ENH: Using proper expression for accelerating frame terms.

No "axis" required - when considering omegaDot the concept becomes meaningless.

Centre of rotation can be specified, to avoid it needing to be the origin, and
to allow it to move.

applications/solvers/lagrangian/icoUncoupledKinematicParcelFoam/createNonInertialFrameFields.H

@@ -22,24 +22,24 @@
     }
 
 
-    IOobject angularVelocityMagHeader
+    IOobject angularVelocityHeader
     (
-        "angularVelocityMag",
+        "angularVelocity",
         runTime.timeName(),
         mesh,
         IOobject::MUST_READ,
         IOobject::AUTO_WRITE
     );
 
-    autoPtr<uniformDimensionedScalarField> angularVelocityMagPtr;
+    autoPtr<uniformDimensionedVectorField> angularVelocityPtr;
 
-    if (angularVelocityMagHeader.headerOk())
+    if (angularVelocityHeader.headerOk())
     {
-        Info<< "    Reading " << angularVelocityMagHeader.name() << endl;
+        Info<< "    Reading " << angularVelocityHeader.name() << endl;
 
-        angularVelocityMagPtr.reset
+        angularVelocityPtr.reset
         (
-            new uniformDimensionedScalarField(angularVelocityMagHeader)
+            new uniformDimensionedVectorField(angularVelocityHeader)
         );
     }
 
@@ -66,45 +66,23 @@
     }
 
 
-    IOobject axisHeader
+    IOobject centreOfRotationHeader
     (
-        "axis",
+        "centreOfRotation",
         runTime.timeName(),
         mesh,
         IOobject::MUST_READ,
         IOobject::AUTO_WRITE
     );
 
-    autoPtr<uniformDimensionedVectorField> axisPtr;
+    autoPtr<uniformDimensionedVectorField> centreOfRotationPtr;
 
-    if (axisHeader.headerOk())
+    if (centreOfRotationHeader.headerOk())
     {
-        Info<< "    Reading " << axisHeader.name() << endl;
+        Info<< "    Reading " << centreOfRotationHeader.name() << endl;
 
-        axisPtr.reset
+        centreOfRotationPtr.reset
         (
-            new uniformDimensionedVectorField(axisHeader)
+            new uniformDimensionedVectorField(centreOfRotationHeader)
-        );
-    }
-
-
-    IOobject axisRefPointHeader
-    (
-        "axisRefPoint",
-        runTime.timeName(),
-        mesh,
-        IOobject::MUST_READ,
-        IOobject::AUTO_WRITE
-    );
-
-    autoPtr<uniformDimensionedVectorField> axisRefPointPtr;
-
-    if (axisRefPointHeader.headerOk())
-    {
-        Info<< "    Reading " << axisRefPointHeader.name() << endl;
-
-        axisRefPointPtr.reset
-        (
-            new uniformDimensionedVectorField(axisRefPointHeader)
         );
     }

src/lagrangian/intermediate/submodels/Kinematic/ParticleForces/NonInertialFrame/NonInertialFrameForce.C

@@ -47,15 +47,15 @@ Foam::NonInertialFrameForce<CloudType>::NonInertialFrameForce
         )
     ),
     W_(vector::zero),
-    omegaMagName_
+    omegaName_
     (
         this->coeffs().template lookupOrDefault<word>
         (
-            "angularVelocityMagName",
+            "angularVelocityName",
-            "angularVelocityMag"
+            "angularVelocity"
         )
     ),
-    omegaMag_(0.0),
+    omega_(vector::zero),
     omegaDotName_
     (
         this->coeffs().template lookupOrDefault<word>
@@ -65,25 +65,15 @@ Foam::NonInertialFrameForce<CloudType>::NonInertialFrameForce
         )
     ),
     omegaDot_(vector::zero),
-    axisName_
+    centreOfRotationName_
     (
         this->coeffs().template lookupOrDefault<word>
         (
-            "axisName",
+            "centreOfRotationName",
-            "axis"
+            "centreOfRotation"
         )
     ),
-    axis_(vector::zero),
+    centreOfRotation_(vector::zero)
-    hasAxis_(false),
-    axisRefPointName_
-    (
-        this->coeffs().template lookupOrDefault<word>
-        (
-            "axisRefPointName",
-            "axisRefPoint"
-        )
-    ),
-    axisRefPoint_(vector::zero)
 {}
 
