM = `Overture::nullRealArray()`,
		RealArray &	vCM = `Overture::nullRealArray()`,
		RealArray &	rotation = `Overture::nullRealArray()`,
		RealArray &	omega = `Overture::nullRealArray()`,
		RealArray &	omegaDot = `Overture::nullRealArray()`,
		RealArray &	aCM = `Overture::nullRealArray()`,
		RealArray &	axesOfInertia = `Overture::nullRealArray()`
	)		const

References axis, e, f, getCrossProductMatrix(), i, j, mult(), n, omega, printF(), R, r, trans(), v, and x.

Referenced by TestRigidBody::getErrors(), and TestRigidBody::output().

bool RigidBodyMotion::getCorrectionHasConverged ( )

Return true if the correction steps for moving grids have converged. This is usually only an issue for "light" bodies.

References correctionHasConverged.

Referenced by MovingGrids::rigidBodyMotion().

real RigidBodyMotion::getDensity ( ) const

References density.

Referenced by MovingGrids::rigidBodyMotion(), MovingGrids::update(), and DomainSolver::userDefinedOutput().

int RigidBodyMotion::getExactSolution	(	const int	deriv,
		const real	t,
		RealArray &	xe,
		RealArray &	ve,
		RealArray &	we
	)		const

Evaluate the exact solution (for twilightZone)

Parameters

deriv	(input) : evaluate this derivative of the exact solution
t	(input) : time
x,v,w	(output)

References dbase, j, OV_ABORT(), polynomialTwilightZone, printF(), trigonometricTwilightZone, twilightZone, twilightZoneType, and xe.

Referenced by dirkImplicitSolve(), TestRigidBody::getExactSolution(), getForceInternal(), and TestRigidBody::initialConditions().

int RigidBodyMotion::getForce	(	const real	t,
		RealArray &	fv,
		RealArray &	gv
	)		const

: Return the force and torque at time t (interpolate in time if necessary).

Parameters

t	(input) : evaluate the force and torque at this time.
fv,gv	(output) : force and torque

References assert(), c1, c2, current, dbase, f, g, getAddedMassMatrices(), getAngularVelocities(), getVelocity(), includeAddedMass(), maximumNumberToSave, mult(), numberSaved, orderOfAccuracy, OV_ABORT(), printF(), R, time, v0, and w0.

Referenced by MovingGrids::rigidBodyMotion().

int RigidBodyMotion::getForceInternal	(	const real	t,
		RealArray &	fv,
		RealArray &	gv,
		RealArray *	pA = `NULL`
	)		const

protected

: Return the force and torque at time t (interpolate in time if necessary). This is a protected routine. The force and torque do NOT include the added mass terms.

Parameters

t	(input) : evaluate the force and torque at this time.
fv,gv	(output) : force and torque
pA	(input) : for twilightzone forcing supply A (the angular momentum matrix, h=A*w)

References assert(), c1, c2, current, dbase, f, g, getAddedMassMatrices(), getCrossProductMatrix(), getExactSolution(), includeAddedMass(), mass, maximumNumberToSave, mult(), numberSaved, orderOfAccuracy, OV_ABORT(), printF(), R, time, and twilightZone.

Referenced by dirkImplicitSolve(), takeStepLeapFrog(), and takeStepTrapezoid().

int RigidBodyMotion::getInitialConditions	(	RealArray &	x0 = `Overture::nullRealArray()`,
		RealArray &	v0 = `Overture::nullRealArray()`,
		RealArray &	w0 = `Overture::nullRealArray()`,
		RealArray &	axesOfInertia = `Overture::nullRealArray()`
	)		const

References R.

Referenced by MovingGrids::moveGrids().

real RigidBodyMotion::getMass ( ) const

References mass.

Referenced by detectCollisions(), MovingGrids::rigidBodyMotion(), and DomainSolver::userDefinedOutput().

real RigidBodyMotion::getMaximumRelativeCorrection ( )

Return the maximum relative change in the moving grid correction scheme. This is usually only an issue for "light" bodies.

