From ec609b90b805f14705d200ed72795e3a373d9985 Mon Sep 17 00:00:00 2001 From: sergio Date: Tue, 16 Mar 2021 15:37:07 -0700 Subject: [PATCH] STY: Clearing up code and updating tutrial --- .../points0/points0MotionSolver.C | 13 ----------- .../drivenLinearMotion/drivenLinearMotion.C | 10 ++++---- .../drivenLinearMotion/drivenLinearMotion.H | 6 ++--- .../prescribedRotation/prescribedRotation.C | 23 +++++-------------- .../prescribedRotation/prescribedRotation.H | 2 +- .../rigidBodyMeshMotion/rigidBodyMeshMotion.C | 20 ++++++++-------- .../rigidBodyMeshMotion/rigidBodyMeshMotion.H | 6 ++--- .../sixDoFRigidBodyMotionSolver.C | 10 ++++---- .../sixDoFRigidBodyMotionSolver.H | 4 ++-- .../background/constant/dynamicMeshDict | 8 +++---- 10 files changed, 39 insertions(+), 63 deletions(-) diff --git a/src/dynamicMesh/motionSolvers/displacement/points0/points0MotionSolver.C b/src/dynamicMesh/motionSolvers/displacement/points0/points0MotionSolver.C index e0c04e7cfe..6a598cfce1 100644 --- a/src/dynamicMesh/motionSolvers/displacement/points0/points0MotionSolver.C +++ b/src/dynamicMesh/motionSolvers/displacement/points0/points0MotionSolver.C @@ -70,19 +70,6 @@ Foam::IOobject Foam::points0MotionSolver::points0IO(const polyMesh& mesh) io.rename("points"); } - // Choose the latest points if points0 is not present -// if (!io.typeHeaderOk()) -// { -// const word instance = -// mesh.time().findInstance -// ( -// mesh.meshDir(), -// "points", -// IOobject::MUST_READ -// ); -// io.instance() = instance; -// io.rename("points"); -// } return io; } diff --git a/src/dynamicMesh/motionSolvers/displacement/solidBody/solidBodyMotionFunctions/drivenLinearMotion/drivenLinearMotion.C b/src/dynamicMesh/motionSolvers/displacement/solidBody/solidBodyMotionFunctions/drivenLinearMotion/drivenLinearMotion.C index d2da6f71cb..177e9b6b96 100644 --- a/src/dynamicMesh/motionSolvers/displacement/solidBody/solidBodyMotionFunctions/drivenLinearMotion/drivenLinearMotion.C +++ b/src/dynamicMesh/motionSolvers/displacement/solidBody/solidBodyMotionFunctions/drivenLinearMotion/drivenLinearMotion.C @@ -55,12 +55,12 @@ Foam::solidBodyMotionFunctions::drivenLinearMotion::drivenLinearMotion ) : solidBodyMotionFunction(SBMFCoeffs, runTime), - CofGvelocity_(SBMFCoeffs.get("CofGvelocity")), - CofGvel_ + cOfGdisplacement_(SBMFCoeffs.get("cOfGdisplacement")), + CofGdisp_ ( IOobject ( - CofGvelocity_, + cOfGdisplacement_, time_.timeName(), "uniform", time_, @@ -80,9 +80,9 @@ Foam::septernion Foam::solidBodyMotionFunctions::drivenLinearMotion::transformation() const { - DebugInFunction << "displacement :" << CofGvel_.value() << endl; + DebugInFunction << "displacement :" << CofGdisp_.value() << endl; quaternion R(1); - septernion TR(septernion(-CofGvel_.value())*R); + septernion TR(septernion(-CofGdisp_.value())*R); DebugInFunction << "Time = " << time_.value() << " transformation: " << TR << endl; diff --git a/src/dynamicMesh/motionSolvers/displacement/solidBody/solidBodyMotionFunctions/drivenLinearMotion/drivenLinearMotion.H b/src/dynamicMesh/motionSolvers/displacement/solidBody/solidBodyMotionFunctions/drivenLinearMotion/drivenLinearMotion.H index 324ba140ad..977572b673 100644 --- a/src/dynamicMesh/motionSolvers/displacement/solidBody/solidBodyMotionFunctions/drivenLinearMotion/drivenLinearMotion.H +++ b/src/dynamicMesh/motionSolvers/displacement/solidBody/solidBodyMotionFunctions/drivenLinearMotion/drivenLinearMotion.H @@ -63,11 +63,11 @@ class