sixDof motion pointPatchField

src/fvMotionSolver/Make/files

@@ -31,5 +31,8 @@ pointPatchFields/derived/oscillatingDisplacement/oscillatingDisplacementPointPat
 pointPatchFields/derived/angularOscillatingDisplacement/angularOscillatingDisplacementPointPatchVectorField.C
 pointPatchFields/derived/surfaceSlipDisplacement/surfaceSlipDisplacementPointPatchVectorField.C
 pointPatchFields/derived/surfaceDisplacement/surfaceDisplacementPointPatchVectorField.C
+pointPatchFields/derived/sixDofRigidBodyDisplacement/sixDofRigidBodyDisplacementPointPatchVectorField.C
+pointPatchFields/derived/sixDofRigidBodyDisplacement/sixDofRigidBodyMotion/sixDofRigidBodyMotion.C
+pointPatchFields/derived/sixDofRigidBodyDisplacement/sixDofRigidBodyMotion/sixDofRigidBodyMotionIO.C
 
 LIB = $(FOAM_LIBBIN)/libfvMotionSolvers

src/fvMotionSolver/Make/options

@@ -2,10 +2,12 @@ EXE_INC = \
     -I$(LIB_SRC)/triSurface/lnInclude \
     -I$(LIB_SRC)/meshTools/lnInclude \
     -I$(LIB_SRC)/dynamicMesh/lnInclude \
-    -I$(LIB_SRC)/finiteVolume/lnInclude
+    -I$(LIB_SRC)/finiteVolume/lnInclude \
+    -I$(LIB_SRC)/postProcessing/functionObjects/forces/lnInclude \
 
 LIB_LIBS = \
     -ltriSurface \
     -lmeshTools \
     -ldynamicMesh \
-    -lfiniteVolume
+    -lfiniteVolume \
+    -lforces

src/fvMotionSolver/pointPatchFields/derived/sixDofRigidBodyDisplacement/sixDofRigidBodyDisplacementPointPatchVectorField.C

@@ -0,0 +1,211 @@
+/*---------------------------------------------------------------------------*\
+  =========                 |
+  \\      /  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())
+{}
+
+
+sixDofRigidBodyDisplacementPointPatchVectorField::
+sixDofRigidBodyDisplacementPointPatchVectorField
+(
+    const pointPatch& p,
+    const DimensionedField<vector, pointMesh>& iF,
+    const dictionary& dict
+)
+:
+    fixedValuePointPatchField<vector>(p, iF, dict),
+    motion_(dict)
+{
+    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_)
+{}
+
+
+sixDofRigidBodyDisplacementPointPatchVectorField::
+sixDofRigidBodyDisplacementPointPatchVectorField
+(
+    const sixDofRigidBodyDisplacementPointPatchVectorField& ptf,
+    const DimensionedField<vector, pointMesh>& iF
+)
+:
+    fixedValuePointPatchField<vector>(ptf, iF),
+    motion_(ptf.motion_),
+    p0_(ptf.p0_)
+{}
+
+
+// * * * * * * * * * * * * * * * 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.deltaT().value());
+
+    dictionary forcesDict;
+
+    forcesDict.add("patches", wordList(1, ptPatch.name()));
+    forcesDict.add("rhoInf", 0.0);
+    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();
+    }
+    else
+    {
+        uniformDimensionedVectorField g
+        (
+            IOobject
+            (
+                "g",
+                db().time().constant(),
+                db(),
+                IOobject::READ_IF_PRESENT,
+                IOobject::NO_WRITE
+            )
+        );
+
+        gravity = g.value();
+    }
+
+    motion_.updateForce
+    (
+        fm.first().first() + fm.first().second() + gravity*motion_.mass(),
+        fm.second().first() + fm.second().second(),
+        t.deltaT().value()
+    );
+
+    // motion_.updateForce
+    // (
+    //     vector::zero,
+    //     vector::zero,
+    //     t.deltaT().value()
+    // );
+
+    Info<< motion_ << endl;
+
+    Field<vector>::operator=(motion_.generatePositions(p0_) - p0_);
+
+    fixedValuePointPatchField<vector>::updateCoeffs();
+}
+
+
+void sixDofRigidBodyDisplacementPointPatchVectorField::write(Ostream& os) const
+{
+    pointPatchField<vector>::write(os);
+    motion_.write(os);
+    p0_.writeEntry("p0", os);
+    writeEntry("value", os);
+}
+
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+makePointPatchTypeField
+(
+    pointPatchVectorField,
+    sixDofRigidBodyDisplacementPointPatchVectorField
+);
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+} // End namespace Foam
+
+// ************************************************************************* //

src/fvMotionSolver/pointPatchFields/derived/sixDofRigidBodyDisplacement/sixDofRigidBodyDisplacementPointPatchVectorField.H

