ENC: sixDoFRigidBodyMotion. Adding writing of restraints and

constraints to dictionary.

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

@@ -45,7 +45,9 @@ void Foam::sixDoFRigidBodyMotion::applyRestraints()
 
             restraints_[rI].restrain(*this, rP, rF, rM);
 
-            // Info<< "Restraint " << rI << " force " << rF << endl;
+            // Info<< "Restraint " << rI << " force " << rF << nl
+            //     << "Restraint " << rI << " moment " << rM
+            //     << endl;
 
             a() += rF/mass_;
 
@@ -122,9 +124,9 @@ void Foam::sixDoFRigidBodyMotion::applyConstraints(scalar deltaT)
         else
         {
             Info<< "sixDoFRigidBodyMotion constraints converged in "
-                << iter << " iterations" << nl
-            // << "Constraint force: " << cFA << nl
-            // << "Constraint moment: " << cMA
+                << iter << " iterations"
+                // << nl << "Constraint force: " << cFA << nl
+                // << "Constraint moment: " << cMA
                 << endl;
         }
 

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

@@ -39,6 +39,7 @@ Foam::sixDoFRigidBodyMotionConstraint::sixDoFRigidBodyMotionConstraint
     const dictionary& sDoFRBMCDict
 )
 :
+    name_(fileName(sDoFRBMCDict.name().name()).components(token::COLON).last()),
     sDoFRBMCCoeffs_
     (
         sDoFRBMCDict.subDict
@@ -70,6 +71,12 @@ bool Foam::sixDoFRigidBodyMotionConstraint::read
 {
     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

@@ -70,6 +70,9 @@ protected:
 
     // Protected data
 
+        //- Name of the constraint in dictionary
+        word name_;
+
         //- Constraint model specific coefficient dictionary
         dictionary sDoFRBMCCoeffs_;
 
@@ -143,6 +146,32 @@ public:
 
         //- 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_;
+            }
 };
 
 

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

@@ -39,6 +39,70 @@ void Foam::sixDoFRigidBodyMotion::write(Ostream& os) const
         << momentOfInertia_ << token::END_STATEMENT << nl;
     os.writeKeyword("mass")
         << mass_ << 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;
+    }
 }
 
 
@@ -71,7 +135,7 @@ Foam::Ostream& Foam::operator<<
     os  << sDoFRBM.motionState()
         << token::SPACE << sDoFRBM.refCentreOfMass()
         << token::SPACE << sDoFRBM.momentOfInertia()
-        << token::SPACE << sDoFRBM.mass() ;
+        << token::SPACE << sDoFRBM.mass();
 
     // Check state of Ostream
     os.check

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

@@ -118,6 +118,26 @@ bool Foam::sixDoFRigidBodyMotionRestraints::linearSphericalAngularSpring ::read
 
     sDoFRBMRCoeffs_.lookup("referenceDirection") >> refDir_;
 
+    scalar magRefDir(mag(refDir_));
+
+    if (magRefDir > VSMALL)
+    {
+        refDir_ /= magRefDir;
+    }
+    else
+    {
+        FatalErrorIn
+        (
+            "bool Foam::sixDoFRigidBodyMotionRestraints::"
+            "linearSphericalAngularSpring ::read"
+            "("
+                "const dictionary& sDoFRBMRDict"
+            ")"
+        )
+            << "referenceDirection has zero length"
+            << abort(FatalError);
+    }
+
     sDoFRBMRCoeffs_.lookup("stiffness") >> stiffness_;
 
     sDoFRBMRCoeffs_.lookup("damping") >> damping_;

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

@@ -39,6 +39,7 @@ Foam::sixDoFRigidBodyMotionRestraint::sixDoFRigidBodyMotionRestraint
     const dictionary& sDoFRBMRDict
 )
 :
+    name_(fileName(sDoFRBMRDict.name().name()).components(token::COLON).last()),
     sDoFRBMRCoeffs_
     (
         sDoFRBMRDict.subDict

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

@@ -70,6 +70,10 @@ protected:
 
     // Protected data
 
+        //- Name of the constraint in dictionary
+        word name_;
+
+        //- Restraint model specific coefficient dictionary
         dictionary sDoFRBMRCoeffs_;
 
 
@@ -131,6 +135,20 @@ public:
 
         //- 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_;
+            }
 };