applications/test/rigidBodyDynamics/pendulumAndSpring: Another slightly more complex test

2025-12-08 06:57:46 +00:00 · 2016-04-17 15:47:03 +01:00
parent 189c6c6820
commit 76e22b44ea
5 changed files with 217 additions and 0 deletions
--- a/applications/test/rigidBodyDynamics/pendulumAndSpring/pendulumAndSpring.C
+++ b/applications/test/rigidBodyDynamics/pendulumAndSpring/pendulumAndSpring.C
@ -0,0 +1,92 @@
+/*---------------------------------------------------------------------------*\
+  =========                 |
+  \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
+   \\    /   O peration     |
+    \\  /    A nd           | Copyright (C) 2016 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/>.
+
+Application
+    pendulumAndSpring
+
+Description
+    Simple 2-DoF pendulum and spring simulation.
+
+\*---------------------------------------------------------------------------*/
+
+#include "rigidBodyMotion.H"
+#include "masslessBody.H"
+#include "sphere.H"
+#include "joints.H"
+#include "rigidBodyRestraint.H"
+#include "rigidBodyModelState.H"
+#include "IFstream.H"
+#include "OFstream.H"
+#include "constants.H"
+
+using namespace Foam;
+using namespace RBD;
+using namespace Foam::constant::mathematical;
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+int main(int argc, char *argv[])
+{
+    dictionary pendulumAndSpringDict(IFstream("pendulumAndSpring")());
+
+    // Create the pendulumAndSpring model from dictionary
+    rigidBodyMotion pendulumAndSpring(pendulumAndSpringDict);
+
+    label nIter(readLabel(pendulumAndSpringDict.lookup("nIter")));
+
+    Info<< pendulumAndSpring << endl;
+    Info<< "// Joint state " << endl;
+    pendulumAndSpring.state().write(Info);
+
+    // Create the joint-space force field
+    scalarField tau(pendulumAndSpring.nDoF(), Zero);
+
+    // Create the external body force field
+    Field<spatialVector> fx(pendulumAndSpring.nBodies(), Zero);
+
+    OFstream xFile("xVsTime");
+    OFstream omegaFile("omegaVsTime");
+
+    // Integrate the motion of the pendulumAndSpring for 100s
+    scalar deltaT = 0.01;
+    for (scalar t=0; t<20; t+=deltaT)
+    {
+        pendulumAndSpring.newTime();
+
+        for (label i=0; i<nIter; i++)
+        {
+            pendulumAndSpring.solve(deltaT, tau, fx);
+        }
+
+        // Write the results for graph generation
+        xFile << t << " " << pendulumAndSpring.state().q()[0] << endl;
+        omegaFile << t << " " << pendulumAndSpring.state().q()[1] << endl;
+    }
+
+    Info<< "\nEnd\n" << endl;
+
+    return 0;
+}
+
+
+// ************************************************************************* //