c409ae7d90
From commit d4c479cb6447dbfd920bbe3e0204b70a1d5fbb03 in OpenFOAM-dev The restraints generate either joint-local (tau) or global (fx) forces. At the moment they all generate the latter. This change corrects three of the four restraints so that the forces are in the gobal coordinate system and not the local coordinate system of the body. The problem with this is that the forward dynamics code then transforms most of the forces back to the body local coordinate system. A better solution would be to associate restraints which are more sensibly defined in a local frame with the joints instead of the bodies, and return the forces as part of the tau variable.
100 lines
2.8 KiB
C
100 lines
2.8 KiB
C
/*---------------------------------------------------------------------------*\
|
|
========= |
|
|
\\ / F ield | OpenFOAM: The Open Source CFD Toolbox
|
|
\\ / O peration |
|
|
\\ / A nd | Copyright (C) 2016-2017 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 <http://www.gnu.org/licenses/>.
|
|
|
|
\*---------------------------------------------------------------------------*/
|
|
|
|
#include "rigidBodyModelState.H"
|
|
#include "IOstreams.H"
|
|
|
|
// * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * * //
|
|
|
|
void Foam::RBD::rigidBodyModelState::write(dictionary& dict) const
|
|
{
|
|
dict.add("q", q_);
|
|
dict.add("qDot", qDot_);
|
|
dict.add("qDdot", qDdot_);
|
|
dict.add("t", t_);
|
|
dict.add("deltaT", deltaT_);
|
|
}
|
|
|
|
|
|
void Foam::RBD::rigidBodyModelState::write(Ostream& os) const
|
|
{
|
|
os.writeKeyword("q") << q_ << token::END_STATEMENT << nl;
|
|
os.writeKeyword("qDot") << qDot_ << token::END_STATEMENT << nl;
|
|
os.writeKeyword("qDdot") << qDdot_ << token::END_STATEMENT << nl;
|
|
os.writeKeyword("t") << t_ << token::END_STATEMENT << nl;
|
|
os.writeKeyword("deltaT") << deltaT_ << token::END_STATEMENT << nl;
|
|
}
|
|
|
|
|
|
// * * * * * * * * * * * * * * * IOstream Operators * * * * * * * * * * * * //
|
|
|
|
Foam::Istream& Foam::RBD::operator>>
|
|
(
|
|
Istream& is,
|
|
rigidBodyModelState& state
|
|
)
|
|
{
|
|
is >> state.q_
|
|
>> state.qDot_
|
|
>> state.qDdot_
|
|
>> state.t_
|
|
>> state.deltaT_;
|
|
|
|
// Check state of Istream
|
|
is.check
|
|
(
|
|
"Foam::Istream& Foam::operator>>"
|
|
"(Foam::Istream&, Foam::RBD::rigidBodyModelState&)"
|
|
);
|
|
|
|
return is;
|
|
}
|
|
|
|
|
|
Foam::Ostream& Foam::RBD::operator<<
|
|
(
|
|
Ostream& os,
|
|
const rigidBodyModelState& state
|
|
)
|
|
{
|
|
os << state.q_
|
|
<< token::SPACE << state.qDot_
|
|
<< token::SPACE << state.qDdot_
|
|
<< token::SPACE << state.t_
|
|
<< token::SPACE << state.deltaT_;
|
|
|
|
// Check state of Ostream
|
|
os.check
|
|
(
|
|
"Foam::Ostream& Foam::operator<<(Foam::Ostream&, "
|
|
"const Foam::RBD::rigidBodyModelState&)"
|
|
);
|
|
|
|
return os;
|
|
}
|
|
|
|
|
|
// ************************************************************************* //
|