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https://develop.openfoam.com/Development/openfoam.git
synced 2025-11-28 03:28:01 +00:00
sixDoFRigidBody: adding constraints.
Adding outline and placeholders for constraints and their solution.
This commit is contained in:
graham
@ -17,6 +17,12 @@ $(sDoFRBMR)/sixDoFRigidBodyMotionRestraint/sixDoFRigidBodyMotionRestraint.C
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$(sDoFRBMR)/sixDoFRigidBodyMotionRestraint/newSixDoFRigidBodyMotionRestraint.C
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$(sDoFRBMR)/linearSpring/linearSpring.C
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sDoFRBMC = $(sDoFRBM)/sixDoFRigidBodyMotionConstraint
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$(sDoFRBMC)/sixDoFRigidBodyMotionConstraint/sixDoFRigidBodyMotionConstraint.C
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$(sDoFRBMC)/sixDoFRigidBodyMotionConstraint/newSixDoFRigidBodyMotionConstraint.C
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$(sDoFRBMC)/fixedPoint/fixedPoint.C
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pointPatchFields/derived/sixDoFRigidBodyDisplacement/sixDoFRigidBodyDisplacementPointPatchVectorField.C
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pointPatchFields/derived/uncoupledSixDoFRigidBodyDisplacement/uncoupledSixDoFRigidBodyDisplacementPointPatchVectorField.C
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pointPatchFields/derived/constrainedSixDoFRigidBodyDisplacement/constrainedSixDoFRigidBodyDisplacementPointPatchVectorField.C
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@ -49,15 +49,61 @@ void Foam::sixDoFRigidBodyMotion::applyRestraints()
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a() += rF/mass_;
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tau() += Q().T() & (rM + (rP - centreOfMass()) ^ rF);
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tau() += Q().T() & (rM + ((rP - centreOfMass()) ^ rF));
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}
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}
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}
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void Foam::sixDoFRigidBodyMotion::applyConstraints()
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void Foam::sixDoFRigidBodyMotion::applyConstraints(scalar deltaT)
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{
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if (Pstream::master())
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{
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label iter = 0;
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bool converged = true;
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// constraint force accumulator
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vector cFA = vector::zero;
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// constraint moment accumulator
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vector cMA = vector::zero;
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do
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{
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converged = true;
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Info<< "Iteration " << iter << endl;
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forAll(constraints_, cI)
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{
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Info<< "Constraint " << cI << endl;
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// constraint position
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point cP = vector::zero;
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// constraint force
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vector cF = vector::zero;
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// constraint moment
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vector cM = vector::zero;
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converged = converged && constraints_[cI].constrain
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(
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*this,
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cFA,
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cMA,
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deltaT,
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cP,
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cF,
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cM
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);
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}
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iter++;
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} while(!converged);
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}
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}
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@ -67,6 +113,7 @@ Foam::sixDoFRigidBodyMotion::sixDoFRigidBodyMotion()
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:
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motionState_(),
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restraints_(),
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constraints_(),
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refCentreOfMass_(vector::zero),
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momentOfInertia_(diagTensor::one*VSMALL),
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mass_(VSMALL)
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@ -96,6 +143,7 @@ Foam::sixDoFRigidBodyMotion::sixDoFRigidBodyMotion
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tau
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),
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restraints_(),
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constraints_(),
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refCentreOfMass_(refCentreOfMass),
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momentOfInertia_(momentOfInertia),
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mass_(mass)
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@ -106,6 +154,7 @@ Foam::sixDoFRigidBodyMotion::sixDoFRigidBodyMotion(const dictionary& dict)
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:
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motionState_(dict),
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restraints_(),
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constraints_(),
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refCentreOfMass_(dict.lookupOrDefault("refCentreOfMass", centreOfMass())),
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momentOfInertia_(dict.lookup("momentOfInertia")),
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mass_(readScalar(dict.lookup("mass")))
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@ -123,6 +172,7 @@ Foam::sixDoFRigidBodyMotion::sixDoFRigidBodyMotion
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:
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motionState_(sDoFRBM.motionState()),
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restraints_(sDoFRBM.restraints()),
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constraints_(sDoFRBM.constraints()),
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refCentreOfMass_(sDoFRBM.refCentreOfMass()),
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momentOfInertia_(sDoFRBM.momentOfInertia()),
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mass_(sDoFRBM.mass())
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@ -176,7 +226,32 @@ void Foam::sixDoFRigidBodyMotion::addConstraints
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const dictionary& dict
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)
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{
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if (dict.found("constraints"))
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{
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const dictionary& constraintDict = dict.subDict("constraints");
