zhyang-dev/OpenFOAM-12
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

rigidBodyMeshMotion: displacementMotionSolver for the mesh-motion of multiple articulated rigid-bodies

Browse Source 
The motion of the bodies is integrated using the rigidBodyDynamics
library with joints, restraints and external forces.

The mesh-motion is interpolated using septernion averaging.

This development is sponsored by Carnegie Wave Energy Ltd.
This commit is contained in:
Henry Weller
2016-04-16 16:02:25 +01:00
parent 831e429dc8
commit 04e4e1a7bb
20 changed files with 782 additions and 116 deletions
Download Patch File Download Diff File Expand all files Collapse all files

3
src/dynamicMesh/Make/files
View File

@ -104,4 +104,7 @@ extrudePatchMesh/extrudePatchMesh.C
polyMeshFilter/polyMeshFilterSettings.C
polyMeshFilter/polyMeshFilter.C
pointPatchDist/externalPointEdgePoint.C
pointPatchDist/pointPatchDist.C
LIB = $(FOAM_LIBBIN)/libdynamicMesh

2
src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionSolver/externalPointEdgePoint.C → src/dynamicMesh/pointPatchDist/externalPointEdgePoint.C
View File

@ -2,7 +2,7 @@
========= |
\\ / F ield | OpenFOAM: The Open Source CFD Toolbox
\\ / O peration |
\\ / A nd | Copyright (C) 2013 OpenFOAM Foundation
\\ / A nd | Copyright (C) 2013-2016 OpenFOAM Foundation
\\/ M anipulation |
-------------------------------------------------------------------------------
License

2
src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionSolver/externalPointEdgePoint.H → src/dynamicMesh/pointPatchDist/externalPointEdgePoint.H
View File

@ -2,7 +2,7 @@
========= |
\\ / F ield | OpenFOAM: The Open Source CFD Toolbox
\\ / O peration |
\\ / A nd | Copyright (C) 2013-2015 OpenFOAM Foundation
\\ / A nd | Copyright (C) 2013-2016 OpenFOAM Foundation
\\/ M anipulation |
-------------------------------------------------------------------------------
License

2
src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionSolver/externalPointEdgePointI.H → src/dynamicMesh/pointPatchDist/externalPointEdgePointI.H
View File

@ -2,7 +2,7 @@
========= |
\\ / F ield | OpenFOAM: The Open Source CFD Toolbox
\\ / O peration |
\\ / A nd | Copyright (C) 2013 OpenFOAM Foundation
\\ / A nd | Copyright (C) 2013-2016 OpenFOAM Foundation
\\/ M anipulation |
-------------------------------------------------------------------------------
License

2
src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionSolver/pointPatchDist.C → src/dynamicMesh/pointPatchDist/pointPatchDist.C
View File

@ -2,7 +2,7 @@
========= |
\\ / F ield | OpenFOAM: The Open Source CFD Toolbox
\\ / O peration |
\\ / A nd | Copyright (C) 2013 OpenFOAM Foundation
\\ / A nd | Copyright (C) 2013-2016 OpenFOAM Foundation
\\/ M anipulation |
-------------------------------------------------------------------------------
License

2
src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionSolver/pointPatchDist.H → src/dynamicMesh/pointPatchDist/pointPatchDist.H
View File

@ -2,7 +2,7 @@
========= |
\\ / F ield | OpenFOAM: The Open Source CFD Toolbox
\\ / O peration |
\\ / A nd | Copyright (C) 2013 OpenFOAM Foundation
\\ / A nd | Copyright (C) 2013-2016 OpenFOAM Foundation
\\/ M anipulation |
-------------------------------------------------------------------------------
License

