diff --git a/src/rigidBodyDynamics/Make/files b/src/rigidBodyDynamics/Make/files
index ad592dc7ef..bdd244ae8a 100644
--- a/src/rigidBodyDynamics/Make/files
+++ b/src/rigidBodyDynamics/Make/files
@@ -28,6 +28,7 @@ joints/Pxyz/Pxyz.C
restraints/restraint/rigidBodyRestraint.C
restraints/restraint/rigidBodyRestraintNew.C
restraints/linearSpring/linearSpring.C
+restraints/linearDamper/linearDamper.C
rigidBodyModel/rigidBodyModel.C
rigidBodyModel/forwardDynamics.C
diff --git a/src/rigidBodyDynamics/restraints/linearDamper/linearDamper.C b/src/rigidBodyDynamics/restraints/linearDamper/linearDamper.C
new file mode 100644
index 0000000000..8b2939a56a
--- /dev/null
+++ b/src/rigidBodyDynamics/restraints/linearDamper/linearDamper.C
@@ -0,0 +1,112 @@
+/*---------------------------------------------------------------------------*\
+ ========= |
+ \\ / F ield | OpenFOAM: The Open Source CFD Toolbox
+ \\ / O peration |
+ \\ / A nd | Copyright (C) 2013-2015 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 .
+
+\*---------------------------------------------------------------------------*/
+
+#include "linearDamper.H"
+#include "rigidBodyModel.H"
+#include "addToRunTimeSelectionTable.H"
+
+// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
+
+namespace Foam
+{
+namespace RBD
+{
+namespace restraints
+{
+ defineTypeNameAndDebug(linearDamper, 0);
+
+ addToRunTimeSelectionTable
+ (
+ restraint,
+ linearDamper,
+ dictionary
+ );
+}
+}
+}
+
+
+// * * * * * * * * * * * * * * * * Constructors * * * * * * * * * * * * * * //
+
+Foam::RBD::restraints::linearDamper::linearDamper
+(
+ const word& name,
+ const dictionary& dict,
+ const rigidBodyModel& model
+)
+:
+ restraint(name, dict, model)
+{
+ read(dict);
+}
+
+
+// * * * * * * * * * * * * * * * * Destructor * * * * * * * * * * * * * * * //
+
+Foam::RBD::restraints::linearDamper::~linearDamper()
+{}
+
+
+// * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * * //
+
+Foam::spatialVector Foam::RBD::restraints::linearDamper::restrain() const
+{
+ vector force = -coeff_*model_.v(model_.master(bodyID_)).l();
+
+ if (model_.debug)
+ {
+ Info<< " force " << force << endl;
+ }
+
+ return spatialVector(Zero, force);
+}
+
+
+bool Foam::RBD::restraints::linearDamper::read
+(
+ const dictionary& dict
+)
+{
+ restraint::read(dict);
+
+ coeffs_.lookup("coeff") >> coeff_;
+
+ return true;
+}
+
+
+void Foam::RBD::restraints::linearDamper::write
+(
+ Ostream& os
+) const
+{
+ restraint::write(os);
+
+ os.writeKeyword("coeff")
+ << coeff_ << token::END_STATEMENT << nl;
+}
+
+
+// ************************************************************************* //
diff --git a/src/rigidBodyDynamics/restraints/linearDamper/linearDamper.H b/src/rigidBodyDynamics/restraints/linearDamper/linearDamper.H
new file mode 100644
index 0000000000..e9ede58277
--- /dev/null
+++ b/src/rigidBodyDynamics/restraints/linearDamper/linearDamper.H
@@ -0,0 +1,116 @@
+/*---------------------------------------------------------------------------*\
+ ========= |
+ \\ / 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 .
+
+Class
+ Foam::RBD::restraints::linearDamper
+
+Description
+ Linear damper restraint. Operates in the local frame of the body.