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label i = 0;
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constraints_.setSize(constraintDict.size());
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forAllConstIter(IDLList<entry>, constraintDict, iter)
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{
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if (iter().isDict())
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{
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Info<< "Adding constraint: " << iter().keyword() << endl;
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constraints_.set
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(
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i,
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sixDoFRigidBodyMotionConstraint::New(iter().dict())
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);
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}
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i++;
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}
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constraints_.setSize(i);
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}
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}
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@ -244,7 +319,7 @@ void Foam::sixDoFRigidBodyMotion::updateForce
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applyRestraints();
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applyConstraints();
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applyConstraints(deltaT);
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v() += 0.5*deltaT*a();
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@ -282,5 +357,17 @@ void Foam::sixDoFRigidBodyMotion::updateForce
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}
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Foam::point Foam::sixDoFRigidBodyMotion::predictedPosition
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(
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const point& pt,
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const vector deltaForce,
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const vector deltaMoment,
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scalar deltaT
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) const
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{
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Info<< "predictedPosition NOT IMPLEMENTED" << endl;
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return pt;
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}
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// ************************************************************************* //
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@ -59,6 +59,7 @@ SourceFiles
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#include "sixDoFRigidBodyMotionState.H"
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#include "pointField.H"
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#include "sixDoFRigidBodyMotionRestraint.H"
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#include "sixDoFRigidBodyMotionConstraint.H"
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// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
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@ -90,8 +91,8 @@ class sixDoFRigidBodyMotion
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//- Restraints on the motion
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PtrList<sixDoFRigidBodyMotionRestraint> restraints_;
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// //- Constaints on the motion
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// PtrList<sixDoFRigidBodyMotionConstraint> constraints_;
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//- Constaints on the motion
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PtrList<sixDoFRigidBodyMotionConstraint> constraints_;
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//- Centre of mass of reference state
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point refCentreOfMass_;
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@ -121,7 +122,7 @@ class sixDoFRigidBodyMotion
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void applyRestraints();
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//- Apply the constraints to the object
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void applyConstraints();
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void applyConstraints(scalar deltaT);
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// Access functions retained as private because of the risk of
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// confusion over what is a body local frame vector and what is global
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@ -135,6 +136,10 @@ class sixDoFRigidBodyMotion
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inline const PtrList<sixDoFRigidBodyMotionRestraint>&
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restraints() const;
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//- Return access to the constraints
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inline const PtrList<sixDoFRigidBodyMotionConstraint>&
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constraints() const;
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//- Return access to the centre of mass
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inline const point& refCentreOfMass() const;
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@ -256,6 +261,17 @@ public:
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// motion state
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inline point currentPosition(const point& pt) const;
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//- Predict the position of the supplied point after deltaT
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// given the current motion state and the additional supplied
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// force and moment
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point predictedPosition
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(
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const point& pt,
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const vector deltaForce,
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const vector deltaMoment,
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scalar deltaT
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) const;
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//- Return the angular velocity in the global frame
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inline vector omega() const;
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@ -0,0 +1,109 @@
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/*---------------------------------------------------------------------------*\
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========= |
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\\ / F ield | OpenFOAM: The Open Source CFD Toolbox
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\\ / O peration |
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||||
\\ / A nd | Copyright (C) 1991-2009 OpenCFD Ltd.
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||||
\\/ M anipulation |
|
||||
-------------------------------------------------------------------------------
|
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License
|
||||
This file is part of OpenFOAM.
|
||||
|
||||
OpenFOAM is free software; you can redistribute it and/or modify it
|
||||
under the terms of the GNU General Public License as published by the
|
||||
Free Software Foundation; either version 2 of the License, or (at your
|
||||
option) any later version.
|
||||
|
||||
OpenFOAM is distributed in the hope that it will be useful, but WITHOUT
|
||||
ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
|
||||
FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
for more details.
