Merge branch 'sixDofPatch'

src/OpenFOAM/meshes/primitiveShapes/plane/plane.C

@@ -128,7 +128,20 @@ Foam::plane::plane(const vector& normalVector)
 :
     unitVector_(normalVector),
     basePoint_(vector::zero)
-{}
+{
+    scalar magUnitVector(mag(unitVector_));
+
+    if (magUnitVector > VSMALL)
+    {
+        unitVector_ /= magUnitVector;
+    }
+    else
+    {
+        FatalErrorIn("plane::plane(const point&, const vector&)")
+            << "plane normal has zero length"
+            << abort(FatalError);
+    }
+}
 
 
 // Construct from point and normal vector
@@ -146,7 +159,7 @@ Foam::plane::plane(const point& basePoint, const vector& normalVector)
     else
     {
         FatalErrorIn("plane::plane(const point&, const vector&)")
-        << "plane normal has got zero length"
+            << "plane normal has zero length"
             << abort(FatalError);
     }
 }
@@ -238,7 +251,7 @@ Foam::plane::plane(Istream& is)
     else
     {
         FatalErrorIn("plane::plane(Istream& is)")
-            << "plane normal has got zero length"
+            << "plane normal has zero length"
             << abort(FatalError);
     }
 }

src/meshTools/momentOfInertia/momentOfInertia.C

@@ -0,0 +1,403 @@
+/*---------------------------------------------------------------------------*\
+  =========                 |
+  \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
+   \\    /   O peration     |
+    \\  /    A nd           | Copyright (C) 2007-2009 OpenCFD Ltd.
+     \\/     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 2 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, write to the Free Software Foundation,
+    Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+
+Class
+    momentOfInertia
+
+Description
+    Reimplementation of volInt.c by Brian Mirtich.
+        *  mirtich@cs.berkeley.edu                             *
+        *  http://www.cs.berkeley.edu/~mirtich                 *
+
+-------------------------------------------------------------------------------
+*/
+
+#include "momentOfInertia.H"
+//#include "pyramidPointFaceRef.H"
+
+// * * * * * * * * * * * * * Private Member Functions  * * * * * * * * * * * //
+
+//Foam::tensor Foam::momentOfInertia
+//(
+//    const pointField& points,
+//    const faceList& faces,
+//    const cell& cFaces,
+//    const point& cc
+//)
+//{
+//    tensor t(tensor::zero);
+//
+//    forAll(cFaces, i)
+//    {
+//        const face& f = faces[cFaces[i]];
+//
+//        scalar pyrVol = pyramidPointFaceRef(f, cc).mag(points);
+//
+//        vector pyrCentre = pyramidPointFaceRef(f, cc).centre(points);
+//
+//        vector d = pyrCentre - cc;
+//
+//        t.xx() += pyrVol*(sqr(d.y()) + sqr(d.z()));
+//        t.yy() += pyrVol*(sqr(d.x()) + sqr(d.z()));
+//        t.zz() += pyrVol*(sqr(d.x()) + sqr(d.y()));
+//
+//        t.xy() -= pyrVol*d.x()*d.y();
+//        t.xz() -= pyrVol*d.x()*d.z();
+//        t.yz() -= pyrVol*d.y()*d.z();
+//    }
+//
+//    // Symmetric
+//    t.yx() = t.xy();
+//    t.zx() = t.xz();
+//    t.zy() = t.yz();
+//
+//    return t;
+//}
+
+
+#define sqr(x) ((x)*(x))
+#define pow3(x) ((x)*(x)*(x))
+
+// compute various integrations over projection of face
+void Foam::compProjectionIntegrals
+(
+    const pointField& points,
+    const face& f,
+    const direction A,
+    const direction B,
+
+    scalar& P1,
+    scalar& Pa,
+    scalar& Pb,
+    scalar& Paa,
+    scalar& Pab,
+    scalar& Pbb,
+    scalar& Paaa,
+    scalar& Paab,
+    scalar& Pabb,
+    scalar& Pbbb
+)
+{
+    P1 = Pa = Pb = Paa = Pab = Pbb = Paaa = Paab = Pabb = Pbbb = 0.0;
+
+    forAll(f, i)
+    {
+        scalar a0 = points[f[i]][A];
+        scalar b0 = points[f[i]][B];
+        scalar a1 = points[f[(i+1) % f.size()]][A];
+        scalar b1 = points[f[(i+1) % f.size()]][B];
+        scalar da = a1 - a0;
+        scalar db = b1 - b0;
+
+        scalar a0_2 = a0 * a0;
+        scalar a0_3 = a0_2 * a0;
+        scalar a0_4 = a0_3 * a0;
+
+        scalar b0_2 = b0 * b0;
+        scalar b0_3 = b0_2 * b0;
+        scalar b0_4 = b0_3 * b0;
+
+        scalar a1_2 = a1 * a1;
+        scalar a1_3 = a1_2 * a1;
+
+        scalar b1_2 = b1 * b1;
+        scalar b1_3 = b1_2 * b1;
+
+        scalar C1 = a1 + a0;
+
+        scalar Ca = a1*C1 + a0_2;
+        scalar Caa = a1*Ca + a0_3;
+        scalar Caaa = a1*Caa + a0_4;
+
+        scalar Cb = b1*(b1 + b0) + b0_2;
+        scalar Cbb = b1*Cb + b0_3;
+        scalar Cbbb = b1*Cbb + b0_4;
+
+        scalar Cab = 3*a1_2 + 2*a1*a0 + a0_2;
+        scalar Kab = a1_2 + 2*a1*a0 + 3*a0_2;
+
+        scalar Caab = a0*Cab + 4*a1_3;
+        scalar Kaab = a1*Kab + 4*a0_3;
+
+        scalar Cabb = 4*b1_3 + 3*b1_2*b0 + 2*b1*b0_2 + b0_3;
+        scalar Kabb = b1_3 + 2*b1_2*b0 + 3*b1*b0_2 + 4*b0_3;
+
+        P1 += db*C1;
+        Pa += db*Ca;
+        Paa += db*Caa;
+        Paaa += db*Caaa;
+        Pb += da*Cb;
+        Pbb += da*Cbb;
+        Pbbb += da*Cbbb;
+        Pab += db*(b1*Cab + b0*Kab);
+        Paab += db*(b1*Caab + b0*Kaab);
+        Pabb += da*(a1*Cabb + a0*Kabb);
+  }
+
+  P1 /= 2.0;
+  Pa /= 6.0;
+  Paa /= 12.0;
+  Paaa /= 20.0;
+  Pb /= -6.0;
+  Pbb /= -12.0;
+  Pbbb /= -20.0;
+  Pab /= 24.0;
+  Paab /= 60.0;
+  Pabb /= -60.0;
+}
+
+
+void Foam::compFaceIntegrals
+(
+    const pointField& points,
+    const face& f,
+    const vector& n,
+    const scalar w,
+    const direction A,
+    const direction B,
+    const direction C,
+
+    scalar& Fa,
+    scalar& Fb,
+    scalar& Fc,
+    scalar& Faa,
+    scalar& Fbb,
+    scalar& Fcc,
+    scalar& Faaa,
+    scalar& Fbbb,
+    scalar& Fccc,
+    scalar& Faab,
+    scalar& Fbbc,
+    scalar& Fcca
+)
+{
+    scalar P1, Pa, Pb, Paa, Pab, Pbb, Paaa, Paab, Pabb, Pbbb;
+
+    compProjectionIntegrals
+    (
+        points,
+        f,
+        A,
+        B,
+
+        P1,
+        Pa,
+        Pb,
+        Paa,
+        Pab,
+        Pbb,
+        Paaa,
+        Paab,
+        Pabb,
+        Pbbb
+    );
+
+    scalar k1 = 1 / n[C];
+    scalar k2 = k1 * k1;
+    scalar k3 = k2 * k1;
+    scalar k4 = k3 * k1;
+
+    Fa = k1 * Pa;
+    Fb = k1 * Pb;
+    Fc = -k2 * (n[A]*Pa + n[B]*Pb + w*P1);
+
+    Faa = k1 * Paa;
+    Fbb = k1 * Pbb;
+    Fcc = k3 * (sqr(n[A])*Paa + 2*n[A]*n[B]*Pab + sqr(n[B])*Pbb
+         + w*(2*(n[A]*Pa + n[B]*Pb) + w*P1));
+
+    Faaa = k1 * Paaa;
+    Fbbb = k1 * Pbbb;
+    Fccc = -k4 * (pow3(n[A])*Paaa + 3*sqr(n[A])*n[B]*Paab
+           + 3*n[A]*sqr(n[B])*Pabb + pow3(n[B])*Pbbb
+           + 3*w*(sqr(n[A])*Paa + 2*n[A]*n[B]*Pab + sqr(n[B])*Pbb)
+           + w*w*(3*(n[A]*Pa + n[B]*Pb) + w*P1));
+
+    Faab = k1 * Paab;
+    Fbbc = -k2 * (n[A]*Pabb + n[B]*Pbbb + w*Pbb);
+    Fcca = k3 * (sqr(n[A])*Paaa + 2*n[A]*n[B]*Paab + sqr(n[B])*Pabb
+         + w*(2*(n[A]*Paa + n[B]*Pab) + w*Pa));
+}
+
+
+void Foam::compVolumeIntegrals
+(
+    const pointField& points,
+    const faceList& faces,
+    const cell& cFaces,
+    const vectorField& fNorm,
+    const scalarField& fW,
+
+    scalar& T0,
+    vector& T1,
+    vector& T2,
+    vector& TP
+)
+{
+    T0 = 0;
+    T1 = vector::zero;
+    T2 = vector::zero;
+    TP = vector::zero;
+
+    forAll(cFaces, i)
+    {
+        const vector& n = fNorm[i];
+
+        scalar nx = mag(n[0]);
+        scalar ny = mag(n[1]);
+        scalar nz = mag(n[2]);
+
+        direction A, B, C;
+
+        if (nx > ny && nx > nz)
+        {
+            C = 0;
+        }
+        else
+        {
+            C = (ny > nz) ? 1 : 2;
+        }
+
+        A = (C + 1) % 3;
+        B = (A + 1) % 3;
+
+        scalar Fa, Fb, Fc, Faa, Fbb, Fcc, Faaa, Fbbb, Fccc, Faab, Fbbc, Fcca;
+        compFaceIntegrals
+        (
+            points,
+            faces[cFaces[i]],
+            n,
+            fW[i],
+            A,
+            B,
+            C,
+
+            Fa,
+            Fb,
+            Fc,
+            Faa,
+            Fbb,
+            Fcc,
+            Faaa,
+            Fbbb,
+            Fccc,
+            Faab,
+            Fbbc,
+            Fcca
+        );
+
+        T0 += n[0] * ((A == 0) ? Fa : ((B == 0) ? Fb : Fc));
+
+        T1[A] += n[A] * Faa;
+        T1[B] += n[B] * Fbb;
+        T1[C] += n[C] * Fcc;
+
+        T2[A] += n[A] * Faaa;
+        T2[B] += n[B] * Fbbb;
+        T2[C] += n[C] * Fccc;
+
+        TP[A] += n[A] * Faab;
+        TP[B] += n[B] * Fbbc;
+        TP[C] += n[C] * Fcca;
+    }
+
+    T1 /= 2;
+    T2 /= 3;
+    TP /= 2;
+}
+
+
+// Calculate
+// - r: centre of mass
+// - J: inertia around origin (point 0,0,0)
+void Foam::momentOfIntertia
+(
+    const pointField& points,
+    const faceList& faces,
+    const cell& cFaces,
+    point& r,
+    tensor& J
+)
+{
+    // Face normals
+    vectorField fNorm(cFaces.size());
+    scalarField fW(cFaces.size());
+
+    forAll(cFaces, i)
+    {
+        label faceI = cFaces[i];
+
+        const face& f = faces[faceI];
+
+        fNorm[i] = f.normal(points);
+        fNorm[i] /= mag(fNorm[i]) + VSMALL;
+
+        fW[i] = - (fNorm[i] & points[f[0]]);
+    }
+
+
+    scalar T0;
+    vector T1, T2, TP;
+
+    compVolumeIntegrals
+    (
+        points,
+        faces,
+        cFaces,
+        fNorm,
+        fW,
+
+        T0,
+        T1,
+        T2,
+        TP
+    );
+
+    const scalar density = 1.0;  /* assume unit density */
+
+    scalar mass = density * T0;
+
+    /* compute center of mass */
+    r = T1 / T0;
+
+    /* compute inertia tensor */
+    J.xx() = density * (T2[1] + T2[2]);
+    J.yy() = density * (T2[2] + T2[0]);
+    J.zz() = density * (T2[0] + T2[1]);
+    J.xy() = J.yx() = - density * TP[0];
+    J.yz() = J.zy() = - density * TP[1];
+    J.zx() = J.xz() = - density * TP[2];
+
+    ///* translate inertia tensor to center of mass */
+    //J[XX] -= mass * (r[1]*r[1] + r[2]*r[2]);
+    //J[YY] -= mass * (r[2]*r[2] + r[0]*r[0]);
+    //J[ZZ] -= mass * (r[0]*r[0] + r[1]*r[1]);
+    //J[XY] = J[YX] += mass * r[0] * r[1];
+    //J[YZ] = J[ZY] += mass * r[1] * r[2];
+    //J[ZX] = J[XZ] += mass * r[2] * r[0];
+}
+
+
+
+// ************************************************************************* //

src/meshTools/momentOfInertia/momentOfInertia.H

@@ -0,0 +1,75 @@
+/*---------------------------------------------------------------------------*\
+  =========                 |
+  \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
+   \\    /   O peration     |
+    \\  /    A nd           | Copyright (C) 2007-2009 OpenCFD Ltd.
+     \\/     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 2 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, write to the Free Software Foundation,
+    Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+
+Class
+    momentOfInertia
+
+Description
+
+SourceFiles
+    momentOfInertia.H
+
+\*---------------------------------------------------------------------------*/
+
+#ifndef momentOfInertia_H
+#define momentOfInertia_H
+
+#include "tensor.H"
+#include "primitiveMesh.H"
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+namespace Foam
+{
+
+////- Moment of inertia around cell centre for single cell.
+//tensor momentOfInertia
+//(
+//    const pointField&,
+//    const faceList&,
+//    const cell&,
+//    const point& cc
+//);
+
+// Calculate
+// - centre of mass
+// - inertia tensor around (0,0,0)
+void momentOfIntertia
+(
+    const pointField&,
+    const faceList&,
+    const cell&,
+    point& r,
+    tensor& Jorigin
+);
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+} // End namespace Foam
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+#endif
+
+// ************************************************************************* //

src/meshTools/momentOfInertia/volumeIntegration/README

@@ -0,0 +1,146 @@
+1.  OVERVIEW
+
+	This code accompanies the paper:
+
+	Brian Mirtich, "Fast and Accurate Computation of
+	Polyhedral Mass Properties," journal of graphics
+	tools, volume 1, number 2, 1996.
+
+	It computes the ten volume integrals needed for
+	determining the center of mass, moments of
+	inertia, and products of inertia for a uniform
+	density polyhedron.  From this information, a
+	body frame can be computed.
+
+	To compile the program, use an ANSI compiler, and
+	type something like
+  
+		% cc volInt.c -O2 -lm -o volInt
+
+
+	Revision history
+
+	26 Jan 1996	Program creation.
+
+	 3 Aug 1996	Corrected bug arising when polyhedron density
+			is not 1.0.  Changes confined to function main().
+			Thanks to Zoran Popovic for catching this one.
+
+
+
+2.  POLYHEDRON GEOMETRY FILES
+
+	The program reads a data file specified on the
+	command line.  This data file describes the
+	geometry of a polyhedron, and has the following
+	format:
+
+	N	
+
+	x_0	y_0	z_0
+	x_1	y_1	z_1
+	.
+	.
+	.
+	x_{N-1}	y_{N-1}	z_{N-1}
+
+	M
+
+	k1	v_{1,1} v_{1,2} ... v_{1,k1}
+	k2	v_{2,1} v_{2,2} ... v_{2,k2}
+	.
+	.
+	.
+	kM	v_{M,1} v_{M,2} ... v_{M,kM}
+
+
+	where:
+		N		number of vertices on polyhedron
+		x_i y_i z_i	x, y, and z coordinates of ith vertex
+		M		number of faces on polyhedron
+		ki		number of vertices on ith face
+		v_{i,j}		jth vertex on ith face
+
+	In English:
+
+		First the number of vertices are specified.  Next
+		the vertices are defined by listing the 3
+		coordinates of each one.  Next the number of faces
+		are specified.  Finally, the faces themselves are
+		specified.  A face is specified by first giving
+		the number of vertices around the polygonal face,
+		followed by the (integer) indices of these
+		vertices.  When specifying indices, note that
+		they must be given in counter-clockwise order
+		(when looking at the face from outside the
+		polyhedron), and the vertices are indexed from 0
+		to N-1 for a polyhedron with N faces.
+
+	White space can be inserted (or not) as desired.
+	Three example polyhedron geometry files are included:
+
+	cube	A cube, 20 units on a side, centered at 
+		the origin and aligned with the coordinate axes.
+
+	tetra	A tetrahedron formed by taking the convex 
+		hull of the origin, and	the points (5,0,0), 
+		(0,4,0), and (0,0,3).
+
+	icosa	An icosahedron with vertices lying on the unit 
+		sphere, centered at the origin.
+
+
+
+3.  RUNNING THE PROGRAM
+
+	Simply type,
+	
+		% volInt <polyhedron geometry filename>
+
+	The program will read in the geometry of the
+	polyhedron, and the print out the ten volume
+	integrals.
+
+	The program also computes some of the mass
+	properties which may be inferred from the volume
+	integrals.  A density of 1.0 is assumed, although
+	this may be changed in function main().  The
+	center of mass is computed as well as the inertia
+	tensor relative to a frame with origin at the
+	center of mass.  Note, however, that this matrix
+	may not be diagonal.  If not, a diagonalization
+	routine must be performed, to determine the
+	orientation of the true body frame relative to
+	the original model frame.  The Jacobi method
+	works quite well (see Numerical Recipes in C by
+	Press, et. al.).
+
+
+
+4.  DISCLAIMERS
+
+	1.  The volume integration code has been written
+	to match the development and algorithms presented
+	in the paper, and not with maximum optimization
+	in mind.  While inherently very efficient, a few
+	more cycles can be squeezed out of the algorithm.
+	This is left as an exercise. :)
+
+	2.  Don't like global variables?  The three
+	procedures which evaluate the volume integrals
+	can be combined into a single procedure with two
+	nested loops.  In addition to providing some
+	speedup, all of the global variables can then be
+	made local.
+
+	3.  The polyhedron data structure used by the
+	program is admittedly lame; much better schemes
+	are possible.  The idea here is just to give the
+	basic integral evaluation code, which will have
+	to be adjusted for other polyhedron data
+	structures.
+
+	4.  There is no error checking for the input
+	files.  Be careful.  Note the hard limits
+	#defined for the number of vertices, number of
+	faces, and number of vertices per faces.

