34 namespace sixDoFRigidBodyMotionConstraints
39 sixDoFRigidBodyMotionConstraint,
55 fixedPlane_(vector::one)
72 const vector& existingConstraintForce,
73 const vector& existingConstraintMoment,
75 vector& constraintPosition,
76 vector& constraintForceIncrement,
77 vector& constraintMomentIncrement
80 const point& refPt = fixedPlane_.refPoint();
82 const vector& n = fixedPlane_.normal();
87 existingConstraintForce,
88 existingConstraintMoment,
102 constraintForceIncrement =
103 -relaxationFactor_*error*motion.
mass()/
sqr(deltaT);
107 bool converged(
mag(error) < tolerance_);
109 if (sixDoFRigidBodyMotionConstraint::debug)
111 Info<<
" error " << error
112 <<
" force " << constraintForceIncrement
113 <<
" moment " << constraintMomentIncrement;
121 Info<<
" not converged";
138 point refPt = sDoFRBMCCoeffs_.lookup(
"refPoint");
142 fixedPlane_ =
plane(refPt, normal);