@@ -0,0 +1,153 @@
+/*---------------------------------------------------------------------------*\
+  =========                 |
+  \\      /  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_;
+
+
+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
+
+// ************************************************************************* //

src/fvMotionSolver/pointPatchFields/derived/sixDofRigidBodyDisplacement/sixDofRigidBodyMotion/sixDofRigidBodyMotion.C

@@ -0,0 +1,208 @@
+/*---------------------------------------------------------------------------*\
+  =========                 |
+  \\      /  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()
+:
+    centreOfMass_(vector::zero),
+    refCentreOfMass_(vector::zero),
+    momentOfInertia_(diagTensor::one*VSMALL),
+    mass_(VSMALL),
+    Q_(I),
+    v_(vector::zero),
+    a_(vector::zero),
+    pi_(vector::zero),
+    tau_(vector::zero)
+{}
+
+
+Foam::sixDofRigidBodyMotion::sixDofRigidBodyMotion
+(
+    const point& centreOfMass,
+    const point& refCentreOfMass,
+    const diagTensor& momentOfInertia,
+    scalar mass,
+    const tensor& Q,
+    const vector& v,
+    const vector& a,
+    const vector& pi,
+    const vector& tau
+)
+:
+    centreOfMass_(centreOfMass),
+    refCentreOfMass_(refCentreOfMass),
+    momentOfInertia_(momentOfInertia),
+    mass_(mass),
+    Q_(Q),
+    v_(v),
+    a_(a),
+    pi_(pi),
+    tau_(tau)
+{}
+
+
+Foam::sixDofRigidBodyMotion::sixDofRigidBodyMotion(const dictionary& dict)
+:
+    centreOfMass_(dict.lookup("centreOfMass")),
+    refCentreOfMass_(dict.lookupOrDefault("refCentreOfMass", centreOfMass_)),
+    momentOfInertia_(dict.lookup("momentOfInertia")),
+    mass_(readScalar(dict.lookup("mass"))),
+    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::sixDofRigidBodyMotion::sixDofRigidBodyMotion
+(
+    const sixDofRigidBodyMotion& sDofRBM
+)
+:
+    centreOfMass_(sDofRBM.centreOfMass()),
+    refCentreOfMass_(sDofRBM.refCentreOfMass()),
+    momentOfInertia_(sDofRBM.momentOfInertia()),
+    mass_(sDofRBM.mass()),
+    Q_(sDofRBM.Q()),
+    v_(sDofRBM.v()),
+    a_(sDofRBM.a()),
+    pi_(sDofRBM.pi()),
+    tau_(sDofRBM.tau())
+{}
+
+
+// * * * * * * * * * * * * * * * * Destructor  * * * * * * * * * * * * * * * //
+
+Foam::sixDofRigidBodyMotion::~sixDofRigidBodyMotion()
+{}
+
+
+// * * * * * * * * * * * * * * Member Functions  * * * * * * * * * * * * * * //
+
+void Foam::sixDofRigidBodyMotion::updatePosition
+(
+    scalar deltaT
+)
+{
+    // First leapfrog velocity adjust and motion part, required before
+    // force calculation
+
+    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;
+}
+
+
+void Foam::sixDofRigidBodyMotion::updateForce
+(
+    const vector& fGlobal,
+    const vector& tauGlobal,
+    scalar deltaT
+)
+{
+    // Second leapfrog velocity adjust part, required after motion and
+    // force calculation part
+
+    a_ = fGlobal/mass_;
+
+    tau_ = (Q_.T() & tauGlobal);
+
+    v_ += 0.5*deltaT*a_;
+
+    pi_ += 0.5*deltaT*tau_;
+
+}
+
+
+void Foam::sixDofRigidBodyMotion::updateForce
+(
+    const pointField& positions,
+    const vectorField& forces,
+    scalar deltaT
+)
+{
+    // Second leapfrog velocity adjust part, required after motion and
+    // force calculation part
+
+    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_;
+
+}
+
+
+Foam::tmp<Foam::pointField>
+Foam::sixDofRigidBodyMotion::generatePositions(const pointField& pts) const
+{
+    return (centreOfMass_ + (Q_ & (pts - refCentreOfMass_)));
+}
+
+
+// ************************************************************************* //

src/fvMotionSolver/pointPatchFields/derived/sixDofRigidBodyDisplacement/sixDofRigidBodyMotion/sixDofRigidBodyMotion.H

