sixDoFRigidBody: adding constraints.

Adding fixedPlane and fixedLine constraints.

src/postProcessing/functionObjects/forces/Make/files

@@ -22,6 +22,8 @@ sDoFRBMC = $(sDoFRBM)/sixDoFRigidBodyMotionConstraint
 $(sDoFRBMC)/sixDoFRigidBodyMotionConstraint/sixDoFRigidBodyMotionConstraint.C
 $(sDoFRBMC)/sixDoFRigidBodyMotionConstraint/newSixDoFRigidBodyMotionConstraint.C
 $(sDoFRBMC)/fixedPoint/fixedPoint.C
+$(sDoFRBMC)/fixedPlane/fixedPlane.C
+$(sDoFRBMC)/fixedLine/fixedLine.C
 
 pointPatchFields/derived/sixDoFRigidBodyDisplacement/sixDoFRigidBodyDisplacementPointPatchVectorField.C
 pointPatchFields/derived/uncoupledSixDoFRigidBodyDisplacement/uncoupledSixDoFRigidBodyDisplacementPointPatchVectorField.C

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

@@ -90,7 +90,7 @@ void Foam::sixDoFRigidBodyMotion::applyConstraints(scalar deltaT)
 
             forAll(constraints_, cI)
             {
-                // Info<< "Constraint " << cI << endl;
+                Info<< nl << "Constraint " << cI << endl;
 
                 // constraint position
                 point cP = vector::zero;

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

@@ -0,0 +1,145 @@
+/*---------------------------------------------------------------------------*\
+  =========                 |
+  \\      /  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 "fixedLine.H"
+#include "addToRunTimeSelectionTable.H"
+#include "sixDoFRigidBodyMotion.H"
+
+// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
+
+namespace Foam
+{
+namespace sixDoFRigidBodyMotionConstraints
+{
+    defineTypeNameAndDebug(fixedLine, 0);
+    addToRunTimeSelectionTable
+    (
+        sixDoFRigidBodyMotionConstraint,
+        fixedLine,
+        dictionary
+    );
+};
+};
+
+
+// * * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * //
+
+Foam::sixDoFRigidBodyMotionConstraints::fixedLine::fixedLine
+(
+    const dictionary& sDoFRBMCDict
+)
+:
+    sixDoFRigidBodyMotionConstraint(sDoFRBMCDict),
+    refPt_(),
+    dir_()
+{
+    read(sDoFRBMCDict);
+}
+
+
+// * * * * * * * * * * * * * * * * Destructors * * * * * * * * * * * * * * * //
+
+Foam::sixDoFRigidBodyMotionConstraints::fixedLine::~fixedLine()
+{}
+
+
+// * * * * * * * * * * * * * * Member Functions  * * * * * * * * * * * * * * //
+
+bool Foam::sixDoFRigidBodyMotionConstraints::fixedLine::constrain
+(
+    const sixDoFRigidBodyMotion& motion,
+    const vector& existingConstraintForce,
+    const vector& existingConstraintMoment,
+    scalar deltaT,
+    vector& constraintPosition,
+    vector& constraintForceIncrement,
+    vector& constraintMomentIncrement
+) const
+{
+    point predictedPosition = motion.predictedPosition
+    (
+        refPt_,
+        existingConstraintForce,
+        existingConstraintMoment,
+        deltaT
+    );
+
+    constraintPosition = motion.currentPosition(refPt_);
+
+    Info<< "current position " << constraintPosition << nl
+        << "next predictedPosition " << predictedPosition
+        << endl;
+
+    // Vector from reference point to predicted point
+    vector rC = predictedPosition - refPt_;
+
+    vector error = rC - ((rC) & dir_)*dir_;
+
+    Info<< "error " << error << endl;
+
+    constraintForceIncrement =
+        -relaxationFactor_*error*motion.mass()/sqr(deltaT);
+
+    constraintMomentIncrement = vector::zero;
+
+    return (mag(error) < tolerance_);
+}
+
+
+bool Foam::sixDoFRigidBodyMotionConstraints::fixedLine::read
+(
+    const dictionary& sDoFRBMCDict
+)
+{
+    sixDoFRigidBodyMotionConstraint::read(sDoFRBMCDict);
+
+    sDoFRBMCCoeffs_.lookup("refPoint") >> refPt_;
+
+    sDoFRBMCCoeffs_.lookup("direction") >> dir_;
+
+    scalar magDir(mag(dir_));
+
+    if (magDir > VSMALL)
+    {
+        dir_ /= magDir;
+    }
+    else
+    {
+        FatalErrorIn
+        (
+            "Foam::sixDoFRigidBodyMotionConstraints::fixedLine::read"
+            "("
+                "const dictionary& sDoFRBMCDict"
+            ")"
+        )
+            << "line direction has zero length"
+            << abort(FatalError);
+    }
+
+    return true;
+}
+
+// ************************************************************************* //

