858146ca4b
Now internal forces and restraints may be applied between bodies within the articulated structure.
131 lines
3.5 KiB
C++
131 lines
3.5 KiB
C++
/*---------------------------------------------------------------------------*\
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========= |
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\\ / F ield | OpenFOAM: The Open Source CFD Toolbox
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\\ / O peration |
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\\ / A nd | Copyright (C) 2016 OpenFOAM Foundation
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\\/ M anipulation |
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-------------------------------------------------------------------------------
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License
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This file is part of OpenFOAM.
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OpenFOAM is free software: you can redistribute it and/or modify it
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under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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OpenFOAM is distributed in the hope that it will be useful, but WITHOUT
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ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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for more details.
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You should have received a copy of the GNU General Public License
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along with OpenFOAM. If not, see <http://www.gnu.org/licenses/>.
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Class
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Foam::RBD::restraints::linearAxialAngularSpring
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Description
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Linear axial angular spring restraint.
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SourceFiles
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linearAxialAngularSpring.C
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\*---------------------------------------------------------------------------*/
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#ifndef linearAxialAngularSpring_H
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#define linearAxialAngularSpring_H
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#include "rigidBodyRestraint.H"
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// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
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namespace Foam
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{
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namespace RBD
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{
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namespace restraints
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{
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/*---------------------------------------------------------------------------*\
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Class linearAxialAngularSpring Declaration
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\*---------------------------------------------------------------------------*/
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class linearAxialAngularSpring
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:
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public restraint
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{
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// Private data
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//- Reference orientation where there is no moment
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tensor refQ_;
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//- Global unit axis around which the motion is sprung
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vector axis_;
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//- Spring stiffness coefficient [Nm/rad]
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scalar stiffness_;
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//- Damping coefficient [Nms/rad]
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scalar damping_;
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public:
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//- Runtime type information
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TypeName("linearAxialAngularSpring");
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// Constructors
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//- Construct from components
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linearAxialAngularSpring
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(
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const word& name,
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const dictionary& dict,
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const rigidBodyModel& model
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);
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//- Construct and return a clone
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virtual autoPtr<restraint> clone() const
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{
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return autoPtr<restraint>
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(
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new linearAxialAngularSpring(*this)
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);
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}
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//- Destructor
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virtual ~linearAxialAngularSpring();
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// Member Functions
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//- Accumulate the retraint internal joint forces into the tau field and
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// external forces into the fx field
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virtual void restrain
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(
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scalarField& tau,
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Field<spatialVector>& fx
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) const;
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//- Update properties from given dictionary
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virtual bool read(const dictionary& dict);
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//- Write
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virtual void write(Ostream&) const;
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};
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// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
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} // End namespace RBD
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} // End namespace RBD
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} // End namespace Foam
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// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
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#endif
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// ************************************************************************* //
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