6
src/rigidBodyDynamics/rigidBodyModelState/rigidBodyModelState.C
View File

@ -34,7 +34,8 @@ Foam::RBD::rigidBodyModelState::rigidBodyModelState
:
q_(model.nDoF(), Zero),
qDot_(model.nDoF(), Zero),
qDdot_(model.nDoF(), Zero)
qDdot_(model.nDoF(), Zero),
deltaT_(0)
{}
@ -46,7 +47,8 @@ Foam::RBD::rigidBodyModelState::rigidBodyModelState
:
q_(dict.lookupOrDefault("q", scalarField(model.nDoF(), Zero))),
qDot_(dict.lookupOrDefault("qDot", scalarField(model.nDoF(), Zero))),
qDdot_(dict.lookupOrDefault("qDdot", scalarField(model.nDoF(), Zero)))
qDdot_(dict.lookupOrDefault("qDdot", scalarField(model.nDoF(), Zero))),
deltaT_(dict.lookupOrDefault<scalar>("deltaT", 0))
{}

9
src/rigidBodyDynamics/rigidBodyModelState/rigidBodyModelState.H
View File

@ -76,6 +76,9 @@ class rigidBodyModelState
//- Joint acceleration
scalarField qDdot_;
//- The time-step used to integrate to this state
scalar deltaT_;
public:
@ -107,6 +110,9 @@ public:
//- Return access to the joint acceleration
inline const scalarField& qDdot() const;
//- Return access to the time-step
inline scalar deltaT() const;
// Edit
@ -121,6 +127,9 @@ public:
//- Return access to the joint acceleration
inline scalarField& qDdot();
//- Return access to the time-step
inline scalar& deltaT();
//- Write to dictionary
void write(dictionary& dict) const;

12
src/rigidBodyDynamics/rigidBodyModelState/rigidBodyModelStateI.H
View File

@ -43,6 +43,12 @@ inline const Foam::scalarField& Foam::RBD::rigidBodyModelState::qDdot() const
}
inline Foam::scalar Foam::RBD::rigidBodyModelState::deltaT() const
{
return deltaT_;
}
inline Foam::scalarField& Foam::RBD::rigidBodyModelState::q()
{
return q_;
@ -61,4 +67,10 @@ inline Foam::scalarField& Foam::RBD::rigidBodyModelState::qDdot()
}
inline Foam::scalar& Foam::RBD::rigidBodyModelState::deltaT()
{
return deltaT_;
}
// ************************************************************************* //

8
src/rigidBodyDynamics/rigidBodyModelState/rigidBodyModelStateIO.C
View File

@ -33,6 +33,7 @@ void Foam::RBD::rigidBodyModelState::write(dictionary& dict) const
dict.add("q", q_);
dict.add("qDot", qDot_);
dict.add("qDdot", qDdot_);
dict.add("deltaT", deltaT_);
}
@ -41,6 +42,7 @@ void Foam::RBD::rigidBodyModelState::write(Ostream& os) const
os.writeKeyword("q") << q_ << token::END_STATEMENT << nl;
os.writeKeyword("qDot") << qDot_ << token::END_STATEMENT << nl;
os.writeKeyword("qDdot") << qDdot_ << token::END_STATEMENT << nl;
os.writeKeyword("deltaT") << deltaT_ << token::END_STATEMENT << nl;
}
@ -54,7 +56,8 @@ Foam::Istream& Foam::RBD::operator>>
{
is >> state.q_
>> state.qDot_
>> state.qDdot_;
>> state.qDdot_
>> state.deltaT_;
// Check state of Istream
is.check
@ -75,7 +78,8 @@ Foam::Ostream& Foam::RBD::operator<<
{
os << token::SPACE << state.q_
<< token::SPACE << state.qDot_
<< token::SPACE << state.qDdot_;
<< token::SPACE << state.qDdot_
<< token::SPACE << state.deltaT_;
// Check state of Ostream
os.check

