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applications/test/rigidBodyDynamics/pendulum: Add a test for merging bodies

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This commit is contained in:
Henry Weller
2016-04-04 09:26:37 +01:00
parent a9b8bb13e0
commit e50d8ece57
1 changed files with 30 additions and 7 deletions
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37
applications/test/rigidBodyDynamics/pendulum/pendulum.C
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@ -31,6 +31,7 @@ Description
\*---------------------------------------------------------------------------*/
#include "rigidBodyModel.H"
#include "masslessBody.H"
#include "joints.H"
using namespace Foam;
@ -40,18 +41,40 @@ using namespace RBD;
int main(int argc, char *argv[])
{
bool testMerge = false;
// Create a model for the pendulum
rigidBodyModel pendulum;
// Join a weight to the origin with a centre of mass -1m below the origin
// by a hinge which rotates about the z-axis
pendulum.join
(
0,
Xt(vector(0, 0, 0)),
joint::New(new joints::Rz(pendulum)),
rigidBody::New("hinge", 1, vector(0, -1, 0), 0.02*I)
);
if (testMerge)
{
label hingeID = pendulum.join
(
0,
Xt(Zero),
joint::New(new joints::Rz(pendulum)),
autoPtr<rigidBody>(new masslessBody("hinge"))
);
pendulum.merge
(
hingeID,
Xt(vector(0, -1, 0)),
rigidBody::New("weight", 1, Zero, 0.02*I)
);
}
else
{
pendulum.join
(
0,
Xt(Zero),
joint::New(new joints::Rz(pendulum)),
rigidBody::New("pendulum", 1, vector(0, -1, 0), 0.02*I)
);
}
// Create the joint-space state fields
scalarField q(pendulum.nDoF(), Zero);