mirror of
https://develop.openfoam.com/Development/openfoam.git
synced 2025-11-28 03:28:01 +00:00
Reorganised the location of the "sixDoFRigidBodyDisplacement" BC to avoid unnecessary
dependency on the libforces.so and the libraries it requires.
This commit is contained in:
henry
@ -0,0 +1,192 @@
|
||||
/*---------------------------------------------------------------------------*\
|
||||
========= |
|
||||
\\ / 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 "sixDoFRigidBodyDisplacementPointPatchVectorField.H"
|
||||
#include "pointPatchFields.H"
|
||||
#include "addToRunTimeSelectionTable.H"
|
||||
#include "Time.H"
|
||||
#include "fvMesh.H"
|
||||
#include "volFields.H"
|
||||
#include "uniformDimensionedFields.H"
|
||||
#include "forces.H"
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
namespace Foam
|
||||
{
|
||||
|
||||
// * * * * * * * * * * * * * * * * Constructors * * * * * * * * * * * * * * //
|
||||
|
||||
sixDoFRigidBodyDisplacementPointPatchVectorField::
|
||||
sixDoFRigidBodyDisplacementPointPatchVectorField
|
||||
(
|
||||
const pointPatch& p,
|
||||
const DimensionedField<vector, pointMesh>& iF
|
||||
)
|
||||
:
|
||||
fixedValuePointPatchField<vector>(p, iF),
|
||||
motion_(),
|
||||
p0_(p.localPoints()),
|
||||
rhoInf_(1.0)
|
||||
{}
|
||||
|
||||
|
||||
sixDoFRigidBodyDisplacementPointPatchVectorField::
|
||||
sixDoFRigidBodyDisplacementPointPatchVectorField
|
||||
(
|
||||
const pointPatch& p,
|
||||
const DimensionedField<vector, pointMesh>& iF,
|
||||
const dictionary& dict
|
||||
)
|
||||
:
|
||||
fixedValuePointPatchField<vector>(p, iF, dict),
|
||||
motion_(dict),
|
||||
rhoInf_(readScalar(dict.lookup("rhoInf")))
|
||||
{
|
||||
if (!dict.found("value"))
|
||||
{
|
||||
updateCoeffs();
|
||||
}
|
||||
|
||||
if (dict.found("p0"))
|
||||
{
|
||||
p0_ = vectorField("p0", dict , p.size());
|
||||
}
|
||||
else
|
||||
{
|
||||
p0_ = p.localPoints();
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
sixDoFRigidBodyDisplacementPointPatchVectorField::
|
||||
sixDoFRigidBodyDisplacementPointPatchVectorField
|
||||
(
|
||||
const sixDoFRigidBodyDisplacementPointPatchVectorField& ptf,
|
||||
const pointPatch& p,
|
||||
const DimensionedField<vector, pointMesh>& iF,
|
||||
const pointPatchFieldMapper& mapper
|
||||
)
|
||||
:
|
||||
fixedValuePointPatchField<vector>(ptf, p, iF, mapper),
|
||||
motion_(ptf.motion_),
|
||||
p0_(ptf.p0_, mapper),
|
||||
rhoInf_(ptf.rhoInf_)
|
||||
{}
|
||||
|
||||
|
||||
sixDoFRigidBodyDisplacementPointPatchVectorField::
|
||||
sixDoFRigidBodyDisplacementPointPatchVectorField
|
||||
(
|
||||
const sixDoFRigidBodyDisplacementPointPatchVectorField& ptf,
|
||||
const DimensionedField<vector, pointMesh>& iF
|
||||
)
|
||||
:
|
||||
fixedValuePointPatchField<vector>(ptf, iF),
|
||||
motion_(ptf.motion_),
|
||||
p0_(ptf.p0_),
|
||||
rhoInf_(ptf.rhoInf_)
|
||||
{}
|
||||
|
||||
|
||||
// * * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * //
|
||||
|
||||
void sixDoFRigidBodyDisplacementPointPatchVectorField::updateCoeffs()
|
||||
{
|
||||
if (this->updated())
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
const polyMesh& mesh = this->dimensionedInternalField().mesh()();
|
||||
const Time& t = mesh.time();
|
||||
const pointPatch& ptPatch = this->patch();
|
||||
|
||||
// Patch force data is valid for the current positions, so
|
||||
// calculate the forces on the motion object from this data, then
|
||||
// update the positions
|
||||
|
||||
motion_.updatePosition(t.deltaTValue());
|
||||
|
||||
dictionary forcesDict;
|
||||
|
||||
forcesDict.add("patches", wordList(1, ptPatch.name()));
|
||||
forcesDict.add("rhoInf", rhoInf_);
|
||||
forcesDict.add("CofR", motion_.centreOfMass());
|
||||
|
||||
forces f("forces", db(), forcesDict);
|
||||
|
||||
forces::forcesMoments fm = f.calcForcesMoment();
|
||||
|
||||
// Get the forces on the patch faces at the current positions
|
||||
|
||||
vector gravity = vector::zero;
|
||||
|
||||
if (db().foundObject<uniformDimensionedVectorField>("g"))
|
||||
{
|
||||
uniformDimensionedVectorField g =
|
||||
db().lookupObject<uniformDimensionedVectorField>("g");
|
||||
|
||||
gravity = g.value();
|
||||
}
|
||||
|
||||
motion_.updateForce
|
||||
(
|
||||
fm.first().first() + fm.first().second() + gravity*motion_.mass(),
|
||||
fm.second().first() + fm.second().second(),
|
||||
t.deltaTValue()
|
||||
);
|
||||
|
||||
Field<vector>::operator=(motion_.generatePositions(p0_) - p0_);
|
||||
|
||||
fixedValuePointPatchField<vector>::updateCoeffs();
|
||||
}
|
||||
|
||||
|
||||
void sixDoFRigidBodyDisplacementPointPatchVectorField::write(Ostream& os) const
|
||||
{
|
||||
pointPatchField<vector>::write(os);
|
||||
motion_.write(os);
|
||||
os.writeKeyword("rhoInf")
|
||||
<< rhoInf_ << token::END_STATEMENT << nl;
|
||||
p0_.writeEntry("p0", os);
|
||||
writeEntry("value", os);
|
||||
}
|
||||