|
||||
|
||||
You should have received a copy of the GNU General Public License
|
||||
along with OpenFOAM; if not, write to the Free Software Foundation,
|
||||
Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
|
||||
|
||||
\*---------------------------------------------------------------------------*/
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#include "fixedPoint.H"
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#include "addToRunTimeSelectionTable.H"
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#include "sixDoFRigidBodyMotion.H"
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// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
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namespace Foam
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{
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namespace sixDoFRigidBodyMotionConstraints
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{
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defineTypeNameAndDebug(fixedPoint, 0);
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addToRunTimeSelectionTable
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(
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sixDoFRigidBodyMotionConstraint,
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fixedPoint,
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dictionary
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);
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};
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};
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// * * * * * * * * * * * * * * * * Constructors * * * * * * * * * * * * * * //
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Foam::sixDoFRigidBodyMotionConstraints::fixedPoint::fixedPoint
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(
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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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fixedPoint_()
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{
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read(sDoFRBMCDict);
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}
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// * * * * * * * * * * * * * * * * Destructors * * * * * * * * * * * * * * * //
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Foam::sixDoFRigidBodyMotionConstraints::fixedPoint::~fixedPoint()
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{}
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// * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * * //
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bool Foam::sixDoFRigidBodyMotionConstraints::fixedPoint::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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{
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point predictedPosition = motion.predictedPosition
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(
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fixedPoint_,
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existingConstraintForce,
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existingConstraintMoment,
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deltaT
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);
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vector error = predictedPosition - fixedPoint_;
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Info<< error << endl;
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return true;
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}
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bool Foam::sixDoFRigidBodyMotionConstraints::fixedPoint::read
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(
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const dictionary& sDoFRBMCDict
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)
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{
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sixDoFRigidBodyMotionConstraint::read(sDoFRBMCDict);
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|
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sDoFRBMCCoeffs_.lookup("fixedPoint") >> fixedPoint_;
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return true;
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}
|
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|
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// ************************************************************************* //
|
||||
@ -0,0 +1,124 @@
|
||||
/*---------------------------------------------------------------------------*\
|
||||
========= |
|
||||
\\ / F ield | OpenFOAM: The Open Source CFD Toolbox
|
||||
\\ / O peration |
|
||||
\\ / A nd | Copyright (C) 1991-2009 OpenCFD Ltd.
|
||||
\\/ M anipulation |
|
||||
-------------------------------------------------------------------------------
|
||||
License
|
||||
This file is part of OpenFOAM.
|
||||
|
||||
OpenFOAM is free software; you can redistribute it and/or modify it
|
||||
under the terms of the GNU General Public License as published by the
|
||||
Free Software Foundation; either version 2 of the License, or (at your
|
||||
option) any later version.
|
||||
|
||||
OpenFOAM is distributed in the hope that it will be useful, but WITHOUT
|
||||
ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
|
||||
FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
for more details.
|
||||
|
||||
You should have received a copy of the GNU General Public License
|
||||
along with OpenFOAM; if not, write to the Free Software Foundation,
|
||||
Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
|
||||
|
||||
Class
|
||||
Foam::sixDoFRigidBodyMotionConstraints::fixedPoint
|
||||
|
||||
Description
|
||||
sixDoFRigidBodyMotionConstraint. Point fixed in space.
|
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|
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SourceFiles
|
||||
fixedPoint.C
|
||||
|
||||
\*---------------------------------------------------------------------------*/
|
||||
|
||||
#ifndef fixedPoint_H
|
||||
#define fixedPoint_H
|
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|
||||
#include "sixDoFRigidBodyMotionConstraint.H"
|
||||
#include "point.H"
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
namespace Foam
|
||||
{
|
||||
|
||||
namespace sixDoFRigidBodyMotionConstraints
|
||||
{
|
||||
|
||||
/*---------------------------------------------------------------------------*\
|
||||
Class fixedPoint Declaration
|
||||
\*---------------------------------------------------------------------------*/
|
||||
|
||||
class fixedPoint
|
||||
:
|
||||
public sixDoFRigidBodyMotionConstraint
|
||||
{
|
||||
// Private data
|
||||
|
||||
//- Point which is rigidly attached to the body and constrains
|
||||
// it so that this point remains fixed.