References maximumRelativeCorrection.

RealArray RigidBodyMotion::getMomentsOfInertia ( ) const

References mI.

int RigidBodyMotion::getPointAcceleration	(	real	t,
		const RealArray &	p,
		RealArray &	ap
	)		const

References R.

int RigidBodyMotion::getPointTransformationMatrix	(	real	t,
		RealArray &	rDotRt = `Overture::nullRealArray()`,
		RealArray &	rDotDotRt = `Overture::nullRealArray()`
	)		const

References n, R, and r.

Referenced by MovingGrids::getBoundaryAcceleration(), MovingGrids::getGridVelocity(), MovingGrids::gridAccelerationBC(), and rigidBodyBoundaryProjection().

int RigidBodyMotion::getPointVelocity	(	real	t,
		const RealArray &	p,
		RealArray &	vp
	)		const

References R.

int RigidBodyMotion::getPosition	(	real	t,
		RealArray &	xCM
	)		const

Referenced by detectCollisions(), MovingGrids::getBoundaryAcceleration(), MovingGrids::getGridVelocity(), MovingGrids::gridAccelerationBC(), MovingGrids::moveGrids(), rigidBodyBoundaryProjection(), MovingGrids::rigidBodyMotion(), and DomainSolver::userDefinedOutput().

int RigidBodyMotion::getRotationMatrix	(	real	t,
		RealArray &	r,
		RealArray &	rDot = `Overture::nullRealArray()`,
		RealArray &	rDotDot = `Overture::nullRealArray()`
	)		const

References ee, n, omega, R, and r.

Referenced by MovingGrids::moveGrids().

real RigidBodyMotion::getTimeStepEstimate ( ) const

References assert(), current, df, dx, eps, f, fx, lambda, mass, maximumNumberToSave, numberOfSteps, printF(), R, v, and x.

Referenced by MovingGrids::getTimeStepForRigidBodies(), and MovingGrids::rigidBodyMotion().

aString RigidBodyMotion::getTimeSteppingMethodName ( ) const

References dbase, implicitRungeKutta, improvedEuler, leapFrogTrapezoidal, and timeSteppingMethod.

Referenced by main().

int RigidBodyMotion::getVelocity	(	real	t,
		RealArray &	vCM
	)		const

Referenced by detectCollisions(), getForce(), MovingGrids::getGridVelocity(), MovingGrids::gridAccelerationBC(), rigidBodyBoundaryProjection(), MovingGrids::rigidBodyMotion(), TestRigidBody::solve(), and DomainSolver::userDefinedOutput().

int RigidBodyMotion::includeAddedMass ( bool trueOrFalse = true )

Indicate whether added mass matrices will be used (and provided by the user).

Parameters

trueOrFalse (input) : set to true if added mass matrices will be provided.

References dbase.

Referenced by correct(), getAddedMassMatrices(), getForce(), getForceInternal(), integrate(), setPastTimeForcing(), TestRigidBody::solve(), and takeStepLeapFrog().

int RigidBodyMotion::integrate	(	real	t0,
		const RealArray &	force,
		const RealArray &	torque,
		real	t,
		RealArray &	xCM,
		RealArray &	rotation
	)

Integrate the equations of motion from time t0 to time t using force and moment information at time t0.

Parameters

t0	(input) : starting time for the time step.
force(0:2)	(input) : components of the total force at time t0
torque(0:2)	(input) : components of the torque (about the center of mass) at time t0.
t	(input) : end time for the time step.
xCM(0:2)	(output) : position of the centre of mass at time t
rotation(0:2,0:2)	(output) : rotation matrix at time t. This matrix will be orthonormal (explicitly enforced by this routine).

