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ENH: Transferring momentOfInertia calc from utils to meshTools lib.
Adding mesh cell inertia calc.
This commit is contained in:
graham
@ -33,9 +33,6 @@ Description
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#include "argList.H"
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#include "ListOps.H"
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#include "face.H"
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#include "tetPointRef.H"
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#include "triFaceList.H"
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#include "triSurface.H"
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#include "OFstream.H"
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#include "meshTools.H"
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@ -43,242 +40,12 @@ Description
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#include "transform.H"
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#include "IOmanip.H"
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#include "Pair.H"
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#include "momentOfInertia.H"
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// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
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using namespace Foam;
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void massPropertiesSolid
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(
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const pointField& pts,
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const triFaceList& triFaces,
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scalar density,
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scalar& mass,
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vector& cM,
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tensor& J
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)
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{
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// Reimplemented from: Wm4PolyhedralMassProperties.cpp
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// File Version: 4.10.0 (2009/11/18)
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// Geometric Tools, LC
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// Copyright (c) 1998-2010
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// Distributed under the Boost Software License, Version 1.0.
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// http://www.boost.org/LICENSE_1_0.txt
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// http://www.geometrictools.com/License/Boost/LICENSE_1_0.txt
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// Boost Software License - Version 1.0 - August 17th, 2003
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// Permission is hereby granted, free of charge, to any person or
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// organization obtaining a copy of the software and accompanying
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// documentation covered by this license (the "Software") to use,
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// reproduce, display, distribute, execute, and transmit the
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// Software, and to prepare derivative works of the Software, and
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// to permit third-parties to whom the Software is furnished to do
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// so, all subject to the following:
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// The copyright notices in the Software and this entire
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// statement, including the above license grant, this restriction
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// and the following disclaimer, must be included in all copies of
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// the Software, in whole or in part, and all derivative works of
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// the Software, unless such copies or derivative works are solely
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// in the form of machine-executable object code generated by a
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// source language processor.
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// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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// EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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// OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, TITLE AND
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// NON-INFRINGEMENT. IN NO EVENT SHALL THE COPYRIGHT HOLDERS OR
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// ANYONE DISTRIBUTING THE SOFTWARE BE LIABLE FOR ANY DAMAGES OR
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// OTHER LIABILITY, WHETHER IN CONTRACT, TORT OR OTHERWISE,
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// ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE
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// USE OR OTHER DEALINGS IN THE SOFTWARE.
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const scalar r6 = 1.0/6.0;
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const scalar r24 = 1.0/24.0;
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const scalar r60 = 1.0/60.0;
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const scalar r120 = 1.0/120.0;
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// order: 1, x, y, z, x^2, y^2, z^2, xy, yz, zx
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scalarField integrals(10, 0.0);
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forAll(triFaces, i)
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{
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const triFace& tri(triFaces[i]);
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// vertices of triangle i
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vector v0 = pts[tri[0]];
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vector v1 = pts[tri[1]];
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vector v2 = pts[tri[2]];
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// cross product of edges
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vector eA = v1 - v0;
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vector eB = v2 - v0;
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vector n = eA ^ eB;
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// compute integral terms
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scalar tmp0, tmp1, tmp2;
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scalar f1x, f2x, f3x, g0x, g1x, g2x;
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tmp0 = v0.x() + v1.x();
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f1x = tmp0 + v2.x();
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tmp1 = v0.x()*v0.x();
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tmp2 = tmp1 + v1.x()*tmp0;
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f2x = tmp2 + v2.x()*f1x;
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f3x = v0.x()*tmp1 + v1.x()*tmp2 + v2.x()*f2x;
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g0x = f2x + v0.x()*(f1x + v0.x());
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g1x = f2x + v1.x()*(f1x + v1.x());
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g2x = f2x + v2.x()*(f1x + v2.x());
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scalar f1y, f2y, f3y, g0y, g1y, g2y;
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tmp0 = v0.y() + v1.y();
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f1y = tmp0 + v2.y();
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tmp1 = v0.y()*v0.y();
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tmp2 = tmp1 + v1.y()*tmp0;
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f2y = tmp2 + v2.y()*f1y;
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f3y = v0.y()*tmp1 + v1.y()*tmp2 + v2.y()*f2y;
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g0y = f2y + v0.y()*(f1y + v0.y());
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g1y = f2y + v1.y()*(f1y + v1.y());
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g2y = f2y + v2.y()*(f1y + v2.y());
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scalar f1z, f2z, f3z, g0z, g1z, g2z;
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tmp0 = v0.z() + v1.z();
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f1z = tmp0 + v2.z();
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tmp1 = v0.z()*v0.z();
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tmp2 = tmp1 + v1.z()*tmp0;
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f2z = tmp2 + v2.z()*f1z;
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f3z = v0.z()*tmp1 + v1.z()*tmp2 + v2.z()*f2z;
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g0z = f2z + v0.z()*(f1z + v0.z());
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g1z = f2z + v1.z()*(f1z + v1.z());
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g2z = f2z + v2.z()*(f1z + v2.z());
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// update integrals
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integrals[0] += n.x()*f1x;
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integrals[1] += n.x()*f2x;
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integrals[2] += n.y()*f2y;
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integrals[3] += n.z()*f2z;
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integrals[4] += n.x()*f3x;
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integrals[5] += n.y()*f3y;
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integrals[6] += n.z()*f3z;
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integrals[7] += n.x()*(v0.y()*g0x + v1.y()*g1x + v2.y()*g2x);
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integrals[8] += n.y()*(v0.z()*g0y + v1.z()*g1y + v2.z()*g2y);
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integrals[9] += n.z()*(v0.x()*g0z + v1.x()*g1z + v2.x()*g2z);
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}