|
||||
point fixedPoint_;
|
||||
|
||||
|
||||
public:
|
||||
|
||||
//- Runtime type information
|
||||
TypeName("fixedPoint");
|
||||
|
||||
|
||||
// Constructors
|
||||
|
||||
//- Construct from components
|
||||
fixedPoint
|
||||
(
|
||||
const dictionary& sDoFRBMCDict
|
||||
);
|
||||
|
||||
//- Construct and return a clone
|
||||
virtual autoPtr<sixDoFRigidBodyMotionConstraint> clone() const
|
||||
{
|
||||
return autoPtr<sixDoFRigidBodyMotionConstraint>
|
||||
(
|
||||
new fixedPoint(*this)
|
||||
);
|
||||
}
|
||||
|
||||
|
||||
// Destructor
|
||||
|
||||
virtual ~fixedPoint();
|
||||
|
||||
|
||||
// Member Functions
|
||||
|
||||
//- Calculate the constraint position, force and moment.
|
||||
// Global reference frame vectors. Returns boolean stating
|
||||
// whether the constraint been converged to tolerance.
|
||||
virtual bool constrain
|
||||
(
|
||||
const sixDoFRigidBodyMotion& motion,
|
||||
const vector& existingConstraintForce,
|
||||
const vector& existingConstraintMoment,
|
||||
scalar deltaT,
|
||||
vector& constraintPosition,
|
||||
vector& constraintForceIncrement,
|
||||
vector& constraintMomentIncrement
|
||||
) const;
|
||||
|
||||
//- Update properties from given dictionary
|
||||
virtual bool read(const dictionary& sDoFRBMCCoeff);
|
||||
};
|
||||
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
} // End namespace solidBodyMotionFunctions
|
||||
} // End namespace Foam
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
#endif
|
||||
|
||||
// ************************************************************************* //
|
||||
@ -0,0 +1,65 @@
|
||||
/*---------------------------------------------------------------------------*\
|
||||
========= |
|
||||
\\ / F ield | OpenFOAM: The Open Source CFD Toolbox
|
||||
\\ / O peration |
|
||||
\\ / A nd | Copyright (C) 1991-2009 OpenCFD Ltd.
|
||||
\\/ M anipulation |
|
||||
-------------------------------------------------------------------------------
|
||||
License
|
||||
This file is part of OpenFOAM.
|
||||
|
||||
OpenFOAM is free software; you can redistribute it and/or modify it
|
||||
under the terms of the GNU General Public License as published by the
|
||||
Free Software Foundation; either version 2 of the License, or (at your
|
||||
option) any later version.
|
||||
|
||||
OpenFOAM is distributed in the hope that it will be useful, but WITHOUT
|
||||
ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
|
||||
FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
for more details.
|
||||
|
||||
You should have received a copy of the GNU General Public License
|
||||
along with OpenFOAM; if not, write to the Free Software Foundation,
|
||||
Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
|
||||
|
||||
\*---------------------------------------------------------------------------*/
|
||||
|
||||
#include "sixDoFRigidBodyMotionConstraint.H"
|
||||
|
||||
// * * * * * * * * * * * * * * * * Selectors * * * * * * * * * * * * * * * * //
|
||||
|
||||
Foam::autoPtr<Foam::sixDoFRigidBodyMotionConstraint>
|
||||
Foam::sixDoFRigidBodyMotionConstraint::New(const dictionary& sDoFRBMCDict)
|
||||
{
|
||||
word sixDoFRigidBodyMotionConstraintTypeName =
|
||||
sDoFRBMCDict.lookup("sixDoFRigidBodyMotionConstraint");
|
||||
|
||||
Info<< "Selecting sixDoFRigidBodyMotionConstraint function "
|
||||
<< sixDoFRigidBodyMotionConstraintTypeName << endl;
|
||||
|
||||
dictionaryConstructorTable::iterator cstrIter =
|
||||
dictionaryConstructorTablePtr_->find
|
||||
(
|
||||
sixDoFRigidBodyMotionConstraintTypeName
|
||||
);
|
||||
|
||||
if (cstrIter == dictionaryConstructorTablePtr_->end())
|
||||
{
|
||||
FatalErrorIn
|
||||
(
|
||||
"sixDoFRigidBodyMotionConstraint::New"
|
||||
"("
|
||||
"const dictionary& sDoFRBMCDict"
|
||||
")"
|
||||
) << "Unknown sixDoFRigidBodyMotionConstraint type "
|
||||
<< sixDoFRigidBodyMotionConstraintTypeName << endl << endl
|
||||
<< "Valid sixDoFRigidBodyMotionConstraints are : " << endl
|
||||
<< dictionaryConstructorTablePtr_->sortedToc()
|
||||
<< exit(FatalError);
|
||||
}
|
||||
|
||||
return autoPtr<sixDoFRigidBodyMotionConstraint>(cstrIter()(sDoFRBMCDict));
|
||||
}
|
||||
|
||||
|
||||
// ************************************************************************* //
|
||||
@ -0,0 +1,75 @@
|
||||
/*---------------------------------------------------------------------------*\
|
||||
========= |
|
||||
\\ / F ield | OpenFOAM: The Open Source CFD Toolbox
|
||||
\\ / O peration |
|
||||
\\ / A nd | Copyright (C) 1991-2009 OpenCFD Ltd.