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
makePointPatchTypeField
|
||||
(
|
||||
pointPatchVectorField,
|
||||
sixDoFRigidBodyDisplacementPointPatchVectorField
|
||||
);
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
} // End namespace Foam
|
||||
|
||||
// ************************************************************************* //
|
||||
@ -0,0 +1,157 @@
|
||||
/*---------------------------------------------------------------------------*\
|
||||
========= |
|
||||
\\ / 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::sixDoFRigidBodyDisplacementPointPatchVectorField
|
||||
|
||||
Description
|
||||
Foam::sixDoFRigidBodyDisplacementPointPatchVectorField
|
||||
|
||||
SourceFiles
|
||||
sixDoFRigidBodyDisplacementPointPatchVectorField.C
|
||||
|
||||
\*---------------------------------------------------------------------------*/
|
||||
|
||||
#ifndef sixDoFRigidBodyDisplacementPointPatchVectorField_H
|
||||
#define sixDoFRigidBodyDisplacementPointPatchVectorField_H
|
||||
|
||||
#include "fixedValuePointPatchField.H"
|
||||
#include "sixDoFRigidBodyMotion.H"
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
namespace Foam
|
||||
{
|
||||
|
||||
/*---------------------------------------------------------------------------*\
|
||||
Class sixDoFRigidBodyDisplacementPointPatchVectorField Declaration
|
||||
\*---------------------------------------------------------------------------*/
|
||||
|
||||
class sixDoFRigidBodyDisplacementPointPatchVectorField
|
||||
:
|
||||
public fixedValuePointPatchField<vector>
|
||||
{
|
||||
// Private data
|
||||
|
||||
//- Six dof motion object
|
||||
sixDoFRigidBodyMotion motion_;
|
||||
|
||||
//- Reference positions of points on the patch
|
||||
pointField p0_;
|
||||
|
||||
//- Reference density required by the forces object for
|
||||
// incompressible calculations
|
||||
scalar rhoInf_;
|
||||
|
||||
|
||||
public:
|
||||
|
||||
//- Runtime type information
|
||||
TypeName("sixDoFRigidBodyDisplacement");
|
||||
|
||||
|
||||
// Constructors
|
||||
|
||||
//- Construct from patch and internal field
|
||||
sixDoFRigidBodyDisplacementPointPatchVectorField
|
||||
(
|
||||
const pointPatch&,
|
||||
const DimensionedField<vector, pointMesh>&
|
||||
);
|
||||
|
||||
//- Construct from patch, internal field and dictionary
|
||||
sixDoFRigidBodyDisplacementPointPatchVectorField
|
||||
(
|
||||
const pointPatch&,
|
||||
const DimensionedField<vector, pointMesh>&,
|
||||
const dictionary&
|
||||
);
|
||||
|
||||
//- Construct by mapping given patchField<vector> onto a new patch
|
||||
sixDoFRigidBodyDisplacementPointPatchVectorField
|
||||
(
|
||||
const sixDoFRigidBodyDisplacementPointPatchVectorField&,
|
||||
const pointPatch&,
|
||||
const DimensionedField<vector, pointMesh>&,
|
||||
const pointPatchFieldMapper&
|
||||
);
|
||||
|
||||
//- Construct and return a clone
|
||||
virtual autoPtr<pointPatchField<vector> > clone() const
|
||||
{
|
||||
return autoPtr<pointPatchField<vector> >
|
||||
(
|
||||
new sixDoFRigidBodyDisplacementPointPatchVectorField
|
||||
(
|
||||
*this
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
//- Construct as copy setting internal field reference
|
||||
sixDoFRigidBodyDisplacementPointPatchVectorField
|
||||
(
|
||||
const sixDoFRigidBodyDisplacementPointPatchVectorField&,
|
||||
const DimensionedField<vector, pointMesh>&
|
||||
);
|
||||
|
||||
//- Construct and return a clone setting internal field reference
|
||||
virtual autoPtr<pointPatchField<vector> > clone
|
||||
(
|
||||
const DimensionedField<vector, pointMesh>& iF
|
||||
) const
|
||||
{
|
||||
return autoPtr<pointPatchField<vector> >
|
||||
(
|
||||
new sixDoFRigidBodyDisplacementPointPatchVectorField
|
||||
(
|
||||
*this,
|
||||
iF
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
|
||||
// Member functions
|
||||
|
||||
// Evaluation functions
|
||||
|
||||
//- Update the coefficients associated with the patch field
|
||||
virtual void updateCoeffs();
|
||||
|
||||
|
||||
//- Write
|
||||
virtual void write(Ostream&) const;
|
||||
};
|
||||
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
} // End namespace Foam
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
#endif
|
||||
|
||||
// ************************************************************************* //
|
||||
@ -0,0 +1,210 @@
|
||||
/*---------------------------------------------------------------------------*\
|
||||
========= |
|
||||
\\ / F ield | OpenFOAM: The Open Source CFD Toolbox
|
||||
\\ / O peration |
|
||||
\\ / A nd | Copyright (C) 2009-2009 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 "sixDoFRigidBodyMotion.H"
|
||||
|
||||
// * * * * * * * * * * * * * * * * Constructors * * * * * * * * * * * * * * //
|
||||
|
||||
Foam::sixDoFRigidBodyMotion::sixDoFRigidBodyMotion()
|
||||
:
|
||||
motionState_(),
|
||||
refCentreOfMass_(vector::zero),
|
||||
momentOfInertia_(diagTensor::one*VSMALL),