165
src/rigidBodyDynamics/rigidBodyMotion/rigidBodyMotion.C
View File

@ -25,6 +25,20 @@ License
#include "rigidBodyMotion.H"
#include "rigidBodySolver.H"
#include "septernion.H"
// * * * * * * * * * * * * * Private Member Functions * * * * * * * * * * * //
void Foam::RBD::rigidBodyMotion::initialize()
{
// Calculate the initial body-state
forwardDynamicsCorrection(rigidBodyModelState(*this));
X00_ = X0_;
// Update the body-state to correspond to the current joint-state
forwardDynamicsCorrection(motionState_);
}
// * * * * * * * * * * * * * * * * Constructors * * * * * * * * * * * * * * //
@ -39,7 +53,6 @@ Foam::RBD::rigidBodyMotion::rigidBodyMotion()
solver_(NULL)
{}
Foam::RBD::rigidBodyMotion::rigidBodyMotion
(
const dictionary& dict
@ -48,11 +61,14 @@ Foam::RBD::rigidBodyMotion::rigidBodyMotion
rigidBodyModel(dict),
motionState_(*this),
motionState0_(motionState_),
X00_(X0_.size()),
aRelax_(dict.lookupOrDefault<scalar>("accelerationRelaxation", 1.0)),
aDamp_(dict.lookupOrDefault<scalar>("accelerationDamping", 1.0)),
report_(dict.lookupOrDefault<Switch>("report", false)),
solver_(rigidBodySolver::New(*this, dict.subDict("solver")))
{}
{
initialize();
}
Foam::RBD::rigidBodyMotion::rigidBodyMotion
@ -64,11 +80,14 @@ Foam::RBD::rigidBodyMotion::rigidBodyMotion
rigidBodyModel(dict),
motionState_(*this, stateDict),
motionState0_(motionState_),
X00_(X0_.size()),
aRelax_(dict.lookupOrDefault<scalar>("accelerationRelaxation", 1.0)),
aDamp_(dict.lookupOrDefault<scalar>("accelerationDamping", 1.0)),
report_(dict.lookupOrDefault<Switch>("report", false)),
solver_(rigidBodySolver::New(*this, dict.subDict("solver")))
{}
{
initialize();
}
// * * * * * * * * * * * * * * * * Destructor * * * * * * * * * * * * * * * //
@ -79,6 +98,23 @@ Foam::RBD::rigidBodyMotion::~rigidBodyMotion()
// * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * * //
Foam::spatialTransform Foam::RBD::rigidBodyMotion::X00
(
const label bodyId
) const
{
if (merged(bodyId))
{
const subBody& mBody = mergedBody(bodyId);
return mBody.masterXT() & X00_[mBody.masterID()];
}
else
{
return X00_[bodyId];
}
}
void Foam::RBD::rigidBodyMotion::solve
(
scalar deltaT,
@ -86,7 +122,12 @@ void Foam::RBD::rigidBodyMotion::solve
const Field<spatialVector>& fx
)
{
deltaT_ = deltaT;
motionState_.deltaT() = deltaT;
if (motionState0_.deltaT() < SMALL)
{
motionState0_.deltaT() = deltaT;
}
if (Pstream::master())
{
@ -115,64 +156,108 @@ void Foam::RBD::rigidBodyMotion::status() const
*/
}
/*
Foam::tmp<Foam::pointField> Foam::RBD::rigidBodyMotion::transform
Foam::tmp<Foam::pointField> Foam::RBD::rigidBodyMotion::transformPoints
(
const label bodyID,
const scalarField& weight,
const pointField& initialPoints
) const
{
return
(
centreOfRotation()
+ (Q() & initialQ_.T() & (initialPoints - initialCentreOfRotation_))
);
}
// Calculate the transform from the initial state in the global frame
// to the current state in the global frame
spatialTransform X(X0(bodyID).inv() & X00(bodyID));
Foam::tmp<Foam::pointField> Foam::RBD::rigidBodyMotion::transform
(
const pointField& initialPoints,
const scalarField& scale
) const
{
// Calculate the transformation septerion from the initial state
septernion s
(
centreOfRotation() - initialCentreOfRotation(),
quaternion(Q() & initialQ().T())
);
// Calculate the septernion equivalent of the transformation for 'slerp'
// interpolation
septernion s(X);
tmp<pointField> tpoints(new pointField(initialPoints));
pointField& points = tpoints.ref();
forAll(points, pointi)
forAll(points, i)
{
// Move non-stationary points
if (scale[pointi] > SMALL)
if (weight[i] > SMALL)
{
// Use solid-body motion where scale = 1
if (scale[pointi] > 1 - SMALL)
// Use solid-body motion where weight = 1
if (weight[i] > 1 - SMALL)
{
points[pointi] = transform(initialPoints[pointi]);
points[i] = X.transformPoint(initialPoints[i]);
}
// Slerp septernion interpolation
else
{
septernion ss(slerp(septernion::I, s, scale[pointi]));
points[pointi] =
initialCentreOfRotation()
+ ss.transform
(
initialPoints[pointi]
- initialCentreOfRotation()
);
points[i] =
slerp(septernion::I, s, weight[i])
.transformPoint(initialPoints[i]);
}
}
}
return tpoints;
}
*/
Foam::tmp<Foam::pointField> Foam::RBD::rigidBodyMotion::transformPoints
(
const labelList& bodyIDs,
const List<const scalarField*>& weights,
const pointField& initialPoints
) const
{
List<septernion> ss(bodyIDs.size() + 1);
ss[bodyIDs.size()] = septernion::I;
forAll(bodyIDs, bi)
{
const label bodyID = bodyIDs[bi];
// Calculate the transform from the initial state in the global frame
// to the current state in the global frame
spatialTransform X(X0(bodyID).inv() & X00(bodyID));
// Calculate the septernion equivalent of the transformation
ss[bi] = septernion(X);
}
tmp<pointField> tpoints(new pointField(initialPoints));
pointField& points = tpoints.ref();
List<scalar> w(ss.size());
forAll(points, i)
{
// Sum (1 - wi) and find the maximum wi
scalar sum1mw = 0;
scalar maxw = 0;
forAll(bodyIDs, bi)
{
w[bi] = (*(weights[bi]))[i];
sum1mw += 1 - w[bi];
maxw = max(maxw, w[bi]);
}
// Calculate the limiter for (1 - wi) to ensure the sum(wi) = maxw
scalar lambda = (w.size() - 1 - maxw)/sum1mw;
// Limit (1 - wi) and sum the resulting wi
scalar sumw = 0;
forAll(bodyIDs, bi)
{
w[bi] = 1 - lambda*(1 - w[bi]);
sumw += w[bi];
}
// Calculate the weight for the stationary far-field
w[bodyIDs.size()] = 1 - sumw;
points[i] = average(ss, w).transformPoint(initialPoints[i]);
}
return tpoints;
}
// ************************************************************************* //