@@ -0,0 +1,267 @@
+/*---------------------------------------------------------------------------*\
+  =========                 |
+  \\      /  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 "vector.H"
+#include "diagTensor.H"
+#include "pointField.H"
+#include "mathConstants.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
+
+        //- Current position of the centre of mass of the body
+        point centreOfMass_;
+
+        //- 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_;
+
+        //- 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_;
+
+    // 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 point& refCentreOfMass,
+            const diagTensor& momentOfInertia,
+            scalar mass,
+            const tensor& Q,
+            const vector& v,
+            const vector& a,
+            const vector&  pi,
+            const vector& tau
+        );
+
+        //- 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 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
+
+// ************************************************************************* //

src/fvMotionSolver/pointPatchFields/derived/sixDofRigidBodyDisplacement/sixDofRigidBodyMotion/sixDofRigidBodyMotionI.H

@@ -0,0 +1,176 @@
+/*---------------------------------------------------------------------------*\
+  =========                 |
+  \\      /  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::point& Foam::sixDofRigidBodyMotion::centreOfMass() const
+{
+    return 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 Q_;
+}
+
+
+inline const Foam::vector& Foam::sixDofRigidBodyMotion::v() const
+{
+    return v_;
+}
+
+
+inline const Foam::vector& Foam::sixDofRigidBodyMotion::a() const
+{
+    return a_;
+}
+
+
+inline const Foam::vector& Foam::sixDofRigidBodyMotion::pi() const
+{
+    return pi_;
+}
+
+
+inline const Foam::vector& Foam::sixDofRigidBodyMotion::tau() const
+{
+    return tau_;
+}
+
+
+inline Foam::point& Foam::sixDofRigidBodyMotion::centreOfMass()
+{
+    return 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 Q_;
+}
+
+
+inline Foam::vector& Foam::sixDofRigidBodyMotion::v()
+{
+    return v_;
+}
+
+
+inline Foam::vector& Foam::sixDofRigidBodyMotion::a()
+{
+    return a_;
+}
+
+
+inline Foam::vector& Foam::sixDofRigidBodyMotion::pi()
+{
+    return pi_;
+}
+
+
+inline Foam::vector& Foam::sixDofRigidBodyMotion::tau()
+{
+    return tau_;
+}
+
+
+// ************************************************************************* //

src/fvMotionSolver/pointPatchFields/derived/sixDofRigidBodyDisplacement/sixDofRigidBodyMotion/sixDofRigidBodyMotionIO.C

@@ -0,0 +1,107 @@
+/*---------------------------------------------------------------------------*\
+  =========                 |
+  \\      /  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
+{
+    os.writeKeyword("centreOfMass")
+        << centreOfMass_ << token::END_STATEMENT << nl;
+    os.writeKeyword("refCentreOfMass")
+        << refCentreOfMass_ << token::END_STATEMENT << nl;
+    os.writeKeyword("momentOfInertia")
+        << momentOfInertia_ << token::END_STATEMENT << nl;
+    os.writeKeyword("mass")
+        << mass_ << 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, sixDofRigidBodyMotion& sDofRBM)
+{
+    is  >> sDofRBM.centreOfMass_
+        >> sDofRBM.refCentreOfMass_
+        >> sDofRBM.momentOfInertia_
+        >> sDofRBM.mass_
+        >> sDofRBM.Q_
+        >> sDofRBM.v_
+        >> sDofRBM.a_
+        >> sDofRBM.pi_
+        >> sDofRBM.tau_;
+
+    // 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  << token::SPACE << sDofRBM.centreOfMass()
+        << token::SPACE << sDofRBM.refCentreOfMass()
+        << token::SPACE << sDofRBM.momentOfInertia()
+        << token::SPACE << sDofRBM.mass()
+        << token::SPACE << sDofRBM.Q()
+        << token::SPACE << sDofRBM.v()
+        << token::SPACE << sDofRBM.a()
+        << token::SPACE << sDofRBM.pi()
+        << token::SPACE << sDofRBM.tau();
+
+    // Check state of Ostream
+    os.check
+    (
+        "Foam::Ostream& Foam::operator<<(Foam::Ostream&, "
+        "const Foam::sixDofRigidBodyMotion&)"
+    );
+
+    return os;
+}
+
+
+// ************************************************************************* //