rigidBodyDynamics: Added support for running in parallel

The joint-space dynamics is solved on the master processor only and the
resulting joint-state distributed to the slave processors on which the
body-state is then updated.  This guarantees consistency of the body
position and orientation on all processors.

src/rigidBodyDynamics/rigidBodyMotion/rigidBodyMotion.C

@@ -155,28 +155,26 @@ void Foam::RBD::rigidBodyMotion::solve
     if (Pstream::master())
     {
         solver_->solve(tau, fx);
-
-        if (report_)
-        {
-            status();
-        }
     }
 
     Pstream::scatter(motionState_);
+
+    // Update the body-state to correspond to the current joint-state
+    forwardDynamicsCorrection(motionState_);
 }
 
 
-void Foam::RBD::rigidBodyMotion::status() const
+void Foam::RBD::rigidBodyMotion::status(const label bodyID) const
 {
-    /*
+    const spatialTransform CofR(X0(bodyID));
-    Info<< "Rigid body motion" << nl
+    const spatialVector vCofR(v(bodyID, Zero));
-        << "    Centre of rotation: " << centreOfRotation() << nl
+
-        << "    Centre of mass: " << centreOfMass() << nl
+    Info<< "Rigid-body motion of the " << name(bodyID) << nl
-        << "    Orientation: " << orientation() << nl
+        << "    Centre of rotation: " << CofR.r() << nl
-        << "    Linear velocity: " << v() << nl
+        << "    Orientation: " << CofR.E() << nl
-        << "    Angular velocity: " << omega()
+        << "    Linear velocity: " << vCofR.l() << nl
+        << "    Angular velocity: " << vCofR.w()
         << endl;
-    */
 }
 
 

src/rigidBodyDynamics/rigidBodyMotion/rigidBodyMotion.H

@@ -177,8 +177,8 @@ public:
                 const Field<spatialVector>& fx
             );
 
-            //- Report the status of the motion
+            //- Report the status of the motion of the given body
-            void status() const;
+            void status(const label bodyID) const;
 
 
         // Transformations

src/rigidBodyDynamics/rigidBodySolvers/CrankNicolson/CrankNicolson.C

@@ -83,9 +83,6 @@ void Foam::RBD::rigidBodySolvers::CrankNicolson::solve
     q() = q0() + deltaT()*(voc_*qDot() + (1 - voc_)*qDot0());
 
     correctQuaternionJoints();
-
-    // Update the body-state
-    model_.forwardDynamicsCorrection(state());
 }
 
 

src/rigidBodyDynamics/rigidBodySolvers/Newmark/Newmark.C

@@ -93,9 +93,6 @@ void Foam::RBD::rigidBodySolvers::Newmark::solve
       + sqr(deltaT())*(beta_*qDdot() + (0.5 - beta_)*qDdot0());
 
     correctQuaternionJoints();
-
-    // Update the body-state
-    model_.forwardDynamicsCorrection(state());
 }
 
 

src/rigidBodyMeshMotion/rigidBodyMeshMotion.C

@@ -270,6 +270,13 @@ void Foam::rigidBodyMeshMotion::solve()
         );
     }
 
+    if (Pstream::master() && model_.report())
+    {
+        forAll(bodyMeshes_, bi)
+        {
+            model_.status(bodyMeshes_[bi].bodyID_);
+        }
+    }
 
     // Update the displacements
     if (bodyMeshes_.size() == 1)