mirror of
https://develop.openfoam.com/Development/openfoam.git
synced 2025-11-28 03:28:01 +00:00
sixDoFRigidBodyMotionConstraint: rewritten as direct constraints on the velocity
rather than applied as a force correction
This commit is contained in:
Henry
@ -3,7 +3,7 @@ sixDoFRigidBodyMotion/sixDoFRigidBodyMotionIO.C
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sixDoFRigidBodyMotion/sixDoFRigidBodyMotionState.C
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sixDoFRigidBodyMotion/sixDoFRigidBodyMotionStateIO.C
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restraints = sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint
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restraints = sixDoFRigidBodyMotion/restraints
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$(restraints)/sixDoFRigidBodyMotionRestraint/sixDoFRigidBodyMotionRestraint.C
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$(restraints)/sixDoFRigidBodyMotionRestraint/sixDoFRigidBodyMotionRestraintNew.C
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@ -12,7 +12,7 @@ $(restraints)/linearSpring/linearSpring.C
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$(restraints)/sphericalAngularSpring/sphericalAngularSpring.C
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$(restraints)/tabulatedAxialAngularSpring/tabulatedAxialAngularSpring.C
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constraints = sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint
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constraints = sixDoFRigidBodyMotion/constraints
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$(constraints)/sixDoFRigidBodyMotionConstraint/sixDoFRigidBodyMotionConstraint.C
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$(constraints)/sixDoFRigidBodyMotionConstraint/sixDoFRigidBodyMotionConstraintNew.C
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@ -49,10 +49,11 @@ namespace sixDoFRigidBodyMotionConstraints
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Foam::sixDoFRigidBodyMotionConstraints::fixedAxis::fixedAxis
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(
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const word& name,
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const dictionary& sDoFRBMCDict
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)
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:
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sixDoFRigidBodyMotionConstraint(sDoFRBMCDict),
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sixDoFRigidBodyMotionConstraint(name, sDoFRBMCDict),
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fixedAxis_()
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{
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read(sDoFRBMCDict);
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@ -67,79 +68,19 @@ Foam::sixDoFRigidBodyMotionConstraints::fixedAxis::~fixedAxis()
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// * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * * //
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bool Foam::sixDoFRigidBodyMotionConstraints::fixedAxis::constrain
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void Foam::sixDoFRigidBodyMotionConstraints::fixedAxis::constrainTranslation
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(
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const sixDoFRigidBodyMotion& motion,
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const vector& existingConstraintForce,
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const vector& existingConstraintMoment,
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scalar deltaT,
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vector& constraintPosition,
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vector& constraintForceIncrement,
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vector& constraintMomentIncrement
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pointConstraint& pc
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) const
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{}
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void Foam::sixDoFRigidBodyMotionConstraints::fixedAxis::constrainRotation
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(
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pointConstraint& pc
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) const
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{
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constraintMomentIncrement = vector::zero;
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vector predictedDir = motion.predictedOrientation
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(
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fixedAxis_,
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existingConstraintMoment,
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deltaT
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);
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scalar theta = acos(min(predictedDir & fixedAxis_, 1.0));
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vector rotationAxis = fixedAxis_ ^ predictedDir;
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scalar magRotationAxis = mag(rotationAxis);
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if (magRotationAxis > VSMALL)
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{
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rotationAxis /= magRotationAxis;
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const tensor& Q = motion.orientation();
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// Transform rotationAxis to body local system
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rotationAxis = Q.T() & rotationAxis;
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constraintMomentIncrement =
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-relaxationFactor_
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*(motion.momentOfInertia() & rotationAxis)
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*theta/sqr(deltaT);
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// Transform moment increment to global system
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constraintMomentIncrement = Q & constraintMomentIncrement;
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// Remove any moment that is around the fixedAxis_
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constraintMomentIncrement -=
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(constraintMomentIncrement & fixedAxis_)*fixedAxis_;
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}
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constraintPosition = motion.centreOfMass();
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constraintForceIncrement = vector::zero;
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bool converged(mag(theta) < tolerance_);
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if (sixDoFRigidBodyMotionConstraint::debug)
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{
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Info<< " angle " << theta
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<< " force " << constraintForceIncrement
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<< " moment " << constraintMomentIncrement;
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if (converged)
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{
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Info<< " converged";
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}
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else
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{
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Info<< " not converged";
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}
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Info<< endl;
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}
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return converged;
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pc.combine(pointConstraint(Tuple2<label, vector>(2, vector(0,1,0))));
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}
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@ -37,8 +37,6 @@ SourceFiles
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#define fixedAxis_H
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#include "sixDoFRigidBodyMotionConstraint.H"
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#include "point.H"
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#include "tensor.H"
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// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
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@ -74,6 +72,7 @@ public:
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//- Construct from components
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fixedAxis
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(
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const word& name,
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const dictionary& sDoFRBMCDict
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);
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@ -93,19 +92,11 @@ public:
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// Member Functions
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//- Calculate the constraint position, force and moment.
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// Global reference frame vectors. Returns boolean stating
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// whether the constraint been converged to tolerance.
