rigidBodyModelState: Added time value member

The absolute value of the the time has been added to the rigid body
model state. This value is not directly necessary for calculating the
evolution of the rigid body system, it just facilitates the
implementation of sub-models which are in some way time-dependent.

applications/test/rigidBodyDynamics/pendulumAndSpring/pendulumAndSpring.C

@@ -2,7 +2,7 @@
   =========                 |
   \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
    \\    /   O peration     |
-    \\  /    A nd           | Copyright (C) 2016 OpenFOAM Foundation
+    \\  /    A nd           | Copyright (C) 2016-2017 OpenFOAM Foundation
      \\/     M anipulation  |
 -------------------------------------------------------------------------------
 License
@@ -75,7 +75,7 @@ int main(int argc, char *argv[])
 
         for (label i=0; i<nIter; i++)
         {
-            pendulumAndSpring.solve(deltaT, tau, fx);
+            pendulumAndSpring.solve(t + deltaT, deltaT, tau, fx);
         }
 
         // Write the results for graph generation

applications/test/rigidBodyDynamics/sphericalJoint/sphericalJoint.C

@@ -2,7 +2,7 @@
   =========                 |
   \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
    \\    /   O peration     |
-    \\  /    A nd           | Copyright (C) 2016 OpenFOAM Foundation
+    \\  /    A nd           | Copyright (C) 2016-2017 OpenFOAM Foundation
      \\/     M anipulation  |
 -------------------------------------------------------------------------------
 License
@@ -80,7 +80,7 @@ int main(int argc, char *argv[])
 
         for (label i=0; i<nIter; i++)
         {
-            sphericalJoint.solve(deltaT, tau, fx);
+            sphericalJoint.solve(t + deltaT, deltaT, tau, fx);
         }
 
         // Write the results for graph generation

applications/test/rigidBodyDynamics/spring/spring.C

@@ -2,7 +2,7 @@
   =========                 |
   \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
    \\    /   O peration     |
-    \\  /    A nd           | Copyright (C) 2016 OpenFOAM Foundation
+    \\  /    A nd           | Copyright (C) 2016-2017 OpenFOAM Foundation
      \\/     M anipulation  |
 -------------------------------------------------------------------------------
 License
@@ -71,7 +71,7 @@ int main(int argc, char *argv[])
 
         for (label i=0; i<nIter; i++)
         {
-            spring.solve(deltaT, tau, fx);
+            spring.solve(t + deltaT, deltaT, tau, fx);
         }
 
         // Write the results for graph generation

src/rigidBodyDynamics/rigidBodyModelState/rigidBodyModelState.C

@@ -2,7 +2,7 @@
   =========                 |
   \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
    \\    /   O peration     |
-    \\  /    A nd           | Copyright (C) 2016 OpenFOAM Foundation
+    \\  /    A nd           | Copyright (C) 2016-2017 OpenFOAM Foundation
      \\/     M anipulation  |
 -------------------------------------------------------------------------------
 License
@@ -35,6 +35,7 @@ Foam::RBD::rigidBodyModelState::rigidBodyModelState
     q_(model.nDoF(), Zero),
     qDot_(model.nDoF(), Zero),
     qDdot_(model.nDoF(), Zero),
+    t_(-1),
     deltaT_(0)
 {}
 
@@ -48,6 +49,7 @@ Foam::RBD::rigidBodyModelState::rigidBodyModelState
     q_(dict.lookupOrDefault("q", scalarField(model.nDoF(), Zero))),
     qDot_(dict.lookupOrDefault("qDot", scalarField(model.nDoF(), Zero))),
     qDdot_(dict.lookupOrDefault("qDdot", scalarField(model.nDoF(), Zero))),
+    t_(dict.lookupOrDefault<scalar>("t", -1)),
     deltaT_(dict.lookupOrDefault<scalar>("deltaT", 0))
 {}
 

src/rigidBodyDynamics/rigidBodyModelState/rigidBodyModelState.H

@@ -2,7 +2,7 @@
   =========                 |
   \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
    \\    /   O peration     |
-    \\  /    A nd           | Copyright (C) 2016 OpenFOAM Foundation
+    \\  /    A nd           | Copyright (C) 2016-2017 OpenFOAM Foundation
      \\/     M anipulation  |
 -------------------------------------------------------------------------------
 License
@@ -76,6 +76,9 @@ class rigidBodyModelState
         //- Joint acceleration
         scalarField qDdot_;
 
+        //- The time
+        scalar t_;
+
         //- The time-step used to integrate to this state
         scalar deltaT_;
 
@@ -102,14 +105,15 @@ public:
             //- Return access to the joint position and orientation
             inline const scalarField& q() const;
 
-            //- Return access to the joint quaternion
-
             //- Return access to the joint velocity
             inline const scalarField& qDot() const;
 
             //- Return access to the joint acceleration
             inline const scalarField& qDdot() const;
 
+            //- Return access to the time
+            inline scalar t() const;
+
             //- Return access to the time-step
             inline scalar deltaT() const;
 
@@ -119,14 +123,15 @@ public:
             //- Return access to the joint position and orientation
             inline scalarField& q();
 
-            //- Return access to the joint quaternion
-
             //- Return access to the joint velocity
             inline scalarField& qDot();
 
             //- Return access to the joint acceleration
             inline scalarField& qDdot();
 
