rigidBodyDynamics: Added some 0-DoF joints

The new "rigid" joint permits no motion at all, "function" specifies the
position of the joint as a function of the position of it's parent, and
"functionDot" specifies the position of the joint as a function of the
velocity of it's parent. Note that the functions are applied uniformly
to each component of the parent joint's position/motion. Example
specifications are shown below.

    joint
    {
        type    rigid;
    }

    joint
    {
        type    function;
        function table ((-1 0) (0 1) (1 0));
    }

    joint
    {
        type    functionDot;
        function table ((-1 0) (0 1) (1 0));
    }

This work was supported by Caitlin Worden Hodge, at Zyba

src/rigidBodyDynamics/Make/files

@@ -26,6 +26,10 @@ joints/Pz/Pz.C
 joints/Pa/Pa.C
 joints/Pxyz/Pxyz.C
 
+joints/rigid/rigid.C
+joints/function/function.C
+joints/functionDot/functionDot.C
+
 restraints/restraint/rigidBodyRestraint.C
 restraints/restraint/rigidBodyRestraintNew.C
 restraints/linearSpring/linearSpring.C

src/rigidBodyDynamics/joints/function/function.C

@@ -0,0 +1,107 @@
+/*---------------------------------------------------------------------------*\
+  =========                 |
+  \\      /  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/>.
+
+\*---------------------------------------------------------------------------*/
+
+#include "function.H"
+#include "rigidBodyModelState.H"
+#include "addToRunTimeSelectionTable.H"
+
+// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
+
+namespace Foam
+{
+namespace RBD
+{
+namespace joints
+{
+    defineTypeNameAndDebug(function, 0);
+
+    addToRunTimeSelectionTable
+    (
+        joint,
+        function,
+        dictionary
+    );
+}
+}
+}
+
+
+// * * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * //
+
+Foam::RBD::joints::function::function
+(
+    const rigidBodyModel& model,
+    const dictionary& dict
+)
+:
+    joint(model, 0),
+    f_(Function1<scalar>::New("function", dict))
+{}
+
+
+Foam::autoPtr<Foam::RBD::joint> Foam::RBD::joints::function::clone() const
+{
+    return autoPtr<joint>(new function(*this));
+}
+
+
+// * * * * * * * * * * * * * * * * Destructor  * * * * * * * * * * * * * * * //
+
+Foam::RBD::joints::function::~function()
+{}
+
+
+// * * * * * * * * * * * * * * Member Functions  * * * * * * * * * * * * * * //
+
+void Foam::RBD::joints::function::jcalc
+(
+    joint::XSvc& J,
+    const rigidBodyModelState& state
+) const
+{
+    const label lambda = model_.lambda()[index_];
+    const joint& parent = model_.joints()[lambda];
+
+    spatialVector x(Zero), v(Zero), c(Zero);
+    for(label i = 0; i < model_.joints()[lambda].nDoF(); ++ i)
+    {
+        x += f_->value(state.q()[parent.qIndex() + i])*parent.S()[i];
+        v += f_->value(state.qDot()[parent.qIndex() + i])*parent.S()[i];
+        c += f_->value(state.qDdot()[parent.qIndex() + i])*parent.S()[i];
+    }
+
+    const scalar magW = mag(x.w());
+
+    const tensor X(magW > vSmall ? quaternion(x.w(), magW).R() : tensor::I);
+
+    J.X = spatialTransform(X, x.l());
+    J.S = Zero;
+    J.S1 = Zero;
+    J.v = v;
+    J.c = c;
+}
+
+
+// ************************************************************************* //

src/rigidBodyDynamics/joints/function/function.H

@@ -0,0 +1,114 @@
+/*---------------------------------------------------------------------------*\
+  =========                 |
+  \\      /  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/>.
+
+Class
+    Foam::RBD::joints::function
+
+Description
+    Joint in which the position is a function of the parent joint's position
+
+    Reference:
+    \verbatim
+        Featherstone, R. (2008).
+        Rigid body dynamics algorithms.
+        Springer.
+        Chapter 4.
+    \endverbatim
+
+SourceFiles
+    function.C
+
+\*---------------------------------------------------------------------------*/
+
+#ifndef RBD_joints_function_H
+#define RBD_joints_function_H
+
+#include "joint.H"
+#include "Function1.H"
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+namespace Foam
+{
+namespace RBD
+{
+namespace joints
+{
+
+/*---------------------------------------------------------------------------*\
+                         Class function Declaration
+\*---------------------------------------------------------------------------*/
+
+class function
+:
+    public joint
+{
+private:
+
+    // Private data
+
+        //- Function
+        autoPtr<Function1<scalar>> f_;
+
+
+public:
+
+    //- Runtime type information
+    TypeName("function");
+
+
+    // Constructors
+
+        //- Construct for given model from dictionary
+        function(const rigidBodyModel& model, const dictionary& dict);
+
+        //- Clone this joint
+        virtual autoPtr<joint> clone() const;
+
+
+    //- Destructor
+    virtual ~function();
+
+
+    // Member Functions
+
+        //- Update the model state for this joint
+        virtual void jcalc
+        (
+            joint::XSvc& J,
+            const rigidBodyModelState& state
+        ) const;
+};
+
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+} // End namespace joints
+} // End namespace RBD
+} // End namespace Foam
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+#endif
+
+// ************************************************************************* //