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virtual bool constrain
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(
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const sixDoFRigidBodyMotion& motion,
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const vector& existingConstraintForce,
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const vector& existingConstraintMoment,
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scalar deltaT,
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vector& constraintPosition,
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vector& constraintForceIncrement,
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vector& constraintMomentIncrement
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) const;
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//- Apply and accumulate translational constraints
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virtual void constrainTranslation(pointConstraint&) const;
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//- Apply and accumulate rotational constraints
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virtual void constrainRotation(pointConstraint&) const;
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//- Update properties from given dictionary
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virtual bool read(const dictionary& sDoFRBMCCoeff);
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@ -49,11 +49,11 @@ namespace sixDoFRigidBodyMotionConstraints
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Foam::sixDoFRigidBodyMotionConstraints::fixedLine::fixedLine
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(
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const word& name,
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const dictionary& sDoFRBMCDict
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)
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:
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sixDoFRigidBodyMotionConstraint(sDoFRBMCDict),
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refPt_(),
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sixDoFRigidBodyMotionConstraint(name, sDoFRBMCDict),
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dir_()
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{
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read(sDoFRBMCDict);
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@ -68,67 +68,22 @@ Foam::sixDoFRigidBodyMotionConstraints::fixedLine::~fixedLine()
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// * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * * //
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bool Foam::sixDoFRigidBodyMotionConstraints::fixedLine::constrain
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void Foam::sixDoFRigidBodyMotionConstraints::fixedLine::constrainTranslation
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(
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const sixDoFRigidBodyMotion& motion,
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const vector& existingConstraintForce,
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const vector& existingConstraintMoment,
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scalar deltaT,
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vector& constraintPosition,
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vector& constraintForceIncrement,
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vector& constraintMomentIncrement
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pointConstraint& pc
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) const
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{
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point predictedPosition = motion.predictedPosition
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(
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refPt_,
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existingConstraintForce,
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existingConstraintMoment,
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deltaT
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);
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constraintPosition = motion.currentPosition(refPt_);
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// Info<< "current position " << constraintPosition << nl
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// << "next predictedPosition " << predictedPosition
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// << endl;
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// Vector from reference point to predicted point
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vector rC = predictedPosition - refPt_;
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vector error = rC - ((rC) & dir_)*dir_;
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// Info<< "error " << error << endl;
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constraintForceIncrement =
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-relaxationFactor_*error*motion.mass()/sqr(deltaT);
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constraintMomentIncrement = vector::zero;
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bool converged(mag(error) < tolerance_);
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if (sixDoFRigidBodyMotionConstraint::debug)
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{
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Info<< " error " << error
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<< " force " << constraintForceIncrement
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<< " moment " << constraintMomentIncrement;
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if (converged)
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{
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Info<< " converged";
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}
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else
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{
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Info<< " not converged";
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}
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Info<< endl;
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}
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return converged;
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pc.combine(pointConstraint(Tuple2<label, vector>(2, dir_)));
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}
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void Foam::sixDoFRigidBodyMotionConstraints::fixedLine::constrainRotation
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(
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pointConstraint& pc
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) const
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{}
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bool Foam::sixDoFRigidBodyMotionConstraints::fixedLine::read
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(
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const dictionary& sDoFRBMCDict
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@ -136,8 +91,6 @@ bool Foam::sixDoFRigidBodyMotionConstraints::fixedLine::read
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{
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sixDoFRigidBodyMotionConstraint::read(sDoFRBMCDict);
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sDoFRBMCCoeffs_.lookup("refPoint") >> refPt_;
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sDoFRBMCCoeffs_.lookup("direction") >> dir_;
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scalar magDir(mag(dir_));
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@ -168,9 +121,6 @@ void Foam::sixDoFRigidBodyMotionConstraints::fixedLine::write
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Ostream& os
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) const
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{
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os.writeKeyword("refPoint")
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<< refPt_ << token::END_STATEMENT << nl;
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os.writeKeyword("direction")
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<< dir_ << token::END_STATEMENT << nl;
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}
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@ -37,7 +37,6 @@ SourceFiles
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#define fixedLine_H
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#include "sixDoFRigidBodyMotionConstraint.H"
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#include "point.H"
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// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
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@ -57,9 +56,6 @@ class fixedLine
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{
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// Private data
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//- Reference point for the constraining line
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point refPt_;
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//- Direction of the constraining line
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vector dir_;
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@ -75,6 +71,7 @@ public:
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//- Construct from components
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fixedLine
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(
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const word& name,
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const dictionary& sDoFRBMCDict
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);
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@ -94,19 +91,11 @@ public:
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// Member Functions
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//- Calculate the constraint position, force and moment.
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// Global reference frame vectors. Returns boolean stating
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// whether the constraint been converged to tolerance.
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virtual bool constrain
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(
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const sixDoFRigidBodyMotion& motion,
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const vector& existingConstraintForce,
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const vector& existingConstraintMoment,
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scalar deltaT,
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vector& constraintPosition,
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vector& constraintForceIncrement,
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vector& constraintMomentIncrement
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) const;
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//- Apply and accumulate translational constraints
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virtual void constrainTranslation(pointConstraint&) const;
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//- Apply and accumulate rotational constraints
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virtual void constrainRotation(pointConstraint&) const;
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//- Update properties from given dictionary
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virtual bool read(const dictionary& sDoFRBMCCoeff);
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@ -49,10 +49,11 @@ namespace sixDoFRigidBodyMotionConstraints
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Foam::sixDoFRigidBodyMotionConstraints::fixedOrientation::fixedOrientation
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(
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const word& name,
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const dictionary& sDoFRBMCDict
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)
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:
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sixDoFRigidBodyMotionConstraint(sDoFRBMCDict)
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sixDoFRigidBodyMotionConstraint(name, sDoFRBMCDict)
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{
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read(sDoFRBMCDict);
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}
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@ -66,102 +67,21 @@ Foam::sixDoFRigidBodyMotionConstraints::fixedOrientation::~fixedOrientation()
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// * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * * //
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bool Foam::sixDoFRigidBodyMotionConstraints::fixedOrientation::constrain
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void Foam::sixDoFRigidBodyMotionConstraints::fixedOrientation::
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constrainTranslation
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(
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const sixDoFRigidBodyMotion& motion,
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const vector& existingConstraintForce,
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const vector& existingConstraintMoment,
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scalar deltaT,
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vector& constraintPosition,
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vector& constraintForceIncrement,
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vector& constraintMomentIncrement
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pointConstraint& pc
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) const
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{}
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void Foam::sixDoFRigidBodyMotionConstraints::fixedOrientation::
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constrainRotation
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(
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pointConstraint& pc
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) const
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{
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constraintMomentIncrement = vector::zero;
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scalar maxTheta = -SMALL;
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for (direction cmpt=0; cmpt<vector::nComponents; cmpt++)
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{
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vector axis = vector::zero;
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axis[cmpt] = 1;
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vector refDir = vector::zero;
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refDir[(cmpt + 1) % 3] = 1;
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vector predictedDir = motion.predictedOrientation
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(
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refDir,
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existingConstraintMoment,
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deltaT
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);
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// Removing any axis component from predictedDir
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predictedDir -= (axis & predictedDir)*axis;
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scalar theta = GREAT;
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scalar magPredictedDir = mag(predictedDir);
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if (magPredictedDir > VSMALL)
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{
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predictedDir /= magPredictedDir;
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theta = acos(min(predictedDir & refDir, 1.0));
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// Recalculating axis to give correct sign to angle
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axis = (refDir ^ predictedDir);
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scalar magAxis = mag(axis);
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if (magAxis > VSMALL)
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{
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axis /= magAxis;
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}
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else
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{
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axis = vector::zero;
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}
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}
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if (theta > maxTheta)
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{
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maxTheta = theta;
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}
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constraintMomentIncrement +=
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-relaxationFactor_
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*theta*axis
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*motion.momentOfInertia()[cmpt]/sqr(deltaT);
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}
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constraintPosition = motion.centreOfMass();
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constraintForceIncrement = vector::zero;
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bool converged(mag(maxTheta) < tolerance_);
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|
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if (sixDoFRigidBodyMotionConstraint::debug)
|
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{
|
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Info<< " max angle " << maxTheta
|
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<< " force " << constraintForceIncrement
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<< " moment " << constraintMomentIncrement;
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|
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if (converged)
|
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{
|
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Info<< " converged";
|
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}
|
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else
|
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{
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Info<< " not converged";
|
||||
}
|
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|
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Info<< endl;
|
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}
|
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|
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return converged;
|
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pc.combine(pointConstraint(Tuple2<label, vector>(3, vector::zero)));
|
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}
|
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|
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@ -25,9 +25,7 @@ Class
|
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Foam::sixDoFRigidBodyMotionConstraints::fixedOrientation
|
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|
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Description
|
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sixDoFRigidBodyMotionConstraint. Orientation of body fixed global
|
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space. Only valid where the predicted deviation from alignment is
|
||||
< 90 degrees.