Referenced by main(), MovingGrids::rigidBodyMotion(), and TestRigidBody::solve().

int RigidBodyMotion::integrate	(	real	t0,
		const RealArray &	force,
		const RealArray &	torque,
		real	t,
		const RealArray &	A11,
		const RealArray &	A12,
		const RealArray &	A21,
		const RealArray &	A22,
		RealArray &	xCM,
		RealArray &	rotation
	)

Integrate the equations of motion from time t0 to time t using force and moment information at time t0. This version takes added mass matrices.

Parameters

t0	(input) : starting time for the time step.
force(0:2)	(input) : components of the total force at time t0
torque(0:2)	(input) : components of the torque (about the center of mass) at time t0.
t	(input) : end time for the time step.
A11,A12,A21,A22	(input) : added matrices of size (0:2,0:2). These are used if the use of added mass matrices has been turned on with a call to includeAddedMass.
xCM(0:2)	(output) : position of the centre of mass at time t
rotation(0:2,0:2)	(output) : rotation matrix at time t. This matrix will be orthonormal (explicitly enforced by this routine).

References applyConstraints(), applyConstraintsToForces, c1, c2, current, dbase, debug, e, e0, f, g, getBodyForces(), implicitRungeKutta, improvedEuler, includeAddedMass(), k, leapFrogTrapezoidal, logFile, maximumNumberToSave, mult(), n, numberOfSteps, numberSaved, orderOfAccuracy, OV_ABORT(), printF(), R, takeStepImplicitRungeKutta(), takeStepLeapFrog(), time, timeSteppingMethod, v, w, and x.

bool RigidBodyMotion::massHasBeenInitialized ( ) const

References initialConditionsGiven.

int RigidBodyMotion::momentumTransfer	(	real	t,
		RealArray &	v
	)

References current, debug, maximumNumberToSave, printF(), R, time, v, and x.

Referenced by detectCollisions().

int RigidBodyMotion::put	(	GenericDataBase &	dir,
		const aString &	name
	)		const

References dir, e, f, v, and x.

int RigidBodyMotion::reset ( )

Reset the rigid body to it's initial state. (e.g. remove saved solutions etc.)

References bodyForceCoeff, bodyTorqueCoeff, current, dbase, e, e0, f, g, initialConditionsGiven, maximumNumberToSave, mI, numberOfSteps, numberSaved, time, v, v0, w, w0, x, and x0.

Referenced by TestRigidBody::solve().

int RigidBodyMotion::setInitialCentreOfMass ( const RealArray & x0 )

References initialConditionsGiven, R, x, and x0.

Referenced by MovingGrids::update(), and update().

int RigidBodyMotion::setInitialConditions	(	real	t0 = `0.`,
		const RealArray &	x0 = `Overture::nullRealArray()`,
		const RealArray &	v0 = `Overture::nullRealArray()`,
		const RealArray &	w0 = `Overture::nullRealArray()`,
		const RealArray &	axesOfInertia = `Overture::nullRealArray()`
	)

References current, e, e0, initialConditionsGiven, numberOfDimensions, numberOfSteps, numberSaved, R, time, v, v0, w, w0, x, and x0.

Referenced by TestRigidBody::initialConditions(), and MovingGrids::update().

void RigidBodyMotion::setMass ( const real totalMass )

References initialConditionsGiven, and mass.

Referenced by setProperties(), MovingGrids::update(), and update().

int RigidBodyMotion::setNewtonTolerance ( real tol )

Set the convergence tolerance for the Newton iteration of implicit solvers.

If the Newton is converging quadratically then the actual error in the Newton iteration should be tol*tol. Thus setting tol=1.e-5 will likely give an error of 1.e-10.

References dbase.

Referenced by main().

int RigidBodyMotion::setPastTimeForcing	(	real	t,
		const RealArray &	force,
		const RealArray &	torque
	)

Supply forcing at "negative" times for startup.

The fourth-order scheme requires values at t=-dt.

