rigidBodyDynamics/bodies/jointBody: Special body to support elements of composite joints

applications/test/rigidBodyDynamics/pendulum/pendulum

@@ -1,4 +1,4 @@
-bodies0
+bodies
 {
     pendulum
     {
@@ -10,12 +10,12 @@ bodies0
         transform       (1 0 0 0 1 0 0 0 1) (0 0 0);
         joint
         {
-            type            Rz;
+            type            floating;
         }
     }
 }
 
-bodies
+bodies0
 {
     hinge
     {

src/rigidBodyDynamics/Make/files

@@ -1,5 +1,6 @@
 bodies/rigidBody/rigidBody.C
 bodies/masslessBody/masslessBody.C
+bodies/jointBody/jointBody.C
 bodies/compositeBody/compositeBody.C
 bodies/subBody/subBody.C
 bodies/sphere/sphere.C

src/rigidBodyDynamics/bodies/jointBody/jointBody.C

@@ -0,0 +1,61 @@
+/*---------------------------------------------------------------------------*\
+  =========                 |
+  \\      /  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 "jointBody.H"
+#include "addToRunTimeSelectionTable.H"
+
+// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
+
+namespace Foam
+{
+namespace RBD
+{
+    defineTypeNameAndDebug(jointBody, 0);
+
+    addToRunTimeSelectionTable
+    (
+        rigidBody,
+        jointBody,
+        dictionary
+    );
+}
+}
+
+
+// * * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * //
+
+Foam::autoPtr<Foam::RBD::rigidBody> Foam::RBD::jointBody::clone() const
+{
+    return autoPtr<rigidBody>(new jointBody(*this));
+}
+
+
+// * * * * * * * * * * * * * * * * Destructor  * * * * * * * * * * * * * * * //
+
+Foam::RBD::jointBody::~jointBody()
+{}
+
+
+// ************************************************************************* //

src/rigidBodyDynamics/bodies/jointBody/jointBody.H

@@ -0,0 +1,99 @@
+/*---------------------------------------------------------------------------*\3
+  =========                 |
+  \\      /  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::jointBody
+
+Description
+
+SourceFiles
+    jointBodyI.H
+    jointBody.C
+
+\*---------------------------------------------------------------------------*/
+
+#ifndef RBD_jointBody_H
+#define RBD_jointBody_H
+
+#include "masslessBody.H"
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+namespace Foam
+{
+namespace RBD
+{
+
+/*---------------------------------------------------------------------------*\
+                         Class jointBody Declaration
+\*---------------------------------------------------------------------------*/
+
+class jointBody
+:
+    public masslessBody
+{
+
+public:
+
+    //- Runtime type information
+    TypeName("jointBody");
+
+
+    // Constructors
+
+        //- Construct a joint body
+        inline jointBody();
+
+        //- Construct a named joint body
+        inline jointBody(const word& name);
+
+        //- Construct from dictionary
+        inline jointBody
+        (
+            const word& name,
+            const dictionary& dict
+        );
+
+        //- Return clone of this jointBody
+        virtual autoPtr<rigidBody> clone() const;
+
+
+    //- Destructor
+    virtual ~jointBody();
+};
+
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+} // End namespace RBD
+} // End namespace Foam
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+#include "jointBodyI.H"
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+#endif
+
+// ************************************************************************* //

src/rigidBodyDynamics/bodies/jointBody/jointBodyI.H

@@ -0,0 +1,49 @@
+/*---------------------------------------------------------------------------*\
+  =========                 |
+  \\      /  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/>.
+
+\*---------------------------------------------------------------------------*/
+
+// * * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * //
+
+inline Foam::RBD::jointBody::jointBody()
+{}
+
+
+inline Foam::RBD::jointBody::jointBody(const word& name)
+:
+    masslessBody(name)
+{}
+
+
+inline Foam::RBD::jointBody::jointBody
+(
+    const word& name,
+    const dictionary& dict
+)
+:
+    masslessBody(name, dict)
+{}
+
+
+
+// ************************************************************************* //

src/rigidBodyDynamics/rigidBodyModel/rigidBodyModel.C

@@ -26,6 +26,7 @@ License
 #include "rigidBodyModel.H"
 #include "masslessBody.H"
 #include "compositeBody.H"
+#include "jointBody.H"
 #include "nullJoint.H"
 
 // * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
@@ -215,7 +216,7 @@ Foam::label Foam::RBD::rigidBodyModel::join
     label parent = parentID;
     joints::composite& cJoint = cJointPtr();
 
-    // For all but the final joint in the set add a masslessBody with the
+    // For all but the final joint in the set add a jointBody with the
     // joint and transform
     for (label j=0; j<cJoint.size()-1; j++)
     {
@@ -224,7 +225,7 @@ Foam::label Foam::RBD::rigidBodyModel::join
             parent,
             j == 0 ? XT : spatialTransform(),
             cJoint[j].clone(),
-            autoPtr<rigidBody>(new masslessBody)
+            autoPtr<rigidBody>(new jointBody)
         );
     }
 
@@ -341,24 +342,26 @@ void Foam::RBD::rigidBodyModel::write(Ostream& os) const
 
     for (label i=1; i<nBodies(); i++)
     {
-        os  << indent << bodies_[i].name() << nl
+        if (!isType<jointBody>(bodies_[i]))
-            << indent << token::BEGIN_BLOCK << incrIndent << endl;
+        {
+            os  << indent << bodies_[i].name() << nl
+                << indent << token::BEGIN_BLOCK << incrIndent << endl;
 
-        bodies_[i].write(os);
+            bodies_[i].write(os);
 
-        os.writeKeyword("parent")
+            os.writeKeyword("parent")
-            << bodies_[lambda_[i]].name() << token::END_STATEMENT << nl;
+                << bodies_[lambda_[i]].name() << token::END_STATEMENT << nl;
 
-        os.writeKeyword("transform")
+            os.writeKeyword("transform")
-            << XT_[i] << token::END_STATEMENT << nl;
+                << XT_[i] << token::END_STATEMENT << nl;
 
-        os  << indent << "joint" << nl << joints_[i] << endl;
+            os  << indent << "joint" << nl << joints_[i] << endl;
 
-        os  << decrIndent << indent << token::END_BLOCK << endl;
+            os  << decrIndent << indent << token::END_BLOCK << endl;
+        }
     }
 
-
+    forAll(mergedBodies_, i)
-    forAll (mergedBodies_, i)
     {
         os  << indent << mergedBodies_[i].name() << nl
             << indent << token::BEGIN_BLOCK << incrIndent << endl;