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https://github.com/OpenFOAM/OpenFOAM-6.git
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10e75bf28a
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.
104 lines
3.1 KiB
C
104 lines
3.1 KiB
C
/*---------------------------------------------------------------------------*\
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========= |
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\\ / F ield | OpenFOAM: The Open Source CFD Toolbox
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\\ / O peration |
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\\ / A nd | Copyright (C) 2016-2017 OpenFOAM Foundation
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\\/ M anipulation |
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-------------------------------------------------------------------------------
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License
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This file is part of OpenFOAM.
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OpenFOAM is free software: you can redistribute it and/or modify it
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under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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OpenFOAM is distributed in the hope that it will be useful, but WITHOUT
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ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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for more details.
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You should have received a copy of the GNU General Public License
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along with OpenFOAM. If not, see <http://www.gnu.org/licenses/>.
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Application
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sphericalJoint
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Description
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Simple spherical-joint pendulum.
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\*---------------------------------------------------------------------------*/
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#include "rigidBodyMotion.H"
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#include "masslessBody.H"
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#include "sphere.H"
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#include "joints.H"
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#include "rigidBodyRestraint.H"
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#include "rigidBodyModelState.H"
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#include "IFstream.H"
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#include "OFstream.H"
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using namespace Foam;
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using namespace RBD;
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// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
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int main(int argc, char *argv[])
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{
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dictionary sphericalJointDict(IFstream("sphericalJoint")());
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// Create the sphericalJoint model from dictionary
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rigidBodyMotion sphericalJoint(sphericalJointDict);
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label nIter(readLabel(sphericalJointDict.lookup("nIter")));
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Info<< sphericalJoint << endl;
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// Create the joint-space force field
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scalarField tau(sphericalJoint.nDoF(), Zero);
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// Create the external body force field
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Field<spatialVector> fx(sphericalJoint.nBodies(), Zero);
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// Set the angle of the pendulum to 0.3rad
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sphericalJoint.joints()[1].unitQuaternion
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(
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quaternion(quaternion::ZYX, vector(0.3, 0, 0)),
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sphericalJoint.state().q()
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);
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// Set the gravitational acceleration
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sphericalJoint.g() = vector(0, -9.81, 0);
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OFstream omegaFile("omegaVsTime");
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// Integrate the motion of the sphericalJoint for 4.1s
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scalar deltaT = 0.01;
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for (scalar t=0; t<4.1; t+=deltaT)
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{
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sphericalJoint.newTime();
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for (label i=0; i<nIter; i++)
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{
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sphericalJoint.solve(t + deltaT, deltaT, tau, fx);
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}
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// Write the results for graph generation
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// using 'gnuplot sphericalJoint.gnuplot'
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omegaFile
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<< t << " "
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<< sphericalJoint.joints()[1].unitQuaternion
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(
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sphericalJoint.state().q()
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).eulerAngles(quaternion::ZYX).x()
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<< endl;
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}
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Info<< "\nEnd\n" << endl;
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return 0;
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}
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// ************************************************************************* //
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