rigidBodyDynamics: Simplified the interface to the solvers

applications/test/rigidBodyDynamics/spring/spring.C

@@ -71,13 +71,7 @@ int main(int argc, char *argv[])
 
         for (label i=0; i<nIter; i++)
         {
-            spring.update
+            spring.solve(deltaT, tau, fx);
-            (
-                deltaT,
-                deltaT,
-                tau,
-                fx
-            );
         }
 
         // Write the results for graph generation

src/rigidBodyDynamics/rigidBodyMotion/rigidBodyMotion.C

@@ -79,17 +79,18 @@ Foam::RBD::rigidBodyMotion::~rigidBodyMotion()
 
 // * * * * * * * * * * * * * * Member Functions  * * * * * * * * * * * * * * //
 
-void Foam::RBD::rigidBodyMotion::update
+void Foam::RBD::rigidBodyMotion::solve
 (
     scalar deltaT,
-    scalar deltaT0,
     const scalarField& tau,
     const Field<spatialVector>& fx
 )
 {
+    deltaT_ = deltaT;
+
     if (Pstream::master())
     {
-        solver_->solve(deltaT, deltaT0, tau, fx);
+        solver_->solve(tau, fx);
 
         if (report_)
         {

src/rigidBodyDynamics/rigidBodyMotion/rigidBodyMotion.H

@@ -79,6 +79,12 @@ class rigidBodyMotion
         //- Motion state data object for previous time-step
         rigidBodyModelState motionState0_;
 
+        //- The current time-step
+        scalar deltaT_;
+
+        //- The previous time-step
+        scalar deltaT0_;
+
         //- Acceleration relaxation coefficient
         scalar aRelax_;
 
@@ -140,11 +146,11 @@ public:
 
         // Update state
 
-            //- Integration of velocities, orientation and position.
+            //- Integrate velocities, orientation and position
-            void update
+            //  for the given time-step
+            void solve
             (
                 scalar deltaT,
-                scalar deltaT0,
                 const scalarField& tau,
                 const Field<spatialVector>& fx
             );

src/rigidBodyDynamics/rigidBodyMotion/rigidBodyMotionI.H

@@ -41,8 +41,10 @@ Foam::RBD::rigidBodyMotion::state() const
 inline void Foam::RBD::rigidBodyMotion::newTime()
 {
     motionState0_ = motionState_;
+    deltaT0_ = deltaT_;
 }
 
+
 /*
 inline Foam::point Foam::RBD::rigidBodyMotion::transform
 (

src/rigidBodyDynamics/rigidBodySolvers/CrankNicolson/CrankNicolson.C

@@ -65,8 +65,6 @@ Foam::RBD::rigidBodySolvers::CrankNicolson::~CrankNicolson()
 
 void Foam::RBD::rigidBodySolvers::CrankNicolson::solve
 (
-    scalar deltaT,
-    scalar deltaT0,
     const scalarField& tau,
     const Field<spatialVector>& fx
 )
@@ -79,10 +77,10 @@ void Foam::RBD::rigidBodySolvers::CrankNicolson::solve
     model_.forwardDynamics(state(), tau, rfx);
 
     // Correct velocity
-    qDot() = qDot0() + aDamp()*deltaT*(aoc_*qDdot() + (1 - aoc_)*qDdot0());
+    qDot() = qDot0() + aDamp()*deltaT()*(aoc_*qDdot() + (1 - aoc_)*qDdot0());
 
     // Correct position
-    q() = q0() + deltaT*(voc_*qDot() + (1 - voc_)*qDot0());
+    q() = q0() + deltaT()*(voc_*qDot() + (1 - voc_)*qDot0());
 
     // Update the body-state
     model_.forwardDynamicsCorrection(state());

src/rigidBodyDynamics/rigidBodySolvers/CrankNicolson/CrankNicolson.H

@@ -104,11 +104,9 @@ public:
 
     // Member Functions
 
-        //- Integrate the rigid-body joint-state one time-step
+        //- Integrate the rigid-body motion for one time-step
         virtual void solve
         (
-            scalar deltaT,
-            scalar deltaT0,
             const scalarField& tau,
             const Field<spatialVector>& fx
         );

src/rigidBodyDynamics/rigidBodySolvers/Newmark/Newmark.C

@@ -72,8 +72,6 @@ Foam::RBD::rigidBodySolvers::Newmark::~Newmark()
 
 void Foam::RBD::rigidBodySolvers::Newmark::solve
 (
-    scalar deltaT,
-    scalar deltaT0,
     const scalarField& tau,
     const Field<spatialVector>& fx
 )
@@ -86,12 +84,13 @@ void Foam::RBD::rigidBodySolvers::Newmark::solve
     model_.forwardDynamics(state(), tau, rfx);
 