drivenLinearMotion { // Private data - //- Name of the meshObject to dum CofG velocity - word CofGvelocity_; + //- Name of the meshObject to dum CofG displacement + word cOfGdisplacement_; //- Uniform vector to follow - uniformDimensionedVectorField CofGvel_; + uniformDimensionedVectorField CofGdisp_; // Private Member Functions diff --git a/src/rigidBodyDynamics/restraints/prescribedRotation/prescribedRotation.C b/src/rigidBodyDynamics/restraints/prescribedRotation/prescribedRotation.C index fd6503fef1..c8de6a89d0 100644 --- a/src/rigidBodyDynamics/restraints/prescribedRotation/prescribedRotation.C +++ b/src/rigidBodyDynamics/restraints/prescribedRotation/prescribedRotation.C @@ -63,7 +63,7 @@ Foam::RBD::restraints::prescribedRotation::prescribedRotation restraint(name, dict, model), omegaSet_(model_.time(), "omega"), omega_(Zero), - prevMom_(Zero), + oldMom_(Zero), error0_(Zero), integral0_(Zero) { @@ -86,7 +86,7 @@ void Foam::RBD::restraints::prescribedRotation::restrain const rigidBodyModelState& state ) const { - vector refDir = rotationTensor(vector(1, 0, 0), axis_) & vector(0, 1, 0); + vector refDir = rotationTensor(vector(1, 0, 0), axis_)&vector(0, 1, 0); vector oldDir = refQ_ & refDir; vector newDir = model_.X0(bodyID_).E() & refDir; @@ -137,21 +137,10 @@ void Foam::RBD::restraints::prescribedRotation::restrain vector integral = integral0_ + error; vector derivative = (error - error0_); - vector moment = ((p_*error + i_*integral + d_*derivative) & a ) * a; - moment = moment*Inertia/model_.time().deltaTValue(); + vector moment = ((p_*error + i_*integral + d_*derivative)&a)*a; + moment *= Inertia/model_.time().deltaTValue(); -// vector moment -// ( -// ( -// Inertia -// * (omegaSet_.value(model_.time().value()) - omega) -// / model_.time().deltaTValue()/relax_ -// & a -// ) -// * a -// ); - - moment = relax_*moment + (1- relax_)*prevMom_; + moment = relax_*moment + (1- relax_)*oldMom_; if (model_.debug) { @@ -172,7 +161,7 @@ void Foam::RBD::restraints::prescribedRotation::restrain // Accumulate the force for the restrained body fx[bodyIndex_] += model_.X0(bodyID_).T() & spatialVector(moment, Zero); - prevMom_ = moment; + oldMom_ = moment; error0_ = error; integral0_ = integral; } diff --git a/src/rigidBodyDynamics/restraints/prescribedRotation/prescribedRotation.H b/src/rigidBodyDynamics/restraints/prescribedRotation/prescribedRotation.H index c49a9a113e..a587da3eb5 100644 --- a/src/rigidBodyDynamics/restraints/prescribedRotation/prescribedRotation.H +++ b/src/rigidBodyDynamics/restraints/prescribedRotation/prescribedRotation.H @@ -93,7 +93,7 @@ class prescribedRotation mutable vector omega_; //- Cache previous momentum - mutable vector prevMom_; + mutable vector oldMom_; //- Relax momentum scalar relax_; diff --git a/src/rigidBodyMeshMotion/rigidBodyMeshMotion/rigidBodyMeshMotion.C b/src/rigidBodyMeshMotion/rigidBodyMeshMotion/rigidBodyMeshMotion.C index 06291f52a2..1f91e02ebf 100644 --- a/src/rigidBodyMeshMotion/rigidBodyMeshMotion/rigidBodyMeshMotion.C +++ b/src/rigidBodyMeshMotion/rigidBodyMeshMotion/rigidBodyMeshMotion.C @@ -121,9 +121,11 @@ Foam::rigidBodyMeshMotion::rigidBodyMeshMotion rhoName_(coeffDict().getOrDefault("rho", "rho")), ramp_(Function1::NewIfPresent("ramp", coeffDict())), curTimeIndex_(-1), - CofGvelocity_(coeffDict().getOrDefault("CofGvelocity", "none")), + cOfGdisplacement_ + ( + coeffDict().getOrDefault("cOfGdisplacement", "none") + ), bodyIdCofG_(coeffDict().getOrDefault