|
||||
Fix orientation of body in global space.
|
||||
|
||||
SourceFiles
|
||||
fixedOrientation.C
|
||||
@ -38,8 +36,6 @@ SourceFiles
|
||||
#define fixedOrientation_H
|
||||
|
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#include "sixDoFRigidBodyMotionConstraint.H"
|
||||
#include "point.H"
|
||||
#include "tensor.H"
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
@ -69,6 +65,7 @@ public:
|
||||
//- Construct from components
|
||||
fixedOrientation
|
||||
(
|
||||
const word& name,
|
||||
const dictionary& sDoFRBMCDict
|
||||
);
|
||||
|
||||
@ -88,19 +85,11 @@ public:
|
||||
|
||||
// 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;
|
||||
//- Apply and accumulate translational constraints
|
||||
virtual void constrainTranslation(pointConstraint&) const;
|
||||
|
||||
//- Apply and accumulate rotational constraints
|
||||
virtual void constrainRotation(pointConstraint&) const;
|
||||
|
||||
//- Update properties from given dictionary
|
||||
virtual bool read(const dictionary& sDoFRBMCCoeff);
|
||||
@ -49,11 +49,12 @@ namespace sixDoFRigidBodyMotionConstraints
|
||||
|
||||
Foam::sixDoFRigidBodyMotionConstraints::fixedPlane::fixedPlane
|
||||
(
|
||||
const word& name,
|
||||
const dictionary& sDoFRBMCDict
|
||||
)
|
||||
:
|
||||
sixDoFRigidBodyMotionConstraint(sDoFRBMCDict),
|
||||
fixedPlane_(vector::one)
|
||||
sixDoFRigidBodyMotionConstraint(name, sDoFRBMCDict),
|
||||
normal_(vector::zero)
|
||||
{
|
||||
read(sDoFRBMCDict);
|
||||
}
|
||||
@ -67,68 +68,22 @@ Foam::sixDoFRigidBodyMotionConstraints::fixedPlane::~fixedPlane()
|
||||
|
||||
// * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * * //
|
||||
|
||||
bool Foam::sixDoFRigidBodyMotionConstraints::fixedPlane::constrain
|
||||
void Foam::sixDoFRigidBodyMotionConstraints::fixedPlane::constrainTranslation
|
||||
(
|
||||
const sixDoFRigidBodyMotion& motion,
|
||||
const vector& existingConstraintForce,
|
||||
const vector& existingConstraintMoment,
|
||||
scalar deltaT,
|
||||
vector& constraintPosition,
|
||||
vector& constraintForceIncrement,
|
||||
vector& constraintMomentIncrement
|
||||
pointConstraint& pc
|
||||
) 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;
|
||||
|
||||
bool converged(mag(error) < tolerance_);
|
||||
|
||||
if (sixDoFRigidBodyMotionConstraint::debug)
|
||||
{
|
||||
Info<< " error " << error
|
||||
<< " force " << constraintForceIncrement
|
||||
<< " moment " << constraintMomentIncrement;
|
||||
|
||||
if (converged)
|
||||
{
|
||||
Info<< " converged";
|
||||
}
|
||||
else
|
||||
{
|
||||
Info<< " not converged";
|
||||
}
|
||||
|
||||
Info<< endl;
|
||||
}
|
||||
|
||||
return converged;
|
||||
pc.applyConstraint(normal_);
|
||||
}
|
||||
|
||||
|
||||
void Foam::sixDoFRigidBodyMotionConstraints::fixedPlane::constrainRotation
|
||||
(
|
||||
pointConstraint& pc
|
||||
) const
|
||||
{}
|
||||
|
||||
|
||||
bool Foam::sixDoFRigidBodyMotionConstraints::fixedPlane::read
|
||||
(
|
||||
const dictionary& sDoFRBMCDict
|
||||
@ -136,11 +91,7 @@ bool Foam::sixDoFRigidBodyMotionConstraints::fixedPlane::read
|
||||
{
|
||||
sixDoFRigidBodyMotionConstraint::read(sDoFRBMCDict);
|
||||
|
||||
point refPt = sDoFRBMCCoeffs_.lookup("refPoint");
|
||||
|
||||
vector normal = sDoFRBMCCoeffs_.lookup("normal");
|
||||
|
||||
fixedPlane_ = plane(refPt, normal);
|
||||
normal_ = sDoFRBMCCoeffs_.lookup("normal");
|
||||
|
||||
return true;
|
||||
}
|
||||
@ -151,11 +102,8 @@ void Foam::sixDoFRigidBodyMotionConstraints::fixedPlane::write
|
||||
Ostream& os
|
||||
) const
|
||||
{
|
||||
os.writeKeyword("refPoint")
|
||||
<< fixedPlane_.refPoint() << token::END_STATEMENT << nl;
|
||||
|
||||
os.writeKeyword("normal")
|
||||
<< fixedPlane_.normal() << token::END_STATEMENT << nl;
|
||||
<< normal_ << token::END_STATEMENT << nl;
|
||||
}
|
||||
|
||||
// ************************************************************************* //
|
||||
@ -37,7 +37,6 @@ SourceFiles
|
||||
#define fixedPlane_H
|
||||
|
||||
#include "sixDoFRigidBodyMotionConstraint.H"
|
||||
#include "plane.H"
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
@ -57,9 +56,8 @@ class fixedPlane
|
||||
{
|
||||
// Private data
|
||||
|
||||
//- Plane which the transformed reference point is constrained
|
||||
// to move along
|
||||
plane fixedPlane_;
|
||||
//- Normal to plane
|
||||
vector normal_;
|
||||
|
||||
|
||||
public:
|
||||
@ -73,6 +71,7 @@ public:
|
||||
//- Construct from components
|
||||
fixedPlane
|
||||
(
|
||||
const word& name,
|
||||
const dictionary& sDoFRBMCDict
|
||||
);
|
||||
|
||||
@ -92,19 +91,11 @@ public:
|
||||
|
||||
// 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;
|
||||
//- Apply and accumulate translational constraints
|
||||
virtual void constrainTranslation(pointConstraint&) const;
|
||||
|
||||
//- Apply and accumulate rotational constraints
|
||||
virtual void constrainRotation(pointConstraint&) const;
|
||||
|
||||
//- Update properties from given dictionary
|
||||
virtual bool read(const dictionary& sDoFRBMCCoeff);
|
||||
@ -49,10 +49,11 @@ namespace sixDoFRigidBodyMotionConstraints
|
||||
|
||||
Foam::sixDoFRigidBodyMotionConstraints::fixedPoint::fixedPoint
|
||||
(
|
||||
const word& name,
|
||||
const dictionary& sDoFRBMCDict
|
||||