+
+SourceFiles
+ linearDamper.C
+
+\*---------------------------------------------------------------------------*/
+
+#ifndef RBD_restraints_linearDamper_H
+#define RBD_restraints_linearDamper_H
+
+#include "rigidBodyRestraint.H"
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+namespace Foam
+{
+namespace RBD
+{
+namespace restraints
+{
+
+/*---------------------------------------------------------------------------*\
+ Class linearDamper Declaration
+\*---------------------------------------------------------------------------*/
+
+class linearDamper
+:
+ public restraint
+{
+ // Private data
+
+ //- Damping coefficient [Ns/m]
+ scalar coeff_;
+
+
+public:
+
+ //- Runtime type information
+ TypeName("linearDamper");
+
+
+ // Constructors
+
+ //- Construct from components
+ linearDamper
+ (
+ const word& name,
+ const dictionary& dict,
+ const rigidBodyModel& model
+ );
+
+ //- Construct and return a clone
+ virtual autoPtr clone() const
+ {
+ return autoPtr
+ (
+ new linearDamper(*this)
+ );
+ }
+
+
+ //- Destructor
+ virtual ~linearDamper();
+
+
+ // Member Functions
+
+ //- Return the external force applied to the body by this restraint
+ virtual spatialVector restrain() const;
+
+ //- Update properties from given dictionary
+ virtual bool read(const dictionary& dict);
+
+ //- Write
+ virtual void write(Ostream&) const;
+};
+
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+} // End namespace restraints
+} // End namespace RBD
+} // End namespace Foam
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+#endif
+
+// ************************************************************************* //
diff --git a/src/rigidBodyDynamics/restraints/linearSpring/linearSpring.C b/src/rigidBodyDynamics/restraints/linearSpring/linearSpring.C
index 42dc95b3ef..63e3763443 100644
--- a/src/rigidBodyDynamics/restraints/linearSpring/linearSpring.C
+++ b/src/rigidBodyDynamics/restraints/linearSpring/linearSpring.C
@@ -57,12 +57,7 @@ Foam::RBD::restraints::linearSpring::linearSpring
const rigidBodyModel& model
)
:
- restraint(name, dict, model),
- anchor_(),
- refAttachmentPt_(),
- stiffness_(),
- damping_(),
- restLength_()
+ restraint(name, dict, model)
{
read(dict);
}
@@ -88,9 +83,16 @@ Foam::spatialVector Foam::RBD::restraints::linearSpring::restrain() const
// Velocity of the attached end of the spring
vector v = bodyPointVelocity(refAttachmentPt_).l();
- // Force and moment including optional damping
- vector force = (-stiffness_*(magR - restLength_) - damping_*(r & v))*r;
- vector moment = (attachmentPt - model_.X0(bodyIndex_).r()) ^ force;
+ // Force and moment on the master body including optional damping
+ vector force
+ (
+ (-stiffness_*(magR - restLength_) - damping_*(r & v))*r
+ );
+
+ vector moment
+ (
+ (attachmentPt - model_.X0(model_.master(bodyID_)).r()) ^ force
+ );
if (model_.debug)
{
diff --git a/src/rigidBodyDynamics/restraints/linearSpring/linearSpring.H b/src/rigidBodyDynamics/restraints/linearSpring/linearSpring.H
index 26bff8b8c0..5d87ca8896 100644
--- a/src/rigidBodyDynamics/restraints/linearSpring/linearSpring.H
+++ b/src/rigidBodyDynamics/restraints/linearSpring/linearSpring.H
@@ -63,10 +63,10 @@ class linearSpring
//- Reference point of attachment to the solid body
point refAttachmentPt_;
- //- Spring stiffness coefficient (N/m)
+ //- Spring stiffness coefficient [N/m]
scalar stiffness_;
- //- Damping coefficient (Ns/m)
+ //- Damping coefficient [Ns/m]
scalar damping_;
//- Rest length - length of spring when no forces are applied to it
diff --git a/src/rigidBodyDynamics/restraints/restraint/rigidBodyRestraint.C b/src/rigidBodyDynamics/restraints/restraint/rigidBodyRestraint.C
index f17b3b133a..fb44f9fea1 100644
--- a/src/rigidBodyDynamics/restraints/restraint/rigidBodyRestraint.C
+++ b/src/rigidBodyDynamics/restraints/restraint/rigidBodyRestraint.C
@@ -48,7 +48,7 @@ Foam::RBD::restraint::restraint
)
:
name_(name),
- bodyIndex_(model.bodyID(dict.lookup("body"))),
+ bodyID_(model.bodyID(dict.lookup("body"))),
coeffs_(dict),
model_(model)
{}
@@ -80,7 +80,7 @@ void Foam::RBD::restraint::write(Ostream& os) const
os.writeKeyword("type")
<< type() << token::END_STATEMENT << nl;
os.writeKeyword("body")
- << model_.name(bodyIndex_) << token::END_STATEMENT << nl;