|
||||
mass_(VSMALL)
|
||||
{}
|
||||
|
||||
|
||||
Foam::sixDoFRigidBodyMotion::sixDoFRigidBodyMotion
|
||||
(
|
||||
const point& centreOfMass,
|
||||
const tensor& Q,
|
||||
const vector& v,
|
||||
const vector& a,
|
||||
const vector& pi,
|
||||
const vector& tau,
|
||||
scalar mass,
|
||||
const point& refCentreOfMass,
|
||||
const diagTensor& momentOfInertia
|
||||
)
|
||||
:
|
||||
motionState_
|
||||
(
|
||||
centreOfMass,
|
||||
Q,
|
||||
v,
|
||||
a,
|
||||
pi,
|
||||
tau
|
||||
),
|
||||
refCentreOfMass_(refCentreOfMass),
|
||||
momentOfInertia_(momentOfInertia),
|
||||
mass_(mass)
|
||||
{}
|
||||
|
||||
|
||||
Foam::sixDoFRigidBodyMotion::sixDoFRigidBodyMotion(const dictionary& dict)
|
||||
:
|
||||
motionState_(dict),
|
||||
refCentreOfMass_(dict.lookupOrDefault("refCentreOfMass", centreOfMass())),
|
||||
momentOfInertia_(dict.lookup("momentOfInertia")),
|
||||
mass_(readScalar(dict.lookup("mass")))
|
||||
{}
|
||||
|
||||
|
||||
Foam::sixDoFRigidBodyMotion::sixDoFRigidBodyMotion
|
||||
(
|
||||
const sixDoFRigidBodyMotion& sDoFRBM
|
||||
)
|
||||
:
|
||||
motionState_(sDoFRBM.motionState()),
|
||||
refCentreOfMass_(sDoFRBM.refCentreOfMass()),
|
||||
momentOfInertia_(sDoFRBM.momentOfInertia()),
|
||||
mass_(sDoFRBM.mass())
|
||||
{}
|
||||
|
||||
|
||||
// * * * * * * * * * * * * * * * * Destructor * * * * * * * * * * * * * * * //
|
||||
|
||||
Foam::sixDoFRigidBodyMotion::~sixDoFRigidBodyMotion()
|
||||
{}
|
||||
|
||||
|
||||
// * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * * //
|
||||
|
||||
void Foam::sixDoFRigidBodyMotion::updatePosition
|
||||
(
|
||||
scalar deltaT
|
||||
)
|
||||
{
|
||||
// First leapfrog velocity adjust and motion part, required before
|
||||
// force calculation
|
||||
|
||||
if (Pstream::master())
|
||||
{
|
||||
v() += 0.5*deltaT*a();
|
||||
|
||||
pi() += 0.5*deltaT*tau();
|
||||
|
||||
// Leapfrog move part
|
||||
centreOfMass() += deltaT*v();
|
||||
|
||||
// Leapfrog orientation adjustment
|
||||
|
||||
tensor R;
|
||||
|
||||
R = rotationTensorX(0.5*deltaT*pi().x()/momentOfInertia_.xx());
|
||||
pi() = pi() & R;
|
||||
Q() = Q() & R;
|
||||
|
||||
R = rotationTensorY(0.5*deltaT*pi().y()/momentOfInertia_.yy());
|
||||
pi() = pi() & R;
|
||||
Q() = Q() & R;
|
||||
|
||||
R = rotationTensorZ(deltaT*pi().z()/momentOfInertia_.zz());
|
||||
pi() = pi() & R;
|
||||
Q() = Q() & R;
|
||||
|
||||
R = rotationTensorY(0.5*deltaT*pi().y()/momentOfInertia_.yy());
|
||||
pi() = pi() & R;
|
||||
Q() = Q() & R;
|
||||
|
||||
R = rotationTensorX(0.5*deltaT*pi().x()/momentOfInertia_.xx());
|
||||
pi() = pi() & R;
|
||||
Q() = Q() & R;
|
||||
|
||||
}
|
||||
|
||||
Pstream::scatter(motionState_);
|
||||
}
|
||||
|
||||
|
||||
void Foam::sixDoFRigidBodyMotion::updateForce
|
||||
(
|
||||
const vector& fGlobal,
|
||||
const vector& tauGlobal,
|
||||
scalar deltaT
|
||||
)
|
||||
{
|
||||
// Second leapfrog velocity adjust part, required after motion and
|
||||
// force calculation part
|
||||
|
||||
if (Pstream::master())
|
||||
{
|
||||
a() = fGlobal/mass_;
|
||||
|
||||
tau() = (Q().T() & tauGlobal);
|
||||
|
||||
v() += 0.5*deltaT*a();
|
||||
|
||||
pi() += 0.5*deltaT*tau();
|
||||
}
|
||||
|
||||
Pstream::scatter(motionState_);
|
||||
}
|
||||
|
||||
|
||||
void Foam::sixDoFRigidBodyMotion::updateForce
|
||||
(
|
||||
const pointField& positions,
|
||||
const vectorField& forces,
|
||||
scalar deltaT
|
||||
)
|
||||
{
|
||||
// Second leapfrog velocity adjust part, required after motion and
|
||||
// force calculation part
|
||||
|
||||
if (Pstream::master())
|
||||
{
|
||||
a() = vector::zero;
|
||||
|
||||
tau() = vector::zero;
|
||||
|
||||
forAll(positions, i)
|
||||
{
|
||||
const vector& f = forces[i];
|
||||
|
||||
a() += f/mass_;
|
||||
|
||||
tau() += (positions[i] ^ (Q().T() & f));
|
||||
}
|
||||
|
||||
v() += 0.5*deltaT*a();
|
||||
|
||||
pi() += 0.5*deltaT*tau();
|
||||
}
|
||||
|
||||
Pstream::scatter(motionState_);
|
||||
}
|
||||
|
||||
|
||||
Foam::tmp<Foam::pointField>
|
||||
Foam::sixDoFRigidBodyMotion::generatePositions(const pointField& pts) const
|
||||
{
|
||||
return (centreOfMass() + (Q() & (pts - refCentreOfMass_)));
|
||||
}
|
||||
|
||||
|
||||
// ************************************************************************* //
|
||||
@ -0,0 +1,251 @@
|
||||
/*---------------------------------------------------------------------------*\
|
||||
========= |
|
||||
\\ / F ield | OpenFOAM: The Open Source CFD Toolbox
|
||||
\\ / O peration |
|
||||
\\ / A nd | Copyright (C) 2009-2009 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::sixDoFRigidBodyMotion
|
||||
|
||||
Description
|
||||
Six degree of freedom motion for a rigid body. Angular momentum stored in
|
||||
body fixed reference frame. Reference orientation of the body must align
|
||||
with the cartesian axes such that the Inertia tensor is in principle
|
||||
component form.