54
src/rigidBodyDynamics/rigidBodyMotion/rigidBodyMotion.H
View File

@ -79,11 +79,8 @@ class rigidBodyMotion
//- Motion state data object for previous time-step
rigidBodyModelState motionState0_;
//- The current time-step
scalar deltaT_;
//- The previous time-step
scalar deltaT0_;
//- Initial transform for external forces to the bodies reference frame
List<spatialTransform> X00_;
//- Acceleration relaxation coefficient
scalar aRelax_;
@ -98,9 +95,17 @@ class rigidBodyMotion
autoPtr<rigidBodySolver> solver_;
//- Construct as copy
// Private Member Functions
//- Initialize the body-state
void initialize();
//- Disallow copy construct
rigidBodyMotion(const rigidBodyMotion&);
//- Disallow default bitwise assignment
void operator=(const rigidBodyMotion&);
public:
@ -140,6 +145,10 @@ public:
//- Return the motion state for modification
inline rigidBodyModelState& state();
//- Return the initial transform to the global frame for the
// given body
spatialTransform X00(const label bodyId) const;
// Edit
@ -164,23 +173,26 @@ public:
// Transformations
/*
//- Transform the given initial state point by the current motion
// state
inline point transform(const point& initialPoints) const;
//- Transform the given initial state pointField by the current
// motion state
tmp<pointField> transform(const pointField& initialPoints) const;
//- Transform the given initial state pointField by the current
// motion state scaled by the given scale
tmp<pointField> transform
//- Transform the given initial pointField of the specified body
// to correspond to the current motion state scaled using
// 'slerp' interpolation
tmp<pointField> transformPoints
(
const pointField& initialPoints,
const scalarField& scale
const label bodyID,
const scalarField& weight,
const pointField& initialPoints
) const;
*/
//- Transform the given initial pointField of the specified body
// to correspond to the current motion state scaled using
// 'slerp' interpolation
tmp<pointField> transformPoints
(
const labelList& bodyIDs,
const List<const scalarField*>& weights,
const pointField& initialPoints
) const;
//- Write
void write(Ostream&) const;