)
|
||||
:
|
||||
sixDoFRigidBodyMotionConstraint(sDoFRBMCDict),
|
||||
sixDoFRigidBodyMotionConstraint(name, sDoFRBMCDict),
|
||||
fixedPoint_()
|
||||
{
|
||||
read(sDoFRBMCDict);
|
||||
@ -67,77 +68,22 @@ Foam::sixDoFRigidBodyMotionConstraints::fixedPoint::~fixedPoint()
|
||||
|
||||
// * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * * //
|
||||
|
||||
bool Foam::sixDoFRigidBodyMotionConstraints::fixedPoint::constrain
|
||||
void Foam::sixDoFRigidBodyMotionConstraints::fixedPoint::constrainTranslation
|
||||
(
|
||||
const sixDoFRigidBodyMotion& motion,
|
||||
const vector& existingConstraintForce,
|
||||
const vector& existingConstraintMoment,
|
||||
scalar deltaT,
|
||||
vector& constraintPosition,
|
||||
vector& constraintForceIncrement,
|
||||
vector& constraintMomentIncrement
|
||||
pointConstraint& pc
|
||||
) 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;
|
||||
|
||||
bool converged(mag(error) < tolerance_);
|
||||
|
||||
if (sixDoFRigidBodyMotionConstraint::debug)
|
||||
{
|
||||
Info<< " error " << error
|
||||
<< " force " << constraintForceIncrement
|
||||
<< " moment " << constraintMomentIncrement;
|
||||
|
||||
if (converged)
|
||||
{
|
||||
Info<< " converged";
|
||||
}
|
||||
else
|
||||
{
|
||||
Info<< " not converged";
|
||||
}
|
||||
|
||||
Info<< endl;
|
||||
}
|
||||
|
||||
return converged;
|
||||
pc.combine(pointConstraint(Tuple2<label, vector>(3, vector::zero)));
|
||||
}
|
||||
|
||||
|
||||
void Foam::sixDoFRigidBodyMotionConstraints::fixedPoint::constrainRotation
|
||||
(
|
||||
pointConstraint& pc
|
||||
) const
|
||||
{}
|
||||
|
||||
|
||||
bool Foam::sixDoFRigidBodyMotionConstraints::fixedPoint::read
|
||||
(
|
||||
const dictionary& sDoFRBMCDict
|
||||
@ -25,7 +25,7 @@ Class
|
||||
Foam::sixDoFRigidBodyMotionConstraints::fixedPoint
|
||||
|
||||
Description
|
||||
sixDoFRigidBodyMotionConstraint. Point fixed in space.
|
||||
Point fixed in space.
|
||||
|
||||
SourceFiles
|
||||
fixedPoint.C
|
||||
@ -74,6 +74,7 @@ public:
|
||||
//- Construct from components
|
||||
fixedPoint
|
||||
(
|
||||
const word& name,
|
||||
const dictionary& sDoFRBMCDict
|
||||
);
|
||||
|
||||
@ -93,19 +94,11 @@ public:
|
||||
|
||||
// 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;
|
||||
//- Apply and accumulate translational constraints
|
||||
virtual void constrainTranslation(pointConstraint&) const;
|
||||
|
||||
//- Apply and accumulate rotational constraints
|
||||
virtual void constrainRotation(pointConstraint&) const;
|
||||
|
||||
//- Update properties from given dictionary
|
||||
virtual bool read(const dictionary& sDoFRBMCCoeff);
|
||||
@ -29,9 +29,8 @@ License
|
||||
|
||||
namespace Foam
|
||||
{
|
||||
defineTypeNameAndDebug(sixDoFRigidBodyMotionConstraint, 0);
|
||||
|
||||
defineRunTimeSelectionTable(sixDoFRigidBodyMotionConstraint, dictionary);
|
||||
defineTypeNameAndDebug(sixDoFRigidBodyMotionConstraint, 0);
|
||||
defineRunTimeSelectionTable(sixDoFRigidBodyMotionConstraint, dictionary);
|
||||
}
|
||||
|
||||
|
||||
@ -39,9 +38,11 @@ defineRunTimeSelectionTable(sixDoFRigidBodyMotionConstraint, dictionary);
|
||||
|
||||
Foam::sixDoFRigidBodyMotionConstraint::sixDoFRigidBodyMotionConstraint
|
||||
(
|
||||
const word& name,
|
||||
const dictionary& sDoFRBMCDict
|
||||
)
|
||||
:
|
||||
name_(name),
|
||||
sDoFRBMCCoeffs_
|
||||
(
|
||||
sDoFRBMCDict.subDict
|
||||
@ -49,11 +50,6 @@ Foam::sixDoFRigidBodyMotionConstraint::sixDoFRigidBodyMotionConstraint
|
||||
word(sDoFRBMCDict.lookup("sixDoFRigidBodyMotionConstraint"))
|
||||
+ "Coeffs"
|
||||
)
|
||||
),
|
||||
tolerance_(readScalar(sDoFRBMCDict.lookup("tolerance"))),
|
||||
relaxationFactor_
|
||||
(
|
||||
sDoFRBMCDict.lookupOrDefault<scalar>("relaxationFactor", 1)
|
||||
)
|
||||
{}
|
||||
|
||||
@ -71,14 +67,6 @@ 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;
|
||||
@ -86,12 +74,7 @@ bool Foam::sixDoFRigidBodyMotionConstraint::read
|
||||
|
||||
|
||||
void Foam::sixDoFRigidBodyMotionConstraint::write(Ostream& os) const
|
||||
{
|
||||
os.writeKeyword("tolerance")
|
||||
<< tolerance_ << token::END_STATEMENT << nl;
|
||||
{}
|
||||
|
||||
os.writeKeyword("relaxationFactor")
|
||||
<< relaxationFactor_ << token::END_STATEMENT << nl;
|
||||
}
|
||||
|
||||
// ************************************************************************* //
|
||||
@ -46,7 +46,7 @@ SourceFiles
|
||||
#include "Time.H"
|
||||
#include "dictionary.H"
|
||||
#include "autoPtr.H"
|
||||
#include "vector.H"
|
||||
#include "pointConstraint.H"
|
||||
#include "runTimeSelectionTables.H"
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
@ -69,16 +69,12 @@ protected:
|
||||
|
||||
// Protected data
|
||||
|
||||
//- Name of the constraint
|
||||
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:
|
||||
|
||||
@ -93,8 +89,8 @@ public:
|
||||
autoPtr,
|
||||
sixDoFRigidBodyMotionConstraint,
|
||||
dictionary,
|
||||
(const dictionary& sDoFRBMCDict),
|
||||
(sDoFRBMCDict)
|
||||
(const word& name, const dictionary& sDoFRBMCDict),
|
||||
(name, sDoFRBMCDict)
|
||||
);
|
||||
|
||||
|
||||
@ -103,6 +99,7 @@ public:
|
||||
//- Construct from the sDoFRBMCDict dictionary and Time
|
||||
sixDoFRigidBodyMotionConstraint
|
||||
(
|
||||
const word& name,
|
||||