|
||||
|
||||
Symplectic motion as per:
|
||||
|
||||
title = {Symplectic splitting methods for rigid body molecular dynamics},
|
||||
publisher = {AIP},
|
||||
year = {1997},
|
||||
journal = {The Journal of Chemical Physics},
|
||||
volume = {107},
|
||||
number = {15},
|
||||
pages = {5840-5851},
|
||||
url = {http://link.aip.org/link/?JCP/107/5840/1},
|
||||
doi = {10.1063/1.474310}
|
||||
|
||||
SourceFiles
|
||||
sixDoFRigidBodyMotionI.H
|
||||
sixDoFRigidBodyMotion.C
|
||||
sixDoFRigidBodyMotionIO.C
|
||||
|
||||
\*---------------------------------------------------------------------------*/
|
||||
|
||||
#ifndef sixDoFRigidBodyMotion_H
|
||||
#define sixDoFRigidBodyMotion_H
|
||||
|
||||
#include "sixDoFRigidBodyMotionState.H"
|
||||
#include "pointField.H"
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
namespace Foam
|
||||
{
|
||||
|
||||
// Forward declaration of classes
|
||||
class Istream;
|
||||
class Ostream;
|
||||
|
||||
// Forward declaration of friend functions and operators
|
||||
class sixDoFRigidBodyMotion;
|
||||
Istream& operator>>(Istream&, sixDoFRigidBodyMotion&);
|
||||
Ostream& operator<<(Ostream&, const sixDoFRigidBodyMotion&);
|
||||
|
||||
|
||||
/*---------------------------------------------------------------------------*\
|
||||
Class sixDoFRigidBodyMotion Declaration
|
||||
\*---------------------------------------------------------------------------*/
|
||||
|
||||
class sixDoFRigidBodyMotion
|
||||
{
|
||||
// Private data
|
||||
|
||||
// state data object
|
||||
sixDoFRigidBodyMotionState motionState_;
|
||||
|
||||
//- Centre of mass of reference state
|
||||
point refCentreOfMass_;
|
||||
|
||||
//- Moment of inertia of the body in reference configuration
|
||||
diagTensor momentOfInertia_;
|
||||
|
||||
//- Mass of the body
|
||||
scalar mass_;
|
||||
|
||||
|
||||
// Private Member Functions
|
||||
|
||||
//- Calculate the rotation tensor around the body reference
|
||||
// frame x-axis by the given angle
|
||||
inline tensor rotationTensorX(scalar deltaT) const;
|
||||
|
||||
//- Calculate the rotation tensor around the body reference
|
||||
// frame y-axis by the given angle
|
||||
inline tensor rotationTensorY(scalar deltaT) const;
|
||||
|
||||
//- Calculate the rotation tensor around the body reference
|
||||
// frame z-axis by the given angle
|
||||
inline tensor rotationTensorZ(scalar deltaT) const;
|
||||
|
||||
|
||||
public:
|
||||
|
||||
// Constructors
|
||||
|
||||
//- Construct null
|
||||
sixDoFRigidBodyMotion();
|
||||
|
||||
//- Construct from components
|
||||
sixDoFRigidBodyMotion
|
||||
(
|
||||
const point& centreOfMass,
|
||||
const tensor& Q,
|
||||
const vector& v,
|
||||
const vector& a,
|
||||
const vector& pi,
|
||||
const vector& tau,
|
||||
scalar mass,
|
||||
const point& refCentreOfMass,
|
||||
const diagTensor& momentOfInertia
|
||||
);
|
||||
|
||||
//- Construct from dictionary
|
||||
sixDoFRigidBodyMotion(const dictionary& dict);
|
||||
|
||||
//- Construct as copy
|
||||
sixDoFRigidBodyMotion(const sixDoFRigidBodyMotion&);
|
||||
|
||||
|
||||
//- Destructor
|
||||
~sixDoFRigidBodyMotion();
|
||||
|
||||
|
||||
// Member Functions
|
||||
|
||||
void updatePosition
|
||||
(
|
||||
scalar deltaT
|
||||
);
|
||||
|
||||
void updateForce
|
||||
(
|
||||
const vector& fGlobal,
|
||||
const vector& tauGlobal,
|
||||
scalar deltaT
|
||||
);
|
||||
|
||||
void updateForce
|
||||
(
|
||||
const pointField& positions,
|
||||
const vectorField& forces,
|
||||
scalar deltaT
|
||||
);
|
||||
|
||||
tmp<pointField> generatePositions(const pointField& pts) const;
|
||||
|
||||
// Access
|
||||
|
||||
//- Return access to the motion state
|
||||
inline const sixDoFRigidBodyMotionState& motionState() const;
|
||||
|
||||
//- Return access to the centre of mass
|
||||
inline const point& centreOfMass() const;
|
||||
|
||||
//- Return access to the centre of mass
|
||||
inline const point& refCentreOfMass() const;
|
||||
|
||||
//- Return access to the inertia tensor
|
||||
inline const diagTensor& momentOfInertia() const;
|
||||
|
||||
//- Return access to the mass
|
||||
inline scalar mass() const;
|
||||
|
||||
//- Return access to the orientation
|
||||
inline const tensor& Q() const;
|
||||
|
||||
//- Return access to velocity
|
||||
inline const vector& v() const;
|
||||
|
||||
//- Return access to acceleration
|
||||
inline const vector& a() const;
|
||||
|
||||
//- Return access to angular momentum
|
||||
inline const vector& pi() const;
|
||||
|
||||
//- Return access to torque
|
||||
inline const vector& tau() const;
|
||||
|
||||
|
||||
// Edit
|
||||
|
||||
//- Return non-const access to the centre of mass
|
||||
inline point& centreOfMass();
|
||||
|
||||
//- Return access to the centre of mass
|
||||
inline point& refCentreOfMass();
|
||||
|
||||
//- Return non-const access to the inertia tensor
|
||||
inline diagTensor& momentOfInertia();
|
||||
|
||||
//- Return non-const access to the mass