src/rigidBodyDynamics/joints/functionDot/functionDot.C

@@ -0,0 +1,106 @@
+/*---------------------------------------------------------------------------*\
+  =========                 |
+  \\      /  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/>.
+
+\*---------------------------------------------------------------------------*/
+
+#include "functionDot.H"
+#include "rigidBodyModelState.H"
+#include "addToRunTimeSelectionTable.H"
+
+// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
+
+namespace Foam
+{
+namespace RBD
+{
+namespace joints
+{
+    defineTypeNameAndDebug(functionDot, 0);
+
+    addToRunTimeSelectionTable
+    (
+        joint,
+        functionDot,
+        dictionary
+    );
+}
+}
+}
+
+
+// * * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * //
+
+Foam::RBD::joints::functionDot::functionDot
+(
+    const rigidBodyModel& model,
+    const dictionary& dict
+)
+:
+    joint(model, 0),
+    f_(Function1<scalar>::New("function", dict))
+{}
+
+
+Foam::autoPtr<Foam::RBD::joint> Foam::RBD::joints::functionDot::clone() const
+{
+    return autoPtr<joint>(new functionDot(*this));
+}
+
+
+// * * * * * * * * * * * * * * * * Destructor  * * * * * * * * * * * * * * * //
+
+Foam::RBD::joints::functionDot::~functionDot()
+{}
+
+
+// * * * * * * * * * * * * * * Member Functions  * * * * * * * * * * * * * * //
+
+void Foam::RBD::joints::functionDot::jcalc
+(
+    joint::XSvc& J,
+    const rigidBodyModelState& state
+) const
+{
+    const label lambda = model_.lambda()[index_];
+    const joint& parent = model_.joints()[lambda];
+
+    spatialVector x(Zero), v(Zero);
+    for(label i = 0; i < model_.joints()[lambda].nDoF(); ++ i)
+    {
+        x += f_->value(state.qDot()[parent.qIndex() + i])*parent.S()[i];
+        v += f_->value(state.qDdot()[parent.qIndex() + i])*parent.S()[i];
+    }
+
+    const scalar magW = mag(x.w());
+
+    const tensor X(magW > vSmall ? quaternion(x.w(), magW).R() : tensor::I);
+
+    J.X = spatialTransform(X, x.l());
+    J.S = Zero;
+    J.S1 = Zero;
+    J.v = v;
+    J.c = Zero; // Not enough information to specify this
+}
+
+
+// ************************************************************************* //

src/rigidBodyDynamics/joints/functionDot/functionDot.H

@@ -0,0 +1,114 @@
+/*---------------------------------------------------------------------------*\
+  =========                 |
+  \\      /  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/>.
+
+Class
+    Foam::RBD::joints::functionDot
+
+Description
+    Joint in which the position is a function of the parent joint's velocity
+
+    Reference:
+    \verbatim
+        Featherstone, R. (2008).
+        Rigid body dynamics algorithms.
+        Springer.
+        Chapter 4.
+    \endverbatim
+
+SourceFiles
+    functionDot.C
+
+\*---------------------------------------------------------------------------*/
+
+#ifndef RBD_joints_functionDot_H
+#define RBD_joints_functionDot_H
+
+#include "joint.H"
+#include "Function1.H"
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+namespace Foam
+{
+namespace RBD
+{
+namespace joints
+{
+
+/*---------------------------------------------------------------------------*\
+                         Class functionDot Declaration
+\*---------------------------------------------------------------------------*/
+
+class functionDot
+:
+    public joint
+{
+private:
+
+    // Private data
+
+        //- Function
+        autoPtr<Function1<scalar>> f_;
+
+
+public:
+
+    //- Runtime type information
+    TypeName("functionDot");
+
+
+    // Constructors
+
+        //- Construct for given model from dictionary
+        functionDot(const rigidBodyModel& model, const dictionary& dict);
+
+        //- Clone this joint
+        virtual autoPtr<joint> clone() const;
+
+
+    //- Destructor
+    virtual ~functionDot();
+
+
+    // Member Functions
+
+        //- Update the model state for this joint
+        virtual void jcalc
+        (
+            joint::XSvc& J,
+            const rigidBodyModelState& state
+        ) const;
+};
+
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+} // End namespace joints
+} // End namespace RBD
+} // End namespace Foam
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+#endif
+
+// ************************************************************************* //

