ENH: sixDoFRigidBodyMotion. Variable renaming and addition of

initialOrientation.

Rename of IO to more understandable terms.  Rename ref to initial
where correct - ref is to do with the object being in Q = I state,
inital is to do with where things are when the motion starts and
pointDisplacement and value are zero.

Adding initialOrientation so that non Q = I initial states are
correct.

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

@@ -49,7 +49,7 @@ sixDoFRigidBodyDisplacementPointPatchVectorField
 :
     fixedValuePointPatchField<vector>(p, iF),
     motion_(),
-    p0_(p.localPoints()),
+    initialPoints_(p.localPoints()),
     rhoInf_(1.0)
 {}
 
@@ -71,13 +71,13 @@ sixDoFRigidBodyDisplacementPointPatchVectorField
         updateCoeffs();
     }
 
-    if (dict.found("p0"))
+    if (dict.found("initialPoints"))
     {
-        p0_ = vectorField("p0", dict , p.size());
+        initialPoints_ = vectorField("initialPoints", dict , p.size());
     }
     else
     {
-        p0_ = p.localPoints();
+        initialPoints_ = p.localPoints();
     }
 }
 
@@ -93,7 +93,7 @@ sixDoFRigidBodyDisplacementPointPatchVectorField
 :
     fixedValuePointPatchField<vector>(ptf, p, iF, mapper),
     motion_(ptf.motion_),
-    p0_(ptf.p0_, mapper),
+    initialPoints_(ptf.initialPoints_, mapper),
     rhoInf_(ptf.rhoInf_)
 {}
 
@@ -107,7 +107,7 @@ sixDoFRigidBodyDisplacementPointPatchVectorField
 :
     fixedValuePointPatchField<vector>(ptf, iF),
     motion_(ptf.motion_),
-    p0_(ptf.p0_),
+    initialPoints_(ptf.initialPoints_),
     rhoInf_(ptf.rhoInf_)
 {}
 
@@ -121,7 +121,7 @@ void sixDoFRigidBodyDisplacementPointPatchVectorField::autoMap
 {
     fixedValuePointPatchField<vector>::autoMap(m);
 
-    p0_.autoMap(m);
+    initialPoints_.autoMap(m);
 }
 
 
@@ -136,7 +136,7 @@ void sixDoFRigidBodyDisplacementPointPatchVectorField::rmap
 
     fixedValuePointPatchField<vector>::rmap(sDoFptf, addr);
 
-    p0_.rmap(sDoFptf.p0_, addr);
+    initialPoints_.rmap(sDoFptf.initialPoints_, addr);
 }
 
 
@@ -186,7 +186,10 @@ void sixDoFRigidBodyDisplacementPointPatchVectorField::updateCoeffs()
         t.deltaTValue()
     );
 
-    Field<vector>::operator=(motion_.currentPosition(p0_) - p0_);
+    Field<vector>::operator=
+    (
+        motion_.currentPosition(initialPoints_) - initialPoints_
+    );
 
     fixedValuePointPatchField<vector>::updateCoeffs();
 }
@@ -198,7 +201,7 @@ void sixDoFRigidBodyDisplacementPointPatchVectorField::write(Ostream& os) const
     motion_.write(os);
     os.writeKeyword("rhoInf")
         << rhoInf_ << token::END_STATEMENT << nl;
-    p0_.writeEntry("p0", os);
+    initialPoints_.writeEntry("initialPoints", os);
     writeEntry("value", os);
 }
 

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

@@ -57,8 +57,8 @@ class sixDoFRigidBodyDisplacementPointPatchVectorField
         //- Six dof motion object
         sixDoFRigidBodyMotion motion_;
 
-        //- Reference positions of points on the patch
+        //- Initial positions of points on the patch
-        pointField p0_;
+        pointField initialPoints_;
 
         //- Reference density required by the forces object for
         //  incompressible calculations

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

@@ -15,7 +15,7 @@ License
 
     OpenFOAM is distributed in the hope that it will be useful, but WITHOUT
     ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-    FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License
+    FITNESS FOR A PARTICLUAR PURPOSE.  See the GNU General Public License
     for more details.
 