|
||||
inline scalar& mass();
|
||||
|
||||
//- Return non-const access to the orientation
|
||||
inline tensor& Q();
|
||||
|
||||
//- Return non-const access to vector
|
||||
inline vector& v();
|
||||
|
||||
//- Return non-const access to acceleration
|
||||
inline vector& a();
|
||||
|
||||
//- Return non-const access to angular momentum
|
||||
inline vector& pi();
|
||||
|
||||
//- Return non-const access to torque
|
||||
inline vector& tau();
|
||||
|
||||
|
||||
//- Write
|
||||
void write(Ostream&) const;
|
||||
|
||||
|
||||
// IOstream Operators
|
||||
|
||||
friend Istream& operator>>(Istream&, sixDoFRigidBodyMotion&);
|
||||
friend Ostream& operator<<(Ostream&, const sixDoFRigidBodyMotion&);
|
||||
};
|
||||
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
} // End namespace Foam
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
#include "sixDoFRigidBodyMotionI.H"
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
#endif
|
||||
|
||||
// ************************************************************************* //
|
||||
@ -0,0 +1,183 @@
|
||||
/*---------------------------------------------------------------------------*\
|
||||
========= |
|
||||
\\ / F ield | OpenFOAM: The Open Source CFD Toolbox
|
||||
\\ / O peration |
|
||||
\\ / A nd | Copyright (C) 2009-2009 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
|
||||
|
||||
\*---------------------------------------------------------------------------*/
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
// * * * * * * * * * * * * * Private Member Functions * * * * * * * * * * * //
|
||||
|
||||
inline Foam::tensor
|
||||
Foam::sixDoFRigidBodyMotion::rotationTensorX(scalar phi) const
|
||||
{
|
||||
return tensor
|
||||
(
|
||||
1, 0, 0,
|
||||
0, Foam::cos(phi), -Foam::sin(phi),
|
||||
0, Foam::sin(phi), Foam::cos(phi)
|
||||
);
|
||||
}
|
||||
|
||||
|
||||
inline Foam::tensor
|
||||
Foam::sixDoFRigidBodyMotion::rotationTensorY(scalar phi) const
|
||||
{
|
||||
return tensor
|
||||
(
|
||||
Foam::cos(phi), 0, Foam::sin(phi),
|
||||
0, 1, 0,
|
||||
-Foam::sin(phi), 0, Foam::cos(phi)
|
||||
);
|
||||
}
|
||||
|
||||
|
||||
inline Foam::tensor
|
||||
Foam::sixDoFRigidBodyMotion::rotationTensorZ(scalar phi) const
|
||||
{
|
||||
return tensor
|
||||
(
|
||||
Foam::cos(phi), -Foam::sin(phi), 0,
|
||||
Foam::sin(phi), Foam::cos(phi), 0,
|
||||
0, 0, 1
|
||||
);
|
||||
}
|
||||
|
||||
|
||||
inline const Foam::sixDoFRigidBodyMotionState&
|
||||
Foam::sixDoFRigidBodyMotion::motionState() const
|
||||
{
|
||||
return motionState_;
|
||||
}
|
||||
|
||||
|
||||
inline const Foam::point& Foam::sixDoFRigidBodyMotion::centreOfMass() const
|
||||
{
|
||||
return motionState_.centreOfMass();
|
||||
}
|
||||
|
||||
|
||||
inline const Foam::point& Foam::sixDoFRigidBodyMotion::refCentreOfMass() const
|
||||
{
|
||||
return refCentreOfMass_;
|
||||
}
|
||||
|
||||
|
||||
inline const Foam::diagTensor&
|
||||
Foam::sixDoFRigidBodyMotion::momentOfInertia() const
|
||||
{
|
||||
return momentOfInertia_;
|
||||
}
|
||||
|
||||
|
||||
inline Foam::scalar Foam::sixDoFRigidBodyMotion::mass() const
|
||||
{
|
||||
return mass_;
|
||||
}
|
||||
|
||||
|
||||
inline const Foam::tensor& Foam::sixDoFRigidBodyMotion::Q() const
|
||||
{
|
||||
return motionState_.Q();
|
||||
}
|
||||
|
||||
|
||||
inline const Foam::vector& Foam::sixDoFRigidBodyMotion::v() const
|
||||
{
|
||||
return motionState_.v();
|
||||
}
|
||||
|
||||
|
||||
inline const Foam::vector& Foam::sixDoFRigidBodyMotion::a() const
|
||||
{
|
||||
return motionState_.a();
|
||||
}
|
||||
|
||||
|
||||
inline const Foam::vector& Foam::sixDoFRigidBodyMotion::pi() const
|
||||
{
|
||||
return motionState_.pi();
|
||||
}
|
||||
|
||||
|
||||
inline const Foam::vector& Foam::sixDoFRigidBodyMotion::tau() const
|
||||
{
|
||||
return motionState_.tau();
|
||||
}
|
||||
|
||||
|
||||
inline Foam::point& Foam::sixDoFRigidBodyMotion::centreOfMass()
|
||||
{
|
||||
return motionState_.centreOfMass();
|
||||
}
|
||||
|
||||
|
||||
inline Foam::point& Foam::sixDoFRigidBodyMotion::refCentreOfMass()
|
||||
{
|
||||
return refCentreOfMass_;
|
||||
}
|
||||
|
||||
|
||||
inline Foam::diagTensor& Foam::sixDoFRigidBodyMotion::momentOfInertia()
|
||||
{
|
||||
return momentOfInertia_;
|
||||
}
|
||||
|
||||
|
||||
inline Foam::scalar& Foam::sixDoFRigidBodyMotion::mass()
|
||||
{
|
||||
return mass_;
|
||||
}
|
||||
|
||||
|
||||
inline Foam::tensor& Foam::sixDoFRigidBodyMotion::Q()
|
||||
{
|
||||
return motionState_.Q();
|
||||
}
|
||||
|
||||
|
||||
inline Foam::vector& Foam::sixDoFRigidBodyMotion::v()
|
||||
{
|
||||
return motionState_.v();
|
||||
}
|
||||
|
||||
|
||||
inline Foam::vector& Foam::sixDoFRigidBodyMotion::a()
|
||||
{
|
||||
return motionState_.a();
|
||||
}
|
||||
|
||||
|
||||
inline Foam::vector& Foam::sixDoFRigidBodyMotion::pi()
|
||||
{
|
||||
return motionState_.pi();
|
||||
}
|
||||
|
||||
|
||||
inline Foam::vector& Foam::sixDoFRigidBodyMotion::tau()