|
||||
\\/ M anipulation |
|
||||
-------------------------------------------------------------------------------
|
||||
License
|
||||
This file is part of OpenFOAM.
|
||||
|
||||
OpenFOAM is free software; you can redistribute it and/or modify it
|
||||
under the terms of the GNU General Public License as published by the
|
||||
Free Software Foundation; either version 2 of the License, or (at your
|
||||
option) any later version.
|
||||
|
||||
OpenFOAM is distributed in the hope that it will be useful, but WITHOUT
|
||||
ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
|
||||
FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
for more details.
|
||||
|
||||
You should have received a copy of the GNU General Public License
|
||||
along with OpenFOAM; if not, write to the Free Software Foundation,
|
||||
Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
|
||||
|
||||
\*---------------------------------------------------------------------------*/
|
||||
|
||||
#include "sixDoFRigidBodyMotionConstraint.H"
|
||||
|
||||
// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
|
||||
|
||||
defineTypeNameAndDebug(Foam::sixDoFRigidBodyMotionConstraint, 0);
|
||||
|
||||
defineRunTimeSelectionTable(Foam::sixDoFRigidBodyMotionConstraint, dictionary);
|
||||
|
||||
// * * * * * * * * * * * * * * * * Constructors * * * * * * * * * * * * * * //
|
||||
|
||||
Foam::sixDoFRigidBodyMotionConstraint::sixDoFRigidBodyMotionConstraint
|
||||
(
|
||||
const dictionary& sDoFRBMCDict
|
||||
)
|
||||
:
|
||||
sDoFRBMCCoeffs_
|
||||
(
|
||||
sDoFRBMCDict.subDict
|
||||
(
|
||||
word(sDoFRBMCDict.lookup("sixDoFRigidBodyMotionConstraint"))
|
||||
+ "Coeffs"
|
||||
)
|
||||
),
|
||||
tolerance_(readScalar(sDoFRBMCDict.lookup("tolerance")))
|
||||
{}
|
||||
|
||||
|
||||
// * * * * * * * * * * * * * * * * Destructor * * * * * * * * * * * * * * * //
|
||||
|
||||
Foam::sixDoFRigidBodyMotionConstraint::~sixDoFRigidBodyMotionConstraint()
|
||||
{}
|
||||
|
||||
|
||||
// * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * * //
|
||||
|
||||
bool Foam::sixDoFRigidBodyMotionConstraint::read
|
||||
(
|
||||
const dictionary& sDoFRBMCDict
|
||||
)
|
||||
{
|
||||
tolerance_ = (readScalar(sDoFRBMCDict.lookup("tolerance")));
|
||||
|
||||
sDoFRBMCCoeffs_ = sDoFRBMCDict.subDict(type() + "Coeffs");
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
|
||||
// ************************************************************************* //
|
||||
@ -0,0 +1,154 @@
|
||||
/*---------------------------------------------------------------------------*\
|
||||
========= |
|
||||
\\ / F ield | OpenFOAM: The Open Source CFD Toolbox
|
||||
\\ / O peration |
|
||||
\\ / A nd | Copyright (C) 1991-2009 OpenCFD Ltd.
|
||||
\\/ M anipulation |
|
||||
-------------------------------------------------------------------------------
|
||||
License
|
||||
This file is part of OpenFOAM.
|
||||
|
||||
OpenFOAM is free software; you can redistribute it and/or modify it
|
||||
under the terms of the GNU General Public License as published by the
|
||||
Free Software Foundation; either version 2 of the License, or (at your
|
||||
option) any later version.