     You should have received a copy of the GNU General Public License
@@ -169,7 +169,8 @@ Foam::sixDoFRigidBodyMotion::sixDoFRigidBodyMotion()
     constraints_(),
     constraintNames_(),
     maxConstraintIterations_(0),
-    refCentreOfMass_(vector::zero),
+    initialCentreOfMass_(vector::zero),
+    initialQ_(I),
     momentOfInertia_(diagTensor::one*VSMALL),
     mass_(VSMALL),
     report_(false)
@@ -185,7 +186,8 @@ Foam::sixDoFRigidBodyMotion::sixDoFRigidBodyMotion
     const vector& pi,
     const vector& tau,
     scalar mass,
-    const point& refCentreOfMass,
+    const point& initialCentreOfMass,
+    const tensor& initialQ,
     const diagTensor& momentOfInertia,
     bool report
 )
@@ -204,7 +206,8 @@ Foam::sixDoFRigidBodyMotion::sixDoFRigidBodyMotion
     constraints_(),
     constraintNames_(),
     maxConstraintIterations_(0),
-    refCentreOfMass_(refCentreOfMass),
+    initialCentreOfMass_(initialCentreOfMass),
+    initialQ_(initialQ),
     momentOfInertia_(momentOfInertia),
     mass_(mass),
     report_(report)
@@ -219,7 +222,14 @@ Foam::sixDoFRigidBodyMotion::sixDoFRigidBodyMotion(const dictionary& dict)
     constraints_(),
     constraintNames_(),
     maxConstraintIterations_(0),
-    refCentreOfMass_(dict.lookupOrDefault("refCentreOfMass", centreOfMass())),
+    initialCentreOfMass_
+    (
+        dict.lookupOrDefault("initialCentreOfMass", centreOfMass())
+    ),
+    initialQ_
+    (
+        dict.lookupOrDefault("initialOrientation", Q())
+    ),
     momentOfInertia_(dict.lookup("momentOfInertia")),
     mass_(readScalar(dict.lookup("mass"))),
     report_(dict.lookupOrDefault<Switch>("report", false))
@@ -241,7 +251,8 @@ Foam::sixDoFRigidBodyMotion::sixDoFRigidBodyMotion
     constraints_(sDoFRBM.constraints()),
     constraintNames_(sDoFRBM.constraintNames()),
     maxConstraintIterations_(sDoFRBM.maxConstraintIterations()),
-    refCentreOfMass_(sDoFRBM.refCentreOfMass()),
+    initialCentreOfMass_(sDoFRBM.initialCentreOfMass()),
+    initialQ_(sDoFRBM.initialQ()),
     momentOfInertia_(sDoFRBM.momentOfInertia()),
     mass_(sDoFRBM.mass()),
     report_(sDoFRBM.report())
@@ -433,7 +444,7 @@ void Foam::sixDoFRigidBodyMotion::updateForce
 
 Foam::point Foam::sixDoFRigidBodyMotion::predictedPosition
 (
-    const point& pt,
+    const point& p0,
     const vector& deltaForce,
     const vector& deltaMoment,
     scalar deltaT
@@ -449,13 +460,17 @@ Foam::point Foam::sixDoFRigidBodyMotion::predictedPosition
 
     rotate(QTemp, piTemp, deltaT);
 
-    return (centreOfMassTemp + (QTemp & (pt - refCentreOfMass_)));
+    return
+    (
+        centreOfMassTemp
+      + (QTemp & initialQ_.T() & (p0 - initialCentreOfMass_))
+    );
 }
 
 
 Foam::vector Foam::sixDoFRigidBodyMotion::predictedOrientation
 (
-    const vector& v,
+    const vector& v0,
     const vector& deltaMoment,
     scalar deltaT
 ) const
@@ -466,7 +481,7 @@ Foam::vector Foam::sixDoFRigidBodyMotion::predictedOrientation
 
     rotate(QTemp, piTemp, deltaT);
 
-    return (QTemp & v);
+    return (QTemp & initialQ_.T() & v0);
 }
 
 

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

@@ -104,10 +104,14 @@ class sixDoFRigidBodyMotion
         //  constraints
         label maxConstraintIterations_;
 
-        //- Centre of mass of reference state
+        //- Centre of mass of initial state
-        point refCentreOfMass_;
+        point initialCentreOfMass_;
+
+        //- Orientation of initial state
+        tensor initialQ_;
 
         //- Moment of inertia of the body in reference configuration
+        //  (Q = I)
         diagTensor momentOfInertia_;
 
         //- Mass of the body
@@ -166,8 +170,11 @@ class sixDoFRigidBodyMotion
             //  constraint iterations
             inline label maxConstraintIterations() const;
 
