c07bc87f95
Currently supported solvers: symplectic, Newmark, CrankNicolson The symplectic solver should only be used if iteration over the forces and body-motion is not required. Newmark and CrankNicolson both require iteration to provide 2nd-order behavior. See applications/test/rigidBodyDynamics/spring for an example of the application of the Newmark solver. This development is sponsored by Carnegie Wave Energy Ltd.
158 lines
4.2 KiB
C++
158 lines
4.2 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::rigidBodyModelState
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Description
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Holds the motion state of rigid-body model.
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SourceFiles
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rigidBodyModelStateI.H
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rigidBodyModelState.C
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rigidBodyModelStateIO.C
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\*---------------------------------------------------------------------------*/
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#ifndef rigidBodyModelState_H
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#define rigidBodyModelState_H
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#include "rigidBodyModel.H"
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#include "scalarField.H"
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#include "dictionary.H"
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// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
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namespace Foam
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{
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// Forward declaration of classes
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class Istream;
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class Ostream;
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namespace RBD
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{
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// Forward declaration of friend functions and operators
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class rigidBodyModelState;
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Istream& operator>>(Istream&, rigidBodyModelState&);
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Ostream& operator<<(Ostream&, const rigidBodyModelState&);
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/*---------------------------------------------------------------------------*\
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Class rigidBodyModelState Declaration
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\*---------------------------------------------------------------------------*/
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class rigidBodyModelState
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{
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// Private data
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//- Joint position and orientation
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scalarField q_;
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//- Joint quaternion
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scalarField w_;
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//- Joint velocity
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scalarField qDot_;
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//- Joint acceleration
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scalarField qDdot_;
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public:
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// Constructors
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//- Construct for the given rigidBodyModel
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rigidBodyModelState(const rigidBodyModel& model);
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//- Construct from dictionary for the given rigidBodyModel
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rigidBodyModelState
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(
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const rigidBodyModel& model,
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const dictionary& dict
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);
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// Member Functions
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// Access
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//- Return access to the joint position and orientation
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inline const scalarField& q() const;
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//- Return access to the joint quaternion
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inline const scalarField& w() const;
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//- Return access to the joint velocity
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inline const scalarField& qDot() const;
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//- Return access to the joint acceleration
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inline const scalarField& qDdot() const;
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// Edit
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//- Return access to the joint position and orientation
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inline scalarField& q();
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//- Return access to the joint quaternion
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inline scalarField& w();
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//- Return access to the joint velocity
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inline scalarField& qDot();
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//- Return access to the joint acceleration
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inline scalarField& qDdot();
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//- Write to dictionary
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void write(dictionary& dict) const;
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//- Write to stream
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void write(Ostream&) const;
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// IOstream Operators
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friend Istream& operator>>(Istream&, rigidBodyModelState&);
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friend Ostream& operator<<(Ostream&, const rigidBodyModelState&);
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};
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// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
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} // End namespace RBD
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} // End namespace Foam
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// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
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#include "rigidBodyModelStateI.H"
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// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
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#endif
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// ************************************************************************* //
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