Parameters

t	(input) : a past time value (e.g. t=-dt) , torque (input) : force and torque at time t

Referenced by TestRigidBody::solve().

int RigidBodyMotion::setPastTimeForcing	(	real	t,
		const RealArray &	force,
		const RealArray &	torque,
		const RealArray &	A11,
		const RealArray &	A12,
		const RealArray &	A21,
		const RealArray &	A22
	)

Supply forcing at "negative" times for startup.

The fourth-order scheme requires values at t=-dt.

Parameters

t	(input) : a past time value (e.g. t=-dt)
force,torque	(input) : force and torque at time t
A11,A12,A21,A22	(input) : added mass matrices. (only used if added mass matrices are being used)

References current, dbase, f, g, includeAddedMass(), maximumNumberToSave, OV_ABORT(), printF(), R, and time.

int RigidBodyMotion::setPositionConstraint	(	PositionConstraintEnum	constraint,
		const RealArray &	values
	)

References constraintValues, positionConstrainedToALine, positionConstrainedToAPlane, and positionConstraint.

int RigidBodyMotion::setProperties	(	real	totalMass,
		const RealArray &	momentsOfInertia,
		const int	numberOfDimensions = `3`
	)

References mI, numberOfDimensions, R, and setMass().

Referenced by TestRigidBody::initialConditions(), and main().

int RigidBodyMotion::setRotationConstraint	(	RotationConstraintEnum	constraint,
		const RealArray &	values
	)

References constraintValues, rotationConstrainedToALine, rotationConstrainedToAPlane, and rotationConstraint.

int RigidBodyMotion::setTimeSteppingMethod	(	const TimeSteppingMethodEnum	method,
		int	orderOfAccuracy = `defaultOrderOfAccuracy`
	)

Choose the time stepping method. Optionally set the order of accuracy.

Parameters

method	(input) : use this time stepping method.
orderOfAccuracy	(input) : optionally choose the order of accuracy. Currently only applies to implicit Runge Kutta.

References dbase, defaultOrderOfAccuracy, and timeSteppingMethod.

Referenced by TestRigidBody::solve().

int RigidBodyMotion::setTwilightZone	(	bool	trueOrFalse,
		TwilightZoneTypeEnum	type = `trigonometricTwilightZone`
	)

Turn on (or off) twilight-zone forcing.

Parameters

trueOrFalse	(input) : turn on or off
type	(input) : twilight-zone type

References dbase, R, twilightZone, and twilightZoneType.

Referenced by TestRigidBody::initialConditions().

int RigidBodyMotion::takeStepExtrapolation	(	const real	t0,
		const real	dt
	)

protected

Take a (predictor) time step by extrapolation in time. This can be used with the DIRK schemes, for example.

Parameters

t0	: current time.
dt	: time step.

References c1, c2, current, dbase, e, logFile, maximumNumberToSave, numberSaved, orderOfAccuracy, R, time, v, w, and x.

int RigidBodyMotion::takeStepImplicitRungeKutta	(	const real	t0,
		const real	dt
	)

protected

Take a time step with the implicit Runge-Kutta method. This is a protected routine.

Parameters

t0	(input) : current time (at the start of the step)
dt	: time step.

References a11, applyConstraints(), applyConstraintsToPosition, assert(), c1, c2, ci, current, dbase, dirkImplicitSolve(), dot(), e, j, m, maximumNumberToSave, n, numberOfDimensions, orderOfAccuracy, OV_ABORT(), R, v, w, and x.

Referenced by correct(), and integrate().

int RigidBodyMotion::takeStepLeapFrog	(	const real	t0,
		const real	dt
	)

protected

Take a time step with the leap-frog (predictor). This is a protected routine.

Parameters

t0	: current time.
dt	: time step.

