/*---------------------------------------------------------------------------*\
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    \\  /    A nd           | www.openfoam.com
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-------------------------------------------------------------------------------
    Copyright (C) 2016 OpenFOAM Foundation
-------------------------------------------------------------------------------
License
    This file is part of OpenFOAM.

    OpenFOAM is free software: you can redistribute it and/or modify it
    under the terms of the GNU General Public License as published by
    the Free Software Foundation, either version 3 of the License, or
    (at your option) any later version.

    OpenFOAM is distributed in the hope that it will be useful, but WITHOUT
    ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
    FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License
    for more details.

    You should have received a copy of the GNU General Public License
    along with OpenFOAM.  If not, see <http://www.gnu.org/licenses/>.

Class
    Foam::RBD::rigidBodySolvers::CrankNicolson

Description
    Crank-Nicolson 2nd-order time-integrator for 6DoF solid-body motion.

    The off-centering coefficients for acceleration (velocity integration) and
    velocity (position/orientation integration) may be specified but default
    values of 0.5 for each are used if they are not specified.  With the default
    off-centering this scheme is equivalent to the Newmark scheme with default
    coefficients.

    Example specification in dynamicMeshDict:
    \verbatim
    solver
    {
        type    CrankNicolson;
        aoc     0.5;    // Acceleration off-centering coefficient
        voc     0.5;    // Velocity off-centering coefficient
    }
    \endverbatim

See also
    Foam::RBD::rigidBodySolvers::Newmark

SourceFiles
    CrankNicolson.C

\*---------------------------------------------------------------------------*/

#ifndef CrankNicolson_H
#define CrankNicolson_H

#include "rigidBodySolver.H"

// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //

namespace Foam
{
namespace RBD
{
namespace rigidBodySolvers
{

/*---------------------------------------------------------------------------*\
                           Class CrankNicolson Declaration
\*---------------------------------------------------------------------------*/

class CrankNicolson
:
    public rigidBodySolver
{
    // Private data

        //- Acceleration off-centering coefficient (default: 0.5)
        const scalar aoc_;

        //- Velocity off-centering coefficient (default: 0.5)
        const scalar voc_;


public:

    //- Runtime type information
    TypeName("CrankNicolson");


    // Constructors

        //- Construct for the given body from dictionary
        CrankNicolson
        (
            rigidBodyMotion& body,
            const dictionary& dict
        );


    //- Destructor
    virtual ~CrankNicolson();


    // Member Functions

        //- Integrate the rigid-body motion for one time-step
        virtual void solve
        (
            const scalarField& tau,
            const Field<spatialVector>& fx
        );
};


// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //

} // End namespace rigidBodySolvers
} // End namespace RBD
} // End namespace Foam

// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //

#endif

// ************************************************************************* //