 
@@ -96,15 +86,12 @@ Foam::NonInertialFrameForce<CloudType>::NonInertialFrameForce
     ParticleForce<CloudType>(niff),
     WName_(niff.WName_),
     W_(niff.W_),
-    omegaMagName_(niff.omegaMagName_),
+    omegaName_(niff.omegaName_),
-    omegaMag_(niff.omegaMag_),
+    omega_(niff.omega_),
     omegaDotName_(niff.omegaDotName_),
     omegaDot_(niff.omegaDot_),
-    axisName_(niff.axisName_),
+    centreOfRotationName_(niff.centreOfRotationName_),
-    axis_(niff.axis_),
+    centreOfRotation_(niff.centreOfRotation_)
-    hasAxis_(niff.hasAxis_),
-    axisRefPointName_(niff.axisRefPointName_),
-    axisRefPoint_(niff.axisRefPoint_)
 {}
 
 
@@ -121,71 +108,18 @@ template<class CloudType>
 void Foam::NonInertialFrameForce<CloudType>::cacheFields(const bool store)
 {
     W_ = vector::zero;
-    omegaMag_ = 0.0;
+    omega_ = vector::zero;
     omegaDot_ = vector::zero;
-    axis_ = vector::zero;
+    centreOfRotation_ = vector::zero;
-    hasAxis_ = false;
-    axisRefPoint_ = vector::zero;
 
     if (store)
     {
         if
         (
-            this->mesh().template
+            this->mesh().template foundObject<uniformDimensionedVectorField>
-                foundObject<uniformDimensionedScalarField>(omegaMagName_)
-        )
-        {
-            uniformDimensionedScalarField omegaMag = this->mesh().template
-                lookupObject<uniformDimensionedScalarField>(omegaMagName_);
-
-            omegaMag_ = omegaMag.value();
-
-            // If omegaMag is found, require that the axis and axisRefPoint is
-            // found.
-            uniformDimensionedVectorField a = this->mesh().template
-                lookupObject<uniformDimensionedVectorField>(axisName_);
-
-            axis_ = a.value();
-
-            hasAxis_ = true;
-
-            scalar axisMag = mag(axis_);
-
-            if (mag(axis_) < SMALL)
-            {
-                FatalErrorIn
-                (
-                    "void Foam::NonInertialFrameForce<CloudType>::"
-                    "cacheFields(const bool store)"
-                )   << axisName_ << " " << axis_ << " too small."
-                    << abort(FatalError);
-            }
-
-            axis_ /= axisMag;
-
-            uniformDimensionedVectorField axisRefPoint = this->mesh().template
-                lookupObject<uniformDimensionedVectorField>(axisRefPointName_);
-
-            axisRefPoint_ = axisRefPoint.value();
-
-            // Only look for omegaDot is omegaMag is found, optional.
-            if
             (
-                this->mesh().template
+                WName_
-                    foundObject<uniformDimensionedVectorField>(omegaDotName_)
             )
-            {
-                uniformDimensionedVectorField omegaDot = this->mesh().template
-                    lookupObject<uniformDimensionedVectorField>(omegaDotName_);
-
-                omegaDot_ = omegaDot.value();
-            }
-        }
-
-        if
-        (
-            this->mesh().template
-                foundObject<uniformDimensionedVectorField>(WName_)
         )
         {
             uniformDimensionedVectorField W = this->mesh().template
@@ -193,13 +127,50 @@ void Foam::NonInertialFrameForce<CloudType>::cacheFields(const bool store)
 
             W_ = W.value();
         }
-        else if (!hasAxis_)
+
-        {
+        if
-            WarningIn
+        (
+            this->mesh().template foundObject<uniformDimensionedVectorField>
             (
-                "void Foam::NonInertialFrameForce<CloudType>::"
+                omegaName_
-                "cacheFields(const bool store)"
+            )
-            )  << "No " << typeName << " variables found." << endl;
+        )
+        {
+            uniformDimensionedVectorField omega = this->mesh().template
+                lookupObject<uniformDimensionedVectorField>(omegaName_);
+
+            omega_ = omega.value();
+        }
+
+        if
+        (
+            this->mesh().template foundObject<uniformDimensionedVectorField>
+            (
+                omegaDotName_
+            )
+        )
+        {
+            uniformDimensionedVectorField omegaDot = this->mesh().template
+                lookupObject<uniformDimensionedVectorField>(omegaDotName_);
+
+            omegaDot_ = omegaDot.value();
+        }
+
+        if
+        (
+            this->mesh().template foundObject<uniformDimensionedVectorField>
+            (
+                centreOfRotationName_
+            )
+        )
+        {
+            uniformDimensionedVectorField omegaDot = this->mesh().template
+                lookupObject<uniformDimensionedVectorField>
+                (
+                    centreOfRotationName_
+                );
+
+            centreOfRotation_ = omegaDot.value();
         }
     }
 }
@@ -217,24 +188,16 @@ Foam::forceSuSp Foam::NonInertialFrameForce<CloudType>::calcNonCoupled
 {
     forceSuSp value(vector::zero, 0.0);
 