const dictionary& sDoFRBMCDict
|
||||
);
|
||||
|
||||
@ -115,6 +112,7 @@ public:
|
||||
//- Select constructed from the sDoFRBMCDict dictionary and Time
|
||||
static autoPtr<sixDoFRigidBodyMotionConstraint> New
|
||||
(
|
||||
const word& name,
|
||||
const dictionary& sDoFRBMCDict
|
||||
);
|
||||
|
||||
@ -125,19 +123,17 @@ public:
|
||||
|
||||
// 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;
|
||||
//- Return the name
|
||||
const word& name() const
|
||||
{
|
||||
return name_;
|
||||
}
|
||||
|
||||
//- Apply and accumulate translational constraints
|
||||
virtual void constrainTranslation(pointConstraint&) const = 0;
|
||||
|
||||
//- Apply and accumulate rotational constraints
|
||||
virtual void constrainRotation(pointConstraint&) const = 0;
|
||||
|
||||
//- Update properties from given dictionary
|
||||
virtual bool read(const dictionary& sDoFRBMCDict);
|
||||
@ -150,18 +146,6 @@ public:
|
||||
return sDoFRBMCCoeffs_;
|
||||
}
|
||||
|
||||
//- Return access to the tolerance
|
||||
inline scalar tolerance() const
|
||||
{
|
||||
return tolerance_;
|
||||
}
|
||||
|
||||
//- Return access to the relaxationFactor
|
||||
inline scalar relaxationFactor() const
|
||||
{
|
||||
return relaxationFactor_;
|
||||
}
|
||||
|
||||
//- Write
|
||||
virtual void write(Ostream&) const;
|
||||
};
|
||||
@ -28,16 +28,17 @@ License
|
||||
// * * * * * * * * * * * * * * * * Selectors * * * * * * * * * * * * * * * * //
|
||||
|
||||
Foam::autoPtr<Foam::sixDoFRigidBodyMotionConstraint>
|
||||
Foam::sixDoFRigidBodyMotionConstraint::New(const dictionary& sDoFRBMCDict)
|
||||
Foam::sixDoFRigidBodyMotionConstraint::New
|
||||
(
|
||||
const word& name,
|
||||
const dictionary& sDoFRBMCDict
|
||||
)
|
||||
{
|
||||
const word constraintType
|
||||
(
|
||||
sDoFRBMCDict.lookup("sixDoFRigidBodyMotionConstraint")
|
||||
);
|
||||
|
||||
// Info<< "Selecting sixDoFRigidBodyMotionConstraint function "
|
||||
// << constraintType << endl;
|
||||
|
||||
dictionaryConstructorTable::iterator cstrIter =
|
||||
dictionaryConstructorTablePtr_->find(constraintType);
|
||||
|
||||
@ -56,7 +57,10 @@ Foam::sixDoFRigidBodyMotionConstraint::New(const dictionary& sDoFRBMCDict)
|
||||
<< exit(FatalError);
|
||||
}
|
||||
|
||||
return autoPtr<sixDoFRigidBodyMotionConstraint>(cstrIter()(sDoFRBMCDict));
|
||||
return autoPtr<sixDoFRigidBodyMotionConstraint>
|
||||
(
|
||||
cstrIter()(name, sDoFRBMCDict)
|
||||
);
|
||||
}
|
||||
|
||||
|
||||
@ -51,10 +51,11 @@ namespace sixDoFRigidBodyMotionRestraints
|
||||
Foam::sixDoFRigidBodyMotionRestraints::linearAxialAngularSpring::
|
||||
linearAxialAngularSpring
|
||||
(
|
||||
const word& name,
|
||||
const dictionary& sDoFRBMRDict
|
||||
)
|
||||
:
|
||||
sixDoFRigidBodyMotionRestraint(sDoFRBMRDict),
|
||||
sixDoFRigidBodyMotionRestraint(name, sDoFRBMRDict),
|
||||
refQ_(),
|
||||
axis_(),
|
||||
stiffness_(),
|
||||
@ -81,6 +81,7 @@ public:
|
||||
//- Construct from components
|
||||
linearAxialAngularSpring
|
||||
(
|
||||
const word& name,
|
||||
const dictionary& sDoFRBMRDict
|
||||
);
|
||||
|
||||
@ -49,10 +49,11 @@ namespace sixDoFRigidBodyMotionRestraints
|
||||
|
||||
Foam::sixDoFRigidBodyMotionRestraints::linearSpring::linearSpring
|
||||
(
|
||||
const word& name,
|
||||
const dictionary& sDoFRBMRDict
|
||||
)
|
||||
:
|
||||
sixDoFRigidBodyMotionRestraint(sDoFRBMRDict),
|
||||
sixDoFRigidBodyMotionRestraint(name, sDoFRBMRDict),
|
||||
anchor_(),
|
||||
refAttachmentPt_(),
|
||||
stiffness_(),
|
||||
@ -84,6 +84,7 @@ public:
|
||||
//- Construct from components
|
||||
linearSpring
|
||||
(
|
||||
const word& name,
|
||||
const dictionary& sDoFRBMRDict
|
||||
);
|
||||
|
||||
@ -39,9 +39,11 @@ defineRunTimeSelectionTable(sixDoFRigidBodyMotionRestraint, dictionary);
|
||||
|
||||
Foam::sixDoFRigidBodyMotionRestraint::sixDoFRigidBodyMotionRestraint
|
||||
(
|
||||
const word& name,
|
||||
const dictionary& sDoFRBMRDict
|
||||
)
|
||||
:
|
||||
name_(name),
|
||||
sDoFRBMRCoeffs_
|
||||
(
|
||||
sDoFRBMRDict.subDict
|
||||
@ -69,6 +69,9 @@ protected:
|
||||
|
||||
// Protected data
|
||||
|
||||
//- Name of the restraint
|
||||
word name_;
|
||||
|
||||
//- Restraint model specific coefficient dictionary
|
||||
dictionary sDoFRBMRCoeffs_;
|
||||
|
||||
@ -86,8 +89,8 @@ public:
|
||||
autoPtr,
|
||||
sixDoFRigidBodyMotionRestraint,
|
||||
dictionary,
|
||||
(const dictionary& sDoFRBMRDict),
|
||||
(sDoFRBMRDict)
|
||||
(const word& name, const dictionary& sDoFRBMRDict),
|
||||
(name, sDoFRBMRDict)
|
||||
);
|
||||
|
||||
|
||||
@ -96,6 +99,7 @@ public:
|
||||
//- Construct from the sDoFRBMRDict dictionary and Time
|
||||
sixDoFRigidBodyMotionRestraint
|
||||
(
|
||||
const word& name,
|
||||
const dictionary& sDoFRBMRDict
|
||||
);
|
||||
|
||||
@ -108,6 +112,7 @@ public:
|
||||
//- Select constructed from the sDoFRBMRDict dictionary and Time
|
||||
static autoPtr<sixDoFRigidBodyMotionRestraint> New
|
||||
(
|
||||
const word& name,
|
||||
const dictionary& sDoFRBMRDict
|
||||
);
|
||||
|
||||
@ -118,6 +123,12 @@ public:
|
||||
|
||||
// Member Functions
|
||||
|
||||
//- Return the name
|
||||
const word& name() const
|
||||
{
|
||||
return name_;
|
||||
}
|
||||
|
||||
//- Calculate the restraint position, force and moment.