-            //- Return access to the centre of mass
+            //- Return access to the initial centre of mass
-            inline const point& refCentreOfMass() const;
+            inline const point& initialCentreOfMass() const;
+
+            //- Return access to the initial orientation
+            inline const tensor& initialQ() const;
 
             //- Return access to the orientation
             inline const tensor& Q() const;
@@ -188,7 +195,10 @@ class sixDoFRigidBodyMotion
         // Edit
 
             //- Return access to the centre of mass
-            inline point& refCentreOfMass();
+            inline point& initialCentreOfMass();
+
+            //- Return access to the centre of mass
+            inline tensor& initialQ();
 
             //- Return non-const access to the orientation
             inline tensor& Q();
@@ -223,7 +233,8 @@ public:
             const vector& pi,
             const vector& tau,
             scalar mass,
-            const point& refCentreOfMass,
+            const point& initialCentreOfMass,
+            const tensor& initialQ,
             const diagTensor& momentOfInertia,
             bool report = false
         );
@@ -274,40 +285,40 @@ public:
             scalar deltaT
         );
 
-        //- Transform the given reference state pointField by the
+        //- Transform the given initial state pointField by the current
-        //  current motion state
-        inline tmp<pointField> currentPosition(const pointField& refPts) const;
-
-        //- Transform the given reference state point by the current
         //  motion state
-        inline point currentPosition(const point& refPt) const;
+        inline tmp<pointField> currentPosition(const pointField& p0) const;
 
-        //- Transform the given reference state direction by the current
+        //- Transform the given initial state point by the current motion
+        //  state
+        inline point currentPosition(const point& p0) const;
+
+        //- Transform the given initial state direction by the current
         //  motion state
-        inline vector currentOrientation(const vector& refDir) const;
+        inline vector currentOrientation(const vector& dir0) const;
 
         //- Access the orientation tensor, Q.
         //  globalVector = Q & bodyLocalVector
         //  bodyLocalVector = Q.T() & globalVector
         inline const tensor& currentOrientation() const;
 
-        //- Predict the position of the supplied point after deltaT
+        //- Predict the position of the supplied initial state point
-        //  given the current motion state and the additional supplied
+        //  after deltaT given the current motion state and the
-        //  force and moment
+        //  additional supplied force and moment
         point predictedPosition
         (
-            const point& pt,
+            const point& p0,
             const vector& deltaForce,
             const vector& deltaMoment,
             scalar deltaT
         ) const;
 
-        //- Predict the orientation of the supplied vector after deltaT
+        //- Predict the orientation of the supplied initial state
-        //  given the current motion state and the additional supplied
+        //  vector after deltaT given the current motion state and the
-        //  moment
+        //  additional supplied moment
         vector predictedOrientation
         (
-            const vector& v,
+            const vector& v0,
             const vector& deltaMoment,
             scalar deltaT
         ) const;

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

@@ -133,9 +133,17 @@ inline Foam::label Foam::sixDoFRigidBodyMotion::maxConstraintIterations() const
 }
 
 
-inline const Foam::point& Foam::sixDoFRigidBodyMotion::refCentreOfMass() const
+inline const Foam::point&
+Foam::sixDoFRigidBodyMotion::initialCentreOfMass() const
 {
-    return refCentreOfMass_;
+    return initialCentreOfMass_;
+}
+
+
+inline const Foam::tensor&
+Foam::sixDoFRigidBodyMotion::initialQ() const
+{
+    return initialQ_;
 }
 
 
@@ -169,9 +177,15 @@ inline const Foam::vector& Foam::sixDoFRigidBodyMotion::tau() const
 }
 
 
-inline Foam::point& Foam::sixDoFRigidBodyMotion::refCentreOfMass()
+inline Foam::point& Foam::sixDoFRigidBodyMotion::initialCentreOfMass()
 {
-    return refCentreOfMass_;
+    return initialCentreOfMass_;
+}
+
+
+inline Foam::tensor& Foam::sixDoFRigidBodyMotion::initialQ()
+{
+    return initialQ_;
 }
 
