34 namespace sixDoFRigidBodyMotionConstraints
39 sixDoFRigidBodyMotionConstraint,
72 const vector& existingConstraintForce,
73 const vector& existingConstraintMoment,
75 vector& constraintPosition,
76 vector& constraintForceIncrement,
77 vector& constraintMomentIncrement
83 existingConstraintForce,
84 existingConstraintMoment,
111 constraintForceIncrement =
112 -relaxationFactor_*error*motion.
mass()/
sqr(deltaT);
116 bool converged(
mag(error) < tolerance_);
118 if (sixDoFRigidBodyMotionConstraint::debug)
120 Info<<
" error " << error
121 <<
" force " << constraintForceIncrement
122 <<
" moment " << constraintMomentIncrement;
130 Info<<
" not converged";
147 sDoFRBMCCoeffs_.lookup(
"fixedPoint") >> fixedPoint_;