|
||||
// Global reference frame vectors.
|
||||
virtual void restrain
|
||||
@ -28,16 +28,17 @@ License
|
||||
// * * * * * * * * * * * * * * * * Selectors * * * * * * * * * * * * * * * * //
|
||||
|
||||
Foam::autoPtr<Foam::sixDoFRigidBodyMotionRestraint>
|
||||
Foam::sixDoFRigidBodyMotionRestraint::New(const dictionary& sDoFRBMRDict)
|
||||
Foam::sixDoFRigidBodyMotionRestraint::New
|
||||
(
|
||||
const word& name,
|
||||
const dictionary& sDoFRBMRDict
|
||||
)
|
||||
{
|
||||
const word restraintType
|
||||
(
|
||||
sDoFRBMRDict.lookup("sixDoFRigidBodyMotionRestraint")
|
||||
);
|
||||
|
||||
// Info<< "Selecting sixDoFRigidBodyMotionRestraint function "
|
||||
// << restraintType << endl;
|
||||
|
||||
dictionaryConstructorTable::iterator cstrIter =
|
||||
dictionaryConstructorTablePtr_->find(restraintType);
|
||||
|
||||
@ -56,7 +57,10 @@ Foam::sixDoFRigidBodyMotionRestraint::New(const dictionary& sDoFRBMRDict)
|
||||
<< exit(FatalError);
|
||||
}
|
||||
|
||||
return autoPtr<sixDoFRigidBodyMotionRestraint>(cstrIter()(sDoFRBMRDict));
|
||||
return autoPtr<sixDoFRigidBodyMotionRestraint>
|
||||
(
|
||||
cstrIter()(name, sDoFRBMRDict)
|
||||
);
|
||||
}
|
||||
|
||||
|
||||
@ -50,10 +50,11 @@ namespace sixDoFRigidBodyMotionRestraints
|
||||
Foam::sixDoFRigidBodyMotionRestraints::sphericalAngularSpring::
|
||||
sphericalAngularSpring
|
||||
(
|
||||
const word& name,
|
||||
const dictionary& sDoFRBMRDict
|
||||
)
|
||||
:
|
||||
sixDoFRigidBodyMotionRestraint(sDoFRBMRDict),
|
||||
sixDoFRigidBodyMotionRestraint(name, sDoFRBMRDict),
|
||||
refQ_(),
|
||||
stiffness_(),
|
||||
damping_()
|
||||
@ -78,6 +78,7 @@ public:
|
||||
//- Construct from components
|
||||
sphericalAngularSpring
|
||||
(
|
||||
const word& name,
|
||||
const dictionary& sDoFRBMRDict
|
||||
);
|
||||
|
||||
@ -52,10 +52,11 @@ namespace sixDoFRigidBodyMotionRestraints
|
||||
Foam::sixDoFRigidBodyMotionRestraints::tabulatedAxialAngularSpring::
|
||||
tabulatedAxialAngularSpring
|
||||
(
|
||||
const word& name,
|
||||
const dictionary& sDoFRBMRDict
|
||||
)
|
||||
:
|
||||
sixDoFRigidBodyMotionRestraint(sDoFRBMRDict),
|
||||
sixDoFRigidBodyMotionRestraint(name, sDoFRBMRDict),
|
||||
refQ_(),
|
||||
axis_(),
|
||||
moment_(),
|
||||
@ -88,6 +88,7 @@ public:
|
||||
//- Construct from components
|
||||
tabulatedAxialAngularSpring
|
||||
(
|
||||
const word& name,
|
||||
const dictionary& sDoFRBMRDict
|
||||
);
|
||||
|
||||
@ -41,7 +41,7 @@ void Foam::sixDoFRigidBodyMotion::applyRestraints()
|
||||
{
|
||||
if (report_)
|
||||
{
|
||||
Info<< "Restraint " << restraintNames_[rI] << ": ";
|
||||
Info<< "Restraint " << restraints_[rI].name() << ": ";
|
||||
}
|
||||
|
||||
// restraint position
|
||||
@ -65,101 +65,6 @@ void Foam::sixDoFRigidBodyMotion::applyRestraints()
|
||||
}
|
||||
|
||||
|
||||
void Foam::sixDoFRigidBodyMotion::applyConstraints(scalar deltaT)
|
||||
{
|
||||
if (constraints_.empty())
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
if (Pstream::master())
|
||||
{
|
||||
label iteration = 0;
|
||||
|
||||
bool allConverged = true;
|
||||
|
||||
// constraint force accumulator
|
||||
vector cFA = vector::zero;
|
||||
|
||||
// constraint moment accumulator
|
||||
vector cMA = vector::zero;
|
||||
|
||||
do
|
||||
{
|
||||
allConverged = true;
|
||||
|
||||
forAll(constraints_, cI)
|
||||
{
|
||||
if (sixDoFRigidBodyMotionConstraint::debug)
|
||||
{
|
||||
Info<< "Constraint " << constraintNames_[cI] << ": ";
|
||||
}
|
||||
|
||||
// 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(++iteration < maxConstraintIterations_ && !allConverged);
|
||||
|
||||
if (iteration >= maxConstraintIterations_)
|
||||
{
|
||||
FatalErrorIn
|
||||
(
|
||||
"Foam::sixDoFRigidBodyMotion::applyConstraints(scalar)"
|
||||
)
|
||||
<< nl << "Maximum number of sixDoFRigidBodyMotion constraint "
|
||||
<< "iterations ("
|
||||
<< maxConstraintIterations_
|
||||
<< ") exceeded." << nl
|
||||
<< exit(FatalError);
|
||||
}
|
||||
|
||||
Info<< "sixDoFRigidBodyMotion constraints converged in "
|
||||
<< iteration << " iterations" << endl;
|
||||
|
||||
if (report_)
|
||||
{
|
||||
Info<< "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()
|
||||
@ -167,17 +72,16 @@ Foam::sixDoFRigidBodyMotion::sixDoFRigidBodyMotion()
|
||||
motionState_(),
|
||||
motionState0_(),
|
||||
restraints_(),
|
||||
restraintNames_(),
|
||||
constraints_(),
|
||||
constraintNames_(),
|
||||
maxConstraintIterations_(0),
|
||||
initialCentreOfMass_(vector::zero),
|
||||
initialQ_(I),
|
||||
momentOfInertia_(diagTensor::one*VSMALL),
|
||||
mass_(VSMALL),
|
||||
aRelax_(1.0),
|
||||
aDamp_(1.0),
|
||||
report_(false)
|
||||
report_(false),
|
||||
tConstraints_(tensor::I),
|
||||
rConstraints_(tensor::I)
|
||||
{}
|
||||
|
||||
|
||||
@ -209,17 +113,16 @@ Foam::sixDoFRigidBodyMotion::sixDoFRigidBodyMotion
|
||||
),
|
||||
motionState0_(motionState_),
|
||||
restraints_(),
|
||||
restraintNames_(),
|
||||
constraints_(),
|
||||
constraintNames_(),
|
||||
maxConstraintIterations_(0),
|