+ << model_.name(bodyID_) << token::END_STATEMENT << nl;
}
diff --git a/src/rigidBodyDynamics/restraints/restraint/rigidBodyRestraint.H b/src/rigidBodyDynamics/restraints/restraint/rigidBodyRestraint.H
index c8320cbe7e..ea281a5350 100644
--- a/src/rigidBodyDynamics/restraints/restraint/rigidBodyRestraint.H
+++ b/src/rigidBodyDynamics/restraints/restraint/rigidBodyRestraint.H
@@ -72,8 +72,8 @@ protected:
//- Name of the restraint
word name_;
- //- Index of the body the restraint is applied to
- label bodyIndex_;
+ //- ID of the body the restraint is applied to
+ label bodyID_;
//- Restraint model specific coefficient dictionary
dictionary coeffs_;
@@ -148,9 +148,9 @@ public:
return name_;
}
- label bodyIndex() const
+ label bodyID() const
{
- return bodyIndex_;
+ return bodyID_;
}
//- Return the external force applied to the body by this restraint
diff --git a/src/rigidBodyDynamics/restraints/restraint/rigidBodyRestraintI.H b/src/rigidBodyDynamics/restraints/restraint/rigidBodyRestraintI.H
index c825702455..11679170c4 100644
--- a/src/rigidBodyDynamics/restraints/restraint/rigidBodyRestraintI.H
+++ b/src/rigidBodyDynamics/restraints/restraint/rigidBodyRestraintI.H
@@ -32,7 +32,7 @@ inline Foam::point Foam::RBD::restraint::bodyPoint
const point& p
) const
{
- return (model_.X0(bodyIndex_).inv() && spatialVector(Zero, p)).l();
+ return (model_.X0(bodyID_).inv() && spatialVector(Zero, p)).l();
}
@@ -41,7 +41,7 @@ inline Foam::spatialVector Foam::RBD::restraint::bodyPointVelocity
const point& p
) const
{
- return model_.v(bodyIndex_, p);
+ return model_.v(bodyID_, p);
}
diff --git a/src/rigidBodyDynamics/rigidBodyModel/forwardDynamics.C b/src/rigidBodyDynamics/rigidBodyModel/forwardDynamics.C
index fbd0b02573..37800dcadd 100644
--- a/src/rigidBodyDynamics/rigidBodyModel/forwardDynamics.C
+++ b/src/rigidBodyDynamics/rigidBodyModel/forwardDynamics.C
@@ -40,7 +40,7 @@ void Foam::RBD::rigidBodyModel::applyRestraints(Field& fx) const
DebugInfo << "Restraint " << restraints_[ri].name();
// Accumulate the restraint forces
- fx[restraints_[ri].bodyIndex()] += restraints_[ri].restrain();
+ fx[master(restraints_[ri].bodyID())] += restraints_[ri].restrain();
}
}
diff --git a/src/rigidBodyDynamics/rigidBodyModel/rigidBodyModel.C b/src/rigidBodyDynamics/rigidBodyModel/rigidBodyModel.C
index 7993b3c77e..9b2a32de71 100644
--- a/src/rigidBodyDynamics/rigidBodyModel/rigidBodyModel.C
+++ b/src/rigidBodyDynamics/rigidBodyModel/rigidBodyModel.C
@@ -162,6 +162,12 @@ Foam::RBD::rigidBodyModel::rigidBodyModel(const dictionary& dict)
}
+// * * * * * * * * * * * * * * * * Destructor * * * * * * * * * * * * * * * //
+
+Foam::RBD::rigidBodyModel::~rigidBodyModel()
+{}
+
+
// * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * * //
Foam::label Foam::RBD::rigidBodyModel::join_
diff --git a/src/rigidBodyDynamics/rigidBodyModel/rigidBodyModel.H b/src/rigidBodyDynamics/rigidBodyModel/rigidBodyModel.H
index c7a995a4be..d02baa1704 100644
--- a/src/rigidBodyDynamics/rigidBodyModel/rigidBodyModel.H
+++ b/src/rigidBodyDynamics/rigidBodyModel/rigidBodyModel.H
@@ -89,7 +89,6 @@ class rigidBodyModel
//- Add restraints to the motion
void addRestraints(const dictionary& dict);
-
protected:
// Protected data representing the model structure
@@ -220,8 +219,7 @@ public:
//- Destructor
- virtual ~rigidBodyModel()
- {}
+ virtual ~rigidBodyModel();
// Member Functions
@@ -261,6 +259,9 @@ public:
//- Return the inertia of body i
inline const rigidBodyInertia& I(const label i) const;
+ //- Return the spatial velocity of the bodies
+ inline const spatialVector& v(const label i) const;
+
//- Join the given body to the parent with ID parentID via the given
// joint with transform from the parent frame to the joint frame XT.
virtual label join
diff --git a/src/rigidBodyDynamics/rigidBodyModel/rigidBodyModelI.H b/src/rigidBodyDynamics/rigidBodyModel/rigidBodyModelI.H
index ece6c9766d..9cfab5e8cd 100644
--- a/src/rigidBodyDynamics/rigidBodyModel/rigidBodyModelI.H
+++ b/src/rigidBodyDynamics/rigidBodyModel/rigidBodyModelI.H
@@ -99,6 +99,13 @@ Foam::RBD::rigidBodyModel::I(const label i) const
}
+inline const Foam::spatialVector&
+Foam::RBD::rigidBodyModel::v(const label i) const
+{
+ return v_[i];
+}
+
+
inline bool Foam::RBD::rigidBodyModel::merged(label bodyID) const
{
return bodyID < 0;