 
@@ -208,27 +222,29 @@ inline Foam::vector& Foam::sixDoFRigidBodyMotion::tau()
 // * * * * * * * * * * * * * * Member Functions  * * * * * * * * * * * * * * //
 
 inline Foam::tmp<Foam::pointField>
-Foam::sixDoFRigidBodyMotion::currentPosition(const pointField& refPts) const
+Foam::sixDoFRigidBodyMotion::currentPosition(const pointField& p0) const
 {
-    return (centreOfMass() + (Q() & (refPts - refCentreOfMass_)));
+    return
+        (centreOfMass() + (Q() & initialQ_.T() & (p0 - initialCentreOfMass_)));
 }
 
 
 inline Foam::point Foam::sixDoFRigidBodyMotion::currentPosition
 (
-    const point& refPt
+    const point& p0
 ) const
 {
-    return (centreOfMass() + (Q() & (refPt - refCentreOfMass_)));
+    return
+        (centreOfMass() + (Q() & initialQ_.T() & (p0 - initialCentreOfMass_)));
 }
 
 
 inline Foam::vector Foam::sixDoFRigidBodyMotion::currentOrientation
 (
-    const vector& refDir
+    const vector& dir0
 ) const
 {
-    return (Q() & refDir);
+    return (Q() & initialQ_.T() & dir0);
 }
 
 

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

@@ -33,8 +33,10 @@ void Foam::sixDoFRigidBodyMotion::write(Ostream& os) const
 {
     motionState_.write(os);
 
-    os.writeKeyword("refCentreOfMass")
+    os.writeKeyword("initialCentreOfMass")
-        << refCentreOfMass_ << token::END_STATEMENT << nl;
+        << initialCentreOfMass_ << token::END_STATEMENT << nl;
+    os.writeKeyword("initialOrientation")
+        << initialQ_ << token::END_STATEMENT << nl;
     os.writeKeyword("momentOfInertia")
         << momentOfInertia_ << token::END_STATEMENT << nl;
     os.writeKeyword("mass")
@@ -112,7 +114,8 @@ void Foam::sixDoFRigidBodyMotion::write(Ostream& os) const
 Foam::Istream& Foam::operator>>(Istream& is, sixDoFRigidBodyMotion& sDoFRBM)
 {
     is  >> sDoFRBM.motionState_
-        >> sDoFRBM.refCentreOfMass_
+        >> sDoFRBM.initialCentreOfMass_
+        >> sDoFRBM.initialQ_
         >> sDoFRBM.momentOfInertia_
         >> sDoFRBM.mass_;
 
@@ -134,7 +137,8 @@ Foam::Ostream& Foam::operator<<
 )
 {
     os  << sDoFRBM.motionState()
-        << token::SPACE << sDoFRBM.refCentreOfMass()
+        << token::SPACE << sDoFRBM.initialCentreOfMass()
+        << token::SPACE << sDoFRBM.initialQ()
         << token::SPACE << sDoFRBM.momentOfInertia()
         << token::SPACE << sDoFRBM.mass();
 

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

@@ -64,11 +64,11 @@ Foam::sixDoFRigidBodyMotionState::sixDoFRigidBodyMotionState
 )
 :
     centreOfMass_(dict.lookup("centreOfMass")),
-    Q_(dict.lookupOrDefault("Q", tensor(I))),
+    Q_(dict.lookupOrDefault("orientation", tensor(I))),
-    v_(dict.lookupOrDefault("v", vector::zero)),
+    v_(dict.lookupOrDefault("velocity", vector::zero)),
-    a_(dict.lookupOrDefault("a", vector::zero)),
+    a_(dict.lookupOrDefault("acceleration", vector::zero)),
-    pi_(dict.lookupOrDefault("pi", vector::zero)),
+    pi_(dict.lookupOrDefault("angularMomentum", vector::zero)),
-    tau_(dict.lookupOrDefault("tau", vector::zero))
+    tau_(dict.lookupOrDefault("torque", vector::zero))
 {}
 
 

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

@@ -33,15 +33,15 @@ void Foam::sixDoFRigidBodyMotionState::write(Ostream& os) const
 {
     os.writeKeyword("centreOfMass")
         << centreOfMass_ << token::END_STATEMENT << nl;
-    os.writeKeyword("Q")
+    os.writeKeyword("orientation")
         << Q_ << token::END_STATEMENT << nl;
-    os.writeKeyword("v")
+    os.writeKeyword("velocity")
         << v_ << token::END_STATEMENT << nl;
-    os.writeKeyword("a")
+    os.writeKeyword("acceleration")
         << a_ << token::END_STATEMENT << nl;
-    os.writeKeyword("pi")
+    os.writeKeyword("angularMomentum")
         << pi_ << token::END_STATEMENT << nl;
-    os.writeKeyword("tau")
+    os.writeKeyword("torque")
         << tau_ << token::END_STATEMENT << nl;
 }