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alec-glisman / Swimming-in-Potential-Flow

Study dynamics of inertial active matter in a potential fluid (irrotational, incompressible).
https://doi.org/10.1017/jfm.2022.946
GNU General Public License v3.0
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rungeKutta4 Integration not updated locater point D.o.F. #1

Closed alec-glisman closed 2 years ago

alec-glisman commented 3 years ago

The integrateSecondOrder() function is not leading to locater point motion. Find out what is wrong.

alec-glisman commented 2 years ago

Updates: Found out the body kinematics were not being set correctly in rungeKutta4::accelerationUpdate().

Now I am getting NaN showing up in rungeKutta4:udwadiaKalaba(). This comes from calculation of M_eff_inv as M_eff is not full rank. Can I fix this by adding the intrinsic angular momentum and making the quaternion DoF full rank?