|
||||
|
||||
OpenFOAM is distributed in the hope that it will be useful, but WITHOUT
|
||||
ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
|
||||
FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
for more details.
|
||||
|
||||
You should have received a copy of the GNU General Public License
|
||||
along with OpenFOAM; if not, write to the Free Software Foundation,
|
||||
Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
|
||||
|
||||
Namespace
|
||||
Foam::sixDoFRigidBodyMotionConstraints
|
||||
|
||||
Description
|
||||
Namespace for six DoF motion constraints
|
||||
|
||||
|
||||
Class
|
||||
Foam::sixDoFRigidBodyMotionConstraint
|
||||
|
||||
Description
|
||||
Base class for defining constraints for sixDoF motions
|
||||
|
||||
SourceFiles
|
||||
sixDoFRigidBodyMotionConstraint.C
|
||||
newDynamicFvMesh.C
|
||||
|
||||
\*---------------------------------------------------------------------------*/
|
||||
|
||||
#ifndef sixDoFRigidBodyMotionConstraint_H
|
||||
#define sixDoFRigidBodyMotionConstraint_H
|
||||
|
||||
#include "Time.H"
|
||||
#include "dictionary.H"
|
||||
#include "autoPtr.H"
|
||||
#include "vector.H"
|
||||
#include "runTimeSelectionTables.H"
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
namespace Foam
|
||||
{
|
||||
|
||||
// Forward declaration of classes
|
||||
class sixDoFRigidBodyMotion;
|
||||
|
||||
|
||||
/*---------------------------------------------------------------------------*\
|
||||
Class sixDoFRigidBodyMotionConstraint Declaration
|
||||
\*---------------------------------------------------------------------------*/
|
||||
|
||||
class sixDoFRigidBodyMotionConstraint
|
||||
{
|
||||
|
||||
protected:
|
||||
|
||||
// Protected data
|
||||
|
||||
//- Constraint model specific coefficient dictionary
|
||||
dictionary sDoFRBMCCoeffs_;
|
||||
|
||||
//- Solution tolerance. Meaning depends on model, usually an
|
||||
// absolute distance or angle.
|
||||
scalar tolerance_;
|
||||
|
||||
|
||||
public:
|
||||
|
||||
//- Runtime type information
|
||||
TypeName("sixDoFRigidBodyMotionConstraint");
|
||||
|
||||
|
||||
// Declare run-time constructor selection table
|
||||
|
||||
declareRunTimeSelectionTable
|
||||
(
|
||||
autoPtr,
|
||||
sixDoFRigidBodyMotionConstraint,
|
||||
dictionary,
|
||||
(const dictionary& sDoFRBMCDict),
|
||||
(sDoFRBMCDict)
|
||||
);
|
||||
|
||||
|
||||
// Constructors
|
||||
|
||||
//- Construct from the sDoFRBMCDict dictionary and Time
|
||||
sixDoFRigidBodyMotionConstraint
|
||||
(
|
||||
const dictionary& sDoFRBMCDict
|
||||
);
|
||||
|
||||
//- Construct and return a clone
|
||||
virtual autoPtr<sixDoFRigidBodyMotionConstraint> clone() const = 0;
|
||||
|
||||
|
||||
// Selectors
|
||||
|
||||
//- Select constructed from the sDoFRBMCDict dictionary and Time
|
||||
static autoPtr<sixDoFRigidBodyMotionConstraint> New
|
||||
(
|
||||
const dictionary& sDoFRBMCDict
|
||||
);
|
||||
|
||||
|
||||
// Destructor
|
||||
|
||||
virtual ~sixDoFRigidBodyMotionConstraint();
|
||||
|
||||
|
||||
// Member Functions
|
||||
|
||||
//- Calculate the constraint position, force and moment.
|
||||
// Global reference frame vectors. Returns boolean stating
|
||||
// whether the constraint been converged to tolerance.