     // Correct velocity
-    qDot() = qDot0() + aDamp()*deltaT*(gamma_*qDdot() + (1 - gamma_)*qDdot0());
+    qDot() = qDot0()
+      + aDamp()*deltaT()*(gamma_*qDdot() + (1 - gamma_)*qDdot0());
 
     // Correct position
     q() = q0()
-      + deltaT*qDot0()
+      + deltaT()*qDot0()
-      + sqr(deltaT)*beta_*qDdot() + sqr(deltaT)*(0.5 - beta_)*qDdot0();
+      + sqr(deltaT())*beta_*qDdot() + sqr(deltaT())*(0.5 - beta_)*qDdot0();
 
     // Update the body-state
     model_.forwardDynamicsCorrection(state());

src/rigidBodyDynamics/rigidBodySolvers/Newmark/Newmark.H

@@ -102,11 +102,9 @@ public:
 
     // Member Functions
 
-        //- Integrate the rigid-body joint-state one time-step
+        //- Integrate the rigid-body motion for one time-step
         virtual void solve
         (
-            scalar deltaT,
-            scalar deltaT0,
             const scalarField& tau,
             const Field<spatialVector>& fx
         );

src/rigidBodyDynamics/rigidBodySolvers/rigidBodySolver/rigidBodySolver.H

@@ -62,9 +62,14 @@ protected:
         //- Return the motion state
         inline rigidBodyModelState& state();
 
-        //- Return the motion state
+        //- Return the previous motion state
         inline const rigidBodyModelState& state0() const;
 
+        //- Return the current time-step
+        inline scalar deltaT() const;
+
+        //- Return the previous time-step
+        inline scalar deltaT0() const;
 
         //- Return the current joint position and orientation
         inline scalarField& q();
@@ -138,11 +143,9 @@ public:
 
     // Member Functions
 
-        //- Integrate the rigid-body joint-state one time-step
+        //- Integrate the rigid-body motion for one time-step
         virtual void solve
         (
-            scalar deltaT,
-            scalar deltaT0,
             const scalarField& tau,
             const Field<spatialVector>& fx
         ) = 0;

src/rigidBodyDynamics/rigidBodySolvers/rigidBodySolver/rigidBodySolverI.H

@@ -38,6 +38,18 @@ Foam::RBD::rigidBodySolver::state0() const
 }
 
 
+inline Foam::scalar Foam::RBD::rigidBodySolver::deltaT() const
+{
+    return model_.deltaT_;
+}
+
+
+inline Foam::scalar Foam::RBD::rigidBodySolver::deltaT0() const
+{
+    return model_.deltaT0_;
+}
+
+
 inline Foam::scalarField& Foam::RBD::rigidBodySolver::q()
 {
     return state().q();

src/rigidBodyDynamics/rigidBodySolvers/symplectic/symplectic.C

@@ -63,8 +63,6 @@ Foam::RBD::rigidBodySolvers::symplectic::~symplectic()
 
 void Foam::RBD::rigidBodySolvers::symplectic::solve
 (
-    scalar deltaT,
-    scalar deltaT0,
     const scalarField& tau,
     const Field<spatialVector>& fx
 )
@@ -72,8 +70,8 @@ void Foam::RBD::rigidBodySolvers::symplectic::solve
     // First simplectic step:
     //     Half-step for linear and angular velocities
     //     Update position and orientation
-    qDot() = qDot0() + aDamp()*0.5*deltaT0*qDdot();
+    qDot() = qDot0() + aDamp()*0.5*deltaT0()*qDdot();
-    q() = q0() + deltaT*qDot();
+    q() = q0() + deltaT()*qDot();
 
     // Update the body-state prior to the evaluation of the restraints
     model_.forwardDynamicsCorrection(state());
@@ -88,7 +86,7 @@ void Foam::RBD::rigidBodySolvers::symplectic::solve
 
     // Second simplectic step:
     //     Complete update of linear and angular velocities
-    qDot() += aDamp()*0.5*deltaT*qDdot();
+    qDot() += aDamp()*0.5*deltaT()*qDdot();
 }
 
 

src/rigidBodyDynamics/rigidBodySolvers/symplectic/symplectic.H

@@ -101,11 +101,9 @@ public:
 
     // Member Functions
 
-        //- Integrate the rigid-body joint-state one time-step
+        //- Integrate the rigid-body motion for one time-step
         virtual void solve
         (
-            scalar deltaT,
-            scalar deltaT0,
             const scalarField& tau,
             const Field<spatialVector>& fx
         );