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

@@ -0,0 +1,127 @@
+/*---------------------------------------------------------------------------*\
+  =========                 |
+  \\      /  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::fixedLine
+
+Description
+    sixDoFRigidBodyMotionConstraint.  Reference point may only move
+    along a line.
+
+SourceFiles
+    fixedLine.C
+
+\*---------------------------------------------------------------------------*/
+
+#ifndef fixedLine_H
+#define fixedLine_H
+
+#include "sixDoFRigidBodyMotionConstraint.H"
+#include "point.H"
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+namespace Foam
+{
+
+namespace sixDoFRigidBodyMotionConstraints
+{
+
+/*---------------------------------------------------------------------------*\
+                          Class fixedLine Declaration
+\*---------------------------------------------------------------------------*/
+
+class fixedLine
+:
+    public sixDoFRigidBodyMotionConstraint
+{
+    // Private data
+
+        //- Reference point for the constraining line
+        point refPt_;
+
+        //- Direction of the constraining line
+        vector dir_;
+
+
+public:
+
+    //- Runtime type information
+    TypeName("fixedLine");
+
+
+    // Constructors
+
+        //- Construct from components
+        fixedLine
+        (
+            const dictionary& sDoFRBMCDict
+        );
+
+        //- Construct and return a clone
+        virtual autoPtr<sixDoFRigidBodyMotionConstraint> clone() const
+        {
+            return autoPtr<sixDoFRigidBodyMotionConstraint>
+            (
+                new fixedLine(*this)
+            );
+        }
+
+
+    // Destructor
+
+        virtual ~fixedLine();
+
+
+    // 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
+
+// ************************************************************************* //

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

@@ -0,0 +1,128 @@
+/*---------------------------------------------------------------------------*\
+  =========                 |
+  \\      /  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 "fixedPlane.H"
+#include "addToRunTimeSelectionTable.H"
+#include "sixDoFRigidBodyMotion.H"
+
+// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
+
+namespace Foam
+{
+namespace sixDoFRigidBodyMotionConstraints
+{
+    defineTypeNameAndDebug(fixedPlane, 0);
+    addToRunTimeSelectionTable
+    (
+        sixDoFRigidBodyMotionConstraint,
+        fixedPlane,
+        dictionary
+    );
+};
+};
+
+
+// * * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * //
+
+Foam::sixDoFRigidBodyMotionConstraints::fixedPlane::fixedPlane
+(
+    const dictionary& sDoFRBMCDict
+)
+:
+    sixDoFRigidBodyMotionConstraint(sDoFRBMCDict),
+    fixedPlane_(vector::one)
+{
+    read(sDoFRBMCDict);
+}
+
+
+// * * * * * * * * * * * * * * * * Destructors * * * * * * * * * * * * * * * //
+
+Foam::sixDoFRigidBodyMotionConstraints::fixedPlane::~fixedPlane()
+{}
+
+
+// * * * * * * * * * * * * * * Member Functions  * * * * * * * * * * * * * * //
+
+bool Foam::sixDoFRigidBodyMotionConstraints::fixedPlane::constrain
+(
+    const sixDoFRigidBodyMotion& motion,
+    const vector& existingConstraintForce,
+    const vector& existingConstraintMoment,
+    scalar deltaT,
+    vector& constraintPosition,
+    vector& constraintForceIncrement,
+    vector& constraintMomentIncrement
+) 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;
+
+    return (mag(error) < tolerance_);
+}
+
+
+bool Foam::sixDoFRigidBodyMotionConstraints::fixedPlane::read
+(
+    const dictionary& sDoFRBMCDict
+)
+{
+    sixDoFRigidBodyMotionConstraint::read(sDoFRBMCDict);
+
+    point refPt = sDoFRBMCCoeffs_.lookup("refPoint");
+
+    vector normal = sDoFRBMCCoeffs_.lookup("normal");
+
+    fixedPlane_ = plane(refPt, normal);
+
+    return true;
+}
+
+// ************************************************************************* //

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

@@ -0,0 +1,125 @@
+/*---------------------------------------------------------------------------*\
+  =========                 |
+  \\      /  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::fixedPlane
+
+Description
+    sixDoFRigidBodyMotionConstraint.  Reference point may only move
+    along a plane.
+
+SourceFiles
+    fixedPlane.C
+
+\*---------------------------------------------------------------------------*/
+
+#ifndef fixedPlane_H
+#define fixedPlane_H
+
+#include "sixDoFRigidBodyMotionConstraint.H"
+#include "plane.H"
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+namespace Foam
+{
+
+namespace sixDoFRigidBodyMotionConstraints
+{
+
+/*---------------------------------------------------------------------------*\
+                          Class fixedPlane Declaration
+\*---------------------------------------------------------------------------*/
+
+class fixedPlane
+:
+    public sixDoFRigidBodyMotionConstraint
+{
+    // Private data
+
+        //- Plane which the transformed reference point is constrained
+        //  to move along
+        plane fixedPlane_;
+
+
+public:
+
+    //- Runtime type information
+    TypeName("fixedPlane");
+
+
+    // Constructors
+
+        //- Construct from components
+        fixedPlane
+        (
+            const dictionary& sDoFRBMCDict
+        );
+
+        //- Construct and return a clone
+        virtual autoPtr<sixDoFRigidBodyMotionConstraint> clone() const
+        {
+            return autoPtr<sixDoFRigidBodyMotionConstraint>
+            (
+                new fixedPlane(*this)
+            );
+        }
+
+
+    // Destructor
+
+        virtual ~fixedPlane();
+
+
+    // 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
+
+// ************************************************************************* //

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

@@ -53,7 +53,7 @@ Foam::sixDoFRigidBodyMotionConstraints::fixedPoint::fixedPoint
 )
 :
     sixDoFRigidBodyMotionConstraint(sDoFRBMCDict),
-    fixedPoint_()
+    fixedPoint_(sDoFRBMCCoeffs_.lookup("fixedPoint"))
 {
     read(sDoFRBMCDict);
 }

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

@@ -48,7 +48,7 @@ namespace sixDoFRigidBodyMotionConstraints
 {
 
 /*---------------------------------------------------------------------------*\
-                          Class fixedPoint Declaration
+                           Class fixedPoint Declaration
 \*---------------------------------------------------------------------------*/
 
 class fixedPoint