16
src/rigidBodyDynamics/rigidBodyMotion/rigidBodyMotionI.H
View File

@ -48,23 +48,7 @@ Foam::RBD::rigidBodyMotion::state()
inline void Foam::RBD::rigidBodyMotion::newTime()
{
motionState0_ = motionState_;
deltaT0_ = deltaT_;
}
/*
inline Foam::point Foam::RBD::rigidBodyMotion::transform
(
const point& initialPoint
) const
{
return
(
centreOfRotation()
+ (Q() & initialQ_.T() & (initialPoint - initialCentreOfRotation_))
);
}
*/
// ************************************************************************* //

18
src/rigidBodyDynamics/rigidBodySolvers/rigidBodySolver/rigidBodySolver.H
View File

@ -62,15 +62,6 @@ protected:
//- Return the motion state
inline rigidBodyModelState& state();
//- Return the previous motion state
inline const rigidBodyModelState& state0() const;
//- Return the current time-step
inline scalar deltaT() const;
//- Return the previous time-step
inline scalar deltaT0() const;
//- Return the current joint position and orientation
inline scalarField& q();
@ -82,6 +73,12 @@ protected:
//- Return the current joint acceleration
inline scalarField& qDdot();
//- Return the current time-step
inline scalar deltaT() const;
//- Return the previous motion state
inline const rigidBodyModelState& state0() const;
//- Return the current joint position and orientation
inline const scalarField& q0() const;
@ -94,6 +91,9 @@ protected:
//- Return the current joint acceleration
inline const scalarField& qDdot0() const;
//- Return the previous time-step
inline scalar deltaT0() const;
//- Acceleration damping coefficient (for steady-state simulations)
inline scalar aDamp() const;

37
src/rigidBodyDynamics/rigidBodySolvers/rigidBodySolver/rigidBodySolverI.H
View File

@ -31,25 +31,6 @@ inline Foam::RBD::rigidBodyModelState& Foam::RBD::rigidBodySolver::state()
}
inline const Foam::RBD::rigidBodyModelState&
Foam::RBD::rigidBodySolver::state0() const
{
return model_.motionState0_;
}
inline Foam::scalar Foam::RBD::rigidBodySolver::deltaT() const
{
return model_.deltaT_;
}
inline Foam::scalar Foam::RBD::rigidBodySolver::deltaT0() const
{
return model_.deltaT0_;
}
inline Foam::scalarField& Foam::RBD::rigidBodySolver::q()
{
return state().q();
@ -68,6 +49,18 @@ inline Foam::scalarField& Foam::RBD::rigidBodySolver::qDdot()
}
inline Foam::scalar Foam::RBD::rigidBodySolver::deltaT() const
{
return model_.motionState_.deltaT();
}
inline const Foam::RBD::rigidBodyModelState&
Foam::RBD::rigidBodySolver::state0() const
{
return model_.motionState0_;
}
inline const Foam::scalarField& Foam::RBD::rigidBodySolver::q0() const
{
return state0().q();
@ -86,6 +79,12 @@ inline const Foam::scalarField& Foam::RBD::rigidBodySolver::qDdot0() const
}
inline Foam::scalar Foam::RBD::rigidBodySolver::deltaT0() const
{
return model_.motionState0_.deltaT();
}
inline Foam::scalar Foam::RBD::rigidBodySolver::aDamp() const
{
return model_.aDamp_;

3
src/rigidBodyMeshMotion/Make/files Normal file
View File

@ -0,0 +1,3 @@
rigidBodyMeshMotion.C
LIB = $(FOAM_LIBBIN)/librigidBodyMeshMotion

14
src/rigidBodyMeshMotion/Make/options Normal file
View File

@ -0,0 +1,14 @@
EXE_INC = -ggdb3 -DFULLDEBUG \
-I$(LIB_SRC)/rigidBodyDynamics/lnInclude \
-I$(LIB_SRC)/finiteVolume/lnInclude \
-I$(LIB_SRC)/meshTools/lnInclude \
-I$(LIB_SRC)/postProcessing/functionObjects/forces/lnInclude \
-I$(LIB_SRC)/fileFormats/lnInclude \
-I$(LIB_SRC)/dynamicMesh/lnInclude
LIB_LIBS = \
-lrigidBodyDynamics \
-lforces \
-lmeshTools \
-lfileFormats \
-ldynamicMesh