+            //- Return access to the time
+            inline scalar& t();
+
             //- Return access to the time-step
             inline scalar& deltaT();
 

src/rigidBodyDynamics/rigidBodyModelState/rigidBodyModelStateI.H

@@ -2,7 +2,7 @@
   =========                 |
   \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
    \\    /   O peration     |
-    \\  /    A nd           | Copyright (C) 2016 OpenFOAM Foundation
+    \\  /    A nd           | Copyright (C) 2016-2017 OpenFOAM Foundation
      \\/     M anipulation  |
 -------------------------------------------------------------------------------
 License
@@ -43,6 +43,12 @@ inline const Foam::scalarField& Foam::RBD::rigidBodyModelState::qDdot() const
 }
 
 
+inline Foam::scalar Foam::RBD::rigidBodyModelState::t() const
+{
+    return t_;
+}
+
+
 inline Foam::scalar Foam::RBD::rigidBodyModelState::deltaT() const
 {
     return deltaT_;
@@ -73,4 +79,10 @@ inline Foam::scalar& Foam::RBD::rigidBodyModelState::deltaT()
 }
 
 
+inline Foam::scalar& Foam::RBD::rigidBodyModelState::t()
+{
+    return t_;
+}
+
+
 // ************************************************************************* //

src/rigidBodyDynamics/rigidBodyModelState/rigidBodyModelStateIO.C

@@ -2,7 +2,7 @@
   =========                 |
   \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
    \\    /   O peration     |
-    \\  /    A nd           | Copyright (C) 2016 OpenFOAM Foundation
+    \\  /    A nd           | Copyright (C) 2016-2017 OpenFOAM Foundation
      \\/     M anipulation  |
 -------------------------------------------------------------------------------
 License
@@ -33,6 +33,7 @@ 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_);
 }
 
@@ -42,6 +43,7 @@ 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;
 }
 
@@ -57,6 +59,7 @@ Foam::Istream& Foam::RBD::operator>>
     is  >> state.q_
         >> state.qDot_
         >> state.qDdot_
+        >> state.t_
         >> state.deltaT_;
 
     // Check state of Istream
@@ -79,6 +82,7 @@ Foam::Ostream& Foam::RBD::operator<<
     os  << state.q_
         << token::SPACE << state.qDot_
         << token::SPACE << state.qDdot_
+        << token::SPACE << state.t_
         << token::SPACE << state.deltaT_;
 
     // Check state of Ostream

src/rigidBodyDynamics/rigidBodyMotion/rigidBodyMotion.C

@@ -2,7 +2,7 @@
   =========                 |
   \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
    \\    /   O peration     |
-    \\  /    A nd           | Copyright (C) 2016 OpenFOAM Foundation
+    \\  /    A nd           | Copyright (C) 2016-2017 OpenFOAM Foundation
      \\/     M anipulation  |
 -------------------------------------------------------------------------------
 License
@@ -140,15 +140,18 @@ void Foam::RBD::rigidBodyMotion::forwardDynamics
 
 void Foam::RBD::rigidBodyMotion::solve
 (
-    scalar deltaT,
+    const scalar t,
+    const scalar deltaT,
     const scalarField& tau,
     const Field<spatialVector>& fx
 )
 {
+    motionState_.t() = t;
     motionState_.deltaT() = deltaT;
 
     if (motionState0_.deltaT() < SMALL)
     {
+        motionState0_.t() = t;
         motionState0_.deltaT() = deltaT;
     }
 

src/rigidBodyDynamics/rigidBodyMotion/rigidBodyMotion.H

@@ -2,7 +2,7 @@
   =========                 |
   \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
    \\    /   O peration     |
-    \\  /    A nd           | Copyright (C) 2016 OpenFOAM Foundation
+    \\  /    A nd           | Copyright (C) 2016-2017 OpenFOAM Foundation
      \\/     M anipulation  |
 -------------------------------------------------------------------------------
 License
@@ -169,10 +169,11 @@ public:
             ) const;
 
             //- Integrate velocities, orientation and position
-            //  for the given time-step
+            //  for the given time and time-step
             void solve
             (
-                scalar deltaT,
+                const scalar t,
+                const scalar deltaT,
                 const scalarField& tau,
                 const Field<spatialVector>& fx
             );

src/rigidBodyMeshMotion/rigidBodyMeshMotion/rigidBodyMeshMotion.C

@@ -259,6 +259,7 @@ void Foam::rigidBodyMeshMotion::solve()
         {
             model_.solve
             (
+                t.value(),
                 t.deltaTValue(),
                 scalarField(model_.nDoF(), Zero),
                 Field<spatialVector>(model_.nBodies(), Zero)
@@ -288,6 +289,7 @@ void Foam::rigidBodyMeshMotion::solve()
 
         model_.solve
         (
+            t.value(),
             t.deltaTValue(),
             scalarField(model_.nDoF(), Zero),
             fx

src/rigidBodyMeshMotion/rigidBodyMeshMotionSolver/rigidBodyMeshMotionSolver.C

@@ -207,6 +207,7 @@ void Foam::rigidBodyMeshMotionSolver::solve()
         {
             model_.solve
             (
+                t.value(),
                 t.deltaTValue(),
                 scalarField(model_.nDoF(), Zero),
                 Field<spatialVector>(model_.nBodies(), Zero)
@@ -236,6 +237,7 @@ void Foam::rigidBodyMeshMotionSolver::solve()
 
         model_.solve
         (
+            t.value(),
             t.deltaTValue(),
             scalarField(model_.nDoF(), Zero),
             fx