References applyConstraints(), applyConstraintsToPosition, axis, current, damping, dbase, debug, dot(), e, f, g, getCrossProductMatrix(), getForceInternal(), improvedEuler, includeAddedMass(), j, leapFrogTrapezoidal, m, mass, maximumNumberToSave, mI, mult(), n, numberOfDimensions, numberOfSteps, OV_ABORT(), printF(), R, timeSteppingMethod, trans(), twilightZone, v, v0, w, and x.

Referenced by integrate().

int RigidBodyMotion::takeStepTrapezoid	(	const real	t0,
		const real	dt
	)

protected

Take a time step with the trapezoidal rule (corrector). This is a protected routine.

Parameters

t0	(input) : current time (at the start of the step)
dt	: time step.

References applyConstraints(), applyConstraintsToPosition, assert(), axis, current, dot(), e, f, g, getCrossProductMatrix(), getForceInternal(), j, m, mass, maximumNumberToSave, mI, mult(), n, numberOfDimensions, R, trans(), twilightZone, v, w, and x.

Referenced by correct().

int RigidBodyMotion::update ( GenericGraphicsInterface & gi )

References assert(), axis, bodyForceCoeff, buildBodyForceOptionsDialog(), centerOfMassHasBeenInitialized(), constraintValues, correctionAbsoluteToleranceForce, correctionAbsoluteToleranceTorque, correctionRelativeToleranceForce, correctionRelativeToleranceTorque, correctionRelaxationParameterForce, correctionRelaxationParameterTorque, dbase, debug, density, dir, dot(), e, getBodyForceOption(), implicitRungeKutta, improvedEuler, k, leapFrogTrapezoidal, logFile, mass, mI, numberOfDimensions, OV_ABORT(), positionConstrainedToALine, positionConstrainedToAPlane, positionConstraint, positionHasNoConstraint, positionIsFixed, printF(), R, relaxCorrectionSteps, rotationConstrainedToALine, rotationConstrainedToAPlane, rotationConstraint, rotationHasNoConstraint, rotationIsFixed, setInitialCentreOfMass(), setMass(), timeSteppingMethod, v, v0, w, w0, and x0.

Referenced by DomainSolver::getMovingGridOption(), and MovingGrids::update().

bool RigidBodyMotion::useAddedMass ( ) const

Return true if the added mass matrices are being used.

References dbase.

Referenced by MovingGrids::rigidBodyMotion().

Member Data Documentation

RealArray RigidBodyMotion::bodyForceCoeff

protected

Referenced by buildBodyForceOptionsDialog(), get(), getBodyForceOption(), getBodyForces(), reset(), RigidBodyMotion(), and update().

BodyForceTypeEnum RigidBodyMotion::bodyForceType

protected

Referenced by buildBodyForceOptionsDialog(), get(), getBodyForceOption(), getBodyForces(), and RigidBodyMotion().

RealArray RigidBodyMotion::bodyTorqueCoeff

protected

Referenced by buildBodyForceOptionsDialog(), get(), getBodyForceOption(), getBodyForces(), reset(), and RigidBodyMotion().

RealArray RigidBodyMotion::constraintValues

protected

Referenced by applyConstraints(), get(), RigidBodyMotion(), setPositionConstraint(), setRotationConstraint(), and update().

real RigidBodyMotion::correctionAbsoluteToleranceForce

protected

Referenced by correct(), get(), RigidBodyMotion(), and update().

real RigidBodyMotion::correctionAbsoluteToleranceTorque

protected

Referenced by correct(), get(), RigidBodyMotion(), and update().

bool RigidBodyMotion::correctionHasConverged

protected

Referenced by correct(), getCorrectionHasConverged(), and RigidBodyMotion().

real RigidBodyMotion::correctionRelativeToleranceForce

protected

Referenced by correct(), get(), RigidBodyMotion(), and update().

real RigidBodyMotion::correctionRelativeToleranceTorque

protected

Referenced by correct(), get(), RigidBodyMotion(), and update().

real RigidBodyMotion::correctionRelaxationParameterForce

protected

Referenced by correct(), get(), RigidBodyMotion(), and update().