357
src/rigidBodyMeshMotion/rigidBodyMeshMotion.C Normal file
View File

@ -0,0 +1,357 @@
/*---------------------------------------------------------------------------*\
========= |
\\ / F ield | OpenFOAM: The Open Source CFD Toolbox
\\ / O peration |
\\ / A nd | Copyright (C) 2016 OpenFOAM Foundation
\\/ M anipulation |
-------------------------------------------------------------------------------
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/>.
\*---------------------------------------------------------------------------*/
#include "rigidBodyMeshMotion.H"
#include "addToRunTimeSelectionTable.H"
#include "polyMesh.H"
#include "pointPatchDist.H"
#include "pointConstraints.H"
#include "uniformDimensionedFields.H"
#include "forces.H"
#include "mathematicalConstants.H"
// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
namespace Foam
{
defineTypeNameAndDebug(rigidBodyMeshMotion, 0);
addToRunTimeSelectionTable
(
motionSolver,
rigidBodyMeshMotion,
dictionary
);
}
// * * * * * * * * * * * * * * * * Constructors * * * * * * * * * * * * * * //
Foam::rigidBodyMeshMotion::bodyMesh::bodyMesh
(
const polyMesh& mesh,
const word& name,
const label bodyID,
const dictionary& dict
)
:
name_(name),
bodyID_(bodyID),
patches_(wordReList(dict.lookup("patches"))),
patchSet_(mesh.boundaryMesh().patchSet(patches_)),
di_(readScalar(dict.lookup("innerDistance"))),
do_(readScalar(dict.lookup("outerDistance"))),
weight_
(
IOobject
(
name_ + ".motionScale",
mesh.time().timeName(),
mesh,
IOobject::NO_READ,
IOobject::NO_WRITE,
false
),
pointMesh::New(mesh),
dimensionedScalar("zero", dimless, 0.0)
)
{}
Foam::rigidBodyMeshMotion::rigidBodyMeshMotion
(
const polyMesh& mesh,
const IOdictionary& dict
)
:
displacementMotionSolver(mesh, dict, typeName),
model_
(
coeffDict(),
IOobject
(
"rigidBodyMotionState",
mesh.time().timeName(),
"uniform",
mesh
).headerOk()
? IOdictionary
(
IOobject
(
"rigidBodyMotionState",
mesh.time().timeName(),
"uniform",
mesh,
IOobject::READ_IF_PRESENT,
IOobject::NO_WRITE,
false
)
)
: coeffDict()
),
test_(coeffDict().lookupOrDefault<Switch>("test", false)),
rhoInf_(1.0),
rhoName_(coeffDict().lookupOrDefault<word>("rhoName", "rho")),
curTimeIndex_(-1)
{
if (rhoName_ == "rhoInf")
{
rhoInf_ = readScalar(coeffDict().lookup("rhoInf"));
}
const dictionary& bodiesDict = coeffDict().subDict("bodies");
forAllConstIter(IDLList<entry>, bodiesDict, iter)
{
const dictionary& bodyDict = iter().dict();
if (bodyDict.found("patches"))
{
bodyMeshes_.append
(
new bodyMesh
(
mesh,
iter().keyword(),
model_.bodyID(iter().keyword()),
bodyDict
)
);
}
}
// Calculate scaling factor everywhere for each meshed body
forAll(bodyMeshes_, bi)
{
const pointMesh& pMesh = pointMesh::New(mesh);
pointPatchDist pDist(pMesh, bodyMeshes_[bi].patchSet_, points0());
pointScalarField& scale = bodyMeshes_[bi].weight_;
// Scaling: 1 up to di then linear down to 0 at do away from patches
scale.internalField() =
min
(
max
(
(bodyMeshes_[bi].do_ - pDist.internalField())
/(bodyMeshes_[bi].do_ - bodyMeshes_[bi].di_),
scalar(0)
),
scalar(1)
);
// Convert the scale function to a cosine
scale.internalField() =
min
(
max
(
0.5
- 0.5
*cos(scale.internalField()
*Foam::constant::mathematical::pi),
scalar(0)
),
scalar(1)
);