src/meshTools/momentOfInertia/volumeIntegration/cube

@@ -0,0 +1,21 @@
+8
+
+-10	-10	-10
++10	-10	-10
++10	+10	-10
+-10	+10	-10
+-10	-10	+10
++10	-10	+10
++10	+10	+10
+-10	+10	+10
+
+6
+
+4	0 3 2 1
+4	4 5 6 7
+4	0 1 5 4
+4	6 2 3 7
+4	1 2 6 5
+4 	0 4 7 3
+
+

src/meshTools/momentOfInertia/volumeIntegration/icosa

@@ -0,0 +1,38 @@
+12
+
++0.00000000 +0.00000000 +1.00000000
++0.00000000 +0.00000000 -1.00000000
++0.89442719 +0.00000000 +0.44721360
++0.27639320 +0.85065081 +0.44721360
+-0.72360680 +0.52573111 +0.44721360
+-0.72360680 -0.52573111 +0.44721360
++0.27639320 -0.85065081 +0.44721360
++0.72360680 +0.52573111 -0.44721360
+-0.27639320 +0.85065081 -0.44721360
+-0.89442719 +0.00000000 -0.44721360
+-0.27639320 -0.85065081 -0.44721360
++0.72360680 -0.52573111 -0.44721360
+
+20
+
+3       6      11     2
+3       3      2      7
+3       7      2      11
+3       0      2      3
+3       0      6      2
+3       10     1      11
+3       1      7      11
+3       10     11     6
+3       8      7      1
+3       8      3      7
+3       5      10     6
+3       5      6      0
+3       4      3      8
+3       4      0      3
+3       9      8      1
+3       9      1      10
+3       4      5      0
+3       9      10     5
+3       9      5      4
+3       9      4      8
+

src/meshTools/momentOfInertia/volumeIntegration/tetra

@@ -0,0 +1,16 @@
+4
+
+0	0	0
+5	0	0
+0	4	0
+0	0	3
+
+4
+
+3	0 3 2
+3	3 0 1
+3	2 1 0
+3	1 2 3
+
+
+

src/meshTools/momentOfInertia/volumeIntegration/volInt.c

@@ -0,0 +1,380 @@
+
+
+	/*******************************************************
+        *                                                      *
+	*  volInt.c                                            *
+	*                                                      *
+	*  This code computes volume integrals needed for      *
+	*  determining mass properties of polyhedral bodies.   *
+	*                                                      *
+	*  For more information, see the accompanying README   *
+	*  file, and the paper                                 *
+	*                                                      *
+	*  Brian Mirtich, "Fast and Accurate Computation of    *
+	*  Polyhedral Mass Properties," journal of graphics    *
+	*  tools, volume 1, number 1, 1996.                    *
+	*                                                      *
+	*  This source code is public domain, and may be used  *
+	*  in any way, shape or form, free of charge.          *
+	*                                                      *
+	*  Copyright 1995 by Brian Mirtich                     *
+	*                                                      *
+	*  mirtich@cs.berkeley.edu                             *
+	*  http://www.cs.berkeley.edu/~mirtich                 *
+        *                                                      *
+	*******************************************************/
+
+/*
+	Revision history
+
+	26 Jan 1996	Program creation.
+
+	 3 Aug 1996	Corrected bug arising when polyhedron density
+			is not 1.0.  Changes confined to function main().
+			Thanks to Zoran Popovic for catching this one.
+
+	27 May 1997     Corrected sign error in translation of inertia
+	                product terms to center of mass frame.  Changes 
+			confined to function main().  Thanks to 
+			Chris Hecker.
+*/
+
+
+
+#include <stdio.h>
+#include <string.h>
+#include <math.h>
+
+/*
+   ============================================================================
+   constants
+   ============================================================================
+*/
+
+#define MAX_VERTS 100     /* maximum number of polyhedral vertices */
+#define MAX_FACES 100     /* maximum number of polyhedral faces */
+#define MAX_POLYGON_SZ 10 /* maximum number of verts per polygonal face */
+
+#define X 0
+#define Y 1
+#define Z 2
+
+/*
+   ============================================================================
+   macros
+   ============================================================================
+*/
+
+#define SQR(x) ((x)*(x))
+#define CUBE(x) ((x)*(x)*(x))
+
+/*
+   ============================================================================
+   data structures
+   ============================================================================
+*/
+
+typedef struct {
+  int numVerts;
+  double norm[3];
+  double w;
+  int verts[MAX_POLYGON_SZ];
+  struct polyhedron *poly;
+} FACE;
+
+typedef struct polyhedron {
+  int numVerts, numFaces;
+  double verts[MAX_VERTS][3];
+  FACE faces[MAX_FACES];
+} POLYHEDRON;
+
+
+/*
+   ============================================================================
+   globals
+   ============================================================================
+*/
+
+static int A;   /* alpha */
+static int B;   /* beta */
+static int C;   /* gamma */
+
+/* projection integrals */
+static double P1, Pa, Pb, Paa, Pab, Pbb, Paaa, Paab, Pabb, Pbbb;
+
+/* face integrals */
+static double Fa, Fb, Fc, Faa, Fbb, Fcc, Faaa, Fbbb, Fccc, Faab, Fbbc, Fcca;
+
+/* volume integrals */
+static double T0, T1[3], T2[3], TP[3];
+
+
+/*
+   ============================================================================
+   read in a polyhedron
+   ============================================================================
+*/
+
+void readPolyhedron(char *name, POLYHEDRON *p)
+{
+  FILE *fp;
+  char line[200], *c;
+  int i, j, n;
+  double dx1, dy1, dz1, dx2, dy2, dz2, nx, ny, nz, len;
+  FACE *f;
+
+  
+  if (!(fp = fopen(name, "r"))) {
+    printf("i/o error\n");
+    exit(1);
+  }
+  
+  fscanf(fp, "%d", &p->numVerts);
+  printf("Reading in %d vertices\n", p->numVerts);
+  for (i = 0; i < p->numVerts; i++)
+    fscanf(fp, "%lf %lf %lf", 
+	   &p->verts[i][X], &p->verts[i][Y], &p->verts[i][Z]);
+
+  fscanf(fp, "%d", &p->numFaces);
+  printf("Reading in %d faces\n", p->numFaces);
+  for (i = 0; i < p->numFaces; i++) {
+    f = &p->faces[i];
+    f->poly = p;
+    fscanf(fp, "%d", &f->numVerts);
+    for (j = 0; j < f->numVerts; j++) fscanf(fp, "%d", &f->verts[j]);
+
+    /* compute face normal and offset w from first 3 vertices */
+    dx1 = p->verts[f->verts[1]][X] - p->verts[f->verts[0]][X];
+    dy1 = p->verts[f->verts[1]][Y] - p->verts[f->verts[0]][Y];
+    dz1 = p->verts[f->verts[1]][Z] - p->verts[f->verts[0]][Z];
+    dx2 = p->verts[f->verts[2]][X] - p->verts[f->verts[1]][X];
+    dy2 = p->verts[f->verts[2]][Y] - p->verts[f->verts[1]][Y];
+    dz2 = p->verts[f->verts[2]][Z] - p->verts[f->verts[1]][Z];
+    nx = dy1 * dz2 - dy2 * dz1;
+    ny = dz1 * dx2 - dz2 * dx1;
+    nz = dx1 * dy2 - dx2 * dy1;
+    len = sqrt(nx * nx + ny * ny + nz * nz);
+    f->norm[X] = nx / len;
+    f->norm[Y] = ny / len;
+    f->norm[Z] = nz / len;
+    f->w = - f->norm[X] * p->verts[f->verts[0]][X]
+           - f->norm[Y] * p->verts[f->verts[0]][Y]
+           - f->norm[Z] * p->verts[f->verts[0]][Z];
+
+  }
+
+  fclose(fp);
+
+}
+
+/*
+   ============================================================================
+   compute mass properties
+   ============================================================================
+*/
+
+
+/* compute various integrations over projection of face */
+void compProjectionIntegrals(FACE *f)
+{
+  double a0, a1, da;
+  double b0, b1, db;
+  double a0_2, a0_3, a0_4, b0_2, b0_3, b0_4;
+  double a1_2, a1_3, b1_2, b1_3;
+  double C1, Ca, Caa, Caaa, Cb, Cbb, Cbbb;
+  double Cab, Kab, Caab, Kaab, Cabb, Kabb;
+  int i;
+
+  P1 = Pa = Pb = Paa = Pab = Pbb = Paaa = Paab = Pabb = Pbbb = 0.0;
+
+  for (i = 0; i < f->numVerts; i++) {
+    a0 = f->poly->verts[f->verts[i]][A];
+    b0 = f->poly->verts[f->verts[i]][B];
+    a1 = f->poly->verts[f->verts[(i+1) % f->numVerts]][A];
+    b1 = f->poly->verts[f->verts[(i+1) % f->numVerts]][B];
+    da = a1 - a0;
+    db = b1 - b0;
+    a0_2 = a0 * a0; a0_3 = a0_2 * a0; a0_4 = a0_3 * a0;
+    b0_2 = b0 * b0; b0_3 = b0_2 * b0; b0_4 = b0_3 * b0;
+    a1_2 = a1 * a1; a1_3 = a1_2 * a1; 
+    b1_2 = b1 * b1; b1_3 = b1_2 * b1;
+
+    C1 = a1 + a0;
+    Ca = a1*C1 + a0_2; Caa = a1*Ca + a0_3; Caaa = a1*Caa + a0_4;
+    Cb = b1*(b1 + b0) + b0_2; Cbb = b1*Cb + b0_3; Cbbb = b1*Cbb + b0_4;
+    Cab = 3*a1_2 + 2*a1*a0 + a0_2; Kab = a1_2 + 2*a1*a0 + 3*a0_2;
+    Caab = a0*Cab + 4*a1_3; Kaab = a1*Kab + 4*a0_3;
+    Cabb = 4*b1_3 + 3*b1_2*b0 + 2*b1*b0_2 + b0_3;
+    Kabb = b1_3 + 2*b1_2*b0 + 3*b1*b0_2 + 4*b0_3;
+
+    P1 += db*C1;
+    Pa += db*Ca;
+    Paa += db*Caa;
+    Paaa += db*Caaa;
+    Pb += da*Cb;
+    Pbb += da*Cbb;
+    Pbbb += da*Cbbb;
+    Pab += db*(b1*Cab + b0*Kab);
+    Paab += db*(b1*Caab + b0*Kaab);
+    Pabb += da*(a1*Cabb + a0*Kabb);
+  }
+
+  P1 /= 2.0;
+  Pa /= 6.0;
+  Paa /= 12.0;
+  Paaa /= 20.0;
+  Pb /= -6.0;
+  Pbb /= -12.0;
+  Pbbb /= -20.0;
+  Pab /= 24.0;
+  Paab /= 60.0;
+  Pabb /= -60.0;
+}
+
+compFaceIntegrals(FACE *f)
+{
+  double *n, w;
+  double k1, k2, k3, k4;
+
+  compProjectionIntegrals(f);
+
+  w = f->w;
+  n = f->norm;
+  k1 = 1 / n[C]; k2 = k1 * k1; k3 = k2 * k1; k4 = k3 * k1;
+
+  Fa = k1 * Pa;
+  Fb = k1 * Pb;
+  Fc = -k2 * (n[A]*Pa + n[B]*Pb + w*P1);
+
+  Faa = k1 * Paa;
+  Fbb = k1 * Pbb;
+  Fcc = k3 * (SQR(n[A])*Paa + 2*n[A]*n[B]*Pab + SQR(n[B])*Pbb
+	 + w*(2*(n[A]*Pa + n[B]*Pb) + w*P1));
+
+  Faaa = k1 * Paaa;
+  Fbbb = k1 * Pbbb;
+  Fccc = -k4 * (CUBE(n[A])*Paaa + 3*SQR(n[A])*n[B]*Paab 
+	   + 3*n[A]*SQR(n[B])*Pabb + CUBE(n[B])*Pbbb
+	   + 3*w*(SQR(n[A])*Paa + 2*n[A]*n[B]*Pab + SQR(n[B])*Pbb)
+	   + w*w*(3*(n[A]*Pa + n[B]*Pb) + w*P1));
+
+  Faab = k1 * Paab;
+  Fbbc = -k2 * (n[A]*Pabb + n[B]*Pbbb + w*Pbb);
+  Fcca = k3 * (SQR(n[A])*Paaa + 2*n[A]*n[B]*Paab + SQR(n[B])*Pabb
+	 + w*(2*(n[A]*Paa + n[B]*Pab) + w*Pa));
+}
+
+void compVolumeIntegrals(POLYHEDRON *p)
+{
+  FACE *f;
+  double nx, ny, nz;
+  int i;
+
+  T0 = T1[X] = T1[Y] = T1[Z] 
+     = T2[X] = T2[Y] = T2[Z] 
+     = TP[X] = TP[Y] = TP[Z] = 0;
+
+  for (i = 0; i < p->numFaces; i++) {
+
+    f = &p->faces[i];
+
+    nx = fabs(f->norm[X]);
+    ny = fabs(f->norm[Y]);
+    nz = fabs(f->norm[Z]);
+    if (nx > ny && nx > nz) C = X;
+    else C = (ny > nz) ? Y : Z;
+    A = (C + 1) % 3;
+    B = (A + 1) % 3;
+
+    compFaceIntegrals(f);
+
+    T0 += f->norm[X] * ((A == X) ? Fa : ((B == X) ? Fb : Fc));
+
+    T1[A] += f->norm[A] * Faa;
+    T1[B] += f->norm[B] * Fbb;
+    T1[C] += f->norm[C] * Fcc;
+    T2[A] += f->norm[A] * Faaa;
+    T2[B] += f->norm[B] * Fbbb;
+    T2[C] += f->norm[C] * Fccc;
+    TP[A] += f->norm[A] * Faab;
+    TP[B] += f->norm[B] * Fbbc;
+    TP[C] += f->norm[C] * Fcca;
+  }
+
+  T1[X] /= 2; T1[Y] /= 2; T1[Z] /= 2;
+  T2[X] /= 3; T2[Y] /= 3; T2[Z] /= 3;
+  TP[X] /= 2; TP[Y] /= 2; TP[Z] /= 2;
+}
+
+
+/*
+   ============================================================================
+   main
+   ============================================================================
+*/
+
+
+int main(int argc, char *argv[])
+{
+  POLYHEDRON p;
+  double density, mass;
+  double r[3];            /* center of mass */
+  double J[3][3];         /* inertia tensor */
+
+  if (argc != 2) {
+    printf("usage:  %s <polyhedron geometry filename>\n", argv[0]);
+    exit(0);
+  }
+
+  readPolyhedron(argv[1], &p);
+
+  compVolumeIntegrals(&p);
+
+
+  printf("\nT1 =   %+20.6f\n\n", T0);
+
+  printf("Tx =   %+20.6f\n", T1[X]);
+  printf("Ty =   %+20.6f\n", T1[Y]);
+  printf("Tz =   %+20.6f\n\n", T1[Z]);
+  
+  printf("Txx =  %+20.6f\n", T2[X]);
+  printf("Tyy =  %+20.6f\n", T2[Y]);
+  printf("Tzz =  %+20.6f\n\n", T2[Z]);
+
+  printf("Txy =  %+20.6f\n", TP[X]);
+  printf("Tyz =  %+20.6f\n", TP[Y]);
+  printf("Tzx =  %+20.6f\n\n", TP[Z]);
+
+  density = 1.0;  /* assume unit density */
+
+  mass = density * T0;
+
+  /* compute center of mass */
+  r[X] = T1[X] / T0;
+  r[Y] = T1[Y] / T0;
+  r[Z] = T1[Z] / T0;
+
+  /* compute inertia tensor */
+  J[X][X] = density * (T2[Y] + T2[Z]);
+  J[Y][Y] = density * (T2[Z] + T2[X]);
+  J[Z][Z] = density * (T2[X] + T2[Y]);
+  J[X][Y] = J[Y][X] = - density * TP[X];
+  J[Y][Z] = J[Z][Y] = - density * TP[Y];
+  J[Z][X] = J[X][Z] = - density * TP[Z];
+
+  /* translate inertia tensor to center of mass */
+  J[X][X] -= mass * (r[Y]*r[Y] + r[Z]*r[Z]);
+  J[Y][Y] -= mass * (r[Z]*r[Z] + r[X]*r[X]);
+  J[Z][Z] -= mass * (r[X]*r[X] + r[Y]*r[Y]);
+  J[X][Y] = J[Y][X] += mass * r[X] * r[Y]; 
+  J[Y][Z] = J[Z][Y] += mass * r[Y] * r[Z]; 
+  J[Z][X] = J[X][Z] += mass * r[Z] * r[X]; 
+
+  printf("center of mass:  (%+12.6f,%+12.6f,%+12.6f)\n\n", r[X], r[Y], r[Z]);
+
+  printf("inertia tensor with origin at c.o.m. :\n");
+  printf("%+15.6f  %+15.6f  %+15.6f\n", J[X][X], J[X][Y], J[X][Z]);
+  printf("%+15.6f  %+15.6f  %+15.6f\n", J[Y][X], J[Y][Y], J[Y][Z]);
+  printf("%+15.6f  %+15.6f  %+15.6f\n\n", J[Z][X], J[Z][Y], J[Z][Z]);
+  
+}

src/postProcessing/functionObjects/forces/Make/files

@@ -4,10 +4,34 @@ forces/forcesFunctionObject.C
 forceCoeffs/forceCoeffs.C
 forceCoeffs/forceCoeffsFunctionObject.C
 
+sDoFRBM = pointPatchFields/derived/sixDoFRigidBodyMotion
+
+$(sDoFRBM)/sixDoFRigidBodyMotion.C
+$(sDoFRBM)/sixDoFRigidBodyMotionIO.C
+$(sDoFRBM)/sixDoFRigidBodyMotionState.C
+$(sDoFRBM)/sixDoFRigidBodyMotionStateIO.C
+
+sDoFRBMR = $(sDoFRBM)/sixDoFRigidBodyMotionRestraint
+
+$(sDoFRBMR)/sixDoFRigidBodyMotionRestraint/sixDoFRigidBodyMotionRestraint.C
+$(sDoFRBMR)/sixDoFRigidBodyMotionRestraint/newSixDoFRigidBodyMotionRestraint.C
+$(sDoFRBMR)/linearAxialAngularSpring/linearAxialAngularSpring.C
+$(sDoFRBMR)/linearSpring/linearSpring.C
+$(sDoFRBMR)/sphericalAngularSpring/sphericalAngularSpring.C
+$(sDoFRBMR)/tabulatedAxialAngularSpring/tabulatedAxialAngularSpring.C
+
+sDoFRBMC = $(sDoFRBM)/sixDoFRigidBodyMotionConstraint
+
+$(sDoFRBMC)/sixDoFRigidBodyMotionConstraint/sixDoFRigidBodyMotionConstraint.C
+$(sDoFRBMC)/sixDoFRigidBodyMotionConstraint/newSixDoFRigidBodyMotionConstraint.C
+$(sDoFRBMC)/fixedAxis/fixedAxis.C
+$(sDoFRBMC)/fixedLine/fixedLine.C
+$(sDoFRBMC)/fixedOrientation/fixedOrientation.C
+$(sDoFRBMC)/fixedPlane/fixedPlane.C
+$(sDoFRBMC)/fixedPoint/fixedPoint.C
+
 pointPatchFields/derived/sixDoFRigidBodyDisplacement/sixDoFRigidBodyDisplacementPointPatchVectorField.C
-pointPatchFields/derived/sixDoFRigidBodyDisplacement/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion.C
+pointPatchFields/derived/uncoupledSixDoFRigidBodyDisplacement/uncoupledSixDoFRigidBodyDisplacementPointPatchVectorField.C
-pointPatchFields/derived/sixDoFRigidBodyDisplacement/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionIO.C
+pointPatchFields/derived/constrainedSixDoFRigidBodyDisplacement/constrainedSixDoFRigidBodyDisplacementPointPatchVectorField.C
-pointPatchFields/derived/sixDoFRigidBodyDisplacement/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionState.C
-pointPatchFields/derived/sixDoFRigidBodyDisplacement/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionStateIO.C
 
 LIB = $(FOAM_LIBBIN)/libforces

src/postProcessing/functionObjects/forces/pointPatchFields/derived/constrainedSixDoFRigidBodyDisplacement/constrainedSixDoFRigidBodyDisplacementPointPatchVectorField.C

@@ -0,0 +1,206 @@
+/*---------------------------------------------------------------------------*\
+  =========                 |
+  \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
+   \\    /   O peration     |
+    \\  /    A nd           | Copyright (C) 1991-2009 OpenCFD Ltd.
+     \\/     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 2 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, write to the Free Software Foundation,
+    Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+
+\*---------------------------------------------------------------------------*/
+
+#include "constrainedSixDoFRigidBodyDisplacementPointPatchVectorField.H"
+#include "pointPatchFields.H"
+#include "addToRunTimeSelectionTable.H"
+#include "Time.H"
+#include "fvMesh.H"
+#include "volFields.H"
+#include "uniformDimensionedFields.H"
+#include "forces.H"
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+namespace Foam
+{
+
+// * * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * //
+
+constrainedSixDoFRigidBodyDisplacementPointPatchVectorField::
+constrainedSixDoFRigidBodyDisplacementPointPatchVectorField
+(
+    const pointPatch& p,
+    const DimensionedField<vector, pointMesh>& iF
+)
+:
+    fixedValuePointPatchField<vector>(p, iF),
+    motion_(),
+    p0_(p.localPoints()),
+    rhoInf_(1.0)
+{}
+
+
+constrainedSixDoFRigidBodyDisplacementPointPatchVectorField::
+constrainedSixDoFRigidBodyDisplacementPointPatchVectorField
+(
+    const pointPatch& p,
+    const DimensionedField<vector, pointMesh>& iF,
+    const dictionary& dict
+)
+:
+    fixedValuePointPatchField<vector>(p, iF, dict),
+    motion_(dict),
+    rhoInf_(readScalar(dict.lookup("rhoInf")))
+{
+    if (!dict.found("value"))
+    {
+        updateCoeffs();
+    }
+
+    if (dict.found("p0"))
+    {
+        p0_ = vectorField("p0", dict , p.size());
+    }
+    else
+    {
+        p0_ = p.localPoints();
+    }
+}
+
+
+constrainedSixDoFRigidBodyDisplacementPointPatchVectorField::
+constrainedSixDoFRigidBodyDisplacementPointPatchVectorField
+(
+    const constrainedSixDoFRigidBodyDisplacementPointPatchVectorField& ptf,
+    const pointPatch& p,
+    const DimensionedField<vector, pointMesh>& iF,
+    const pointPatchFieldMapper& mapper
+)
+:
+    fixedValuePointPatchField<vector>(ptf, p, iF, mapper),
+    motion_(ptf.motion_),
+    p0_(ptf.p0_, mapper),
+    rhoInf_(ptf.rhoInf_)
+{}
+
+
+constrainedSixDoFRigidBodyDisplacementPointPatchVectorField::
+constrainedSixDoFRigidBodyDisplacementPointPatchVectorField
+(
+    const constrainedSixDoFRigidBodyDisplacementPointPatchVectorField& ptf,
+    const DimensionedField<vector, pointMesh>& iF
+)
+:
+    fixedValuePointPatchField<vector>(ptf, iF),
+    motion_(ptf.motion_),
+    p0_(ptf.p0_),
+    rhoInf_(ptf.rhoInf_)
+{}
+
+
+// * * * * * * * * * * * * * * * Member Functions  * * * * * * * * * * * * * //
+
+void constrainedSixDoFRigidBodyDisplacementPointPatchVectorField::updateCoeffs()
+{
+    if (this->updated())
+    {
+        return;
+    }
+
+    const polyMesh& mesh = this->dimensionedInternalField().mesh()();
+    const Time& t = mesh.time();
+    const pointPatch& ptPatch = this->patch();
+
+    // Patch force data is valid for the current positions, so
+    // calculate the forces on the motion object from this data, then
+    // update the positions
+
+    motion_.updatePosition(t.deltaTValue());
+
+    dictionary forcesDict;
+
+    forcesDict.add("patches", wordList(1, ptPatch.name()));
+    forcesDict.add("rhoInf", rhoInf_);
+    forcesDict.add("CofR", motion_.centreOfMass());
+
+    forces f("forces", db(), forcesDict);
+
+    forces::forcesMoments fm = f.calcForcesMoment();
+
+    // Get the forces on the patch faces at the current positions
+
+    vector gravity = vector::zero;
+
+    if (db().foundObject<uniformDimensionedVectorField>("g"))
+    {
+        uniformDimensionedVectorField g =
+            db().lookupObject<uniformDimensionedVectorField>("g");
+
+        gravity = g.value();
+    }
+
+    vector rotationAxis(0, 1, 0);
+
+    vector torque
+    (
+        (
+            (fm.second().first() + fm.second().second())
+          & rotationAxis
+        )
+       *rotationAxis
+    );
+
+    motion_.updateForce
+    (
+        vector::zero,  // Force no centre of mass motion
+        torque,        // Only rotation allowed around the unit rotationAxis
+        t.deltaTValue()
+    );
+
+    Field<vector>::operator=(motion_.currentPosition(p0_) - p0_);
+
+    fixedValuePointPatchField<vector>::updateCoeffs();
+}
+
+
+void constrainedSixDoFRigidBodyDisplacementPointPatchVectorField::write
+(
+    Ostream& os
+) const
+{
+    pointPatchField<vector>::write(os);
+    motion_.write(os);
+    os.writeKeyword("rhoInf")
+        << rhoInf_ << token::END_STATEMENT << nl;
+    p0_.writeEntry("p0", os);
+    writeEntry("value", os);
+}
+
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+makePointPatchTypeField
+(
+    pointPatchVectorField,
+    constrainedSixDoFRigidBodyDisplacementPointPatchVectorField
+);
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+} // End namespace Foam
+
+// ************************************************************************* //

src/postProcessing/functionObjects/forces/pointPatchFields/derived/constrainedSixDoFRigidBodyDisplacement/constrainedSixDoFRigidBodyDisplacementPointPatchVectorField.H