src/rigidBodyDynamics/joints/joints.H

@@ -23,3 +23,8 @@
 #include "Pz.H"
 #include "Pa.H"
 #include "Pxyz.H"
+
+// 0-DoF joints
+#include "rigid.H"
+#include "function.H"
+#include "functionDot.H"

src/rigidBodyDynamics/joints/rigid/rigid.C

@@ -0,0 +1,97 @@
+/*---------------------------------------------------------------------------*\
+  =========                 |
+  \\      /  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/>.
+
+\*---------------------------------------------------------------------------*/
+
+#include "rigid.H"
+#include "rigidBodyModel.H"
+#include "addToRunTimeSelectionTable.H"
+
+// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
+
+namespace Foam
+{
+namespace RBD
+{
+namespace joints
+{
+    defineTypeNameAndDebug(rigid, 0);
+
+    addToRunTimeSelectionTable
+    (
+        joint,
+        rigid,
+        dictionary
+    );
+}
+}
+}
+
+
+// * * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * //
+
+Foam::RBD::joints::rigid::rigid(const rigidBodyModel& model)
+:
+    joint(model, 0)
+{}
+
+
+Foam::RBD::joints::rigid::rigid
+(
+    const rigidBodyModel& model,
+    const dictionary& dict
+)
+:
+    joint(model, 0)
+{}
+
+
+Foam::autoPtr<Foam::RBD::joint> Foam::RBD::joints::rigid::clone() const
+{
+    return autoPtr<joint>(new rigid(*this));
+}
+
+
+// * * * * * * * * * * * * * * * * Destructor  * * * * * * * * * * * * * * * //
+
+Foam::RBD::joints::rigid::~rigid()
+{}
+
+
+// * * * * * * * * * * * * * * Member Functions  * * * * * * * * * * * * * * //
+
+void Foam::RBD::joints::rigid::jcalc
+(
+    joint::XSvc& J,
+    const rigidBodyModelState& state
+) const
+{
+    J.X = spatialTransform();
+    J.S = Zero;
+    J.S1 = Zero;
+    J.v = Zero;
+    J.c = Zero;
+}
+
+
+// ************************************************************************* //

src/rigidBodyDynamics/joints/rigid/rigid.H

@@ -0,0 +1,109 @@
+/*---------------------------------------------------------------------------*\
+  =========                 |
+  \\      /  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/>.
+
+Class
+    Foam::RBD::joints::rigid
+
+Description
+    Rigid joint
+
+    Reference:
+    \verbatim
+        Featherstone, R. (2008).
+        Rigid body dynamics algorithms.
+        Springer.
+        Chapter 4.
+    \endverbatim
+
+SourceFiles
+    rigid.C
+
+\*---------------------------------------------------------------------------*/
+
+#ifndef RBD_joints_rigid_H
+#define RBD_joints_rigid_H
+
+#include "joint.H"
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+namespace Foam
+{
+namespace RBD
+{
+namespace joints
+{
+
+/*---------------------------------------------------------------------------*\
+                         Class rigid Declaration
+\*---------------------------------------------------------------------------*/
+
+class rigid
+:
+    public joint
+{
+
+public:
+
+    //- Runtime type information
+    TypeName("rigid");
+
+
+    // Constructors
+
+        //- Construct for given model
+        rigid(const rigidBodyModel& model);
+
+        //- Construct for given model from dictionary
+        rigid(const rigidBodyModel& model, const dictionary& dict);
+
+        //- Clone this joint
+        virtual autoPtr<joint> clone() const;
+
+
+    //- Destructor
+    virtual ~rigid();
+
+
+    // Member Functions
+
+        //- Update the model state for this joint
+        virtual void jcalc
+        (
+            joint::XSvc& J,
+            const rigidBodyModelState& state
+        ) const;
+};
+
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+} // End namespace joints
+} // End namespace RBD
+} // End namespace Foam
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+#endif
+
+// ************************************************************************* //