|
||||
virtual bool constrain
|
||||
(
|
||||
const sixDoFRigidBodyMotion& motion,
|
||||
const vector& existingConstraintForce,
|
||||
const vector& existingConstraintMoment,
|
||||
scalar deltaT,
|
||||
vector& constraintPosition,
|
||||
vector& constraintForceIncrement,
|
||||
vector& constraintMomentIncrement
|
||||
) const = 0;
|
||||
|
||||
//- Update properties from given dictionary
|
||||
virtual bool read(const dictionary& sDoFRBMCDict) = 0;
|
||||
};
|
||||
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
} // End namespace Foam
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
#endif
|
||||
|
||||
// ************************************************************************* //
|
||||
@ -76,6 +76,13 @@ Foam::sixDoFRigidBodyMotion::restraints() const
|
||||
}
|
||||
|
||||
|
||||
inline const Foam::PtrList<Foam::sixDoFRigidBodyMotionConstraint>&
|
||||
Foam::sixDoFRigidBodyMotion::constraints() const
|
||||
{
|
||||
return constraints_;
|
||||
}
|
||||
|
||||
|
||||
inline const Foam::point& Foam::sixDoFRigidBodyMotion::refCentreOfMass() const
|
||||
{
|
||||
return refCentreOfMass_;
|
||||
|
||||
@ -49,17 +49,17 @@ namespace sixDoFRigidBodyMotionRestraints
|
||||
|
||||
Foam::sixDoFRigidBodyMotionRestraints::linearSpring::linearSpring
|
||||
(
|
||||
const dictionary& sDoFRBMRCoeffs
|
||||
const dictionary& sDoFRBMRDict
|
||||
)
|
||||
:
|
||||
sixDoFRigidBodyMotionRestraint(sDoFRBMRCoeffs),
|
||||
sixDoFRigidBodyMotionRestraint(sDoFRBMRDict),
|
||||
anchor_(),
|
||||
refAttachmentPt_(),
|
||||
stiffness_(),
|
||||
damping_(),
|
||||
restLength_()
|
||||
{
|
||||
read(sDoFRBMRCoeffs);
|
||||
read(sDoFRBMRDict);
|
||||
}
|
||||
|
||||
|
||||
@ -98,10 +98,10 @@ void Foam::sixDoFRigidBodyMotionRestraints::linearSpring::restrain
|
||||
|
||||
bool Foam::sixDoFRigidBodyMotionRestraints::linearSpring::read
|
||||
(
|
||||
const dictionary& sDoFRBMRCoeffs
|
||||
const dictionary& sDoFRBMRDict
|
||||
)
|
||||
{
|
||||
sixDoFRigidBodyMotionRestraint::read(sDoFRBMRCoeffs);
|
||||
sixDoFRigidBodyMotionRestraint::read(sDoFRBMRDict);
|
||||
|
||||
sDoFRBMRCoeffs_.lookup("anchor") >> anchor_;
|
||||
|
||||
|
||||
@ -85,7 +85,7 @@ public:
|
||||
//- Construct from components
|
||||
linearSpring
|
||||
(
|
||||
const dictionary& sDoFRBMRCoeffs
|
||||
const dictionary& sDoFRBMRDict
|
||||
);
|
||||
|
||||
//- Construct and return a clone
|
||||
|
||||
@ -29,10 +29,10 @@ License
|
||||
// * * * * * * * * * * * * * * * * Selectors * * * * * * * * * * * * * * * * //
|
||||
|
||||
Foam::autoPtr<Foam::sixDoFRigidBodyMotionRestraint>
|
||||
Foam::sixDoFRigidBodyMotionRestraint::New(const dictionary& sDoFRBMRCoeffs)
|
||||
Foam::sixDoFRigidBodyMotionRestraint::New(const dictionary& sDoFRBMRDict)
|
||||
{
|
||||
word sixDoFRigidBodyMotionRestraintTypeName =
|
||||
sDoFRBMRCoeffs.lookup("sixDoFRigidBodyMotionRestraint");
|
||||
sDoFRBMRDict.lookup("sixDoFRigidBodyMotionRestraint");
|
||||
|
||||
Info<< "Selecting sixDoFRigidBodyMotionRestraint function "
|
||||
<< sixDoFRigidBodyMotionRestraintTypeName << endl;
