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rigidBodyModelState: Added time value member

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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.
This commit is contained in:
Will Bainbridge
2017-12-13 11:59:46 +00:00
parent a2ac77bdb1
commit 10e75bf28a
11 changed files with 50 additions and 19 deletions
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4
applications/test/rigidBodyDynamics/pendulumAndSpring/pendulumAndSpring.C
View File

@ -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

4
applications/test/rigidBodyDynamics/sphericalJoint/sphericalJoint.C
View File

@ -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

4
applications/test/rigidBodyDynamics/spring/spring.C
View File

@ -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

4
src/rigidBodyDynamics/rigidBodyModelState/rigidBodyModelState.C
View File

@ -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))
{}

15
src/rigidBodyDynamics/rigidBodyModelState/rigidBodyModelState.H
View File

@ -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();

14
src/rigidBodyDynamics/rigidBodyModelState/rigidBodyModelStateI.H
View File

@ -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_;
}
// ************************************************************************* //

6
src/rigidBodyDynamics/rigidBodyModelState/rigidBodyModelStateIO.C
View File

@ -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

7
src/rigidBodyDynamics/rigidBodyMotion/rigidBodyMotion.C
View File

@ -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;
}

7
src/rigidBodyDynamics/rigidBodyMotion/rigidBodyMotion.H
View File

@ -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
);

2
src/rigidBodyMeshMotion/rigidBodyMeshMotion/rigidBodyMeshMotion.C
View File

@ -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

2
src/rigidBodyMeshMotion/rigidBodyMeshMotionSolver/rigidBodyMeshMotionSolver.C
View File

@ -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