pointConstraints::New(pMesh).constrain(scale);
//scale.write();
}
}
// * * * * * * * * * * * * * * * * Destructor * * * * * * * * * * * * * * * //
Foam::rigidBodyMeshMotion::~rigidBodyMeshMotion()
{}
// * * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * //
Foam::tmp<Foam::pointField>
Foam::rigidBodyMeshMotion::curPoints() const
{
return points0() + pointDisplacement_.internalField();
}
void Foam::rigidBodyMeshMotion::solve()
{
const Time& t = mesh().time();
if (mesh().nPoints() != points0().size())
{
FatalErrorInFunction
<< "The number of points in the mesh seems to have changed." << endl
<< "In constant/polyMesh there are " << points0().size()
<< " points; in the current mesh there are " << mesh().nPoints()
<< " points." << exit(FatalError);
}
// Store the motion state at the beginning of the time-step
if (curTimeIndex_ != this->db().time().timeIndex())
{
model_.newTime();
curTimeIndex_ = this->db().time().timeIndex();
}
dimensionedVector g("g", dimAcceleration, vector::zero);
if (db().foundObject<uniformDimensionedVectorField>("g"))
{
g = db().lookupObject<uniformDimensionedVectorField>("g");
}
else if (coeffDict().found("g"))
{
coeffDict().lookup("g") >> g;
}
model_.g() = g.value();
if (test_)
{
label nIter(readLabel(coeffDict().lookup("nIter")));
for (label i=0; i<nIter; i++)
{
model_.solve
(
t.deltaTValue(),
scalarField(model_.nDoF(), Zero),
Field<spatialVector>(model_.nBodies(), Zero)
);
}
}
else
{
Field<spatialVector> fx(model_.nBodies(), Zero);
forAll(bodyMeshes_, bi)
{
const label bodyID = bodyMeshes_[bi].bodyID_;
dictionary forcesDict;
forcesDict.add("type", forces::typeName);
forcesDict.add("patches", bodyMeshes_[bi].patches_);
forcesDict.add("rhoInf", rhoInf_);
forcesDict.add("rhoName", rhoName_);
forcesDict.add("CofR", model_.X0(bodyID).r());
forces f("forces", db(), forcesDict);
f.calcForcesMoment();
fx[bodyID].l() = f.forceEff();
fx[bodyID].w() = f.momentEff();
}
model_.solve
(
t.deltaTValue(),
scalarField(model_.nDoF(), Zero),
fx
);
}
// Update the displacements
if (bodyMeshes_.size() == 1)
{
pointDisplacement_.internalField() = model_.transformPoints
(
bodyMeshes_[0].bodyID_,
bodyMeshes_[0].weight_,
points0()
) - points0();
}
else
{
labelList bodyIDs(bodyMeshes_.size());
List<const scalarField*> weights(bodyMeshes_.size());
forAll(bodyIDs, bi)
{
bodyIDs[bi] = bodyMeshes_[bi].bodyID_;
weights[bi] = &bodyMeshes_[bi].weight_;
}
pointDisplacement_.internalField() =
model_.transformPoints(bodyIDs, weights, points0()) - points0();
}
// Displacement has changed. Update boundary conditions
pointConstraints::New
(
pointDisplacement_.mesh()
).constrainDisplacement(pointDisplacement_);
}
bool Foam::rigidBodyMeshMotion::writeObject
(
IOstream::streamFormat fmt,
IOstream::versionNumber ver,
IOstream::compressionType cmp
) const
{
IOdictionary dict
(
IOobject
(
"rigidBodyMotionState",
mesh().time().timeName(),
"uniform",
mesh(),
IOobject::NO_READ,
IOobject::NO_WRITE,
false
)
);
model_.state().write(dict);
return dict.regIOobject::write();
}
bool Foam::rigidBodyMeshMotion::read()
{
if (displacementMotionSolver::read())
{
model_.read(coeffDict());
return true;
}
else
{
return false;
}
}
// ************************************************************************* //