|
||||
@ -49,7 +49,7 @@ Foam::sixDoFRigidBodyMotionRestraint::New(const dictionary& sDoFRBMRCoeffs)
|
||||
(
|
||||
"sixDoFRigidBodyMotionRestraint::New"
|
||||
"("
|
||||
" const dictionary& sDoFRBMRCoeffs"
|
||||
"const dictionary& sDoFRBMRDict"
|
||||
")"
|
||||
) << "Unknown sixDoFRigidBodyMotionRestraint type "
|
||||
<< sixDoFRigidBodyMotionRestraintTypeName << endl << endl
|
||||
@ -58,7 +58,7 @@ Foam::sixDoFRigidBodyMotionRestraint::New(const dictionary& sDoFRBMRCoeffs)
|
||||
<< exit(FatalError);
|
||||
}
|
||||
|
||||
return autoPtr<sixDoFRigidBodyMotionRestraint>(cstrIter()(sDoFRBMRCoeffs));
|
||||
return autoPtr<sixDoFRigidBodyMotionRestraint>(cstrIter()(sDoFRBMRDict));
|
||||
}
|
||||
|
||||
|
||||
|
||||
@ -36,14 +36,14 @@ defineRunTimeSelectionTable(Foam::sixDoFRigidBodyMotionRestraint, dictionary);
|
||||
|
||||
Foam::sixDoFRigidBodyMotionRestraint::sixDoFRigidBodyMotionRestraint
|
||||
(
|
||||
const dictionary& sDoFRBMRCoeffs
|
||||
const dictionary& sDoFRBMRDict
|
||||
)
|
||||
:
|
||||
sDoFRBMRCoeffs_
|
||||
(
|
||||
sDoFRBMRCoeffs.subDict
|
||||
sDoFRBMRDict.subDict
|
||||
(
|
||||
word(sDoFRBMRCoeffs.lookup("sixDoFRigidBodyMotionRestraint"))
|
||||
word(sDoFRBMRDict.lookup("sixDoFRigidBodyMotionRestraint"))
|
||||
+ "Coeffs"
|
||||
)
|
||||
)
|
||||
@ -60,10 +60,10 @@ Foam::sixDoFRigidBodyMotionRestraint::~sixDoFRigidBodyMotionRestraint()
|
||||
|
||||
bool Foam::sixDoFRigidBodyMotionRestraint::read
|
||||
(
|
||||
const dictionary& sDoFRBMRCoeffs
|
||||
const dictionary& sDoFRBMRDict
|
||||
)
|
||||
{
|
||||
sDoFRBMRCoeffs_ = sDoFRBMRCoeffs.subDict(type() + "Coeffs");
|
||||
sDoFRBMRCoeffs_ = sDoFRBMRDict.subDict(type() + "Coeffs");
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
@ -86,17 +86,17 @@ public:
|
||||
autoPtr,
|
||||
sixDoFRigidBodyMotionRestraint,
|
||||
dictionary,
|
||||
(const dictionary& sDoFRBMRCoeffs),
|
||||
(sDoFRBMRCoeffs)
|
||||
(const dictionary& sDoFRBMRDict),
|
||||
(sDoFRBMRDict)
|
||||
);
|
||||
|
||||
|
||||
// Constructors
|
||||
|
||||
//- Construct from the sDoFRBMRCoeffs dictionary and Time
|
||||
//- Construct from the sDoFRBMRDict dictionary and Time
|
||||
sixDoFRigidBodyMotionRestraint
|
||||
(
|
||||
const dictionary& sDoFRBMRCoeffs
|
||||
const dictionary& sDoFRBMRDict
|
||||
);
|
||||
|
||||
//- Construct and return a clone
|
||||
@ -105,10 +105,10 @@ public:
|
||||
|
||||
// Selectors
|
||||
|
||||
//- Select constructed from the sDoFRBMRCoeffs dictionary and Time
|
||||
//- Select constructed from the sDoFRBMRDict dictionary and Time
|
||||
static autoPtr<sixDoFRigidBodyMotionRestraint> New
|
||||
(
|
||||
const dictionary& sDoFRBMRCoeffs
|
||||
const dictionary& sDoFRBMRDict
|
||||
);
|
||||
|
||||
|
||||
@ -130,7 +130,7 @@ public:
|
||||
) const = 0;
|
||||
|
||||
//- Update properties from given dictionary
|
||||
virtual bool read(const dictionary& sDoFRBMRCoeffs) = 0;
|
||||
virtual bool read(const dictionary& sDoFRBMRDict) = 0;
|
||||
};
|
||||
|
||||
|
||||
|
||||
Reference in New Issue
Block a user