@@ -0,0 +1,157 @@
+/*---------------------------------------------------------------------------*\
+  =========                 |
+  \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
+   \\    /   O peration     |
+    \\  /    A nd           | Copyright (C) 1991-2009 OpenCFD Ltd.
+     \\/     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 2 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, write to the Free Software Foundation,
+    Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+
+Class
+    Foam::constrainedSixDoFRigidBodyDisplacementPointPatchVectorField
+
+Description
+    Foam::constrainedSixDoFRigidBodyDisplacementPointPatchVectorField
+
+SourceFiles
+    constrainedSixDoFRigidBodyDisplacementPointPatchVectorField.C
+
+\*---------------------------------------------------------------------------*/
+
+#ifndef constrainedSixDoFRigidBodyDisplacementPointPatchVectorField_H
+#define constrainedSixDoFRigidBodyDisplacementPointPatchVectorField_H
+
+#include "fixedValuePointPatchField.H"
+#include "sixDoFRigidBodyMotion.H"
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+namespace Foam
+{
+
+/*---------------------------------------------------------------------------*\
+ Class constrainedSixDoFRigidBodyDisplacementPointPatchVectorField Declaration
+\*---------------------------------------------------------------------------*/
+
+class constrainedSixDoFRigidBodyDisplacementPointPatchVectorField
+:
+    public fixedValuePointPatchField<vector>
+{
+    // Private data
+
+        //- Six dof motion object
+        sixDoFRigidBodyMotion motion_;
+
+        //- Reference positions of points on the patch
+        pointField p0_;
+
+        //- Reference density required by the forces object for
+        //  incompressible calculations
+        scalar rhoInf_;
+
+
+public:
+
+    //- Runtime type information
+    TypeName("constrainedSixDoFRigidBodyDisplacement");
+
+
+    // Constructors
+
+        //- Construct from patch and internal field
+        constrainedSixDoFRigidBodyDisplacementPointPatchVectorField
+        (
+            const pointPatch&,
+            const DimensionedField<vector, pointMesh>&
+        );
+
+        //- Construct from patch, internal field and dictionary
+        constrainedSixDoFRigidBodyDisplacementPointPatchVectorField
+        (
+            const pointPatch&,
+            const DimensionedField<vector, pointMesh>&,
+            const dictionary&
+        );
+
+        //- Construct by mapping given patchField<vector> onto a new patch
+        constrainedSixDoFRigidBodyDisplacementPointPatchVectorField
+        (
+            const constrainedSixDoFRigidBodyDisplacementPointPatchVectorField&,
+            const pointPatch&,
+            const DimensionedField<vector, pointMesh>&,
+            const pointPatchFieldMapper&
+        );
+
+        //- Construct and return a clone
+        virtual autoPtr<pointPatchField<vector> > clone() const
+        {
+            return autoPtr<pointPatchField<vector> >
+            (
+                new constrainedSixDoFRigidBodyDisplacementPointPatchVectorField
+                (
+                    *this
+                )
+            );
+        }
+
+        //- Construct as copy setting internal field reference
+        constrainedSixDoFRigidBodyDisplacementPointPatchVectorField
+        (
+            const constrainedSixDoFRigidBodyDisplacementPointPatchVectorField&,
+            const DimensionedField<vector, pointMesh>&
+        );
+
+        //- Construct and return a clone setting internal field reference
+        virtual autoPtr<pointPatchField<vector> > clone
+        (
+            const DimensionedField<vector, pointMesh>& iF
+        ) const
+        {
+            return autoPtr<pointPatchField<vector> >
+            (
+                new constrainedSixDoFRigidBodyDisplacementPointPatchVectorField
+                (
+                    *this,
+                    iF
+                )
+            );
+        }
+
+
+    // Member functions
+
+        // Evaluation functions
+
+            //- Update the coefficients associated with the patch field
+            virtual void updateCoeffs();
+
+
+        //- Write
+        virtual void write(Ostream&) const;
+};
+
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+} // End namespace Foam
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+#endif
+
+// ************************************************************************* //

src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyDisplacement/sixDoFRigidBodyDisplacementPointPatchVectorField.C

@@ -160,7 +160,27 @@ void sixDoFRigidBodyDisplacementPointPatchVectorField::updateCoeffs()
         t.deltaTValue()
     );
 
-    Field<vector>::operator=(motion_.generatePositions(p0_) - p0_);
+    // ----------------------------------------
+    // vector rotationAxis(0, 1, 0);
+
+    // vector torque
+    // (
+    //     (
+    //         (fm.second().first() + fm.second().second())
+    //       & rotationAxis
+    //     )
+    //    *rotationAxis
+    // );
+
+    // motion_.updateForce
+    // (
+    //     vector::zero,  // Force no centre of mass motion
+    //     torque,        // Only rotation allowed around the unit rotationAxis
+    //     t.deltaTValue()
+    // );
+    // ----------------------------------------
+
+    Field<vector>::operator=(motion_.currentPosition(p0_) - p0_);
 
     fixedValuePointPatchField<vector>::updateCoeffs();
 }

src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyDisplacement/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion.C

@@ -1,210 +0,0 @@
-/*---------------------------------------------------------------------------*\
-  =========                 |
-  \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
-   \\    /   O peration     |
-    \\  /    A nd           | Copyright (C) 2009-2009 OpenCFD Ltd.
-     \\/     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 2 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, write to the Free Software Foundation,
-    Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
-
-\*---------------------------------------------------------------------------*/
-
-#include "sixDoFRigidBodyMotion.H"
-
-// * * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * //
-
-Foam::sixDoFRigidBodyMotion::sixDoFRigidBodyMotion()
-:
-    motionState_(),
-    refCentreOfMass_(vector::zero),
-    momentOfInertia_(diagTensor::one*VSMALL),
-    mass_(VSMALL)
-{}
-
-
-Foam::sixDoFRigidBodyMotion::sixDoFRigidBodyMotion
-(
-    const point& centreOfMass,
-    const tensor& Q,
-    const vector& v,
-    const vector& a,
-    const vector& pi,
-    const vector& tau,
-    scalar mass,
-    const point& refCentreOfMass,
-    const diagTensor& momentOfInertia
-)
-:
-    motionState_
-    (
-        centreOfMass,
-        Q,
-        v,
-        a,
-        pi,
-        tau
-    ),
-    refCentreOfMass_(refCentreOfMass),
-    momentOfInertia_(momentOfInertia),
-    mass_(mass)
-{}
-
-
-Foam::sixDoFRigidBodyMotion::sixDoFRigidBodyMotion(const dictionary& dict)
-:
-    motionState_(dict),
-    refCentreOfMass_(dict.lookupOrDefault("refCentreOfMass", centreOfMass())),
-    momentOfInertia_(dict.lookup("momentOfInertia")),
-    mass_(readScalar(dict.lookup("mass")))
-{}
-
-
-Foam::sixDoFRigidBodyMotion::sixDoFRigidBodyMotion
-(
-    const sixDoFRigidBodyMotion& sDoFRBM
-)
-:
-    motionState_(sDoFRBM.motionState()),
-    refCentreOfMass_(sDoFRBM.refCentreOfMass()),
-    momentOfInertia_(sDoFRBM.momentOfInertia()),
-    mass_(sDoFRBM.mass())
-{}
-
-
-// * * * * * * * * * * * * * * * * Destructor  * * * * * * * * * * * * * * * //
-
-Foam::sixDoFRigidBodyMotion::~sixDoFRigidBodyMotion()
-{}
-
-
-// * * * * * * * * * * * * * * Member Functions  * * * * * * * * * * * * * * //
-
-void Foam::sixDoFRigidBodyMotion::updatePosition
-(
-    scalar deltaT
-)
-{
-    // First leapfrog velocity adjust and motion part, required before
-    // force calculation
-
-    if (Pstream::master())
-    {
-        v() += 0.5*deltaT*a();
-
-        pi() += 0.5*deltaT*tau();
-
-        // Leapfrog move part
-        centreOfMass() += deltaT*v();
-
-        // Leapfrog orientation adjustment
-
-        tensor R;
-
-        R = rotationTensorX(0.5*deltaT*pi().x()/momentOfInertia_.xx());
-        pi() = pi() & R;
-        Q() = Q() & R;
-
-        R = rotationTensorY(0.5*deltaT*pi().y()/momentOfInertia_.yy());
-        pi() = pi() & R;
-        Q() = Q() & R;
-
-        R = rotationTensorZ(deltaT*pi().z()/momentOfInertia_.zz());
-        pi() = pi() & R;
-        Q() = Q() & R;
-
-        R = rotationTensorY(0.5*deltaT*pi().y()/momentOfInertia_.yy());
-        pi() = pi() & R;
-        Q() = Q() & R;
-
-        R = rotationTensorX(0.5*deltaT*pi().x()/momentOfInertia_.xx());
-        pi() = pi() & R;
-        Q() = Q() & R;
-
-    }
-
-    Pstream::scatter(motionState_);
-}
-
-
-void Foam::sixDoFRigidBodyMotion::updateForce
-(
-    const vector& fGlobal,
-    const vector& tauGlobal,
-    scalar deltaT
-)
-{
-    // Second leapfrog velocity adjust part, required after motion and
-    // force calculation part
-
-    if (Pstream::master())
-    {
-        a() = fGlobal/mass_;
-
-        tau() = (Q().T() & tauGlobal);
-
-        v() += 0.5*deltaT*a();
-
-        pi() += 0.5*deltaT*tau();
-    }
-
-    Pstream::scatter(motionState_);
-}
-
-
-void Foam::sixDoFRigidBodyMotion::updateForce
-(
-    const pointField& positions,
-    const vectorField& forces,
-    scalar deltaT
-)
-{
-    // Second leapfrog velocity adjust part, required after motion and
-    // force calculation part
-
-    if (Pstream::master())
-    {
-        a() = vector::zero;
-
-        tau() = vector::zero;
-
-        forAll(positions, i)
-        {
-            const vector& f = forces[i];
-
-            a() += f/mass_;
-
-            tau() += (positions[i] ^ (Q().T() & f));
-        }
-
-        v() += 0.5*deltaT*a();
-
-        pi() += 0.5*deltaT*tau();
-    }
-
-    Pstream::scatter(motionState_);
-}
-
-
-Foam::tmp<Foam::pointField>
-Foam::sixDoFRigidBodyMotion::generatePositions(const pointField& pts) const
-{
-    return (centreOfMass() + (Q() & (pts - refCentreOfMass_)));
-}
-
-
-// ************************************************************************* //

src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion.C

@@ -0,0 +1,447 @@
+/*---------------------------------------------------------------------------*\
+  =========                 |
+  \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
+   \\    /   O peration     |
+    \\  /    A nd           | Copyright (C) 2009-2009 OpenCFD Ltd.
+     \\/     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 2 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, write to the Free Software Foundation,
+    Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+
+\*---------------------------------------------------------------------------*/
+
+#include "sixDoFRigidBodyMotion.H"
+
+// * * * * * * * * * * * * * Private Member Functions  * * * * * * * * * * * //
+
+void Foam::sixDoFRigidBodyMotion::applyRestraints()
+{
+    if (Pstream::master())
+    {
+        forAll(restraints_, rI)
+        {
+            // restraint position
+            point rP = vector::zero;
+
+            // restraint force
+            vector rF = vector::zero;
+
+            // restraint moment
+            vector rM = vector::zero;
+
+            restraints_[rI].restrain(*this, rP, rF, rM);
+
+            if (report_)
+            {
+                Info<< "Restraint " << restraints_[rI].name() << ": "
+                    << "force " << rF << " moment " << rM
+                    << endl;
+            }
+
+            a() += rF/mass_;
+
+            // Moments are returned in global axes, transforming to
+            // body local to add to torque.
+            tau() += Q().T() & (rM + ((rP - centreOfMass()) ^ rF));
+        }
+    }
+}
+
+
+void Foam::sixDoFRigidBodyMotion::applyConstraints(scalar deltaT)
+{
+    if (Pstream::master())
+    {
+        label iter = 0;
+
+        bool allConverged = true;
+
+        // constraint force accumulator
+        vector cFA = vector::zero;
+
+        // constraint moment accumulator
+        vector cMA = vector::zero;
+
+        do
+        {
+            allConverged = true;
+
+            forAll(constraints_, cI)
+            {
+                // Info<< nl << "Constraint " << cI << endl;
+
+                // constraint position
+                point cP = vector::zero;
+
+                // constraint force
+                vector cF = vector::zero;
+
+                // constraint moment
+                vector cM = vector::zero;
+
+                bool constraintConverged = constraints_[cI].constrain
+                (
+                    *this,
+                    cFA,
+                    cMA,
+                    deltaT,
+                    cP,
+                    cF,
+                    cM
+                );
+
+                allConverged = allConverged && constraintConverged;
+
+                // Accumulate constraint force
+                cFA += cF;
+
+                // Accumulate constraint moment
+                cMA += cM + ((cP - centreOfMass()) ^ cF);
+            }
+
+        } while(!allConverged && ++iter < maxConstraintIters_);
+
+        if (iter >= maxConstraintIters_)
+        {
+            FatalErrorIn
+            (
+                "Foam::sixDoFRigidBodyMotion::applyConstraints"
+                "(scalar deltaT)"
+            )
+                << nl << "Maximum number of sixDoFRigidBodyMotion constraint "
+                << "iterations (" << maxConstraintIters_ << ") exceeded." << nl
+                << exit(FatalError);
+        }
+        else if (report_)
+        {
+            Info<< "sixDoFRigidBodyMotion constraints converged in "
+                << iter << " iterations"
+                << nl << "Constraint force: " << cFA << nl
+                << "Constraint moment: " << cMA
+                << endl;
+        }
+
+        // Add the constraint forces and moments to the motion state variables
+        a() += cFA/mass_;
+
+        // The moment of constraint forces has already been added
+        // during accumulation.  Moments are returned in global axes,
+        // transforming to body local
+        tau() += Q().T() & cMA;
+    }
+}
+
+
+// * * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * //
+
+Foam::sixDoFRigidBodyMotion::sixDoFRigidBodyMotion()
+:
+    motionState_(),
+    restraints_(),
+    constraints_(),
+    maxConstraintIters_(0),
+    refCentreOfMass_(vector::zero),
+    momentOfInertia_(diagTensor::one*VSMALL),
+    mass_(VSMALL),
+    report_(false)
+{}
+
+
+Foam::sixDoFRigidBodyMotion::sixDoFRigidBodyMotion
+(
+    const point& centreOfMass,
+    const tensor& Q,
+    const vector& v,
+    const vector& a,
+    const vector& pi,
+    const vector& tau,
+    scalar mass,
+    const point& refCentreOfMass,
+    const diagTensor& momentOfInertia,
+    bool report
+)
+:
+    motionState_
+    (
+        centreOfMass,
+        Q,
+        v,
+        a,
+        pi,
+        tau
+    ),
+    restraints_(),
+    constraints_(),
+    maxConstraintIters_(0),
+    refCentreOfMass_(refCentreOfMass),
+    momentOfInertia_(momentOfInertia),
+    mass_(mass),
+    report_(report)
+{}
+
+
+Foam::sixDoFRigidBodyMotion::sixDoFRigidBodyMotion(const dictionary& dict)
+:
+    motionState_(dict),
+    restraints_(),
+    constraints_(),
+    maxConstraintIters_(0),
+    refCentreOfMass_(dict.lookupOrDefault("refCentreOfMass", centreOfMass())),
+    momentOfInertia_(dict.lookup("momentOfInertia")),
+    mass_(readScalar(dict.lookup("mass"))),
+    report_(dict.lookupOrDefault<Switch>("report", false))
+{
+    addRestraints(dict);
+
+    addConstraints(dict);
+}
+
+
+Foam::sixDoFRigidBodyMotion::sixDoFRigidBodyMotion
+(
+    const sixDoFRigidBodyMotion& sDoFRBM
+)
+:
+    motionState_(sDoFRBM.motionState()),
+    restraints_(sDoFRBM.restraints()),
+    constraints_(sDoFRBM.constraints()),
+    maxConstraintIters_(sDoFRBM.maxConstraintIters()),
+    refCentreOfMass_(sDoFRBM.refCentreOfMass()),
+    momentOfInertia_(sDoFRBM.momentOfInertia()),
+    mass_(sDoFRBM.mass()),
+    report_(sDoFRBM.report())
+{}
+
+
+// * * * * * * * * * * * * * * * * Destructor  * * * * * * * * * * * * * * * //
+
+Foam::sixDoFRigidBodyMotion::~sixDoFRigidBodyMotion()
+{}
+
+
+// * * * * * * * * * * * * * * Member Functions  * * * * * * * * * * * * * * //
+
+void Foam::sixDoFRigidBodyMotion::addRestraints
+(
+    const dictionary& dict
+)
+{
+    if (dict.found("restraints"))
+    {
+        const dictionary& restraintDict = dict.subDict("restraints");
+
+        label i = 0;
+
+        restraints_.setSize(restraintDict.size());
+
+        forAllConstIter(IDLList<entry>, restraintDict, iter)
+        {
+            if (iter().isDict())
+            {
+                Info<< "Adding restraint: " << iter().keyword() << endl;
+
+                restraints_.set
+                (
+                    i,
+                    sixDoFRigidBodyMotionRestraint::New(iter().dict())
+                );
+            }
+
+            i++;
+        }
+
+        restraints_.setSize(i);
+    }
+}
+
+
+void Foam::sixDoFRigidBodyMotion::addConstraints
+(
+    const dictionary& dict
+)
+{
+    if (dict.found("constraints"))
+    {
+        const dictionary& constraintDict = dict.subDict("constraints");
+
+        label i = 0;
+
+        constraints_.setSize(constraintDict.size());
+
+        forAllConstIter(IDLList<entry>, constraintDict, iter)
+        {
+            if (iter().isDict())
+            {
+                Info<< "Adding constraint: " << iter().keyword() << endl;
+
+                constraints_.set
+                (
+                    i++,
+                    sixDoFRigidBodyMotionConstraint::New(iter().dict())
+                );
+            }
+        }
+
+        constraints_.setSize(i);
+
+        if (constraints_.size())
+        {
+            maxConstraintIters_ = readLabel
+            (
+                constraintDict.lookup("maxIterations")
+            );
+        }
+    }
+}
+
+
+void Foam::sixDoFRigidBodyMotion::updatePosition
+(
+    scalar deltaT
+)
+{
+    // First leapfrog velocity adjust and motion part, required before
+    // force calculation
+
+    if (Pstream::master())
+    {
+        v() += 0.5*deltaT*a();
+
+        pi() += 0.5*deltaT*tau();
+
+        // Leapfrog move part
+        centreOfMass() += deltaT*v();
+
+        // Leapfrog orientation adjustment
+
+        rotate(Q(), pi(), deltaT);
+    }
+
+    Pstream::scatter(motionState_);
+}
+
+
+void Foam::sixDoFRigidBodyMotion::updateForce
+(
+    const vector& fGlobal,
+    const vector& tauGlobal,
+    scalar deltaT
+)
+{
+    // Second leapfrog velocity adjust part, required after motion and
+    // force calculation
+
+    if (Pstream::master())
+    {
+        a() = fGlobal/mass_;
+
+        tau() = (Q().T() & tauGlobal);
+
+        applyRestraints();
+
+        applyConstraints(deltaT);
+
+        v() += 0.5*deltaT*a();
+
+        pi() += 0.5*deltaT*tau();
+
+        if(report_)
+        {
+            status();
+        }
+    }
+
+    Pstream::scatter(motionState_);
+}
+
+
+void Foam::sixDoFRigidBodyMotion::updateForce
+(
+    const pointField& positions,
+    const vectorField& forces,
+    scalar deltaT
+)
+{
+    vector a = vector::zero;
+
+    vector tau = vector::zero;
+
+    if (Pstream::master())
+    {
+        forAll(positions, i)
+        {
+            const vector& f = forces[i];
+
+            a += f/mass_;
+
+            tau += Q().T() & ((positions[i] - centreOfMass()) ^ f);
+        }
+    }
+
+    updateForce(a, tau, deltaT);
+}
+
+
+Foam::point Foam::sixDoFRigidBodyMotion::predictedPosition
+(
+    const point& pt,
+    const vector& deltaForce,
+    const vector& deltaMoment,
+    scalar deltaT
+) const
+{
+    vector vTemp = v() + deltaT*(a() + deltaForce/mass_);
+
+    vector piTemp = pi() + deltaT*(tau() + (Q().T() & deltaMoment));
+
+    point centreOfMassTemp = centreOfMass() + deltaT*vTemp;
+
+    tensor QTemp = Q();
+
+    rotate(QTemp, piTemp, deltaT);
+
+    return (centreOfMassTemp + (QTemp & (pt - refCentreOfMass_)));
+}
+
+
+Foam::vector Foam::sixDoFRigidBodyMotion::predictedOrientation
+(
+    const vector& v,
+    const vector& deltaMoment,
+    scalar deltaT
+) const
+{
+    vector piTemp = pi() + deltaT*(tau() + (Q().T() & deltaMoment));
+
+    tensor QTemp = Q();
+
+    rotate(QTemp, piTemp, deltaT);
+
+    return (QTemp & v);
+}
+
+
+void Foam::sixDoFRigidBodyMotion::status() const
+{
+    Info<< "Centre of mass: " << centreOfMass() << nl
+        << "Linear velocity: " << v() << nl
+        << "Angular velocity: " << omega()
+        << endl;
+}
+
+
+// ************************************************************************* //

src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion.H

@@ -26,10 +26,10 @@ Class
     Foam::sixDoFRigidBodyMotion
 
 Description
-    Six degree of freedom motion for a rigid body.  Angular momentum stored in
+    Six degree of freedom motion for a rigid body.  Angular momentum
-    body fixed reference frame.  Reference orientation of the body must align
+    stored in body fixed reference frame.  Reference orientation of
-    with the cartesian axes such that the Inertia tensor is in principle
+    the body (where Q = I) must align with the cartesian axes such
-    component form.
+    that the Inertia tensor is in principle component form.
 