||||
initialCentreOfMass_(initialCentreOfMass),
|
||||
initialQ_(initialQ),
|
||||
momentOfInertia_(momentOfInertia),
|
||||
mass_(mass),
|
||||
aRelax_(aRelax),
|
||||
aDamp_(aDamp),
|
||||
report_(report)
|
||||
report_(report),
|
||||
tConstraints_(tensor::I),
|
||||
rConstraints_(tensor::I)
|
||||
{}
|
||||
|
||||
|
||||
@ -232,10 +135,7 @@ Foam::sixDoFRigidBodyMotion::sixDoFRigidBodyMotion
|
||||
motionState_(stateDict),
|
||||
motionState0_(motionState_),
|
||||
restraints_(),
|
||||
restraintNames_(),
|
||||
constraints_(),
|
||||
constraintNames_(),
|
||||
maxConstraintIterations_(0),
|
||||
initialCentreOfMass_
|
||||
(
|
||||
dict.lookupOrDefault
|
||||
@ -256,7 +156,9 @@ Foam::sixDoFRigidBodyMotion::sixDoFRigidBodyMotion
|
||||
mass_(readScalar(dict.lookup("mass"))),
|
||||
aRelax_(dict.lookupOrDefault<scalar>("accelerationRelaxation", 1.0)),
|
||||
aDamp_(dict.lookupOrDefault<scalar>("accelerationDamping", 1.0)),
|
||||
report_(dict.lookupOrDefault<Switch>("report", false))
|
||||
report_(dict.lookupOrDefault<Switch>("report", false)),
|
||||
tConstraints_(tensor::I),
|
||||
rConstraints_(tensor::I)
|
||||
{
|
||||
addRestraints(dict);
|
||||
addConstraints(dict);
|
||||
@ -271,10 +173,7 @@ Foam::sixDoFRigidBodyMotion::sixDoFRigidBodyMotion
|
||||
motionState_(sDoFRBM.motionState_),
|
||||
motionState0_(sDoFRBM.motionState0_),
|
||||
restraints_(sDoFRBM.restraints_),
|
||||
restraintNames_(sDoFRBM.restraintNames_),
|
||||
constraints_(sDoFRBM.constraints_),
|
||||
constraintNames_(sDoFRBM.constraintNames_),
|
||||
maxConstraintIterations_(sDoFRBM.maxConstraintIterations_),
|
||||
initialCentreOfMass_(sDoFRBM.initialCentreOfMass_),
|
||||
initialQ_(sDoFRBM.initialQ_),
|
||||
momentOfInertia_(sDoFRBM.momentOfInertia_),
|
||||
@ -306,29 +205,23 @@ void Foam::sixDoFRigidBodyMotion::addRestraints
|
||||
|
||||
restraints_.setSize(restraintDict.size());
|
||||
|
||||
restraintNames_.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++,
|
||||
sixDoFRigidBodyMotionRestraint::New
|
||||
(
|
||||
iter().keyword(),
|
||||
iter().dict()
|
||||
)
|
||||
);
|
||||
|
||||
restraintNames_[i] = iter().keyword();
|
||||
|
||||
i++;
|
||||
}
|
||||
}
|
||||
|
||||
restraints_.setSize(i);
|
||||
|
||||
restraintNames_.setSize(i);
|
||||
}
|
||||
}
|
||||
|
||||
@ -346,21 +239,25 @@ void Foam::sixDoFRigidBodyMotion::addConstraints
|
||||
|
||||
constraints_.setSize(constraintDict.size());
|
||||
|
||||
constraintNames_.setSize(constraintDict.size());
|
||||
pointConstraint pct;
|
||||
pointConstraint pcr;
|
||||
|
||||
forAllConstIter(IDLList<entry>, constraintDict, iter)
|
||||
{
|
||||
if (iter().isDict())
|
||||
{
|
||||
// Info<< "Adding constraint: " << iter().keyword() << endl;
|
||||
|
||||
constraints_.set
|
||||
(
|
||||
i,
|
||||
sixDoFRigidBodyMotionConstraint::New(iter().dict())
|
||||
sixDoFRigidBodyMotionConstraint::New
|
||||
(
|
||||
iter().keyword(),
|
||||
iter().dict()
|
||||
)
|
||||
);
|
||||
|
||||
constraintNames_[i] = iter().keyword();
|
||||
constraints_[i].constrainTranslation(pct);
|
||||
constraints_[i].constrainRotation(pcr);
|
||||
|
||||
i++;
|
||||
}
|
||||
@ -368,15 +265,11 @@ void Foam::sixDoFRigidBodyMotion::addConstraints
|
||||
|
||||
constraints_.setSize(i);
|
||||
|
||||
constraintNames_.setSize(i);
|
||||
tConstraints_ = pct.constraintTransformation();
|
||||
rConstraints_ = pcr.constraintTransformation();
|
||||
|
||||
if (!constraints_.empty())
|
||||
{
|
||||
maxConstraintIterations_ = readLabel
|
||||
(
|
||||
constraintDict.lookup("maxIterations")
|
||||
);
|
||||
}
|
||||
Info<< "Translational constraint tensor " << tConstraints_ << nl
|
||||
<< "Rotational constraint tensor " << rConstraints_ << endl;
|
||||
}
|
||||
}
|
||||
|
||||
@ -392,8 +285,8 @@ void Foam::sixDoFRigidBodyMotion::updatePosition
|
||||
|
||||
if (Pstream::master())
|
||||
{
|
||||
v() = v0() + aDamp_*0.5*deltaT0*a();
|
||||
pi() = pi0() + aDamp_*0.5*deltaT0*tau();
|
||||
v() = tConstraints_ & aDamp_*(v0() + 0.5*deltaT0*a());
|
||||
pi() = rConstraints_ & aDamp_*(pi0() + 0.5*deltaT0*tau());
|
||||
|
||||
// Leapfrog move part
|
||||
centreOfMass() = centreOfMass0() + deltaT*v();
|
||||
@ -401,7 +294,7 @@ void Foam::sixDoFRigidBodyMotion::updatePosition
|
||||
// Leapfrog orientation adjustment
|
||||
Tuple2<tensor, vector> Qpi = rotate(Q0(), pi(), deltaT);
|
||||
Q() = Qpi.first();
|
||||
pi() = Qpi.second();
|
||||
pi() = rConstraints_ & Qpi.second();
|
||||
}
|
||||
|
||||
Pstream::scatter(motionState_);
|
||||
@ -439,12 +332,9 @@ void Foam::sixDoFRigidBodyMotion::updateAcceleration
|
||||
}
|
||||
first = false;
|
||||
|
||||
// Apply constraints after relaxation
|
||||
applyConstraints(deltaT);
|
||||
|
||||
// Correct velocities
|
||||
v() += aDamp_*0.5*deltaT*a();
|
||||
pi() += aDamp_*0.5*deltaT*tau();
|
||||
v() += tConstraints_ & aDamp_*0.5*deltaT*a();
|
||||
pi() += rConstraints_ & aDamp_*0.5*deltaT*tau();
|
||||
|
||||
if (report_)
|
||||
{
|
||||
@ -463,8 +353,8 @@ void Foam::sixDoFRigidBodyMotion::updateVelocity(scalar deltaT)