|
||||
{
|
||||
return motionState_.tau();
|
||||
}
|
||||
|
||||
|
||||
// ************************************************************************* //
|
||||
@ -0,0 +1,87 @@
|
||||
/*---------------------------------------------------------------------------*\
|
||||
========= |
|
||||
\\ / F ield | OpenFOAM: The Open Source CFD Toolbox
|
||||
\\ / O peration |
|
||||
\\ / A nd | Copyright (C) 2009-2009 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 "sixDoFRigidBodyMotion.H"
|
||||
#include "IOstreams.H"
|
||||
|
||||
// * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * * //
|
||||
|
||||
void Foam::sixDoFRigidBodyMotion::write(Ostream& os) const
|
||||
{
|
||||
motionState_.write(os);
|
||||
|
||||
os.writeKeyword("refCentreOfMass")
|
||||
<< refCentreOfMass_ << token::END_STATEMENT << nl;
|
||||
os.writeKeyword("momentOfInertia")
|
||||
<< momentOfInertia_ << token::END_STATEMENT << nl;
|
||||
os.writeKeyword("mass")
|
||||
<< mass_ << token::END_STATEMENT << nl;
|
||||
}
|
||||
|
||||
|
||||
// * * * * * * * * * * * * * * * IOstream Operators * * * * * * * * * * * * //
|
||||
|
||||
Foam::Istream& Foam::operator>>(Istream& is, sixDoFRigidBodyMotion& sDoFRBM)
|
||||
{
|
||||
is >> sDoFRBM.motionState_
|
||||
>> sDoFRBM.refCentreOfMass_
|
||||
>> sDoFRBM.momentOfInertia_
|
||||
>> sDoFRBM.mass_;
|
||||
|
||||
// Check state of Istream
|
||||
is.check
|
||||
(
|
||||
"Foam::Istream& Foam::operator>>"
|
||||
"(Foam::Istream&, Foam::sixDoFRigidBodyMotion&)"
|
||||
);
|
||||
|
||||
return is;
|
||||
}
|
||||
|
||||
|
||||
Foam::Ostream& Foam::operator<<
|
||||
(
|
||||
Ostream& os,
|
||||
const sixDoFRigidBodyMotion& sDoFRBM
|
||||
)
|
||||
{
|
||||
os << sDoFRBM.motionState()
|
||||
<< token::SPACE << sDoFRBM.refCentreOfMass()
|
||||
<< token::SPACE << sDoFRBM.momentOfInertia()
|
||||
<< token::SPACE << sDoFRBM.mass() ;
|
||||
|
||||
// Check state of Ostream
|
||||
os.check
|
||||
(
|
||||
"Foam::Ostream& Foam::operator<<(Foam::Ostream&, "
|
||||
"const Foam::sixDoFRigidBodyMotion&)"
|
||||
);
|
||||
|
||||
return os;
|
||||
}
|
||||
|
||||
|
||||
// ************************************************************************* //
|
||||
@ -0,0 +1,95 @@
|
||||
/*---------------------------------------------------------------------------*\
|
||||
========= |
|
||||
\\ / F ield | OpenFOAM: The Open Source CFD Toolbox
|
||||
\\ / O peration |
|
||||
\\ / A nd | Copyright (C) 2009-2009 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 "sixDoFRigidBodyMotionState.H"
|
||||
|
||||
// * * * * * * * * * * * * * * * * Constructors * * * * * * * * * * * * * * //
|
||||
|
||||
Foam::sixDoFRigidBodyMotionState::sixDoFRigidBodyMotionState()
|
||||
:
|
||||
centreOfMass_(vector::zero),
|
||||
Q_(I),
|
||||
v_(vector::zero),
|
||||
a_(vector::zero),
|
||||
pi_(vector::zero),
|
||||
tau_(vector::zero)
|
||||
{}
|
||||
|
||||
|
||||
Foam::sixDoFRigidBodyMotionState::sixDoFRigidBodyMotionState
|
||||
(
|
||||
const point& centreOfMass,
|
||||
const tensor& Q,
|
||||
const vector& v,
|
||||
const vector& a,
|
||||
const vector& pi,
|
||||
const vector& tau
|
||||
)
|
||||
:
|
||||
centreOfMass_(centreOfMass),
|
||||
Q_(Q),
|
||||
v_(v),
|
||||
a_(a),
|
||||
pi_(pi),
|
||||
tau_(tau)
|
||||
{}
|
||||
|
||||
|
||||
Foam::sixDoFRigidBodyMotionState::sixDoFRigidBodyMotionState
|
||||
(
|
||||
const dictionary& dict
|
||||
)
|
||||
:
|
||||
centreOfMass_(dict.lookup("centreOfMass")),
|
||||
Q_(dict.lookupOrDefault("Q", tensor(I))),
|
||||
v_(dict.lookupOrDefault("v", vector::zero)),
|
||||
a_(dict.lookupOrDefault("a", vector::zero)),
|
||||
pi_(dict.lookupOrDefault("pi", vector::zero)),
|
||||
tau_(dict.lookupOrDefault("tau", vector::zero))
|
||||
{}
|
||||
|
||||
|
||||
Foam::sixDoFRigidBodyMotionState::sixDoFRigidBodyMotionState
|
||||
(
|
||||
const sixDoFRigidBodyMotionState& sDoFRBMS
|
||||
)
|
||||
:
|
||||
centreOfMass_(sDoFRBMS.centreOfMass()),
|
||||
Q_(sDoFRBMS.Q()),
|
||||
v_(sDoFRBMS.v()),
|
||||
a_(sDoFRBMS.a()),
|
||||
pi_(sDoFRBMS.pi()),
|
||||
tau_(sDoFRBMS.tau())
|
||||
{}
|
||||
|
||||
|
||||
// * * * * * * * * * * * * * * * * Destructor * * * * * * * * * * * * * * * //
|
||||
|
||||
Foam::sixDoFRigidBodyMotionState::~sixDoFRigidBodyMotionState()
|
||||
{}
|
||||
|
||||
|
||||
// ************************************************************************* //
|
||||
@ -0,0 +1,194 @@
|
||||
/*---------------------------------------------------------------------------*\
|
||||
========= |
|
||||
\\ / F ield | OpenFOAM: The Open Source CFD Toolbox
|
||||
\\ / O peration |
|
||||
\\ / A nd | Copyright (C) 2009-2009 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::sixDoFRigidBodyMotionState
|
||||
|
||||
Description
|
||||
Holds the motion state of sixDoF object. Wrapped up together
|
||||
to allow rapid scatter to other processors. The processors must all
|
||||
maintain exactly the same state data to avoid any drift or inconsistency.