real RigidBodyMotion::correctionRelaxationParameterTorque

protected

Referenced by correct(), get(), RigidBodyMotion(), and update().

int RigidBodyMotion::current

protected

Referenced by correct(), get(), getAddedMassMatrices(), getForce(), getForceInternal(), getTimeStepEstimate(), integrate(), momentumTransfer(), reset(), RigidBodyMotion(), setInitialConditions(), setPastTimeForcing(), takeStepExtrapolation(), takeStepImplicitRungeKutta(), takeStepLeapFrog(), and takeStepTrapezoid().

real RigidBodyMotion::damping

protected

Referenced by RigidBodyMotion(), and takeStepLeapFrog().

DataBase RigidBodyMotion::dbase

mutableprotected

int RigidBodyMotion::debug = 0

static

Referenced by correct(), dirkImplicitSolve(), integrate(), main(), momentumTransfer(), takeStepLeapFrog(), and update().

real RigidBodyMotion::density

protected

Referenced by get(), getDensity(), RigidBodyMotion(), and update().

RealArray RigidBodyMotion::e

protected

Referenced by correct(), get(), integrate(), reset(), RigidBodyMotion(), setInitialConditions(), takeStepExtrapolation(), takeStepImplicitRungeKutta(), takeStepLeapFrog(), takeStepTrapezoid(), and update().

RealArray RigidBodyMotion::e0

protected

Referenced by correct(), get(), integrate(), reset(), RigidBodyMotion(), and setInitialConditions().

RealArray RigidBodyMotion::f

protected

Referenced by applyConstraints(), correct(), get(), getBodyForces(), getForce(), getForceInternal(), getTimeStepEstimate(), integrate(), reset(), RigidBodyMotion(), setPastTimeForcing(), takeStepLeapFrog(), and takeStepTrapezoid().

RealArray RigidBodyMotion::g

protected

Referenced by applyConstraints(), correct(), get(), getBodyForces(), getForce(), getForceInternal(), integrate(), reset(), RigidBodyMotion(), setPastTimeForcing(), takeStepLeapFrog(), and takeStepTrapezoid().

int RigidBodyMotion::initialConditionsGiven

protected

Referenced by centerOfMassHasBeenInitialized(), get(), massHasBeenInitialized(), reset(), RigidBodyMotion(), setInitialCentreOfMass(), setInitialConditions(), and setMass().

FILE* RigidBodyMotion::logFile

protected

Referenced by correct(), dirkImplicitSolve(), integrate(), RigidBodyMotion(), takeStepExtrapolation(), and update().

real RigidBodyMotion::mass

protected

Referenced by dirkImplicitSolve(), get(), getForceInternal(), getMass(), getTimeStepEstimate(), RigidBodyMotion(), setMass(), takeStepLeapFrog(), takeStepTrapezoid(), and update().

int RigidBodyMotion::maximumNumberToSave

protected

Referenced by correct(), get(), getAddedMassMatrices(), getForce(), getForceInternal(), getTimeStepEstimate(), integrate(), momentumTransfer(), reset(), RigidBodyMotion(), setPastTimeForcing(), takeStepExtrapolation(), takeStepImplicitRungeKutta(), takeStepLeapFrog(), and takeStepTrapezoid().

real RigidBodyMotion::maximumRelativeCorrection

protected

Referenced by correct(), getMaximumRelativeCorrection(), and RigidBodyMotion().

