df1cb90dc6
'w' is now obtained from 'v' using the relation w = sqrt(1 - |sqr(v)|) and 'v' is stored in the joint state field 'q' and integrated in the usual manner but corrected using quaternion transformations.
65 lines
1.8 KiB
C
65 lines
1.8 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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\*---------------------------------------------------------------------------*/
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// * * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * //
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inline const Foam::scalarField& Foam::RBD::rigidBodyModelState::q() const
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{
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return q_;
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}
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inline const Foam::scalarField& Foam::RBD::rigidBodyModelState::qDot() const
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{
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return qDot_;
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}
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inline const Foam::scalarField& Foam::RBD::rigidBodyModelState::qDdot() const
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{
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return qDdot_;
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}
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inline Foam::scalarField& Foam::RBD::rigidBodyModelState::q()
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{
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return q_;
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}
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inline Foam::scalarField& Foam::RBD::rigidBodyModelState::qDot()
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{
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return qDot_;
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}
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inline Foam::scalarField& Foam::RBD::rigidBodyModelState::qDdot()
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{
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return qDdot_;
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}
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// ************************************************************************* //
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