184
src/rigidBodyMeshMotion/rigidBodyMeshMotion.H Normal file
View File

@ -0,0 +1,184 @@
/*---------------------------------------------------------------------------*\
========= |
\\ / F ield | OpenFOAM: The Open Source CFD Toolbox
\\ / O peration |
\\ / A nd | Copyright (C) 2016 OpenFOAM Foundation
\\/ M anipulation |
-------------------------------------------------------------------------------
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::rigidBodyMeshMotion
Description
Rigid-body mesh motion solver for fvMesh.
Applies septernion interpolation of movement as function of distance to the
object surface.
SourceFiles
rigidBodyMeshMotion.C
\*---------------------------------------------------------------------------*/
#ifndef rigidBodyMeshMotion_H
#define rigidBodyMeshMotion_H
#include "displacementMotionSolver.H"
#include "rigidBodyMotion.H"
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
namespace Foam
{
/*---------------------------------------------------------------------------*\
Class rigidBodyMeshMotion Declaration
\*---------------------------------------------------------------------------*/
class rigidBodyMeshMotion
:
public displacementMotionSolver
{
//- Class containing the patches and point motion weighting for each body
class bodyMesh
{
//- Name of the body
const word name_;
//- ID of the body in the RBD::rigidBodyMotion
const label bodyID_;
//- List of mesh patches associated with this body
const wordReList patches_;
//- Patches to integrate forces
const labelHashSet patchSet_;
//- Inner morphing distance (limit of solid-body region)
const scalar di_;
//- Outer morphing distance (limit of linear interpolation region)
const scalar do_;
//- Current interpolation weight
// (1 at patches and within di_, 0 at do_ and beyond)
pointScalarField weight_;
public:
friend class rigidBodyMeshMotion;
bodyMesh
(
const polyMesh& mesh,
const word& name,
const label bodyID,
const dictionary& dict
);
};
// Private data
//- Rigid-body model
RBD::rigidBodyMotion model_;
//- List of the bodyMeshes containing the patches and point motion
// weighting for each body
PtrList<bodyMesh> bodyMeshes_;
//- Switch for test-mode in which only the
// gravitational body-force is applied
Switch test_;
//- Reference density required by the forces object for
// incompressible calculations, required if rhoName == rhoInf
scalar rhoInf_;
//- Name of density field, optional unless used for an
// incompressible simulation, when this needs to be specified
// as rhoInf
word rhoName_;
//- Current time index (used for updating)
label curTimeIndex_;
// Private Member Functions
//- Disallow default bitwise copy construct
rigidBodyMeshMotion
(
const rigidBodyMeshMotion&
);
//- Disallow default bitwise assignment
void operator=(const rigidBodyMeshMotion&);
public:
//- Runtime type information
TypeName("rigidBodyMotion");
// Constructors
//- Construct from polyMesh and IOdictionary
rigidBodyMeshMotion
(
const polyMesh&,
const IOdictionary& dict
);
//- Destructor
~rigidBodyMeshMotion();
// Member Functions
//- Return point location obtained from the current motion field
virtual tmp<pointField> curPoints() const;
//- Solve for motion
virtual void solve();
//- Write state using given format, version and compression
virtual bool writeObject
(
IOstream::streamFormat fmt,
IOstream::versionNumber ver,
IOstream::compressionType cmp
) const;
//- Read dynamicMeshDict dictionary
virtual bool read();
};
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
} // End namespace Foam
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
#endif
// ************************************************************************* //

2
src/sixDoFRigidBodyMotion/Make/files
View File

@ -28,8 +28,6 @@ pointPatchFields/derived/sixDoFRigidBodyDisplacement/sixDoFRigidBodyDisplacement
pointPatchFields/derived/uncoupledSixDoFRigidBodyDisplacement/uncoupledSixDoFRigidBodyDisplacementPointPatchVectorField.C
sixDoFRigidBodyMotionSolver/sixDoFRigidBodyMotionSolver.C
sixDoFRigidBodyMotionSolver/externalPointEdgePoint.C
sixDoFRigidBodyMotionSolver/pointPatchDist.C
sixDoFSolvers/sixDoFSolver/sixDoFSolver.C
sixDoFSolvers/sixDoFSolver/newSixDoFSolver.C