|
||||
|
||||
if (Pstream::master())
|
||||
{
|
||||
v() += aDamp_*0.5*deltaT*a();
|
||||
pi() += aDamp_*0.5*deltaT*tau();
|
||||
v() += tConstraints_ & aDamp_*0.5*deltaT*a();
|
||||
pi() += rConstraints_ & aDamp_*0.5*deltaT*tau();
|
||||
|
||||
if (report_)
|
||||
{
|
||||
@ -532,7 +422,10 @@ Foam::vector Foam::sixDoFRigidBodyMotion::predictedOrientation
|
||||
vector piTemp = pi() + deltaT*(tau() + (Q().T() & deltaMoment));
|
||||
Tuple2<tensor, vector> QpiTemp = rotate(Q0(), piTemp, deltaT);
|
||||
|
||||
return (QpiTemp.first() & initialQ_.T() & vInitial);
|
||||
vector o(QpiTemp.first() & initialQ_.T() & vInitial);
|
||||
o /= mag(o);
|
||||
|
||||
return o;
|
||||
}
|
||||
|
||||
|
||||
@ -564,8 +457,6 @@ Foam::tmp<Foam::pointField> Foam::sixDoFRigidBodyMotion::scaledPosition
|
||||
const scalarField& scale
|
||||
) const
|
||||
{
|
||||
Info<< "initialCentreOfMass " << initialCentreOfMass() << endl;
|
||||
|
||||
// Calculate the transformation septerion from the initial state
|
||||
septernion s
|
||||
(
|
||||
|
||||
@ -90,22 +90,12 @@ class sixDoFRigidBodyMotion
|
||||
//- Motion state data object for previous time-step
|
||||
sixDoFRigidBodyMotionState motionState0_;
|
||||
|
||||
//- Restraints on the motion
|
||||
//- Motion restraints
|
||||
PtrList<sixDoFRigidBodyMotionRestraint> restraints_;
|
||||
|
||||
//- Names of the restraints
|
||||
wordList restraintNames_;
|
||||
|
||||
//- Constaints on the motion
|
||||
//- Motion constaints
|
||||
PtrList<sixDoFRigidBodyMotionConstraint> constraints_;
|
||||
|
||||
//- Names of the constraints
|
||||
wordList constraintNames_;
|
||||
|
||||
//- Maximum number of iterations allowed to attempt to obey
|
||||
// constraints
|
||||
label maxConstraintIterations_;
|
||||
|
||||
//- Centre of mass of initial state
|
||||
point initialCentreOfMass_;
|
||||
|
||||
@ -128,6 +118,10 @@ class sixDoFRigidBodyMotion
|
||||
//- Switch to turn reporting of motion data on and off
|
||||
Switch report_;
|
||||
|
||||
tensor tConstraints_;
|
||||
|
||||
tensor rConstraints_;
|
||||
|
||||
|
||||
// Private Member Functions
|
||||
|
||||
@ -155,9 +149,6 @@ class sixDoFRigidBodyMotion
|
||||
//- 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
|
||||
@ -168,20 +159,10 @@ class sixDoFRigidBodyMotion
|
||||
inline const PtrList<sixDoFRigidBodyMotionRestraint>&
|
||||
restraints() const;
|
||||
|
||||
//- Return access to the restraintNames
|
||||
inline const wordList& restraintNames() const;
|
||||
|
||||
//- Return access to the constraints
|
||||
inline const PtrList<sixDoFRigidBodyMotionConstraint>&
|
||||
constraints() const;
|
||||
|
||||
//- Return access to the constraintNames
|
||||
inline const wordList& constraintNames() const;
|
||||
|
||||
//- Return access to the maximum allowed number of
|
||||
// constraint iterations
|
||||
inline label maxConstraintIterations() const;
|
||||
|
||||
//- Return access to the initial centre of mass
|
||||
inline const point& initialCentreOfMass() const;
|
||||
|
||||
|
||||
@ -111,12 +111,6 @@ Foam::sixDoFRigidBodyMotion::restraints() const
|
||||
}
|
||||
|
||||
|
||||
inline const Foam::wordList& Foam::sixDoFRigidBodyMotion::restraintNames() const
|
||||
{
|
||||
return restraintNames_;
|
||||
}
|
||||
|
||||
|
||||
inline const Foam::PtrList<Foam::sixDoFRigidBodyMotionConstraint>&
|
||||
Foam::sixDoFRigidBodyMotion::constraints() const
|
||||
{
|
||||
@ -124,19 +118,6 @@ Foam::sixDoFRigidBodyMotion::constraints() const
|
||||
}
|
||||
|
||||
|
||||
inline const Foam::wordList&
|
||||
Foam::sixDoFRigidBodyMotion::constraintNames() const
|
||||
{
|
||||
return constraintNames_;
|
||||
}
|
||||
|
||||
|
||||
inline Foam::label Foam::sixDoFRigidBodyMotion::maxConstraintIterations() const
|
||||
{
|
||||
return maxConstraintIterations_;
|
||||
}
|
||||
|
||||
|
||||
inline const Foam::point&
|
||||
Foam::sixDoFRigidBodyMotion::initialCentreOfMass() const
|
||||
{
|
||||
|
||||
@ -54,7 +54,7 @@ void Foam::sixDoFRigidBodyMotion::write(Ostream& os) const
|
||||
{
|
||||
word restraintType = restraints_[rI].type();
|
||||
|
||||
os << indent << restraintNames_[rI] << nl
|
||||
os << indent << restraints_[rI].name() << nl
|
||||
<< indent << token::BEGIN_BLOCK << incrIndent << endl;
|
||||
|
||||
os.writeKeyword("sixDoFRigidBodyMotionRestraint")
|
||||
@ -79,14 +79,11 @@ void Foam::sixDoFRigidBodyMotion::write(Ostream& os) const
|
||||
os << indent << "constraints" << nl
|
||||
<< indent << token::BEGIN_BLOCK << incrIndent << nl;
|
||||
|
||||
os.writeKeyword("maxIterations")
|
||||
<< maxConstraintIterations_ << token::END_STATEMENT << nl;
|
||||
|
||||
forAll(constraints_, rI)
|
||||
{
|
||||
word constraintType = constraints_[rI].type();
|
||||
|
||||
os << indent << constraintNames_[rI] << nl
|
||||
os << indent << constraints_[rI].name() << nl
|
||||
<< indent << token::BEGIN_BLOCK << incrIndent << endl;
|
||||
|
||||
os.writeKeyword("sixDoFRigidBodyMotionConstraint")
|
||||
|
||||
Reference in New Issue
Block a user