     Symplectic motion as per:
 
@@ -43,6 +43,9 @@ Description
     url = {http://link.aip.org/link/?JCP/107/5840/1},
     doi = {10.1063/1.474310}
 
+    Can add restraints (i.e. a spring) and constraints (i.e. motion
+    may only be on a plane).
+
 SourceFiles
     sixDoFRigidBodyMotionI.H
     sixDoFRigidBodyMotion.C
@@ -55,6 +58,9 @@ SourceFiles
 
 #include "sixDoFRigidBodyMotionState.H"
 #include "pointField.H"
+#include "sixDoFRigidBodyMotionRestraint.H"
+#include "sixDoFRigidBodyMotionConstraint.H"
+
 
 // * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
 
@@ -79,9 +85,19 @@ class sixDoFRigidBodyMotion
 {
     // Private data
 
-        // state data object
+        //- Motion state data object
         sixDoFRigidBodyMotionState motionState_;
 
+        //- Restraints on the motion
+        PtrList<sixDoFRigidBodyMotionRestraint> restraints_;
+
+        //- Constaints on the motion
+        PtrList<sixDoFRigidBodyMotionConstraint> constraints_;
+
+        //- Maximum number of iterations allowed to attempt to obey
+        //  constraints
+        label maxConstraintIters_;
+
         //- Centre of mass of reference state
         point refCentreOfMass_;
 
@@ -91,6 +107,9 @@ class sixDoFRigidBodyMotion
         //- Mass of the body
         scalar mass_;
 
+        //- Switch to turn reporting of motion data on and off
+        Switch report_;
+
 
     // Private Member Functions
 
@@ -106,6 +125,74 @@ class sixDoFRigidBodyMotion
         //  frame z-axis by the given angle
         inline tensor rotationTensorZ(scalar deltaT) const;
 
+        //- Apply rotation tensors to Q for the given torque (pi) and deltaT
+        inline void rotate(tensor& Q, vector& pi, scalar deltaT) const;
+
+        //- Apply the restraints to the object
+        void applyRestraints();
+
+        //- Apply the constraints to the object
+        void applyConstraints(scalar deltaT);
+
+        // Access functions retained as private because of the risk of
+        // confusion over what is a body local frame vector and what is global
+
+        // Access
+
+            //- Return access to the motion state
+            inline const sixDoFRigidBodyMotionState& motionState() const;
+
+            //- Return access to the restraints
+            inline const PtrList<sixDoFRigidBodyMotionRestraint>&
+                restraints() const;
+
+            //- Return access to the constraints
+            inline const PtrList<sixDoFRigidBodyMotionConstraint>&
+                constraints() const;
+
+            //- Return access to the maximum allowed number of
+            //  constraint iterations
+            inline label maxConstraintIters() const;
+
+            //- Return access to the centre of mass
+            inline const point& refCentreOfMass() const;
+
+            //- Return access to the orientation
+            inline const tensor& Q() const;
+
+            //- Return access to velocity
+            inline const vector& v() const;
+
+            //- Return access to acceleration
+            inline const vector& a() const;
+
+            //- Return access to angular momentum
+            inline const vector& pi() const;
+
+            //- Return access to torque
+            inline const vector& tau() const;
+
+
+        // Edit
+
+            //- Return access to the centre of mass
+            inline point& refCentreOfMass();
+
+            //- Return non-const access to the orientation
+            inline tensor& Q();
+
+            //- Return non-const access to vector
+            inline vector& v();
+
+            //- Return non-const access to acceleration
+            inline vector& a();
+
+            //- Return non-const access to angular momentum
+            inline vector& pi();
+
+            //- Return non-const access to torque
+            inline vector& tau();
+
 
 public:
 
@@ -125,7 +212,8 @@ public:
             const vector& tau,
             scalar mass,
             const point& refCentreOfMass,
-            const diagTensor& momentOfInertia
+            const diagTensor& momentOfInertia,
+            bool report = false
         );
 
         //- Construct from dictionary
@@ -141,11 +229,23 @@ public:
 
     // Member Functions
 
+        //- Add restraints to the motion, public to allow external
+        //  addition of restraints after construction
+        void addRestraints(const dictionary& dict);
+
+        //- Add restraints to the motion, public to allow external
+        //  addition of restraints after construction
+        void addConstraints(const dictionary& dict);
+
+        //- First leapfrog velocity adjust and motion part, required
+        // before force calculation
         void updatePosition
         (
             scalar deltaT
         );
 
+        //- Second leapfrog velocity adjust part, required after motion and
+        // force calculation
         void updateForce
         (
             const vector& fGlobal,
@@ -153,6 +253,8 @@ public:
             scalar deltaT
         );
 
+        //- Global forces supplied at locations, calculating net force
+        //  and moment
         void updateForce
         (
             const pointField& positions,
@@ -160,39 +262,68 @@ public:
             scalar deltaT
         );
 
-        tmp<pointField> generatePositions(const pointField& pts) const;
+        //- Transform the given reference state pointField by the
+        //  current motion state
+        inline tmp<pointField> currentPosition(const pointField& refPts) const;
+
+        //- Transform the given reference state point by the current
+        //  motion state
+        inline point currentPosition(const point& refPt) const;
+
+        //- Transform the given reference state direction by the current
+        //  motion state
+        inline vector currentOrientation(const vector& refDir) const;
+
+        //- Access the orientation tensor, Q.
+        //  globalVector = Q & bodyLocalVector
+        //  bodyLocalVector = Q.T() & globalVector
+        inline const tensor& currentOrientation() const;
+
+        //- Predict the position of the supplied point after deltaT
+        //  given the current motion state and the additional supplied
+        //  force and moment
+        point predictedPosition
+        (
+            const point& pt,
+            const vector& deltaForce,
+            const vector& deltaMoment,
+            scalar deltaT
+        ) const;
+
+        //- Predict the orientation of the supplied vector after deltaT
+        //  given the current motion state and the additional supplied
+        //  moment
+        vector predictedOrientation
+        (
+            const vector& v,
+            const vector& deltaMoment,
+            scalar deltaT
+        ) const;
+
+        //- Return the angular velocity in the global frame
+        inline vector omega() const;
+
+        //- Return the velocity of a position given by the current
+        //  motion state
+        inline point currentVelocity(const point& pt) const;
+
+        //- Report the status of the motion
+        void status() const;
+
 
         // Access
 
-            //- Return access to the motion state
+            //- Return const access to the centre of mass
-            inline const sixDoFRigidBodyMotionState& motionState() const;
-
-            //- Return access to the centre of mass
             inline const point& centreOfMass() const;
 
-            //- Return access to the centre of mass
-            inline const point& refCentreOfMass() const;
-
             //- Return access to the inertia tensor
             inline const diagTensor& momentOfInertia() const;
 
-            //- Return access to the mass
+            //- Return const access to the mass
             inline scalar mass() const;
 
-            //- Return access to the orientation
+            //- Return the report Switch
-            inline const tensor& Q() const;
+            inline bool report() const;
-
-            //- Return access to velocity
-            inline const vector& v() const;
-
-            //- Return access to acceleration
-            inline const vector& a() const;
-
-            //- Return access to angular momentum
-            inline const vector& pi() const;
-
-            //- Return access to torque
-            inline const vector& tau() const;
 
 
         // Edit
@@ -200,30 +331,12 @@ public:
             //- Return non-const access to the centre of mass
             inline point& centreOfMass();
 
-            //- Return access to the centre of mass
-            inline point& refCentreOfMass();
-
             //- Return non-const access to the inertia tensor
             inline diagTensor& momentOfInertia();
 
             //- Return non-const access to the mass
             inline scalar& mass();
 
-            //- Return non-const access to the orientation
-            inline tensor& Q();
-
-            //- Return non-const access to vector
-            inline vector& v();
-
-            //- Return non-const access to acceleration
-            inline vector& a();
-
-            //- Return non-const access to angular momentum
-            inline vector& pi();
-
-            //- Return non-const access to torque
-            inline vector& tau();
-
 
         //- Write
         void write(Ostream&) const;

src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedAxis/fixedAxis.C

@@ -0,0 +1,157 @@
+/*---------------------------------------------------------------------------*\
+  =========                 |
+  \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
+   \\    /   O peration     |
+    \\  /    A nd           | Copyright (C) 1991-2009 OpenCFD Ltd.
+     \\/     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 2 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, write to the Free Software Foundation,
+    Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+
+\*---------------------------------------------------------------------------*/
+
+#include "fixedAxis.H"
+#include "addToRunTimeSelectionTable.H"
+#include "sixDoFRigidBodyMotion.H"
+
+// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
+
+namespace Foam
+{
+namespace sixDoFRigidBodyMotionConstraints
+{
+    defineTypeNameAndDebug(fixedAxis, 0);
+    addToRunTimeSelectionTable
+    (
+        sixDoFRigidBodyMotionConstraint,
+        fixedAxis,
+        dictionary
+    );
+};
+};
+
+
+// * * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * //
+
+Foam::sixDoFRigidBodyMotionConstraints::fixedAxis::fixedAxis
+(
+    const dictionary& sDoFRBMCDict
+)
+:
+    sixDoFRigidBodyMotionConstraint(sDoFRBMCDict),
+    fixedAxis_()
+{
+    read(sDoFRBMCDict);
+}
+
+
+// * * * * * * * * * * * * * * * * Destructors * * * * * * * * * * * * * * * //
+
+Foam::sixDoFRigidBodyMotionConstraints::fixedAxis::~fixedAxis()
+{}
+
+
+// * * * * * * * * * * * * * * Member Functions  * * * * * * * * * * * * * * //
+
+bool Foam::sixDoFRigidBodyMotionConstraints::fixedAxis::constrain
+(
+    const sixDoFRigidBodyMotion& motion,
+    const vector& existingConstraintForce,
+    const vector& existingConstraintMoment,
+    scalar deltaT,
+    vector& constraintPosition,
+    vector& constraintForceIncrement,
+    vector& constraintMomentIncrement
+) const
+{
+    constraintMomentIncrement = vector::zero;
+
+    vector predictedDir = motion.predictedOrientation
+    (
+        fixedAxis_,
+        existingConstraintMoment,
+        deltaT
+    );
+
+    scalar theta = acos(predictedDir & fixedAxis_);
+
+    vector rotationAxis = fixedAxis_ ^ predictedDir;
+
+    scalar magRotationAxis = mag(rotationAxis);
+
+    if (magRotationAxis > VSMALL)
+    {
+        rotationAxis /= magRotationAxis;
+
+        const tensor& Q = motion.currentOrientation();
+
+        // Transform rotationAxis to body local system
+        rotationAxis = Q.T() & rotationAxis;
+
+        constraintMomentIncrement =
+           -relaxationFactor_
+           *(motion.momentOfInertia() & rotationAxis)
+           *theta/sqr(deltaT);
+
+        // Transform moment increment to global system
+        constraintMomentIncrement = Q & constraintMomentIncrement;
+
+        // Remove any moment that is around the fixedAxis_
+        constraintMomentIncrement -=
+            (constraintMomentIncrement & fixedAxis_)*fixedAxis_;
+    }
+
+    constraintPosition = motion.centreOfMass();
+
+    constraintForceIncrement = vector::zero;
+
+    return (mag(theta) < tolerance_);
+}
+
+
+bool Foam::sixDoFRigidBodyMotionConstraints::fixedAxis::read
+(
+    const dictionary& sDoFRBMCDict
+)
+{
+    sixDoFRigidBodyMotionConstraint::read(sDoFRBMCDict);
+
+    sDoFRBMCCoeffs_.lookup("axis") >> fixedAxis_;
+
+    scalar magFixedAxis(mag(fixedAxis_));
+
+    if (magFixedAxis > VSMALL)
+    {
+        fixedAxis_ /= magFixedAxis;
+    }
+    else
+    {
+        FatalErrorIn
+        (
+            "Foam::sixDoFRigidBodyMotionConstraints::fixedAxis::read"
+            "("
+                "const dictionary& sDoFRBMCDict"
+            ")"
+        )
+            << "axis has zero length"
+            << abort(FatalError);
+    }
+
+    return true;
+}
+
+// ************************************************************************* //

src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedAxis/fixedAxis.H

@@ -0,0 +1,126 @@
+/*---------------------------------------------------------------------------*\
+  =========                 |
+  \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
+   \\    /   O peration     |
+    \\  /    A nd           | Copyright (C) 1991-2009 OpenCFD Ltd.
+     \\/     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 2 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, write to the Free Software Foundation,
+    Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+
+Class
+    Foam::sixDoFRigidBodyMotionConstraints::fixedAxis
+
+Description
+    sixDoFRigidBodyMotionConstraint.  Axis of body fixed global
+    space.
+
+SourceFiles
+    fixedAxis.C
+
+\*---------------------------------------------------------------------------*/
+
+#ifndef fixedAxis_H
+#define fixedAxis_H
+
+#include "sixDoFRigidBodyMotionConstraint.H"
+#include "point.H"
+#include "tensor.H"
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+namespace Foam
+{
+
+namespace sixDoFRigidBodyMotionConstraints
+{
+
+/*---------------------------------------------------------------------------*\
+                            Class fixedAxis Declaration
+\*---------------------------------------------------------------------------*/
+
+class fixedAxis
+:
+    public sixDoFRigidBodyMotionConstraint
+{
+
+    // Private data
+
+        //- Reference axis in global space
+        vector fixedAxis_;
+
+
+public:
+
+    //- Runtime type information
+    TypeName("fixedAxis");
+
+
+    // Constructors
+
+        //- Construct from components
+        fixedAxis
+        (
+            const dictionary& sDoFRBMCDict
+        );
+
+        //- Construct and return a clone
+        virtual autoPtr<sixDoFRigidBodyMotionConstraint> clone() const
+        {
+            return autoPtr<sixDoFRigidBodyMotionConstraint>
+            (
+                new fixedAxis(*this)
+            );
+        }
+
+
+    // Destructor
+
+        virtual ~fixedAxis();
+
+
+    // Member Functions
+
+        //- Calculate the constraint position, force and moment.
+        //  Global reference frame vectors.  Returns boolean stating
+        //  whether the constraint been converged to tolerance.
+        virtual bool constrain
+        (
+            const sixDoFRigidBodyMotion& motion,
+            const vector& existingConstraintForce,
+            const vector& existingConstraintMoment,
+            scalar deltaT,
+            vector& constraintPosition,
+            vector& constraintForceIncrement,
+            vector& constraintMomentIncrement
+        ) const;
+
+        //- Update properties from given dictionary
+        virtual bool read(const dictionary& sDoFRBMCCoeff);
+};
+
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+} // End namespace solidBodyMotionFunctions
+} // End namespace Foam
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+#endif
+
+// ************************************************************************* //

src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedLine/fixedLine.C

@@ -0,0 +1,145 @@
+/*---------------------------------------------------------------------------*\
+  =========                 |
+  \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
+   \\    /   O peration     |
+    \\  /    A nd           | Copyright (C) 1991-2009 OpenCFD Ltd.
+     \\/     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 2 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, write to the Free Software Foundation,
+    Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+
+\*---------------------------------------------------------------------------*/
+
+#include "fixedLine.H"
+#include "addToRunTimeSelectionTable.H"
+#include "sixDoFRigidBodyMotion.H"
+
+// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
+
+namespace Foam
+{
+namespace sixDoFRigidBodyMotionConstraints
+{
+    defineTypeNameAndDebug(fixedLine, 0);
+    addToRunTimeSelectionTable
+    (
+        sixDoFRigidBodyMotionConstraint,
+        fixedLine,
+        dictionary
+    );
+};
+};
+
+
+// * * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * //
+
+Foam::sixDoFRigidBodyMotionConstraints::fixedLine::fixedLine
+(
+    const dictionary& sDoFRBMCDict
+)
+:
+    sixDoFRigidBodyMotionConstraint(sDoFRBMCDict),
+    refPt_(),
+    dir_()
+{
+    read(sDoFRBMCDict);
+}
+
+
+// * * * * * * * * * * * * * * * * Destructors * * * * * * * * * * * * * * * //
+
+Foam::sixDoFRigidBodyMotionConstraints::fixedLine::~fixedLine()
+{}
+
+
+// * * * * * * * * * * * * * * Member Functions  * * * * * * * * * * * * * * //
+
+bool Foam::sixDoFRigidBodyMotionConstraints::fixedLine::constrain
+(
+    const sixDoFRigidBodyMotion& motion,
+    const vector& existingConstraintForce,
+    const vector& existingConstraintMoment,
+    scalar deltaT,
+    vector& constraintPosition,
+    vector& constraintForceIncrement,
+    vector& constraintMomentIncrement
+) const
+{
+    point predictedPosition = motion.predictedPosition
+    (
+        refPt_,
+        existingConstraintForce,
+        existingConstraintMoment,
+        deltaT
+    );
+
+    constraintPosition = motion.currentPosition(refPt_);
+
+    // Info<< "current position " << constraintPosition << nl
+    //     << "next predictedPosition " << predictedPosition
+    //     << endl;
+
+    // Vector from reference point to predicted point
+    vector rC = predictedPosition - refPt_;
+
+    vector error = rC - ((rC) & dir_)*dir_;
+
+    // Info<< "error " << error << endl;
+
+    constraintForceIncrement =
+        -relaxationFactor_*error*motion.mass()/sqr(deltaT);
+
+    constraintMomentIncrement = vector::zero;
+
+    return (mag(error) < tolerance_);
+}
+
+
+bool Foam::sixDoFRigidBodyMotionConstraints::fixedLine::read
+(
+    const dictionary& sDoFRBMCDict
+)
+{
+    sixDoFRigidBodyMotionConstraint::read(sDoFRBMCDict);
+
+    sDoFRBMCCoeffs_.lookup("refPoint") >> refPt_;
+
+    sDoFRBMCCoeffs_.lookup("direction") >> dir_;
+
+    scalar magDir(mag(dir_));
+
+    if (magDir > VSMALL)
+    {
+        dir_ /= magDir;
+    }
+    else
+    {
+        FatalErrorIn
+        (
+            "Foam::sixDoFRigidBodyMotionConstraints::fixedLine::read"
+            "("
+                "const dictionary& sDoFRBMCDict"
+            ")"
+        )
+            << "line direction has zero length"
+            << abort(FatalError);
+    }
+
+    return true;
+}
+
+// ************************************************************************* //

src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedLine/fixedLine.H

@@ -0,0 +1,127 @@
+/*---------------------------------------------------------------------------*\
+  =========                 |
+  \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
+   \\    /   O peration     |
+    \\  /    A nd           | Copyright (C) 1991-2009 OpenCFD Ltd.
+     \\/     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 2 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, write to the Free Software Foundation,
+    Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+
+Class
+    Foam::sixDoFRigidBodyMotionConstraints::fixedLine
+
+Description
+    sixDoFRigidBodyMotionConstraint.  Reference point may only move
+    along a line.
+
+SourceFiles
+    fixedLine.C
+
+\*---------------------------------------------------------------------------*/
+
+#ifndef fixedLine_H
+#define fixedLine_H
+
+#include "sixDoFRigidBodyMotionConstraint.H"
+#include "point.H"
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+namespace Foam
+{
+
+namespace sixDoFRigidBodyMotionConstraints
+{
+
+/*---------------------------------------------------------------------------*\
+                          Class fixedLine Declaration
+\*---------------------------------------------------------------------------*/
+
+class fixedLine
+:
+    public sixDoFRigidBodyMotionConstraint
+{
+    // Private data
+
+        //- Reference point for the constraining line
+        point refPt_;
+
+        //- Direction of the constraining line
+        vector dir_;
+
+
+public:
+
+    //- Runtime type information
+    TypeName("fixedLine");
+
+
+    // Constructors
+
+        //- Construct from components
+        fixedLine
+        (
+            const dictionary& sDoFRBMCDict
+        );
+
+        //- Construct and return a clone
+        virtual autoPtr<sixDoFRigidBodyMotionConstraint> clone() const
+        {
+            return autoPtr<sixDoFRigidBodyMotionConstraint>
+            (
+                new fixedLine(*this)
+            );
+        }
+
+
+    // Destructor
+
+        virtual ~fixedLine();
+
+
+    // Member Functions
+
+        //- Calculate the constraint position, force and moment.
+        //  Global reference frame vectors.  Returns boolean stating
+        //  whether the constraint been converged to tolerance.
+        virtual bool constrain
+        (
+            const sixDoFRigidBodyMotion& motion,
+            const vector& existingConstraintForce,
+            const vector& existingConstraintMoment,
+            scalar deltaT,
+            vector& constraintPosition,
+            vector& constraintForceIncrement,
+            vector& constraintMomentIncrement
+        ) const;
+
+        //- Update properties from given dictionary
+        virtual bool read(const dictionary& sDoFRBMCCoeff);
+};
+
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+} // End namespace solidBodyMotionFunctions
+} // End namespace Foam
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+#endif
+
+// ************************************************************************* //

src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedOrientation/fixedOrientation.C

