Minor updates in sixDOF classes

src/ODE/sixDOF/geometricSixDOF/geometricSixDOF.C

@@ -79,7 +79,7 @@ Foam::dimensionedVector Foam::geometricSixDOF::A
         // Force in global coordinate system
         force()
         // Force in local coordinate system
-      + (dimensionedTensor("R_T", dimless, R.T()) & forceRelative())
+      + (R.T() & forceRelative())
         // Spring force in global coordinate system
       - (linSpringCoeffs() & xR)
         // Damping force in global coordinate system

src/ODE/sixDOF/quaternionSixDOF/quaternionSixDOF.C

@@ -60,20 +60,21 @@ Foam::dimensionedVector Foam::quaternionSixDOF::A
     const HamiltonRodriguezRot& rotation
 ) const
 {
-    // Fix the global force for global rotation constraints
-    dimensionedVector fAbs = this->force();
+    // Fix the total force in global coordinate system
+    dimensionedVector fAbs =
+        // Force in global coordinate system
+        force()
+        // Force in local coordinate system
+      + (rotation.invR() & forceRelative())
+        // Spring force in global coordinate system
+      - (linSpringCoeffs() & xR)
+        // Damping force in global coordinate system
+      - (linDampingCoeffs() & uR);
 
     // Constrain translation
     constrainTranslation(fAbs.value());
 
-    return
-    (
-       - (linSpringCoeffs() & xR)    // spring
-       - (linDampingCoeffs() & uR)   // damping
-       + fAbs
-         // To absolute
-       + (rotation.invR() & forceRelative())
-    )/mass();
+    return fAbs/mass();
 }
 
 

src/ODE/sixDOF/quaternionSixDOF/quaternionSixDOF.H

@@ -109,7 +109,7 @@ class quaternionSixDOF
             //- Fixed yaw (rotation around z)
             Switch fixedYaw_;
 
-            //- Restraints in referent coordinate system
+            //- Constraints in referent coordinate system
             Switch referentMotionConstraints_;
 
             //- Rotation of referent coordinate system