rigidBodyDynamics: Added test application for general bodies

applications/test/rigidBodyDynamics/rigidBodyDynamics/Make/files

@@ -0,0 +1,3 @@
+rigidBodyDynamics.C
+
+EXE = $(FOAM_USER_APPBIN)/Test-rigidBodyDynamics

applications/test/rigidBodyDynamics/rigidBodyDynamics/Make/options

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+EXE_INC = \
+    -I$(LIB_SRC)/rigidBodyDynamics/lnInclude
+
+EXE_LIBS = \
+    -lrigidBodyDynamics

applications/test/rigidBodyDynamics/rigidBodyDynamics/rigidBodyDynamics.C

@@ -0,0 +1,123 @@
+/*---------------------------------------------------------------------------*\
+  =========                 |
+  \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
+   \\    /   O peration     |
+    \\  /    A nd           | Copyright (C) 2018 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
+    RBD
+
+Description
+    Does an RBD simulation and outputs the result as a gnuplot animation
+
+\*---------------------------------------------------------------------------*/
+
+#include "rigidBodyMotion.H"
+#include "IFstream.H"
+#include "OFstream.H"
+#include "boundBox.H"
+#include "argList.H"
+
+using namespace Foam;
+using namespace RBD;
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+int main(int argc, char *argv[])
+{
+    // Create the input dictionary
+    argList::validArgs.append("dictionary");
+    argList args(argc, argv);
+    const word dictName(args[1]);
+    Info<< "Reading " << dictName << nl << endl;
+    const dictionary dict = IFstream(dictName)();
+
+    // Read the model, time controls and plot outlines from the dictionary
+    rigidBodyMotion motion(dict);
+    const scalar deltaT(readScalar(dict.lookup("deltaT")));
+    const scalar endTime(readScalar(dict.lookup("endTime")));
+    const dictionary& bodiesDict = dict.subDict("bodies");
+    List<vectorField> bodiesOutline(bodiesDict.size());
+    const label i0 = motion.bodies().size() - bodiesOutline.size();
+    forAll(bodiesOutline, i)
+    {
+        const dictionary& bodyDict =
+            bodiesDict.subDict(motion.bodies()[i0 + i].name());
+        bodiesOutline[i] = vectorField(bodyDict.lookup("outline"));
+    }
+
+    // Set up motion fields
+    scalarField tau(motion.nDoF(), Zero);
+    Field<spatialVector> fx(motion.nBodies(), Zero);
+    Info << motion.nDoF() << " degrees of freedom" << endl;
+
+    // Initialise plot bound box and file
+    boundBox plotBox;
+    OFstream plotFile(dictName + ".gnuplot");
+    plotFile<< "$data << end" << endl;
+
+    // Run the RBD simulation
+    for (scalar t = 0; t <= endTime + 0.5*deltaT; t += deltaT)
+    {
+        Info().stdStream() << "\33[2KTime = " << t << '\r' << std::flush;
+
+        motion.newTime();
+        motion.solve(t + deltaT, deltaT, tau, fx);
+
+        // Write the bodies' outlines at the current transformation
+        forAll(bodiesOutline, i)
+        {
+            const spatialTransform& invX0 = motion.X0(i0 + i).inv();
+            forAll(bodiesOutline[i], j)
+            {
+                const vector p = invX0.transformPoint(bodiesOutline[i][j]);
+                plotFile<< t << ' ' << p.x() << ' ' << p.y() << endl;
+                plotBox.min() = min(plotBox.min(), p);
+                plotBox.max() = max(plotBox.max(), p);
+            }
+            plotFile<< endl;
+        }
+    }
+    Info << endl;
+
+    // Write the plot commands
+    plotFile
+        << "end" << endl << endl
+        << "set size ratio -1" << endl
+        << "do for [i=1:" << label(endTime/deltaT - 0.5) << "] {" << endl
+        << "    set title sprintf('\%g s', i*" << deltaT << ')' << endl
+        << "    plot "
+        << "[" << plotBox.min().x() << ':' << plotBox.max().x() << ']'
+        << "[" << plotBox.min().y() << ':' << plotBox.max().y() << ']';
+    forAll(bodiesOutline, i)
+    {
+        plotFile<< (i ? "," : "") << " \\" << endl
+            << "        '$data' us 2:3 every :::"
+            << bodiesOutline.size() << "*i+" << i << "::"
+            << bodiesOutline.size() << "*i+" << i << " w lp lw 2 pt 7 "
+            << "t '" << motion.bodies()[i0 + i].name() << '\'';
+    }
+    plotFile<< endl << "    pause " << deltaT << endl << "}" << endl;
+
+    return 0;
+}
+
+
+// ************************************************************************* //

applications/test/rigidBodyDynamics/rigidBodyDynamics/triplePendulum

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+solver
+{
+    type symplectic;
+}
+
+bodies
+{
+    bar1
+    {
+        type            rigidBody;
+        mass            3;
+        centreOfMass    (0 -0.5 0);
+        inertia         (0.2575 0 0 0.015 0 0.2575);
+        parent          root;
+        transform       (1 0 0 0 1 0 0 0 1) (0 0 0);
+        joint
+        {
+            type            Rz;
+        }
+        outline         ((0 0 0) (0 -1 0));
+    }
+    bar2
+    {
+        type            rigidBody;
+        mass            3;
+        centreOfMass    (0 -0.5 0);
+        inertia         (0.2575 0 0 0.015 0 0.2575);
+        parent          bar1;
+        transform       (1 0 0 0 1 0 0 0 1) (0 -1 0);
+        joint
+        {
+            type            Rz;
+        }
+        outline         ((0 0 0) (0 -1 0));
+    }
+    bar3
+    {
+        type            rigidBody;
+        mass            3;
+        centreOfMass    (0 -0.5 0);
+        inertia         (0.2575 0 0 0.015 0 0.2575);
+        parent          bar2;
+        transform       (1 0 0 0 1 0 0 0 1) (0 -1 0);
+        joint
+        {
+            type            Rz;
+        }
+        outline         ((0 0 0) (0 -1 0));
+    }
+}
+
+g (0 -9.81 0);
+
+q (1.5707963267948966 0 0);
+
+deltaT 0.01;
+
+endTime 20;