|
||||
|
||||
SourceFiles
|
||||
sixDoFRigidBodyMotionStateI.H
|
||||
sixDoFRigidBodyMotionState.C
|
||||
sixDoFRigidBodyMotionStateIO.C
|
||||
|
||||
\*---------------------------------------------------------------------------*/
|
||||
|
||||
#ifndef sixDoFRigidBodyMotionState_H
|
||||
#define sixDoFRigidBodyMotionState_H
|
||||
|
||||
#include "vector.H"
|
||||
#include "point.H"
|
||||
#include "diagTensor.H"
|
||||
#include "tensor.H"
|
||||
#include "dictionary.H"
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
namespace Foam
|
||||
{
|
||||
|
||||
// Forward declaration of classes
|
||||
class Istream;
|
||||
class Ostream;
|
||||
|
||||
// Forward declaration of friend functions and operators
|
||||
class sixDoFRigidBodyMotionState;
|
||||
Istream& operator>>(Istream&, sixDoFRigidBodyMotionState&);
|
||||
Ostream& operator<<(Ostream&, const sixDoFRigidBodyMotionState&);
|
||||
|
||||
|
||||
/*---------------------------------------------------------------------------*\
|
||||
Class sixDoFRigidBodyMotionState Declaration
|
||||
\*---------------------------------------------------------------------------*/
|
||||
|
||||
class sixDoFRigidBodyMotionState
|
||||
{
|
||||
// Private data
|
||||
|
||||
//- Current position of the centre of mass of the body
|
||||
point centreOfMass_;
|
||||
|
||||
//- Orientation, stored as the rotation tensor to transform
|
||||
// from the body to the global reference frame, i.e.:
|
||||
// globalVector = Q_ & bodyLocalVector
|
||||
// bodyLocalVector = Q_.T() & globalVector
|
||||
tensor Q_;
|
||||
|
||||
// Linear velocity of body
|
||||
vector v_;
|
||||
|
||||
// Total linear acceleration of body
|
||||
vector a_;
|
||||
|
||||
//- Angular momentum of body, in body local reference frame
|
||||
vector pi_;
|
||||
|
||||
//- Total torque on body, in body local reference frame
|
||||
vector tau_;
|
||||
|
||||
|
||||
public:
|
||||
|
||||
// Constructors
|
||||
|
||||
//- Construct null
|
||||
sixDoFRigidBodyMotionState();
|
||||
|
||||
//- Construct from components
|
||||
sixDoFRigidBodyMotionState
|
||||
(
|
||||
const point& centreOfMass,
|
||||
const tensor& Q,
|
||||
const vector& v,
|
||||
const vector& a,
|
||||
const vector& pi,
|
||||
const vector& tau
|
||||
);
|
||||
|
||||
//- Construct from dictionary
|
||||
sixDoFRigidBodyMotionState(const dictionary& dict);
|
||||
|
||||
//- Construct as copy
|
||||
sixDoFRigidBodyMotionState(const sixDoFRigidBodyMotionState&);
|
||||
|
||||
|
||||
//- Destructor
|
||||
~sixDoFRigidBodyMotionState();
|
||||
|
||||
|
||||
// Member Functions
|
||||
|
||||
// Access
|
||||
|
||||
//- Return access to the centre of mass
|
||||
inline const point& centreOfMass() const;
|
||||
|
||||
//- Return access to the orientation
|
||||
inline const tensor& Q() const;
|
||||
|
||||
//- Return access to velocity
|
||||
inline const vector& v() const;
|
||||
|
||||
//- Return access to acceleration
|
||||
inline const vector& a() const;
|
||||
|
||||
//- Return access to angular momentum
|
||||
inline const vector& pi() const;
|
||||
|
||||
//- Return access to torque
|
||||
inline const vector& tau() const;
|
||||
|
||||
|
||||
// Edit
|
||||
|
||||
//- Return non-const access to the centre of mass
|
||||
inline point& centreOfMass();
|
||||
|
||||
//- Return non-const access to the orientation
|
||||
inline tensor& Q();
|
||||
|
||||
//- Return non-const access to vector
|
||||
inline vector& v();
|
||||
|
||||
//- Return non-const access to acceleration
|
||||
inline vector& a();
|
||||
|
||||
//- Return non-const access to angular momentum
|
||||
inline vector& pi();
|
||||
|
||||
//- Return non-const access to torque
|
||||
inline vector& tau();
|
||||
|
||||
|
||||
//- Write
|
||||
void write(Ostream&) const;
|
||||
|
||||
|
||||
// Friend Functions
|
||||
|
||||
// Friend Operators
|
||||
|
||||
// IOstream Operators
|
||||
|
||||
friend Istream& operator>>(Istream&, sixDoFRigidBodyMotionState&);
|
||||
friend Ostream& operator<<(Ostream&, const sixDoFRigidBodyMotionState&);
|
||||
};
|
||||
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
} // End namespace Foam
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
#include "sixDoFRigidBodyMotionStateI.H"
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
#endif
|
||||
|
||||
// ************************************************************************* //
|
||||
@ -0,0 +1,102 @@
|
||||