-    value.Su() += -mass*W_;
+    const vector& r = p.position() - centreOfRotation_;
 
-    if (hasAxis_)
+    value.Su() =
-    {
+        mass
-        const vector pRel = p.position() - axisRefPoint_;
+       *(
-
+           -W_
-        const vector r = pRel - axis_*(axis_ & pRel);
+          + (r ^ omegaDot_)
-
+          + 2.0*(p.U() ^ omega_)
-        vector omega = axis_*omegaMag_;
+          + (omega_ ^ (r ^ omega_))
-
+        );
-        value.Su() +=
-            mass
-           *(
-               (r ^ omegaDot_)
-             + 2.0*(p.U() ^ omega)
-             + (omega ^ (r ^ omega))
-            );
-    }
 
     return value;
 }

src/lagrangian/intermediate/submodels/Kinematic/ParticleForces/NonInertialFrame/NonInertialFrameForce.H

@@ -62,36 +62,23 @@ class NonInertialFrameForce
         //- The linear acceleration of the reference frame
         vector W_;
 
-        //- Name of the angular velocity magnitude field
+        //- Name of the angular velocity field
-        word omegaMagName_;
+        word omegaName_;
 
-        //- The magnitude of the angular velocity of the reference frame,
+        //- The angular velocity of the reference frame
-        //  combines with axis to give omega
+        vector omega_;
-        scalar omegaMag_;
 
         //- Name of the angular acceleration field
         word omegaDotName_;
 
-        //- Pointer to the angular acceleration of the reference frame
+        //- The angular acceleration of the reference frame
         vector omegaDot_;
 
-        //- Name of the axis field
+        //- Name of the centre of rotation field
-        word axisName_;
+        word centreOfRotationName_;
 
-        //- Pointer to the axis of rotation - assumed to be a unit vector.
+        //- The centre of rotation of the reference frame
-        //  duplication of omega to allow situations where omega = 0 and
+        vector centreOfRotation_;
-        //  omegaDot != 0.
-        vector axis_;
-
-        // Boolean flag for whether rotational motion is active
-        bool hasAxis_;
-
-        //- Name of the axisRefPoint field
-        word axisRefPointName_;
-
-        //- Pointer to a point in non-inertial space on the axis of rotation
-        //  (omega), used to calculate r.
-        vector axisRefPoint_;
 
 
 public:
@@ -141,14 +128,9 @@ public:
             //- Return the angular acceleration of the reference frame
             inline const vector& omegaDot() const;
 
-            //- Return the axis of rotation
+            //- Return the centre of rotation of the reference frame
-            inline const vector& axis() const;
+            inline const vector& centreOfRotation() const;
 
-            //- Return bool stating if the frame is rotating
-            inline bool hasAxis() const;
-
-            //- Return the point in non-inertial space on the axis of rotation
-            inline const vector& axisRefPoint() const;
 
         // Evaluation
 

src/lagrangian/intermediate/submodels/Kinematic/ParticleForces/NonInertialFrame/NonInertialFrameForceI.H

@@ -35,7 +35,7 @@ inline const Foam::vector& Foam::NonInertialFrameForce<CloudType>::W() const
 template<class CloudType>
 inline const Foam::vector& Foam::NonInertialFrameForce<CloudType>::omega() const
 {
-    return omegaMag_*axis_;
+    return omega_;
 }
 
 
@@ -49,24 +49,9 @@ Foam::NonInertialFrameForce<CloudType>::omegaDot() const
 
 template<class CloudType>
 inline const Foam::vector&
-Foam::NonInertialFrameForce<CloudType>::axis() const
+Foam::NonInertialFrameForce<CloudType>::centreOfRotation() const
 {
-    return axis_;
+    return centreOfRotation_;
-}
-
-
-template<class CloudType>
-inline bool Foam::NonInertialFrameForce<CloudType>::hasAxis() const
-{
-    return hasAxis_;
-}
-
-
-template<class CloudType>
-inline const Foam::vector&
-Foam::NonInertialFrameForce<CloudType>::axisRefPoint() const
-{
-    return axisRefPoint_;
 }
 
 

src/lagrangian/intermediate/submodels/Kinematic/ParticleForces/SRF/SRFForce.C

@@ -92,9 +92,8 @@ Foam::forceSuSp Foam::SRFForce<CloudType>::calcNonCoupled
     const typename SRF::SRFModel& srf = *srfPtr_;
 
     const vector& omega = srf.omega().value();
-    const vector& axis = srf.axis();
 
-    const vector r = p.position() - axis*(axis & p.position());
+    const vector& r = p.position();
 
     // Coriolis and centrifugal acceleration terms
     value.Su() = mass*(2.0*(p.U() ^ omega) + (omega ^ (r ^ omega)));