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integrals[0] *= r6;
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integrals[1] *= r24;
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integrals[2] *= r24;
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integrals[3] *= r24;
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integrals[4] *= r60;
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integrals[5] *= r60;
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integrals[6] *= r60;
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integrals[7] *= r120;
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integrals[8] *= r120;
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integrals[9] *= r120;
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// mass
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mass = integrals[0];
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// center of mass
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cM = vector(integrals[1], integrals[2], integrals[3])/mass;
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// inertia relative to origin
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J.xx() = integrals[5] + integrals[6];
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J.xy() = -integrals[7];
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J.xz() = -integrals[9];
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J.yx() = J.xy();
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J.yy() = integrals[4] + integrals[6];
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J.yz() = -integrals[8];
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J.zx() = J.xz();
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J.zy() = J.yz();
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J.zz() = integrals[4] + integrals[5];
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// inertia relative to center of mass
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J -= mass*((cM & cM)*I - cM*cM);
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// Apply density
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mass *= density;
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J *= density;
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}
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void massPropertiesShell
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(
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const pointField& pts,
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const triFaceList& triFaces,
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scalar density,
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scalar& mass,
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vector& cM,
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tensor& J
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)
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{
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// Reset properties for accumulation
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mass = 0.0;
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cM = vector::zero;
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J = tensor::zero;
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// Find centre of mass
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forAll(triFaces, i)
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{
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const triFace& tri(triFaces[i]);
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triPointRef t
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(
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pts[tri[0]],
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pts[tri[1]],
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pts[tri[2]]
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);
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scalar triMag = t.mag();
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cM += triMag*t.centre();
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mass += triMag;
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}
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cM /= mass;
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mass *= density;
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// Find inertia around centre of mass
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forAll(triFaces, i)
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{
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const triFace& tri(triFaces[i]);
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J += triPointRef
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(
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pts[tri[0]],
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pts[tri[1]],
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pts[tri[2]]
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).inertia(cM, density);
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}
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}
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tensor applyParallelAxisTheorem
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(
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scalar m,
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const vector& cM,
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const tensor& J,
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const vector& refPt
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)
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{
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// The displacement vector (refPt = cM) is the displacement of the
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// new reference point from the centre of mass of the body that
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// the inertia tensor applies to.
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vector d = (refPt - cM);
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return J + m*((d & d)*I - d*d);
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}
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int main(int argc, char *argv[])
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{
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argList::addNote
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@ -321,40 +88,17 @@ int main(int argc, char *argv[])
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triSurface surf(surfFileName);
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triFaceList faces(surf.size());
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forAll(surf, i)
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{
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faces[i] = triFace(surf[i]);
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}
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scalar m = 0.0;
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vector cM = vector::zero;
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tensor J = tensor::zero;
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if (args.optionFound("shellProperties"))
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{
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massPropertiesShell
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(
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surf.points(),
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faces,
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density,
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m,
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cM,
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J
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);
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momentOfInertia::massPropertiesShell(surf, density, m, cM, J);
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}
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else
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{
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massPropertiesSolid
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(
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surf.points(),
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faces,
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density,
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m,
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cM,
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J
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);
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momentOfInertia::massPropertiesSolid(surf, density, m, cM, J);
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}
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if (m < 0)
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@ -583,7 +327,7 @@ int main(int argc, char *argv[])
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showTransform = false;
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}
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Info<< nl << setprecision(10)
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Info<< nl << setprecision(12)
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<< "Density: " << density << nl
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<< "Mass: " << m << nl
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<< "Centre of mass: " << cM << nl
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@ -615,7 +359,7 @@ int main(int argc, char *argv[])
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if (calcAroundRefPt)
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{
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Info<< nl << "Inertia tensor relative to " << refPt << ": " << nl
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<< applyParallelAxisTheorem(m, cM, J, refPt)
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<< momentOfInertia::applyParallelAxisTheorem(m, cM, J, refPt)
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<< endl;
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}
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