@@ -0,0 +1,180 @@
+/*---------------------------------------------------------------------------*\
+  =========                 |
+  \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
+   \\    /   O peration     |
+    \\  /    A nd           | Copyright (C) 1991-2009 OpenCFD Ltd.
+     \\/     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 2 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, write to the Free Software Foundation,
+    Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+
+\*---------------------------------------------------------------------------*/
+
+#include "fixedOrientation.H"
+#include "addToRunTimeSelectionTable.H"
+#include "sixDoFRigidBodyMotion.H"
+
+// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
+
+namespace Foam
+{
+namespace sixDoFRigidBodyMotionConstraints
+{
+    defineTypeNameAndDebug(fixedOrientation, 0);
+    addToRunTimeSelectionTable
+    (
+        sixDoFRigidBodyMotionConstraint,
+        fixedOrientation,
+        dictionary
+    );
+};
+};
+
+
+// * * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * //
+
+Foam::sixDoFRigidBodyMotionConstraints::fixedOrientation::fixedOrientation
+(
+    const dictionary& sDoFRBMCDict
+)
+:
+    sixDoFRigidBodyMotionConstraint(sDoFRBMCDict),
+    fixedOrientation_()
+{
+    read(sDoFRBMCDict);
+}
+
+
+// * * * * * * * * * * * * * * * * Destructors * * * * * * * * * * * * * * * //
+
+Foam::sixDoFRigidBodyMotionConstraints::fixedOrientation::~fixedOrientation()
+{}
+
+
+// * * * * * * * * * * * * * * Member Functions  * * * * * * * * * * * * * * //
+
+bool Foam::sixDoFRigidBodyMotionConstraints::fixedOrientation::constrain
+(
+    const sixDoFRigidBodyMotion& motion,
+    const vector& existingConstraintForce,
+    const vector& existingConstraintMoment,
+    scalar deltaT,
+    vector& constraintPosition,
+    vector& constraintForceIncrement,
+    vector& constraintMomentIncrement
+) const
+{
+    constraintMomentIncrement = vector::zero;
+
+    scalar maxTheta = -SMALL;
+
+    for (direction cmpt=0; cmpt<vector::nComponents; cmpt++)
+    {
+        vector axis = vector::zero;
+
+        axis[cmpt] = 1;
+
+        vector refDir = vector::zero;
+
+        refDir[(cmpt + 1) % 3] = 1;
+
+        vector predictedDir = motion.predictedOrientation
+        (
+            refDir,
+            existingConstraintMoment,
+            deltaT
+        );
+
+        axis = (fixedOrientation_ & axis);
+
+        refDir = (fixedOrientation_ & refDir);
+
+        // Removing any axis component from predictedDir
+        predictedDir -= (axis & predictedDir)*axis;
+
+        scalar theta = GREAT;
+
+        scalar magPredictedDir = mag(predictedDir);
+
+        if (magPredictedDir > VSMALL)
+        {
+            predictedDir /= magPredictedDir;
+
+            theta = acos(predictedDir & refDir);
+
+            // Recalculating axis to give correct sign to angle
+            axis = (refDir ^ predictedDir);
+
+            scalar magAxis = mag(axis);
+
+            if (magAxis > VSMALL)
+            {
+                axis /= magAxis;
+            }
+            else
+            {
+                axis = vector::zero;
+            }
+        }
+
+        if (theta > maxTheta)
+        {
+            maxTheta = theta;
+        }
+
+        constraintMomentIncrement +=
+           -relaxationFactor_
+           *theta*axis
+           *motion.momentOfInertia()[cmpt]/sqr(deltaT);
+    }
+
+    constraintPosition = motion.centreOfMass();
+
+    constraintForceIncrement = vector::zero;
+
+    return (mag(maxTheta) < tolerance_);
+}
+
+
+bool Foam::sixDoFRigidBodyMotionConstraints::fixedOrientation::read
+(
+    const dictionary& sDoFRBMCDict
+)
+{
+    sixDoFRigidBodyMotionConstraint::read(sDoFRBMCDict);
+
+    fixedOrientation_ =
+        sDoFRBMCCoeffs_.lookupOrDefault<tensor>("fixedOrientation", I);
+
+    if (mag(mag(fixedOrientation_) - sqrt(3.0)) > 1e-9)
+    {
+        FatalErrorIn
+        (
+            "Foam::sixDoFRigidBodyMotionConstraints::fixedOrientation::read"
+            "("
+                "const dictionary& sDoFRBMCDict"
+            ")"
+        )
+            << "fixedOrientation " << fixedOrientation_
+            << " is not a rotation tensor."
+            << exit(FatalError);
+    }
+
+    return true;
+}
+
+// ************************************************************************* //

src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedOrientation/fixedOrientation.H

@@ -0,0 +1,127 @@
+/*---------------------------------------------------------------------------*\
+  =========                 |
+  \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
+   \\    /   O peration     |
+    \\  /    A nd           | Copyright (C) 1991-2009 OpenCFD Ltd.
+     \\/     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 2 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, write to the Free Software Foundation,
+    Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+
+Class
+    Foam::sixDoFRigidBodyMotionConstraints::fixedOrientation
+
+Description
+    sixDoFRigidBodyMotionConstraint.  Orientation of body fixed global
+    space. Only valid where the predicted deviation from alignment is
+    < 90 degrees.
+
+SourceFiles
+    fixedOrientation.C
+
+\*---------------------------------------------------------------------------*/
+
+#ifndef fixedOrientation_H
+#define fixedOrientation_H
+
+#include "sixDoFRigidBodyMotionConstraint.H"
+#include "point.H"
+#include "tensor.H"
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+namespace Foam
+{
+
+namespace sixDoFRigidBodyMotionConstraints
+{
+
+/*---------------------------------------------------------------------------*\
+                       Class fixedOrientation Declaration
+\*---------------------------------------------------------------------------*/
+
+class fixedOrientation
+:
+    public sixDoFRigidBodyMotionConstraint
+{
+
+    // Private data
+
+        //- Reference orientation where there is no moment
+        tensor fixedOrientation_;
+
+
+public:
+
+    //- Runtime type information
+    TypeName("fixedOrientation");
+
+
+    // Constructors
+
+        //- Construct from components
+        fixedOrientation
+        (
+            const dictionary& sDoFRBMCDict
+        );
+
+        //- Construct and return a clone
+        virtual autoPtr<sixDoFRigidBodyMotionConstraint> clone() const
+        {
+            return autoPtr<sixDoFRigidBodyMotionConstraint>
+            (
+                new fixedOrientation(*this)
+            );
+        }
+
+
+    // Destructor
+
+        virtual ~fixedOrientation();
+
+
+    // Member Functions
+
+        //- Calculate the constraint position, force and moment.
+        //  Global reference frame vectors.  Returns boolean stating
+        //  whether the constraint been converged to tolerance.
+        virtual bool constrain
+        (
+            const sixDoFRigidBodyMotion& motion,
+            const vector& existingConstraintForce,
+            const vector& existingConstraintMoment,
+            scalar deltaT,
+            vector& constraintPosition,
+            vector& constraintForceIncrement,
+            vector& constraintMomentIncrement
+        ) const;
+
+        //- Update properties from given dictionary
+        virtual bool read(const dictionary& sDoFRBMCCoeff);
+};
+
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+} // End namespace solidBodyMotionFunctions
+} // End namespace Foam
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+#endif
+
+// ************************************************************************* //

src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedPlane/fixedPlane.C

@@ -0,0 +1,128 @@
+/*---------------------------------------------------------------------------*\
+  =========                 |
+  \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
+   \\    /   O peration     |
+    \\  /    A nd           | Copyright (C) 1991-2009 OpenCFD Ltd.
+     \\/     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 2 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, write to the Free Software Foundation,
+    Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+
+\*---------------------------------------------------------------------------*/
+
+#include "fixedPlane.H"
+#include "addToRunTimeSelectionTable.H"
+#include "sixDoFRigidBodyMotion.H"
+
+// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
+
+namespace Foam
+{
+namespace sixDoFRigidBodyMotionConstraints
+{
+    defineTypeNameAndDebug(fixedPlane, 0);
+    addToRunTimeSelectionTable
+    (
+        sixDoFRigidBodyMotionConstraint,
+        fixedPlane,
+        dictionary
+    );
+};
+};
+
+
+// * * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * //
+
+Foam::sixDoFRigidBodyMotionConstraints::fixedPlane::fixedPlane
+(
+    const dictionary& sDoFRBMCDict
+)
+:
+    sixDoFRigidBodyMotionConstraint(sDoFRBMCDict),
+    fixedPlane_(vector::one)
+{
+    read(sDoFRBMCDict);
+}
+
+
+// * * * * * * * * * * * * * * * * Destructors * * * * * * * * * * * * * * * //
+
+Foam::sixDoFRigidBodyMotionConstraints::fixedPlane::~fixedPlane()
+{}
+
+
+// * * * * * * * * * * * * * * Member Functions  * * * * * * * * * * * * * * //
+
+bool Foam::sixDoFRigidBodyMotionConstraints::fixedPlane::constrain
+(
+    const sixDoFRigidBodyMotion& motion,
+    const vector& existingConstraintForce,
+    const vector& existingConstraintMoment,
+    scalar deltaT,
+    vector& constraintPosition,
+    vector& constraintForceIncrement,
+    vector& constraintMomentIncrement
+) const
+{
+    const point& refPt = fixedPlane_.refPoint();
+
+    const vector& n = fixedPlane_.normal();
+
+    point predictedPosition = motion.predictedPosition
+    (
+        refPt,
+        existingConstraintForce,
+        existingConstraintMoment,
+        deltaT
+    );
+
+    constraintPosition = motion.currentPosition(refPt);
+
+    // Info<< "current position " << constraintPosition << nl
+    //     << "next predictedPosition " << predictedPosition
+    //     << endl;
+
+    vector error = ((predictedPosition - refPt) & n)*n;
+
+    // Info<< "error " << error << endl;
+
+    constraintForceIncrement =
+        -relaxationFactor_*error*motion.mass()/sqr(deltaT);
+
+    constraintMomentIncrement = vector::zero;
+
+    return (mag(error) < tolerance_);
+}
+
+
+bool Foam::sixDoFRigidBodyMotionConstraints::fixedPlane::read
+(
+    const dictionary& sDoFRBMCDict
+)
+{
+    sixDoFRigidBodyMotionConstraint::read(sDoFRBMCDict);
+
+    point refPt = sDoFRBMCCoeffs_.lookup("refPoint");
+
+    vector normal = sDoFRBMCCoeffs_.lookup("normal");
+
+    fixedPlane_ = plane(refPt, normal);
+
+    return true;
+}
+
+// ************************************************************************* //

src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedPlane/fixedPlane.H

@@ -0,0 +1,125 @@
+/*---------------------------------------------------------------------------*\
+  =========                 |
+  \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
+   \\    /   O peration     |
+    \\  /    A nd           | Copyright (C) 1991-2009 OpenCFD Ltd.
+     \\/     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 2 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, write to the Free Software Foundation,
+    Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+
+Class
+    Foam::sixDoFRigidBodyMotionConstraints::fixedPlane
+
+Description
+    sixDoFRigidBodyMotionConstraint.  Reference point may only move
+    along a plane.
+
+SourceFiles
+    fixedPlane.C
+
+\*---------------------------------------------------------------------------*/
+
+#ifndef fixedPlane_H
+#define fixedPlane_H
+
+#include "sixDoFRigidBodyMotionConstraint.H"
+#include "plane.H"
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+namespace Foam
+{
+
+namespace sixDoFRigidBodyMotionConstraints
+{
+
+/*---------------------------------------------------------------------------*\
+                          Class fixedPlane Declaration
+\*---------------------------------------------------------------------------*/
+
+class fixedPlane
+:
+    public sixDoFRigidBodyMotionConstraint
+{
+    // Private data
+
+        //- Plane which the transformed reference point is constrained
+        //  to move along
+        plane fixedPlane_;
+
+
+public:
+
+    //- Runtime type information
+    TypeName("fixedPlane");
+
+
+    // Constructors
+
+        //- Construct from components
+        fixedPlane
+        (
+            const dictionary& sDoFRBMCDict
+        );
+
+        //- Construct and return a clone
+        virtual autoPtr<sixDoFRigidBodyMotionConstraint> clone() const
+        {
+            return autoPtr<sixDoFRigidBodyMotionConstraint>
+            (
+                new fixedPlane(*this)
+            );
+        }
+
+
+    // Destructor
+
+        virtual ~fixedPlane();
+
+
+    // Member Functions
+
+        //- Calculate the constraint position, force and moment.
+        //  Global reference frame vectors.  Returns boolean stating
+        //  whether the constraint been converged to tolerance.
+        virtual bool constrain
+        (
+            const sixDoFRigidBodyMotion& motion,
+            const vector& existingConstraintForce,
+            const vector& existingConstraintMoment,
+            scalar deltaT,
+            vector& constraintPosition,
+            vector& constraintForceIncrement,
+            vector& constraintMomentIncrement
+        ) const;
+
+        //- Update properties from given dictionary
+        virtual bool read(const dictionary& sDoFRBMCCoeff);
+};
+
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+} // End namespace solidBodyMotionFunctions
+} // End namespace Foam
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+#endif
+
+// ************************************************************************* //

src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedPoint/fixedPoint.C

@@ -0,0 +1,133 @@
+/*---------------------------------------------------------------------------*\
+  =========                 |
+  \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
+   \\    /   O peration     |
+    \\  /    A nd           | Copyright (C) 1991-2009 OpenCFD Ltd.
+     \\/     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 2 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, write to the Free Software Foundation,
+    Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+
+\*---------------------------------------------------------------------------*/
+
+#include "fixedPoint.H"
+#include "addToRunTimeSelectionTable.H"
+#include "sixDoFRigidBodyMotion.H"
+
+// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
+
+namespace Foam
+{
+namespace sixDoFRigidBodyMotionConstraints
+{
+    defineTypeNameAndDebug(fixedPoint, 0);
+    addToRunTimeSelectionTable
+    (
+        sixDoFRigidBodyMotionConstraint,
+        fixedPoint,
+        dictionary
+    );
+};
+};
+
+
+// * * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * //
+
+Foam::sixDoFRigidBodyMotionConstraints::fixedPoint::fixedPoint
+(
+    const dictionary& sDoFRBMCDict
+)
+:
+    sixDoFRigidBodyMotionConstraint(sDoFRBMCDict),
+    fixedPoint_()
+{
+    read(sDoFRBMCDict);
+}
+
+
+// * * * * * * * * * * * * * * * * Destructors * * * * * * * * * * * * * * * //
+
+Foam::sixDoFRigidBodyMotionConstraints::fixedPoint::~fixedPoint()
+{}
+
+
+// * * * * * * * * * * * * * * Member Functions  * * * * * * * * * * * * * * //
+
+bool Foam::sixDoFRigidBodyMotionConstraints::fixedPoint::constrain
+(
+    const sixDoFRigidBodyMotion& motion,
+    const vector& existingConstraintForce,
+    const vector& existingConstraintMoment,
+    scalar deltaT,
+    vector& constraintPosition,
+    vector& constraintForceIncrement,
+    vector& constraintMomentIncrement
+) const
+{
+    point predictedPosition = motion.predictedPosition
+    (
+        fixedPoint_,
+        existingConstraintForce,
+        existingConstraintMoment,
+        deltaT
+    );
+
+    constraintPosition = motion.currentPosition(fixedPoint_);
+
+    // Info<< "current position " << constraintPosition << nl
+    //     << "next predictedPosition " << predictedPosition
+    //     << endl;
+
+    vector error = predictedPosition - fixedPoint_;
+
+    // Info<< "error " << error << endl;
+
+    // Correction force derived from Lagrange multiplier:
+    //     G = -lambda*grad(sigma)
+    // where
+    //     sigma = mag(error) = 0
+    // so
+    //     grad(sigma) = error/mag(error)
+    // Solving for lambda using the SHAKE methodology gives
+    //     lambda = mass*mag(error)/sqr(deltaT)
+    // This is only strictly applicable (i.e. will converge in one
+    // iteration) to constraints at the centre of mass.  Everything
+    // else will need to iterate, and may need under-relaxed to be
+    // stable.
+
+    constraintForceIncrement =
+        -relaxationFactor_*error*motion.mass()/sqr(deltaT);
+
+    constraintMomentIncrement = vector::zero;
+
+    return (mag(error) < tolerance_);
+}
+
+
+bool Foam::sixDoFRigidBodyMotionConstraints::fixedPoint::read
+(
+    const dictionary& sDoFRBMCDict
+)
+{
+    sixDoFRigidBodyMotionConstraint::read(sDoFRBMCDict);
+
+    sDoFRBMCCoeffs_.lookup("fixedPoint") >> fixedPoint_;
+
+    return true;
+}
+
+// ************************************************************************* //

src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedPoint/fixedPoint.H

@@ -0,0 +1,126 @@
+/*---------------------------------------------------------------------------*\
+  =========                 |
+  \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
+   \\    /   O peration     |
+    \\  /    A nd           | Copyright (C) 1991-2009 OpenCFD Ltd.
+     \\/     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 2 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, write to the Free Software Foundation,
+    Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+
+Class
+    Foam::sixDoFRigidBodyMotionConstraints::fixedPoint
+
+Description
+    sixDoFRigidBodyMotionConstraint.  Point fixed in space.
+
+SourceFiles
+    fixedPoint.C
+
+\*---------------------------------------------------------------------------*/
+
+#ifndef fixedPoint_H
+#define fixedPoint_H
+
+#include "sixDoFRigidBodyMotionConstraint.H"
+#include "point.H"
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+namespace Foam
+{
+
+namespace sixDoFRigidBodyMotionConstraints
+{
+
+/*---------------------------------------------------------------------------*\
+                           Class fixedPoint Declaration
+\*---------------------------------------------------------------------------*/
+
+class fixedPoint
+:
+    public sixDoFRigidBodyMotionConstraint
+{
+    // Private data
+
+        //- Point which is rigidly attached to the body and constrains
+        //  it so that this point remains fixed.  This serves as the
+        //  reference point for displacements as well as the target
+        //  position.
+        point fixedPoint_;
+
+
+public:
+
+    //- Runtime type information
+    TypeName("fixedPoint");
+
+
+    // Constructors
+
+        //- Construct from components
+        fixedPoint
+        (
+            const dictionary& sDoFRBMCDict
+        );
+
+        //- Construct and return a clone
+        virtual autoPtr<sixDoFRigidBodyMotionConstraint> clone() const
+        {
+            return autoPtr<sixDoFRigidBodyMotionConstraint>
+            (
+                new fixedPoint(*this)
+            );
+        }
+
+
+    // Destructor
+
+        virtual ~fixedPoint();
+
+
+    // Member Functions
+
+        //- Calculate the constraint position, force and moment.
+        //  Global reference frame vectors.  Returns boolean stating
+        //  whether the constraint been converged to tolerance.
+        virtual bool constrain
+        (
+            const sixDoFRigidBodyMotion& motion,
+            const vector& existingConstraintForce,
+            const vector& existingConstraintMoment,
+            scalar deltaT,
+            vector& constraintPosition,
+            vector& constraintForceIncrement,
+            vector& constraintMomentIncrement
+        ) const;
+
+        //- Update properties from given dictionary
+        virtual bool read(const dictionary& sDoFRBMCCoeff);
+};
+
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+} // End namespace solidBodyMotionFunctions
+} // End namespace Foam
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+#endif
+
+// ************************************************************************* //

src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/sixDoFRigidBodyMotionConstraint/newSixDoFRigidBodyMotionConstraint.C

@@ -0,0 +1,65 @@
+/*---------------------------------------------------------------------------*\
+  =========                 |
+  \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
+   \\    /   O peration     |
+    \\  /    A nd           | Copyright (C) 1991-2009 OpenCFD Ltd.
+     \\/     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 2 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, write to the Free Software Foundation,
+    Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+
+\*---------------------------------------------------------------------------*/
+
+#include "sixDoFRigidBodyMotionConstraint.H"
+
+// * * * * * * * * * * * * * * * * Selectors * * * * * * * * * * * * * * * * //
+
+Foam::autoPtr<Foam::sixDoFRigidBodyMotionConstraint>
+Foam::sixDoFRigidBodyMotionConstraint::New(const dictionary& sDoFRBMCDict)
+{
+    word sixDoFRigidBodyMotionConstraintTypeName =
+        sDoFRBMCDict.lookup("sixDoFRigidBodyMotionConstraint");
+
+    Info<< "Selecting sixDoFRigidBodyMotionConstraint function "
+        << sixDoFRigidBodyMotionConstraintTypeName << endl;
+
+    dictionaryConstructorTable::iterator cstrIter =
+    dictionaryConstructorTablePtr_->find
+    (
+        sixDoFRigidBodyMotionConstraintTypeName
+    );
+
+    if (cstrIter == dictionaryConstructorTablePtr_->end())
+    {
+        FatalErrorIn
+        (
+            "sixDoFRigidBodyMotionConstraint::New"
+            "("
+                "const dictionary& sDoFRBMCDict"
+            ")"
+        )   << "Unknown sixDoFRigidBodyMotionConstraint type "
+            << sixDoFRigidBodyMotionConstraintTypeName << endl << endl
+            << "Valid  sixDoFRigidBodyMotionConstraints are : " << endl
+            << dictionaryConstructorTablePtr_->sortedToc()
+            << exit(FatalError);
+    }
+
+    return autoPtr<sixDoFRigidBodyMotionConstraint>(cstrIter()(sDoFRBMCDict));
+}
+
+
+// ************************************************************************* //

src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/sixDoFRigidBodyMotionConstraint/sixDoFRigidBodyMotionConstraint.C

@@ -0,0 +1,86 @@
+/*---------------------------------------------------------------------------*\
+  =========                 |
+  \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
+   \\    /   O peration     |
+    \\  /    A nd           | Copyright (C) 1991-2009 OpenCFD Ltd.
+     \\/     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 2 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, write to the Free Software Foundation,
+    Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+
+\*---------------------------------------------------------------------------*/
+
+#include "sixDoFRigidBodyMotionConstraint.H"
+
+// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
+
+defineTypeNameAndDebug(Foam::sixDoFRigidBodyMotionConstraint, 0);
+
+defineRunTimeSelectionTable(Foam::sixDoFRigidBodyMotionConstraint, dictionary);
+
+// * * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * //
+
+Foam::sixDoFRigidBodyMotionConstraint::sixDoFRigidBodyMotionConstraint
+(
+    const dictionary& sDoFRBMCDict
+)
+:
+    name_(fileName(sDoFRBMCDict.name().name()).components(token::COLON).last()),
+    sDoFRBMCCoeffs_
+    (
+        sDoFRBMCDict.subDict
+        (
+            word(sDoFRBMCDict.lookup("sixDoFRigidBodyMotionConstraint"))
+          + "Coeffs"
+        )
+    ),
+    tolerance_(readScalar(sDoFRBMCDict.lookup("tolerance"))),
+    relaxationFactor_
+    (
+        sDoFRBMCDict.lookupOrDefault<scalar>("relaxationFactor", 1)
+    )
+{}
+
+
+// * * * * * * * * * * * * * * * * Destructor  * * * * * * * * * * * * * * * //
+
+Foam::sixDoFRigidBodyMotionConstraint::~sixDoFRigidBodyMotionConstraint()
+{}
+
+
+// * * * * * * * * * * * * * * Member Functions  * * * * * * * * * * * * * * //
+
+bool Foam::sixDoFRigidBodyMotionConstraint::read
+(
+    const dictionary& sDoFRBMCDict
+)
+{
+    tolerance_ = (readScalar(sDoFRBMCDict.lookup("tolerance")));
+
+    relaxationFactor_ = sDoFRBMCDict.lookupOrDefault<scalar>
+    (
+        "relaxationFactor",
+        1
+    );
+
+    sDoFRBMCCoeffs_ = sDoFRBMCDict.subDict(type() + "Coeffs");
+
+    return true;
+}
+
+
+// ************************************************************************* //

src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/sixDoFRigidBodyMotionConstraint/sixDoFRigidBodyMotionConstraint.H

@@ -0,0 +1,186 @@
+/*---------------------------------------------------------------------------*\
+  =========                 |
+  \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
+   \\    /   O peration     |
+    \\  /    A nd           | Copyright (C) 1991-2009 OpenCFD Ltd.
+     \\/     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 2 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, write to the Free Software Foundation,
+    Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+
+Namespace
+    Foam::sixDoFRigidBodyMotionConstraints
+
+Description
+    Namespace for six DoF motion constraints
+
+
+Class
+    Foam::sixDoFRigidBodyMotionConstraint
+
+Description
+    Base class for defining constraints for sixDoF motions
+
+SourceFiles
+    sixDoFRigidBodyMotionConstraint.C
+    newDynamicFvMesh.C
+
+\*---------------------------------------------------------------------------*/
+
+#ifndef sixDoFRigidBodyMotionConstraint_H
+#define sixDoFRigidBodyMotionConstraint_H
+
+#include "Time.H"
+#include "dictionary.H"
+#include "autoPtr.H"
+#include "vector.H"
+#include "runTimeSelectionTables.H"
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+namespace Foam
+{
+
+// Forward declaration of classes
+class sixDoFRigidBodyMotion;
+
+
+/*---------------------------------------------------------------------------*\
+                Class sixDoFRigidBodyMotionConstraint Declaration
+\*---------------------------------------------------------------------------*/
+
+class sixDoFRigidBodyMotionConstraint
+{
+
+protected:
+
+    // Protected data
+
+        //- Name of the constraint in dictionary
+        word name_;
+
+        //- Constraint model specific coefficient dictionary
+        dictionary sDoFRBMCCoeffs_;
+
+        //- Solution tolerance.  Meaning depends on model, usually an
+        //  absolute distance or angle.
+        scalar tolerance_;
+
+        //- Relaxation factor for solution, default to one
+        scalar relaxationFactor_;
+
+
+public:
+
+    //- Runtime type information
+    TypeName("sixDoFRigidBodyMotionConstraint");
+
+
+    // Declare run-time constructor selection table
+
+        declareRunTimeSelectionTable
+        (
+            autoPtr,
+            sixDoFRigidBodyMotionConstraint,
+            dictionary,
+            (const dictionary& sDoFRBMCDict),
+            (sDoFRBMCDict)
+        );
+
+
+    // Constructors
+
+        //- Construct from the sDoFRBMCDict dictionary and Time
+        sixDoFRigidBodyMotionConstraint
+        (
+            const dictionary& sDoFRBMCDict
+        );
+
+        //- Construct and return a clone
+        virtual autoPtr<sixDoFRigidBodyMotionConstraint> clone() const = 0;
+
+
+    // Selectors
+
+        //- Select constructed from the sDoFRBMCDict dictionary and Time
+        static autoPtr<sixDoFRigidBodyMotionConstraint> New
+        (
+            const dictionary& sDoFRBMCDict
+        );
+
+
+    // Destructor
+
+        virtual ~sixDoFRigidBodyMotionConstraint();
+
+
+    // Member Functions
+
+        //- Calculate the constraint position, force and moment.
+        //  Global reference frame vectors.  Returns boolean stating
+        //  whether the constraint been converged to tolerance.
+        virtual bool constrain
+        (
+            const sixDoFRigidBodyMotion& motion,
+            const vector& existingConstraintForce,
+            const vector& existingConstraintMoment,
+            scalar deltaT,
+            vector& constraintPosition,
+            vector& constraintForceIncrement,
+            vector& constraintMomentIncrement
+        ) const = 0;
+
+        //- Update properties from given dictionary
+        virtual bool read(const dictionary& sDoFRBMCDict) = 0;
+
+        // Access
+
+            //- Return access to the name of the restraint
+            inline const word& name() const
+            {
+                return name_;
+            }
+
+            // Return access to sDoFRBMCCoeffs
+            inline const dictionary& coeffDict() const
+            {
+                return sDoFRBMCCoeffs_;
+            }
+
+            //- Return access to the tolerance
+            inline scalar tolerance() const
+            {
+                return tolerance_;
+            }
+
+            //- Return access to the relaxationFactor
+            inline scalar relaxationFactor() const
+            {
+                return relaxationFactor_;
+            }
+};
+
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+} // End namespace Foam
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+#endif
+
+// ************************************************************************* //

src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionI.H

@@ -24,8 +24,6 @@ License
 
 \*---------------------------------------------------------------------------*/
 
-// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
-
 // * * * * * * * * * * * * * Private Member Functions  * * * * * * * * * * * //
 
 inline Foam::tensor
@@ -64,6 +62,37 @@ Foam::sixDoFRigidBodyMotion::rotationTensorZ(scalar phi) const
 }
 
 
+inline void Foam::sixDoFRigidBodyMotion::rotate
+(
+    tensor& Q,
+    vector& pi,
+    scalar deltaT
+) const
+{
+    tensor R;
+
+    R = rotationTensorX(0.5*deltaT*pi.x()/momentOfInertia_.xx());
+    pi = pi & R;
+    Q = Q & R;
+
+    R = rotationTensorY(0.5*deltaT*pi.y()/momentOfInertia_.yy());
+    pi = pi & R;
+    Q = Q & R;
+
+    R = rotationTensorZ(deltaT*pi.z()/momentOfInertia_.zz());
+    pi = pi & R;
+    Q = Q & R;
+
+    R = rotationTensorY(0.5*deltaT*pi.y()/momentOfInertia_.yy());
+    pi = pi & R;
+    Q = Q & R;
+
+    R = rotationTensorX(0.5*deltaT*pi.x()/momentOfInertia_.xx());
+    pi = pi & R;
+    Q = Q & R;
+}
+
+
 inline const Foam::sixDoFRigidBodyMotionState&
 Foam::sixDoFRigidBodyMotion::motionState() const
 {
@@ -71,9 +100,23 @@ Foam::sixDoFRigidBodyMotion::motionState() const
 }
 
 
-inline const Foam::point& Foam::sixDoFRigidBodyMotion::centreOfMass() const
+inline const Foam::PtrList<Foam::sixDoFRigidBodyMotionRestraint>&
+Foam::sixDoFRigidBodyMotion::restraints() const
 {
-    return motionState_.centreOfMass();
+    return restraints_;
+}
+
+
+inline const Foam::PtrList<Foam::sixDoFRigidBodyMotionConstraint>&
+Foam::sixDoFRigidBodyMotion::constraints() const
+{
+    return constraints_;
+}
+
+
+inline Foam::label Foam::sixDoFRigidBodyMotion::maxConstraintIters() const
+{
+    return maxConstraintIters_;
 }
 
 
@@ -83,19 +126,6 @@ inline const Foam::point& Foam::sixDoFRigidBodyMotion::refCentreOfMass() const
 }
 
 
-inline const Foam::diagTensor&
-Foam::sixDoFRigidBodyMotion::momentOfInertia() const
-{
-    return momentOfInertia_;
-}
-
-
-inline Foam::scalar Foam::sixDoFRigidBodyMotion::mass() const
-{
-    return mass_;
-}
-
-
 inline const Foam::tensor& Foam::sixDoFRigidBodyMotion::Q() const
 {
     return motionState_.Q();
@@ -126,30 +156,12 @@ inline const Foam::vector& Foam::sixDoFRigidBodyMotion::tau() const
 }
 
 
-inline Foam::point& Foam::sixDoFRigidBodyMotion::centreOfMass()
-{
-    return motionState_.centreOfMass();
-}
-
-
 inline Foam::point& Foam::sixDoFRigidBodyMotion::refCentreOfMass()
 {
     return refCentreOfMass_;
 }
 
 
-inline Foam::diagTensor& Foam::sixDoFRigidBodyMotion::momentOfInertia()
-{
-    return momentOfInertia_;
-}
-
-
-inline Foam::scalar& Foam::sixDoFRigidBodyMotion::mass()
-{
-    return mass_;
-}
-
-
 inline Foam::tensor& Foam::sixDoFRigidBodyMotion::Q()
 {
     return motionState_.Q();
@@ -180,4 +192,95 @@ inline Foam::vector& Foam::sixDoFRigidBodyMotion::tau()
 }
 
 
+// * * * * * * * * * * * * * * Member Functions  * * * * * * * * * * * * * * //
+
+inline Foam::tmp<Foam::pointField>
+Foam::sixDoFRigidBodyMotion::currentPosition(const pointField& refPts) const
+{
+    return (centreOfMass() + (Q() & (refPts - refCentreOfMass_)));
+}
+
+
+inline Foam::point Foam::sixDoFRigidBodyMotion::currentPosition
+(
+    const point& refPt
+) const
+{
+    return (centreOfMass() + (Q() & (refPt - refCentreOfMass_)));
+}
+
+
+inline Foam::vector Foam::sixDoFRigidBodyMotion::currentOrientation
+(
+    const vector& refDir
+) const
+{
+    return (Q() & refDir);
+}
+
+
+inline const Foam::tensor&
+Foam::sixDoFRigidBodyMotion::currentOrientation() const
+{
+    return Q();
+}
+
+
+inline Foam::vector Foam::sixDoFRigidBodyMotion::omega() const
+{
+    return  Q() & (inv(momentOfInertia_) & pi());
+}
+
+
+inline Foam::point Foam::sixDoFRigidBodyMotion::currentVelocity
+(
+    const point& pt
+) const
+{
+    return (omega() ^ (pt - centreOfMass())) + v();
+}
+
+
+inline const Foam::point& Foam::sixDoFRigidBodyMotion::centreOfMass() const
+{
+    return motionState_.centreOfMass();
+}
+
+
+inline const Foam::diagTensor&
+Foam::sixDoFRigidBodyMotion::momentOfInertia() const
+{
+    return momentOfInertia_;
+}
+
+
+inline Foam::scalar Foam::sixDoFRigidBodyMotion::mass() const
+{
+    return mass_;
+}
+
+
+inline bool Foam::sixDoFRigidBodyMotion::report() const
+{
+    return report_;
+}
+
+
+inline Foam::point& Foam::sixDoFRigidBodyMotion::centreOfMass()
+{
+    return motionState_.centreOfMass();
+}
+
+
+inline Foam::diagTensor& Foam::sixDoFRigidBodyMotion::momentOfInertia()
+{
+    return momentOfInertia_;
+}
+
+
+inline Foam::scalar& Foam::sixDoFRigidBodyMotion::mass()
+{
+    return mass_;
+}
+
 // ************************************************************************* //

src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionIO.C

@@ -39,6 +39,72 @@ void Foam::sixDoFRigidBodyMotion::write(Ostream& os) const
         << momentOfInertia_ << token::END_STATEMENT << nl;
     os.writeKeyword("mass")
         << mass_ << token::END_STATEMENT << nl;
+    os.writeKeyword("report")
+        << report_ << token::END_STATEMENT << nl;
+
+    if (restraints_.size())
+    {
+        dictionary restraintsDict;
+
+        forAll(restraints_, rI)
+        {
+            word restraintType = restraints_[rI].type();
+
+            dictionary restraintDict;
+
+            restraintDict.add("sixDoFRigidBodyMotionRestraint", restraintType);
+
+            restraintDict.add
+            (
+                word(restraintType + "Coeffs"), restraints_[rI].coeffDict()
+            );
+
+            restraintsDict.add(restraints_[rI].name(), restraintDict);
+        }
+
+        os.writeKeyword("restraints") << restraintsDict;
+    }
+
+    if (constraints_.size())
+    {
+        dictionary constraintsDict;
+
+        constraintsDict.add("maxIterations", maxConstraintIters_);
+
+        forAll(constraints_, rI)
+        {
+            word constraintType = constraints_[rI].type();
+
+            dictionary constraintDict;
+
+            constraintDict.add
+            (
+                "sixDoFRigidBodyMotionConstraint",
+                constraintType
+            );
+
+            constraintDict.add
+            (
+                "tolerance",
+                constraints_[rI].tolerance()
+            );
+
+            constraintDict.add
+            (
+                "relaxationFactor",
+                constraints_[rI].relaxationFactor()
+            );
+
+            constraintDict.add
+            (
+                word(constraintType + "Coeffs"), constraints_[rI].coeffDict()
+            );
+
+            constraintsDict.add(constraints_[rI].name(), constraintDict);
+        }
+
+        os.writeKeyword("constraints") << constraintsDict;
+    }
 }
 
 

src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/linearAxialAngularSpring/linearAxialAngularSpring.C

@@ -0,0 +1,193 @@
+/*---------------------------------------------------------------------------*\
+  =========                 |
+  \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
+   \\    /   O peration     |
+    \\  /    A nd           | Copyright (C) 1991-2009 OpenCFD Ltd.
+     \\/     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 2 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, write to the Free Software Foundation,
+    Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+
+\*---------------------------------------------------------------------------*/
+
+#include "linearAxialAngularSpring.H"
+#include "addToRunTimeSelectionTable.H"
+#include "sixDoFRigidBodyMotion.H"
+#include "transform.H"
+
+// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
+
+namespace Foam
+{
+namespace sixDoFRigidBodyMotionRestraints
+{
+    defineTypeNameAndDebug(linearAxialAngularSpring, 0);
+    addToRunTimeSelectionTable
+    (
+        sixDoFRigidBodyMotionRestraint,
+        linearAxialAngularSpring,
+        dictionary
+    );
+};
+};
+
+
+// * * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * //
+
+Foam::sixDoFRigidBodyMotionRestraints::linearAxialAngularSpring::
+linearAxialAngularSpring
+(
+    const dictionary& sDoFRBMRDict
+)
+:
+    sixDoFRigidBodyMotionRestraint(sDoFRBMRDict),
+    refQ_(),
+    axis_(),
+    stiffness_(),
+    damping_()
+{
+    read(sDoFRBMRDict);
+}
+
+
+// * * * * * * * * * * * * * * * * Destructors * * * * * * * * * * * * * * * //
+
+Foam::sixDoFRigidBodyMotionRestraints::linearAxialAngularSpring::
+~linearAxialAngularSpring()
+{}
+
+
+// * * * * * * * * * * * * * * Member Functions  * * * * * * * * * * * * * * //
+
+void
+Foam::sixDoFRigidBodyMotionRestraints::linearAxialAngularSpring::restrain
+(
+    const sixDoFRigidBodyMotion& motion,
+    vector& restraintPosition,
+    vector& restraintForce,
+    vector& restraintMoment
+) const
+{
+    vector refDir = rotationTensor(vector(1, 0 ,0), axis_) & vector(0, 1, 0);
+
+    vector oldDir = refQ_ & refDir;
+
+    vector newDir = motion.currentOrientation(refDir);
+
+    if (mag(oldDir & axis_) > 0.95 || mag(newDir & axis_) > 0.95)
+    {
+        // Directions getting close to the axis, change reference
+
+        refDir = rotationTensor(vector(1, 0 ,0), axis_) & vector(0, 0, 1);
+
+        vector oldDir = refQ_ & refDir;
+
+        vector newDir = motion.currentOrientation(refDir);
+    }
+
+    // Removing any axis component from oldDir and newDir and normalising
+    oldDir -= (axis_ & oldDir)*axis_;
+    oldDir /= mag(oldDir);
+
+    newDir -= (axis_ & newDir)*axis_;
+    newDir /= mag(newDir);
+
+    scalar theta = mag(acos(oldDir & newDir));
+
+    // Temporary axis with sign information.
+    vector a = (oldDir ^ newDir);
+
+    // Remove any component that is not along axis that may creep in
+    a = (a & axis_)*axis_;
+
+    scalar magA = mag(a);
+
+    if (magA > VSMALL)
+    {
+        a /= magA;
+    }
+    else
+    {
+        a = vector::zero;
+    }
+
+    // Damping of along axis angular velocity only
+    restraintMoment = -stiffness_*theta*a - damping_*(motion.omega() & a)*a;
+
+    restraintForce = vector::zero;
+
+    // Not needed to be altered as restraintForce is zero, but set to
+    // centreOfMass to be sure of no spurious moment
+    restraintPosition = motion.centreOfMass();
+}
+
+
+bool Foam::sixDoFRigidBodyMotionRestraints::linearAxialAngularSpring::read
+(
+    const dictionary& sDoFRBMRDict
+)
+{
+    sixDoFRigidBodyMotionRestraint::read(sDoFRBMRDict);
+
+    refQ_ = sDoFRBMRCoeffs_.lookupOrDefault<tensor>("referenceOrientation", I);
+
+    if (mag(mag(refQ_) - sqrt(3.0)) > 1e-9)
+    {
+        FatalErrorIn
+        (
+            "Foam::sixDoFRigidBodyMotionRestraints::linearAxialAngularSpring::"
+            "read"
+            "("
+                "const dictionary& sDoFRBMRDict"
+            ")"
+        )
+            << "referenceOrientation " << refQ_ << " is not a rotation tensor. "
+            << "mag(referenceOrientation) - sqrt(3) = "
+            << mag(refQ_) - sqrt(3.0) << nl
+            << exit(FatalError);
+    }
+
+    axis_ = sDoFRBMRCoeffs_.lookup("axis");
+
+    scalar magAxis(mag(axis_));
+
+    if (magAxis > VSMALL)
+    {
+        axis_ /= magAxis;
+    }
+    else
+    {
+        FatalErrorIn
+        (
+            "Foam::sixDoFRigidBodyMotionRestraints::linearAxialAngularSpring::"
+            "read"
+            "("
+                "const dictionary& sDoFRBMCDict"
+            ")"
+        )
+            << "axis has zero length"
+            << abort(FatalError);
+    }
+
+    sDoFRBMRCoeffs_.lookup("stiffness") >> stiffness_;
+
+    sDoFRBMRCoeffs_.lookup("damping") >> damping_;
+
+    return true;
+}
+
+// ************************************************************************* //

src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/linearAxialAngularSpring/linearAxialAngularSpring.H

@@ -0,0 +1,129 @@
+/*---------------------------------------------------------------------------*\
+  =========                 |
+  \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
+   \\    /   O peration     |
+    \\  /    A nd           | Copyright (C) 1991-2009 OpenCFD Ltd.
+     \\/     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 2 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, write to the Free Software Foundation,
+    Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+
+Class
+    Foam::sixDoFRigidBodyMotionRestraints::linearAxialAngularSpring
+
+Description
+    sixDoFRigidBodyMotionRestraints model.  Linear axial angular spring.
+
+SourceFiles
+    linearAxialAngularSpring.C
+
+\*---------------------------------------------------------------------------*/
+
+#ifndef linearAxialAngularSpring_H
+#define linearAxialAngularSpring_H
+
+#include "sixDoFRigidBodyMotionRestraint.H"
+#include "point.H"
+#include "tensor.H"
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+namespace Foam
+{
+
+namespace sixDoFRigidBodyMotionRestraints
+{
+
+/*---------------------------------------------------------------------------*\
+                   Class linearAxialAngularSpring Declaration
+\*---------------------------------------------------------------------------*/
+
+class linearAxialAngularSpring
+:
+    public sixDoFRigidBodyMotionRestraint
+{
+    // Private data
+
+        //- Reference orientation where there is no moment
+        tensor refQ_;
+
+        //- Global unit axis around which the motion is sprung
+        vector axis_;
+
+        //- Spring stiffness coefficient (Nm/rad)
+        scalar stiffness_;
+
+        //- Damping coefficient (Nms/rad)
+        scalar damping_;
+
+
+public:
+
+    //- Runtime type information
+    TypeName("linearAxialAngularSpring");
+
+
+    // Constructors
+
+        //- Construct from components
+        linearAxialAngularSpring
+        (
+            const dictionary& sDoFRBMRDict
+        );
+
+        //- Construct and return a clone
+        virtual autoPtr<sixDoFRigidBodyMotionRestraint> clone() const
+        {
+            return autoPtr<sixDoFRigidBodyMotionRestraint>
+            (
+                new linearAxialAngularSpring(*this)
+            );
+        }
+
+
+    // Destructor
+
+        virtual ~linearAxialAngularSpring();
+
+
+    // Member Functions
+
+        //- Calculate the restraint position, force and moment.
+        //  Global reference frame vectors.
+        virtual void restrain
+        (
+            const sixDoFRigidBodyMotion& motion,
+            vector& restraintPosition,
+            vector& restraintForce,
+            vector& restraintMoment
+        ) const;
+
+        //- Update properties from given dictionary
+        virtual bool read(const dictionary& sDoFRBMRCoeff);
+};
+
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+} // End namespace solidBodyMotionFunctions
+} // End namespace Foam
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+#endif
+
+// ************************************************************************* //

src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/linearSpring/linearSpring.C

@@ -0,0 +1,119 @@
+/*---------------------------------------------------------------------------*\
+  =========                 |
+  \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
+   \\    /   O peration     |
+    \\  /    A nd           | Copyright (C) 1991-2009 OpenCFD Ltd.
+     \\/     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 2 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, write to the Free Software Foundation,
+    Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+
+\*---------------------------------------------------------------------------*/
+
+#include "linearSpring.H"
+#include "addToRunTimeSelectionTable.H"
+#include "sixDoFRigidBodyMotion.H"
+
+// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
+
+namespace Foam
+{
+namespace sixDoFRigidBodyMotionRestraints
+{
+    defineTypeNameAndDebug(linearSpring, 0);
+    addToRunTimeSelectionTable
+    (
+        sixDoFRigidBodyMotionRestraint,
+        linearSpring,
+        dictionary
+    );
+};
+};
+
+
+// * * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * //
+
+Foam::sixDoFRigidBodyMotionRestraints::linearSpring::linearSpring
+(
+    const dictionary& sDoFRBMRDict
+)
+:
+    sixDoFRigidBodyMotionRestraint(sDoFRBMRDict),
+    anchor_(),
+    refAttachmentPt_(),
+    stiffness_(),
+    damping_(),
+    restLength_()
+{
+    read(sDoFRBMRDict);
+}
+
+
+// * * * * * * * * * * * * * * * * Destructors * * * * * * * * * * * * * * * //
+
+Foam::sixDoFRigidBodyMotionRestraints::linearSpring::~linearSpring()
+{}
+
+
+// * * * * * * * * * * * * * * Member Functions  * * * * * * * * * * * * * * //
+
+void Foam::sixDoFRigidBodyMotionRestraints::linearSpring::restrain
+(
+    const sixDoFRigidBodyMotion& motion,
+    vector& restraintPosition,
+    vector& restraintForce,
+    vector& restraintMoment
+) const
+{
+    restraintPosition = motion.currentPosition(refAttachmentPt_);
+
+    vector r = restraintPosition - anchor_;
+
+    scalar magR = mag(r);
+
+    // r is now the r unit vector
+    r /= magR;
+
+    vector v = motion.currentVelocity(restraintPosition);
+
+    restraintForce = -stiffness_*(magR - restLength_)*r - damping_*(r & v)*r;
+
+    restraintMoment = vector::zero;
+}
+
+
+bool Foam::sixDoFRigidBodyMotionRestraints::linearSpring::read
+(
+    const dictionary& sDoFRBMRDict
+)
+{
+    sixDoFRigidBodyMotionRestraint::read(sDoFRBMRDict);
+
+    sDoFRBMRCoeffs_.lookup("anchor") >> anchor_;
+
+    sDoFRBMRCoeffs_.lookup("refAttachmentPt") >> refAttachmentPt_;
+
+    sDoFRBMRCoeffs_.lookup("stiffness") >> stiffness_;
+
+    sDoFRBMRCoeffs_.lookup("damping") >> damping_;
+
+    sDoFRBMRCoeffs_.lookup("restLength") >> restLength_;
+
+    return true;
+}
+
+// ************************************************************************* //

src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/linearSpring/linearSpring.H

@@ -0,0 +1,132 @@
+/*---------------------------------------------------------------------------*\
+  =========                 |
+  \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
+   \\    /   O peration     |
+    \\  /    A nd           | Copyright (C) 1991-2009 OpenCFD Ltd.
+     \\/     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 2 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, write to the Free Software Foundation,
+    Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+
+Class
+    Foam::sixDoFRigidBodyMotionRestraints::linearSpring
+
+Description
+    sixDoFRigidBodyMotionRestraints model.  Linear spring.
+
+SourceFiles
+    linearSpring.C
+
+\*---------------------------------------------------------------------------*/
+
+#ifndef linearSpring_H
+#define linearSpring_H
+
+#include "sixDoFRigidBodyMotionRestraint.H"
+#include "point.H"
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+namespace Foam
+{
+
+namespace sixDoFRigidBodyMotionRestraints
+{
+
+/*---------------------------------------------------------------------------*\
+                          Class linearSpring Declaration
+\*---------------------------------------------------------------------------*/
+
+class linearSpring
+:
+    public sixDoFRigidBodyMotionRestraint
+{
+    // Private data
+
+        //- Anchor point, where the spring is attached to an immovable
+        //  object
+        point anchor_;
+
+        //- Reference point of attachment to the solid body
+        point refAttachmentPt_;
+
+        //- Spring stiffness coefficient (N/m)
+        scalar stiffness_;
+
+        //- Damping coefficient (Ns/m)
+        scalar damping_;
+
+        //- Rest length - length of spring when no forces are applied to it
+        scalar restLength_;
+
+
+public:
+
+    //- Runtime type information
+    TypeName("linearSpring");
+
+
+    // Constructors
+
+        //- Construct from components
+        linearSpring
+        (
+            const dictionary& sDoFRBMRDict
+        );
+
+        //- Construct and return a clone
+        virtual autoPtr<sixDoFRigidBodyMotionRestraint> clone() const
+        {
+            return autoPtr<sixDoFRigidBodyMotionRestraint>
+            (
+                new linearSpring(*this)
+            );
+        }
+
+
+    // Destructor
+
+        virtual ~linearSpring();
+
+
+    // Member Functions
+
+        //- Calculate the restraint position, force and moment.
+        //  Global reference frame vectors.
+        virtual void restrain
+        (
+            const sixDoFRigidBodyMotion& motion,
+            vector& restraintPosition,
+            vector& restraintForce,
+            vector& restraintMoment
+        ) const;
+
+        //- Update properties from given dictionary
+        virtual bool read(const dictionary& sDoFRBMRCoeff);
+};
+
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+} // End namespace solidBodyMotionFunctions
+} // End namespace Foam
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+#endif
+
+// ************************************************************************* //

src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/sixDoFRigidBodyMotionRestraint/newSixDoFRigidBodyMotionRestraint.C

@@ -0,0 +1,65 @@
+/*---------------------------------------------------------------------------*\
+  =========                 |
+  \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
+   \\    /   O peration     |
+    \\  /    A nd           | Copyright (C) 1991-2009 OpenCFD Ltd.
+     \\/     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 2 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, write to the Free Software Foundation,
+    Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+
+\*---------------------------------------------------------------------------*/
+
+#include "sixDoFRigidBodyMotionRestraint.H"
+
+// * * * * * * * * * * * * * * * * Selectors * * * * * * * * * * * * * * * * //
+
+Foam::autoPtr<Foam::sixDoFRigidBodyMotionRestraint>
+Foam::sixDoFRigidBodyMotionRestraint::New(const dictionary& sDoFRBMRDict)
+{
+    word sixDoFRigidBodyMotionRestraintTypeName =
+        sDoFRBMRDict.lookup("sixDoFRigidBodyMotionRestraint");
+
+    Info<< "Selecting sixDoFRigidBodyMotionRestraint function "
+        << sixDoFRigidBodyMotionRestraintTypeName << endl;
+
+    dictionaryConstructorTable::iterator cstrIter =
+    dictionaryConstructorTablePtr_->find
+    (
+        sixDoFRigidBodyMotionRestraintTypeName
+    );
+
+    if (cstrIter == dictionaryConstructorTablePtr_->end())
+    {
+        FatalErrorIn
+        (
+            "sixDoFRigidBodyMotionRestraint::New"
+            "("
+                "const dictionary& sDoFRBMRDict"
+            ")"
+        )   << "Unknown sixDoFRigidBodyMotionRestraint type "
+            << sixDoFRigidBodyMotionRestraintTypeName << endl << endl
+            << "Valid  sixDoFRigidBodyMotionRestraints are : " << endl
+            << dictionaryConstructorTablePtr_->sortedToc()
+            << exit(FatalError);
+    }
+
+    return autoPtr<sixDoFRigidBodyMotionRestraint>(cstrIter()(sDoFRBMRDict));
+}
+
+
+// ************************************************************************* //

src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/sixDoFRigidBodyMotionRestraint/sixDoFRigidBodyMotionRestraint.C

@@ -0,0 +1,73 @@
+/*---------------------------------------------------------------------------*\
+  =========                 |
+  \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
+   \\    /   O peration     |
+    \\  /    A nd           | Copyright (C) 1991-2009 OpenCFD Ltd.
+     \\/     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 2 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, write to the Free Software Foundation,
+    Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+
+\*---------------------------------------------------------------------------*/
+
+#include "sixDoFRigidBodyMotionRestraint.H"
+
+// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
+
+defineTypeNameAndDebug(Foam::sixDoFRigidBodyMotionRestraint, 0);
+
+defineRunTimeSelectionTable(Foam::sixDoFRigidBodyMotionRestraint, dictionary);
+
+// * * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * //
+
+Foam::sixDoFRigidBodyMotionRestraint::sixDoFRigidBodyMotionRestraint
+(
+    const dictionary& sDoFRBMRDict
+)
+:
+    name_(fileName(sDoFRBMRDict.name().name()).components(token::COLON).last()),
+    sDoFRBMRCoeffs_
+    (
+        sDoFRBMRDict.subDict
+        (
+            word(sDoFRBMRDict.lookup("sixDoFRigidBodyMotionRestraint"))
+          + "Coeffs"
+        )
+    )
+{}
+
+
+// * * * * * * * * * * * * * * * * Destructor  * * * * * * * * * * * * * * * //
+
+Foam::sixDoFRigidBodyMotionRestraint::~sixDoFRigidBodyMotionRestraint()
+{}
+
+
+// * * * * * * * * * * * * * * Member Functions  * * * * * * * * * * * * * * //
+
+bool Foam::sixDoFRigidBodyMotionRestraint::read
+(
+    const dictionary& sDoFRBMRDict
+)
+{
+    sDoFRBMRCoeffs_ = sDoFRBMRDict.subDict(type() + "Coeffs");
+
+    return true;
+}
+
+
+// ************************************************************************* //

src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/sixDoFRigidBodyMotionRestraint/sixDoFRigidBodyMotionRestraint.H

@@ -0,0 +1,163 @@
+/*---------------------------------------------------------------------------*\
+  =========                 |
+  \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
+   \\    /   O peration     |
+    \\  /    A nd           | Copyright (C) 1991-2009 OpenCFD Ltd.
+     \\/     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 2 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, write to the Free Software Foundation,
+    Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+
+Namespace
+    Foam::sixDoFRigidBodyMotionRestraints
+
+Description
+    Namespace for six DoF motion restraints
+
+
+Class
+    Foam::sixDoFRigidBodyMotionRestraint
+
+Description
+    Base class for defining restraints for sixDoF motions
+
+SourceFiles
+    sixDoFRigidBodyMotionRestraint.C
+    newDynamicFvMesh.C
+
+\*---------------------------------------------------------------------------*/
+
+#ifndef sixDoFRigidBodyMotionRestraint_H
+#define sixDoFRigidBodyMotionRestraint_H
+
+#include "Time.H"
+#include "dictionary.H"
+#include "autoPtr.H"
+#include "vector.H"
+#include "runTimeSelectionTables.H"
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+namespace Foam
+{
+
+// Forward declaration of classes
+class sixDoFRigidBodyMotion;
+
+
+/*---------------------------------------------------------------------------*\
+                Class sixDoFRigidBodyMotionRestraint Declaration
+\*---------------------------------------------------------------------------*/
+
+class sixDoFRigidBodyMotionRestraint
+{
+
+protected:
+
+    // Protected data
+
+        //- Name of the constraint in dictionary
+        word name_;
+
+        //- Restraint model specific coefficient dictionary
+        dictionary sDoFRBMRCoeffs_;
+
+
+public:
+
+    //- Runtime type information
+    TypeName("sixDoFRigidBodyMotionRestraint");
+
+
+    // Declare run-time constructor selection table
+
+        declareRunTimeSelectionTable
+        (
+            autoPtr,
+            sixDoFRigidBodyMotionRestraint,
+            dictionary,
+            (const dictionary& sDoFRBMRDict),
+            (sDoFRBMRDict)
+        );
+
+
+    // Constructors
+
+        //- Construct from the sDoFRBMRDict dictionary and Time
+        sixDoFRigidBodyMotionRestraint
+        (
+            const dictionary& sDoFRBMRDict
+        );
+
+        //- Construct and return a clone
+        virtual autoPtr<sixDoFRigidBodyMotionRestraint> clone() const = 0;
+
+
+    // Selectors
+
+        //- Select constructed from the sDoFRBMRDict dictionary and Time
+        static autoPtr<sixDoFRigidBodyMotionRestraint> New
+        (
+            const dictionary& sDoFRBMRDict
+        );
+
+
+    // Destructor
+
+        virtual ~sixDoFRigidBodyMotionRestraint();
+
+
+    // Member Functions
+
+        //- Calculate the restraint position, force and moment.
+        //  Global reference frame vectors.
+        virtual void restrain
+        (
+            const sixDoFRigidBodyMotion& motion,
+            vector& restraintPosition,
+            vector& restraintForce,
+            vector& restraintMoment
+        ) const = 0;
+
+        //- Update properties from given dictionary
+        virtual bool read(const dictionary& sDoFRBMRDict) = 0;
+
+        // Access
+
+            //- Return access to the name of the restraint
+            inline const word& name() const
+            {
+                return name_;
+            }
+
+            // Return access to sDoFRBMRCoeffs
+            inline const dictionary& coeffDict() const
+            {
+                return sDoFRBMRCoeffs_;
+            }
+};
+
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+} // End namespace Foam
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+#endif
+
+// ************************************************************************* //

src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/sphericalAngularSpring/sphericalAngularSpring.C

@@ -0,0 +1,148 @@
+/*---------------------------------------------------------------------------*\
+  =========                 |
+  \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
+   \\    /   O peration     |
+    \\  /    A nd           | Copyright (C) 1991-2009 OpenCFD Ltd.
+     \\/     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 2 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, write to the Free Software Foundation,
+    Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+
+\*---------------------------------------------------------------------------*/
+
+#include "sphericalAngularSpring.H"
+#include "addToRunTimeSelectionTable.H"
+#include "sixDoFRigidBodyMotion.H"
+
+// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
+
+namespace Foam
+{
+namespace sixDoFRigidBodyMotionRestraints
+{
+    defineTypeNameAndDebug(sphericalAngularSpring, 0);
+    addToRunTimeSelectionTable
+    (
+        sixDoFRigidBodyMotionRestraint,
+        sphericalAngularSpring,
+        dictionary
+    );
+};
+};
+
+
+// * * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * //
+
+Foam::sixDoFRigidBodyMotionRestraints::sphericalAngularSpring::
+sphericalAngularSpring
+(
+    const dictionary& sDoFRBMRDict
+)
+:
+    sixDoFRigidBodyMotionRestraint(sDoFRBMRDict),
+    refQ_(),
+    stiffness_(),
+    damping_()
+{
+    read(sDoFRBMRDict);
+}
+
+
+// * * * * * * * * * * * * * * * * Destructors * * * * * * * * * * * * * * * //
+
+Foam::sixDoFRigidBodyMotionRestraints::sphericalAngularSpring::
+~sphericalAngularSpring()
+{}
+
+
+// * * * * * * * * * * * * * * Member Functions  * * * * * * * * * * * * * * //
+
+void
+Foam::sixDoFRigidBodyMotionRestraints::sphericalAngularSpring::restrain
+(
+    const sixDoFRigidBodyMotion& motion,
+    vector& restraintPosition,
+    vector& restraintForce,
+    vector& restraintMoment
+) const
+{
+    restraintMoment = vector::zero;
+
+    for (direction cmpt=0; cmpt<vector::nComponents; cmpt++)
+    {
+        vector axis = vector::zero;
+
+        axis[cmpt] = 1;
+
+        vector refDir = vector::zero;
+
+        refDir[(cmpt + 1) % 3] = 1;
+
+        vector newDir = motion.currentOrientation(refDir);
+
+        axis = (refQ_ & axis);
+
+        refDir = (refQ_ & refDir);
+
+        newDir -= (axis & newDir)*axis;
+
+        restraintMoment += -stiffness_*(refDir ^ newDir);
+    }
+
+    restraintMoment += -damping_*motion.omega();
+
+    restraintForce = vector::zero;
+
+    // Not needed to be altered as restraintForce is zero, but set to
+    // centreOfMass to be sure of no spurious moment
+    restraintPosition = motion.centreOfMass();
+}
+
+
+bool Foam::sixDoFRigidBodyMotionRestraints::sphericalAngularSpring::read
+(
+    const dictionary& sDoFRBMRDict
+)
+{
+    sixDoFRigidBodyMotionRestraint::read(sDoFRBMRDict);
+
+    refQ_ = sDoFRBMRCoeffs_.lookupOrDefault<tensor>("referenceOrientation", I);
+
+    if (mag(mag(refQ_) - sqrt(3.0)) > 1e-9)
+    {
+        FatalErrorIn
+        (
+            "Foam::sixDoFRigidBodyMotionRestraints::sphericalAngularSpring::"
+            "read"
+            "("
+                "const dictionary& sDoFRBMRDict"
+            ")"
+        )
+            << "referenceOrientation " << refQ_ << " is not a rotation tensor. "
+            << "mag(referenceOrientation) - sqrt(3) = "
+            << mag(refQ_) - sqrt(3.0) << nl
+            << exit(FatalError);
+    }
+
+    sDoFRBMRCoeffs_.lookup("stiffness") >> stiffness_;
+
+    sDoFRBMRCoeffs_.lookup("damping") >> damping_;
+
+    return true;
+}
+
+// ************************************************************************* //

src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/sphericalAngularSpring/sphericalAngularSpring.H

@@ -0,0 +1,126 @@
+/*---------------------------------------------------------------------------*\
+  =========                 |
+  \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
+   \\    /   O peration     |
+    \\  /    A nd           | Copyright (C) 1991-2009 OpenCFD Ltd.
+     \\/     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 2 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, write to the Free Software Foundation,
+    Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+
+Class
+    Foam::sixDoFRigidBodyMotionRestraints::sphericalAngularSpring
+
+Description
+    sixDoFRigidBodyMotionRestraints model.  Spherical angular spring.
+
+SourceFiles
+    sphericalAngularSpring.C
+
+\*---------------------------------------------------------------------------*/
+
+#ifndef sphericalAngularSpring_H
+#define sphericalAngularSpring_H
+
+#include "sixDoFRigidBodyMotionRestraint.H"
+#include "point.H"
+#include "tensor.H"
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+namespace Foam
+{
+
+namespace sixDoFRigidBodyMotionRestraints
+{
+
+/*---------------------------------------------------------------------------*\
+                   Class sphericalAngularSpring Declaration
+\*---------------------------------------------------------------------------*/
+
+class sphericalAngularSpring
+:
+    public sixDoFRigidBodyMotionRestraint
+{
+    // Private data
+
+        //- Reference orientation where there is no moment
+        tensor refQ_;
+
+        //- Spring stiffness coefficient (Nm/rad)
+        scalar stiffness_;
+
+        //- Damping coefficient (Nms/rad)
+        scalar damping_;
+
+
+public:
+
+    //- Runtime type information
+    TypeName("sphericalAngularSpring");
+
+
+    // Constructors
+
+        //- Construct from components
+        sphericalAngularSpring
+        (
+            const dictionary& sDoFRBMRDict
+        );
+
+        //- Construct and return a clone
+        virtual autoPtr<sixDoFRigidBodyMotionRestraint> clone() const
+        {
+            return autoPtr<sixDoFRigidBodyMotionRestraint>
+            (
+                new sphericalAngularSpring(*this)
+            );
+        }
+
+
+    // Destructor
+
+        virtual ~sphericalAngularSpring();
+
+
+    // Member Functions
+
+        //- Calculate the restraint position, force and moment.
+        //  Global reference frame vectors.
+        virtual void restrain
+        (
+            const sixDoFRigidBodyMotion& motion,
+            vector& restraintPosition,
+            vector& restraintForce,
+            vector& restraintMoment
+        ) const;
+
+        //- Update properties from given dictionary
+        virtual bool read(const dictionary& sDoFRBMRCoeff);
+};
+
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+} // End namespace solidBodyMotionFunctions
+} // End namespace Foam
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+#endif
+
+// ************************************************************************* //

src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/tabulatedAxialAngularSpring/tabulatedAxialAngularSpring.C

@@ -0,0 +1,230 @@
+/*---------------------------------------------------------------------------*\
+  =========                 |
+  \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
+   \\    /   O peration     |
+    \\  /    A nd           | Copyright (C) 1991-2009 OpenCFD Ltd.
+     \\/     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 2 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, write to the Free Software Foundation,
+    Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+
+\*---------------------------------------------------------------------------*/
+
+#include "tabulatedAxialAngularSpring.H"
+#include "addToRunTimeSelectionTable.H"
+#include "sixDoFRigidBodyMotion.H"
+#include "transform.H"
+#include "unitConversion.H"
+
+// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
+
+namespace Foam
+{
+namespace sixDoFRigidBodyMotionRestraints
+{
+    defineTypeNameAndDebug(tabulatedAxialAngularSpring, 0);
+    addToRunTimeSelectionTable
+    (
+        sixDoFRigidBodyMotionRestraint,
+        tabulatedAxialAngularSpring,
+        dictionary
+    );
+};
+};
+
+
+// * * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * //
+
+Foam::sixDoFRigidBodyMotionRestraints::tabulatedAxialAngularSpring::
+tabulatedAxialAngularSpring
+(
+    const dictionary& sDoFRBMRDict
+)
+:
+    sixDoFRigidBodyMotionRestraint(sDoFRBMRDict),
+    refQ_(),
+    axis_(),
+    stiffness_(),
+    convertToDegrees_(),
+    damping_()
+{
+    read(sDoFRBMRDict);
+}
+
+
+// * * * * * * * * * * * * * * * * Destructors * * * * * * * * * * * * * * * //
+
+Foam::sixDoFRigidBodyMotionRestraints::tabulatedAxialAngularSpring::
+~tabulatedAxialAngularSpring()
+{}
+
+
+// * * * * * * * * * * * * * * Member Functions  * * * * * * * * * * * * * * //
+
+void
+Foam::sixDoFRigidBodyMotionRestraints::tabulatedAxialAngularSpring::restrain
+(
+    const sixDoFRigidBodyMotion& motion,
+    vector& restraintPosition,
+    vector& restraintForce,
+    vector& restraintMoment
+) const
+{
+    vector refDir = rotationTensor(vector(1, 0 ,0), axis_) & vector(0, 1, 0);
+
+    vector oldDir = refQ_ & refDir;
+
+    vector newDir = motion.currentOrientation(refDir);
+
+    if (mag(oldDir & axis_) > 0.95 || mag(newDir & axis_) > 0.95)
+    {
+        // Directions getting close to the axis, change reference
+
+        refDir = rotationTensor(vector(1, 0 ,0), axis_) & vector(0, 0, 1);
+
+        vector oldDir = refQ_ & refDir;
+
+        vector newDir = motion.currentOrientation(refDir);
+    }
+
+    // Removing any axis component from oldDir and newDir and normalising
+    oldDir -= (axis_ & oldDir)*axis_;
+    oldDir /= mag(oldDir);
+
+    newDir -= (axis_ & newDir)*axis_;
+    newDir /= mag(newDir);
+
+    scalar theta = mag(acos(oldDir & newDir));
+
+    // Temporary axis with sign information.
+    vector a = (oldDir ^ newDir);
+
+    // Remove any component that is not along axis that may creep in
+    a = (a & axis_)*axis_;
+
+    scalar magA = mag(a);
+
+    if (magA > VSMALL)
+    {
+        a /= magA;
+    }
+    else
+    {
+        a = vector::zero;
+    }
+
+    scalar stiffness;
+
+    if (convertToDegrees_)
+    {
+        stiffness = stiffness_(radToDeg(theta));
+    }
+    else
+    {
+        stiffness = stiffness_(theta);
+    }
+
+    // Damping of along axis angular velocity only
+    restraintMoment = -stiffness*theta*a - damping_*(motion.omega() & a)*a;
+
+    restraintForce = vector::zero;
+
+    // Not needed to be altered as restraintForce is zero, but set to
+    // centreOfMass to be sure of no spurious moment
+    restraintPosition = motion.centreOfMass();
+}
+
+
+bool Foam::sixDoFRigidBodyMotionRestraints::tabulatedAxialAngularSpring::read
+(
+    const dictionary& sDoFRBMRDict
+)
+{
+    sixDoFRigidBodyMotionRestraint::read(sDoFRBMRDict);
+
+    refQ_ = sDoFRBMRCoeffs_.lookupOrDefault<tensor>("referenceOrientation", I);
+
+    if (mag(mag(refQ_) - sqrt(3.0)) > 1e-9)
+    {
+        FatalErrorIn
+        (
+            "Foam::sixDoFRigidBodyMotionRestraints::"
+            "tabulatedAxialAngularSpring::read"
+            "("
+                "const dictionary& sDoFRBMRDict"
+            ")"
+        )
+            << "referenceOrientation " << refQ_ << " is not a rotation tensor. "
+            << "mag(referenceOrientation) - sqrt(3) = "
+            << mag(refQ_) - sqrt(3.0) << nl
+            << exit(FatalError);
+    }
+
+    axis_ = sDoFRBMRCoeffs_.lookup("axis");
+
+    scalar magAxis(mag(axis_));
+
+    if (magAxis > VSMALL)
+    {
+        axis_ /= magAxis;
+    }
+    else
+    {
+        FatalErrorIn
+        (
+            "Foam::sixDoFRigidBodyMotionRestraints::"
+            "tabulatedAxialAngularSpring::read"
+            "("
+                "const dictionary& sDoFRBMCDict"
+            ")"
+        )
+            << "axis has zero length"
+            << abort(FatalError);
+    }
+
+    stiffness_ = interpolationTable<scalar>(sDoFRBMRCoeffs_);
+
+    word angleFormat = sDoFRBMRCoeffs_.lookup("angleFormat");
+
+    if (angleFormat == "degrees" || angleFormat == "degree")
+    {
+        convertToDegrees_ = true;
+    }
+    else if (angleFormat == "radians" || angleFormat == "radian")
+    {
+        convertToDegrees_ = false;
+    }
+    else
+    {
+        FatalErrorIn
+        (
+            "Foam::sixDoFRigidBodyMotionRestraints::"
+            "tabulatedAxialAngularSpring::read"
+            "("
+                "const dictionary& sDoFRBMCDict"
+            ")"
+        )
+            << "angleFormat must be degree, degrees, radian or radians"
+            << abort(FatalError);
+    }
+
+    sDoFRBMRCoeffs_.lookup("damping") >> damping_;
+
+    return true;
+}
+
+// ************************************************************************* //

src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/tabulatedAxialAngularSpring/tabulatedAxialAngularSpring.H

@@ -0,0 +1,137 @@
+/*---------------------------------------------------------------------------*\
+  =========                 |
+  \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
+   \\    /   O peration     |
+    \\  /    A nd           | Copyright (C) 1991-2009 OpenCFD Ltd.
+     \\/     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 2 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, write to the Free Software Foundation,
+    Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+
+Class
+    Foam::sixDoFRigidBodyMotionRestraints::tabulatedAxialAngularSpring
+
+Description
+    sixDoFRigidBodyMotionRestraints model.  Axial angular spring with stiffness
+    values drawn from an interpolation table.  Linear damping.
+
+SourceFiles
+    tabulatedAxialAngularSpring.C
+
+\*---------------------------------------------------------------------------*/
+
+#ifndef tabulatedAxialAngularSpring_H
+#define tabulatedAxialAngularSpring_H
+
+#include "sixDoFRigidBodyMotionRestraint.H"
+#include "point.H"
+#include "tensor.H"
+#include "interpolationTable.H"
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+namespace Foam
+{
+
+namespace sixDoFRigidBodyMotionRestraints
+{
+
+/*---------------------------------------------------------------------------*\
+                  Class tabulatedAxialAngularSpring Declaration
+\*---------------------------------------------------------------------------*/
+
+class tabulatedAxialAngularSpring
+:
+    public sixDoFRigidBodyMotionRestraint
+{
+    // Private data
+
+        //- Reference orientation where there is no moment
+        tensor refQ_;
+
+        //- Global unit axis around which the motion is sprung
+        vector axis_;
+
+        //- Spring stiffness coefficient interpolation table (Nm/rad
+        //  or Nm/deg, depending on angleFormat)
+        interpolationTable<scalar> stiffness_;
+
+        //- Boolean stating whether the angle around the axis needs to
+        //  be converted to degrees before asking the
+        //  interpolationTable for a value
+        bool convertToDegrees_;
+
+        //- Damping coefficient (Nms/rad)
+        scalar damping_;
+
+
+public:
+
+    //- Runtime type information
+    TypeName("tabulatedAxialAngularSpring");
+
+
+    // Constructors
+
+        //- Construct from components
+        tabulatedAxialAngularSpring
+        (
+            const dictionary& sDoFRBMRDict
+        );
+
+        //- Construct and return a clone
+        virtual autoPtr<sixDoFRigidBodyMotionRestraint> clone() const
+        {
+            return autoPtr<sixDoFRigidBodyMotionRestraint>
+            (
+                new tabulatedAxialAngularSpring(*this)
+            );
+        }
+
+
+    // Destructor
+
+        virtual ~tabulatedAxialAngularSpring();
+
+
+    // Member Functions
+
+        //- Calculate the restraint position, force and moment.
+        //  Global reference frame vectors.
+        virtual void restrain
+        (
+            const sixDoFRigidBodyMotion& motion,
+            vector& restraintPosition,
+            vector& restraintForce,
+            vector& restraintMoment
+        ) const;
+
+        //- Update properties from given dictionary
+        virtual bool read(const dictionary& sDoFRBMRCoeff);
+};
+
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+} // End namespace solidBodyMotionFunctions
+} // End namespace Foam
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+#endif
+
+// ************************************************************************* //

src/postProcessing/functionObjects/forces/pointPatchFields/derived/uncoupledSixDoFRigidBodyDisplacement/uncoupledSixDoFRigidBodyDisplacementPointPatchVectorField.C

@@ -0,0 +1,173 @@
+/*---------------------------------------------------------------------------*\
+  =========                 |
+  \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
+   \\    /   O peration     |
+    \\  /    A nd           | Copyright (C) 1991-2009 OpenCFD Ltd.
+     \\/     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 2 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, write to the Free Software Foundation,
+    Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+
+\*---------------------------------------------------------------------------*/
+
+#include "uncoupledSixDoFRigidBodyDisplacementPointPatchVectorField.H"
+#include "pointPatchFields.H"
+#include "addToRunTimeSelectionTable.H"
+#include "Time.H"
+#include "fvMesh.H"
+#include "volFields.H"
+#include "uniformDimensionedFields.H"
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+namespace Foam
+{
+
+// * * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * //
+
+uncoupledSixDoFRigidBodyDisplacementPointPatchVectorField::
+uncoupledSixDoFRigidBodyDisplacementPointPatchVectorField
+(
+    const pointPatch& p,
+    const DimensionedField<vector, pointMesh>& iF
+)
+:
+    fixedValuePointPatchField<vector>(p, iF),
+    motion_(),
+    p0_(p.localPoints()),
+    rhoInf_(1.0)
+{}
+
+
+uncoupledSixDoFRigidBodyDisplacementPointPatchVectorField::
+uncoupledSixDoFRigidBodyDisplacementPointPatchVectorField
+(
+    const pointPatch& p,
+    const DimensionedField<vector, pointMesh>& iF,
+    const dictionary& dict
+)
+:
+    fixedValuePointPatchField<vector>(p, iF, dict),
+    motion_(dict),
+    rhoInf_(readScalar(dict.lookup("rhoInf")))
+{
+    if (!dict.found("value"))
+    {
+        updateCoeffs();
+    }
+
+    if (dict.found("p0"))
+    {
+        p0_ = vectorField("p0", dict , p.size());
+    }
+    else
+    {
+        p0_ = p.localPoints();
+    }
+}
+
+
+uncoupledSixDoFRigidBodyDisplacementPointPatchVectorField::
+uncoupledSixDoFRigidBodyDisplacementPointPatchVectorField
+(
+    const uncoupledSixDoFRigidBodyDisplacementPointPatchVectorField& ptf,
+    const pointPatch& p,
+    const DimensionedField<vector, pointMesh>& iF,
+    const pointPatchFieldMapper& mapper
+)
+:
+    fixedValuePointPatchField<vector>(ptf, p, iF, mapper),
+    motion_(ptf.motion_),
+    p0_(ptf.p0_, mapper),
+    rhoInf_(ptf.rhoInf_)
+{}
+
+
+uncoupledSixDoFRigidBodyDisplacementPointPatchVectorField::
+uncoupledSixDoFRigidBodyDisplacementPointPatchVectorField
+(
+    const uncoupledSixDoFRigidBodyDisplacementPointPatchVectorField& ptf,
+    const DimensionedField<vector, pointMesh>& iF
+)
+:
+    fixedValuePointPatchField<vector>(ptf, iF),
+    motion_(ptf.motion_),
+    p0_(ptf.p0_),
+    rhoInf_(ptf.rhoInf_)
+{}
+
+
+// * * * * * * * * * * * * * * * Member Functions  * * * * * * * * * * * * * //
+
+void uncoupledSixDoFRigidBodyDisplacementPointPatchVectorField::updateCoeffs()
+{
+    if (this->updated())
+    {
+        return;
+    }
+
+    const polyMesh& mesh = this->dimensionedInternalField().mesh()();
+    const Time& t = mesh.time();
+
+    motion_.updatePosition(t.deltaTValue());
+
+    vector gravity = vector::zero;
+
+    if (db().foundObject<uniformDimensionedVectorField>("g"))
+    {
+        uniformDimensionedVectorField g =
+        db().lookupObject<uniformDimensionedVectorField>("g");
+
+        gravity = g.value();
+    }
+
+    // Do not modify the accelerations, except with gravity, where available
+    motion_.updateForce(gravity*motion_.mass(), vector::zero, t.deltaTValue());
+
+    Field<vector>::operator=(motion_.currentPosition(p0_) - p0_);
+
+    fixedValuePointPatchField<vector>::updateCoeffs();
+}
+
+
+void uncoupledSixDoFRigidBodyDisplacementPointPatchVectorField::write
+(
+    Ostream& os
+) const
+{
+    pointPatchField<vector>::write(os);
+    motion_.write(os);
+    os.writeKeyword("rhoInf")
+        << rhoInf_ << token::END_STATEMENT << nl;
+    p0_.writeEntry("p0", os);
+    writeEntry("value", os);
+}
+
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+makePointPatchTypeField
+(
+    pointPatchVectorField,
+    uncoupledSixDoFRigidBodyDisplacementPointPatchVectorField
+);
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+} // End namespace Foam
+
+// ************************************************************************* //

src/postProcessing/functionObjects/forces/pointPatchFields/derived/uncoupledSixDoFRigidBodyDisplacement/uncoupledSixDoFRigidBodyDisplacementPointPatchVectorField.H

@@ -0,0 +1,158 @@
+/*---------------------------------------------------------------------------*\
+  =========                 |
+  \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
+   \\    /   O peration     |
+    \\  /    A nd           | Copyright (C) 1991-2009 OpenCFD Ltd.
+     \\/     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 2 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, write to the Free Software Foundation,
+    Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+
+Class
+    Foam::uncoupledSixDoFRigidBodyDisplacementPointPatchVectorField
+
+Description
+    Foam::uncoupledSixDoFRigidBodyDisplacementPointPatchVectorField
+
+SourceFiles
+    uncoupledSixDoFRigidBodyDisplacementPointPatchVectorField.C
+
+\*---------------------------------------------------------------------------*/
+
+#ifndef uncoupledSixDoFRigidBodyDisplacementPointPatchVectorField_H
+#define uncoupledSixDoFRigidBodyDisplacementPointPatchVectorField_H
+
+#include "fixedValuePointPatchField.H"
+#include "sixDoFRigidBodyMotion.H"
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+namespace Foam
+{
+
+/*---------------------------------------------------------------------------*\
+  Class uncoupledSixDoFRigidBodyDisplacementPointPatchVectorField Declaration
+\*---------------------------------------------------------------------------*/
+
+class uncoupledSixDoFRigidBodyDisplacementPointPatchVectorField
+:
+    public fixedValuePointPatchField<vector>
+{
+    // Private data
+
+        //- Six dof motion object
+        sixDoFRigidBodyMotion motion_;
+
+        //- Reference positions of points on the patch
+        pointField p0_;
+
+        //- Reference density required by the forces object for
+        //  incompressible calculations.  Retained here to give
+        //  dictionary compatibility with other sixDoF patches.
+        scalar rhoInf_;
+
+
+public:
+
+    //- Runtime type information
+    TypeName("uncoupledSixDoFRigidBodyDisplacement");
+
+
+    // Constructors
+
+        //- Construct from patch and internal field
+        uncoupledSixDoFRigidBodyDisplacementPointPatchVectorField
+        (
+            const pointPatch&,
+            const DimensionedField<vector, pointMesh>&
+        );
+
+        //- Construct from patch, internal field and dictionary
+        uncoupledSixDoFRigidBodyDisplacementPointPatchVectorField
+        (
+            const pointPatch&,
+            const DimensionedField<vector, pointMesh>&,
+            const dictionary&
+        );
+
+        //- Construct by mapping given patchField<vector> onto a new patch
+        uncoupledSixDoFRigidBodyDisplacementPointPatchVectorField
+        (
+            const uncoupledSixDoFRigidBodyDisplacementPointPatchVectorField&,
+            const pointPatch&,
+            const DimensionedField<vector, pointMesh>&,
+            const pointPatchFieldMapper&
+        );
+
+        //- Construct and return a clone
+        virtual autoPtr<pointPatchField<vector> > clone() const
+        {
+            return autoPtr<pointPatchField<vector> >
+            (
+                new uncoupledSixDoFRigidBodyDisplacementPointPatchVectorField
+                (
+                    *this
+                )
+            );
+        }
+
+        //- Construct as copy setting internal field reference
+        uncoupledSixDoFRigidBodyDisplacementPointPatchVectorField
+        (
+            const uncoupledSixDoFRigidBodyDisplacementPointPatchVectorField&,
+            const DimensionedField<vector, pointMesh>&
+        );
+
+        //- Construct and return a clone setting internal field reference
+        virtual autoPtr<pointPatchField<vector> > clone
+        (
+            const DimensionedField<vector, pointMesh>& iF
+        ) const
+        {
+            return autoPtr<pointPatchField<vector> >
+            (
+                new uncoupledSixDoFRigidBodyDisplacementPointPatchVectorField
+                (
+                    *this,
+                    iF
+                )
+            );
+        }
+
+
+    // Member functions
+
+        // Evaluation functions
+
+            //- Update the coefficients associated with the patch field
+            virtual void updateCoeffs();
+
+
+        //- Write
+        virtual void write(Ostream&) const;
+};
+
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+} // End namespace Foam
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+#endif
+
+// ************************************************************************* //