/*---------------------------------------------------------------------------*\
|
||||
========= |
|
||||
\\ / F ield | OpenFOAM: The Open Source CFD Toolbox
|
||||
\\ / O peration |
|
||||
\\ / A nd | Copyright (C) 2009-2009 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
|
||||
|
||||
\*---------------------------------------------------------------------------*/
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
// * * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * //
|
||||
inline const Foam::point& Foam::sixDoFRigidBodyMotionState::centreOfMass() const
|
||||
{
|
||||
return centreOfMass_;
|
||||
}
|
||||
|
||||
|
||||
inline const Foam::tensor& Foam::sixDoFRigidBodyMotionState::Q() const
|
||||
{
|
||||
return Q_;
|
||||
}
|
||||
|
||||
|
||||
inline const Foam::vector& Foam::sixDoFRigidBodyMotionState::v() const
|
||||
{
|
||||
return v_;
|
||||
}
|
||||
|
||||
|
||||
inline const Foam::vector& Foam::sixDoFRigidBodyMotionState::a() const
|
||||
{
|
||||
return a_;
|
||||
}
|
||||
|
||||
|
||||
inline const Foam::vector& Foam::sixDoFRigidBodyMotionState::pi() const
|
||||
{
|
||||
return pi_;
|
||||
}
|
||||
|
||||
|
||||
inline const Foam::vector& Foam::sixDoFRigidBodyMotionState::tau() const
|
||||
{
|
||||
return tau_;
|
||||
}
|
||||
|
||||
|
||||
inline Foam::point& Foam::sixDoFRigidBodyMotionState::centreOfMass()
|
||||
{
|
||||
return centreOfMass_;
|
||||
}
|
||||
|
||||
|
||||
inline Foam::tensor& Foam::sixDoFRigidBodyMotionState::Q()
|
||||
{
|
||||
return Q_;
|
||||
}
|
||||
|
||||
|
||||
inline Foam::vector& Foam::sixDoFRigidBodyMotionState::v()
|
||||
{
|
||||
return v_;
|
||||
}
|
||||
|
||||
|
||||
inline Foam::vector& Foam::sixDoFRigidBodyMotionState::a()
|
||||
{
|
||||
return a_;
|
||||
}
|
||||
|
||||
|
||||
inline Foam::vector& Foam::sixDoFRigidBodyMotionState::pi()
|
||||
{
|
||||
return pi_;
|
||||
}
|
||||
|
||||
|
||||
inline Foam::vector& Foam::sixDoFRigidBodyMotionState::tau()
|
||||
{
|
||||
return tau_;
|
||||
}
|
||||
|
||||
|
||||
// ************************************************************************* //
|
||||
@ -0,0 +1,98 @@
|
||||
/*---------------------------------------------------------------------------*\
|
||||
========= |
|
||||
\\ / F ield | OpenFOAM: The Open Source CFD Toolbox
|
||||
\\ / O peration |
|
||||
\\ / A nd | Copyright (C) 2009-2009 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 "sixDoFRigidBodyMotionState.H"
|
||||
#include "IOstreams.H"
|
||||
|
||||
// * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * * //
|
||||
|
||||
void Foam::sixDoFRigidBodyMotionState::write(Ostream& os) const
|
||||
{
|
||||
os.writeKeyword("centreOfMass")
|
||||
<< centreOfMass_ << token::END_STATEMENT << nl;
|
||||
os.writeKeyword("Q")
|
||||
<< Q_ << token::END_STATEMENT << nl;
|
||||
os.writeKeyword("v")
|
||||
<< v_ << token::END_STATEMENT << nl;
|
||||
os.writeKeyword("a")
|
||||
<< a_ << token::END_STATEMENT << nl;
|
||||
os.writeKeyword("pi")
|
||||
<< pi_ << token::END_STATEMENT << nl;
|
||||
os.writeKeyword("tau")
|
||||
<< tau_ << token::END_STATEMENT << nl;
|
||||
}
|
||||
|
||||
|
||||
// * * * * * * * * * * * * * * * IOstream Operators * * * * * * * * * * * * //
|
||||
|
||||
Foam::Istream& Foam::operator>>
|
||||
(
|
||||
Istream& is, sixDoFRigidBodyMotionState& sDoFRBMS
|
||||
)
|
||||
{
|
||||
is >> sDoFRBMS.centreOfMass_
|
||||
>> sDoFRBMS.Q_
|
||||
>> sDoFRBMS.v_
|
||||
>> sDoFRBMS.a_
|
||||
>> sDoFRBMS.pi_
|
||||
>> sDoFRBMS.tau_;
|
||||
|
||||
// Check state of Istream
|
||||
is.check
|
||||
(
|
||||
"Foam::Istream& Foam::operator>>"
|
||||
"(Foam::Istream&, Foam::sixDoFRigidBodyMotionState&)"
|
||||
);
|
||||
|
||||
return is;
|
||||
}
|
||||
|
||||
|
||||
Foam::Ostream& Foam::operator<<
|
||||
(
|
||||
Ostream& os,
|
||||
const sixDoFRigidBodyMotionState& sDoFRBMS
|
||||
)
|
||||
{
|
||||
os << token::SPACE << sDoFRBMS.centreOfMass()
|
||||
<< token::SPACE << sDoFRBMS.Q()
|
||||
<< token::SPACE << sDoFRBMS.v()
|
||||
<< token::SPACE << sDoFRBMS.a()
|
||||
<< token::SPACE << sDoFRBMS.pi()
|
||||
<< token::SPACE << sDoFRBMS.tau();
|
||||
|
||||
// Check state of Ostream
|
||||
os.check
|
||||
(
|
||||
"Foam::Ostream& Foam::operator<<(Foam::Ostream&, "
|
||||
"const Foam::sixDoFRigidBodyMotionState&)"
|
||||
);
|
||||
|
||||
return os;
|
||||
}
|
||||
|
||||
|
||||
// ************************************************************************* //
|
||||
Reference in New Issue
Block a user