RealArray RigidBodyMotion::mI

protected

Referenced by dirkImplicitSolve(), get(), getMomentsOfInertia(), reset(), RigidBodyMotion(), setProperties(), takeStepLeapFrog(), takeStepTrapezoid(), and update().

int RigidBodyMotion::numberOfDimensions

protected

Referenced by applyConstraints(), get(), RigidBodyMotion(), setInitialConditions(), setProperties(), takeStepImplicitRungeKutta(), takeStepLeapFrog(), takeStepTrapezoid(), and update().

int RigidBodyMotion::numberOfSteps

protected

Referenced by correct(), get(), getTimeStepEstimate(), integrate(), reset(), RigidBodyMotion(), setInitialConditions(), and takeStepLeapFrog().

int RigidBodyMotion::numberSaved

protected

Referenced by get(), getAddedMassMatrices(), getForce(), getForceInternal(), integrate(), reset(), RigidBodyMotion(), setInitialConditions(), and takeStepExtrapolation().

PositionConstraintEnum RigidBodyMotion::positionConstraint

protected

Referenced by applyConstraints(), get(), RigidBodyMotion(), setPositionConstraint(), and update().

const Range RigidBodyMotion::R

protected

bool RigidBodyMotion::relaxCorrectionSteps

protected

Referenced by correct(), get(), RigidBodyMotion(), and update().

RotationConstraintEnum RigidBodyMotion::rotationConstraint

protected

Referenced by applyConstraints(), get(), RigidBodyMotion(), setRotationConstraint(), and update().

RealArray RigidBodyMotion::time

protected

Referenced by correct(), get(), getAddedMassMatrices(), getForce(), getForceInternal(), integrate(), momentumTransfer(), reset(), RigidBodyMotion(), setInitialConditions(), setPastTimeForcing(), and takeStepExtrapolation().

enum RigidBodyMotion::TimeSteppingMethodEnum RigidBodyMotion::timeSteppingMethod

Referenced by correct(), get(), getTimeSteppingMethodName(), integrate(), RigidBodyMotion(), setTimeSteppingMethod(), takeStepLeapFrog(), and update().

bool RigidBodyMotion::twilightZone

protected

Referenced by dirkImplicitSolve(), get(), getExactSolution(), getForceInternal(), RigidBodyMotion(), setTwilightZone(), takeStepLeapFrog(), and takeStepTrapezoid().

TwilightZoneTypeEnum RigidBodyMotion::twilightZoneType

protected

Referenced by get(), getExactSolution(), RigidBodyMotion(), and setTwilightZone().

RealArray RigidBodyMotion::v

protected

Referenced by correct(), get(), getTimeStepEstimate(), integrate(), momentumTransfer(), reset(), RigidBodyMotion(), setInitialConditions(), takeStepExtrapolation(), takeStepImplicitRungeKutta(), takeStepLeapFrog(), takeStepTrapezoid(), and update().

RealArray RigidBodyMotion::v0

protected

Referenced by get(), getForce(), reset(), RigidBodyMotion(), setInitialConditions(), takeStepLeapFrog(), and update().

RealArray RigidBodyMotion::w

protected

Referenced by applyConstraints(), correct(), get(), integrate(), reset(), RigidBodyMotion(), setInitialConditions(), takeStepExtrapolation(), takeStepImplicitRungeKutta(), takeStepLeapFrog(), takeStepTrapezoid(), and update().

RealArray RigidBodyMotion::w0

protected

Referenced by applyConstraints(), get(), getForce(), reset(), RigidBodyMotion(), setInitialConditions(), and update().

RealArray RigidBodyMotion::x

protected

Referenced by applyConstraints(), correct(), get(), getTimeStepEstimate(), integrate(), momentumTransfer(), reset(), RigidBodyMotion(), setInitialCentreOfMass(), setInitialConditions(), takeStepExtrapolation(), takeStepImplicitRungeKutta(), takeStepLeapFrog(), and takeStepTrapezoid().

RealArray RigidBodyMotion::x0

protected

Referenced by applyConstraints(), get(), reset(), RigidBodyMotion(), setInitialCentreOfMass(), setInitialConditions(), and update().

The documentation for this class was generated from the following files:

Public Types

Public Member Functions

Public Attributes

Static Public Attributes

Protected Types

Protected Member Functions

Protected Attributes

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation