STY: Clearing up code and updating tutrial

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<pointIOField>())
-//     {
-//         const word instance =
-//             mesh.time().findInstance
-//             (
-//                 mesh.meshDir(),
-//                 "points",
-//                 IOobject::MUST_READ
-//             );
-//         io.instance() = instance;
-//         io.rename("points");
-//     }
     return io;
 }
 

src/dynamicMesh/motionSolvers/displacement/solidBody/solidBodyMotionFunctions/drivenLinearMotion/drivenLinearMotion.C

@@ -55,12 +55,12 @@ Foam::solidBodyMotionFunctions::drivenLinearMotion::drivenLinearMotion
 )
 :
     solidBodyMotionFunction(SBMFCoeffs, runTime),
-    CofGvelocity_(SBMFCoeffs.get<word>("CofGvelocity")),
+    cOfGdisplacement_(SBMFCoeffs.get<word>("cOfGdisplacement")),
-    CofGvel_
+    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;

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
+        //- Name of the meshObject to dum CofG displacement
-        word CofGvelocity_;
+        word cOfGdisplacement_;
 
         //- Uniform vector to follow
-        uniformDimensionedVectorField CofGvel_;
+        uniformDimensionedVectorField CofGdisp_;
 
 
     // Private Member Functions

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;
+    vector moment = ((p_*error + i_*integral + d_*derivative)&a)*a;
-    moment = moment*Inertia/model_.time().deltaTValue();
+    moment *= Inertia/model_.time().deltaTValue();
 
-//     vector moment
+    moment = relax_*moment + (1- relax_)*oldMom_;
-//     (
-//         (
-//             Inertia
-//           * (omegaSet_.value(model_.time().value()) - omega)
-//           / model_.time().deltaTValue()/relax_
-//           & a
-//         )
-//       * a
-//     );
-
-    moment = relax_*moment + (1- relax_)*prevMom_;
 
     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;
 }

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_;

src/rigidBodyMeshMotion/rigidBodyMeshMotion/rigidBodyMeshMotion.C

@@ -121,9 +121,11 @@ Foam::rigidBodyMeshMotion::rigidBodyMeshMotion
     rhoName_(coeffDict().getOrDefault<word>("rho", "rho")),
     ramp_(Function1<scalar>::NewIfPresent("ramp", coeffDict())),
     curTimeIndex_(-1),
-    CofGvelocity_(coeffDict().getOrDefault<word>("CofGvelocity", "none")),
+    cOfGdisplacement_
+    (
+        coeffDict().getOrDefault<word>("cOfGdisplacement", "none")
+    ),
     bodyIdCofG_(coeffDict().getOrDefault<label>("bodyIdCofG", -1))
-    //points0_(points0IO(mesh))
 {
     if (rhoName_ == "rhoInf")
     {
@@ -211,8 +213,6 @@ Foam::rigidBodyMeshMotion::rigidBodyMeshMotion
 Foam::tmp<Foam::pointField>
 Foam::rigidBodyMeshMotion::curPoints() const
 {
-    //return points0() + pointDisplacement_.primitiveField();
-
     tmp<pointField> newPoints(points0() + pointDisplacement_.primitiveField());
 
     if (moveAllCells())
@@ -311,7 +311,7 @@ void Foam::rigidBodyMeshMotion::solve()
             );
         }
 
-        if (CofGvelocity_ != "none")
+        if (cOfGdisplacement_ != "none")
         {
             if (bodyIdCofG_ != -1)
             {
@@ -319,14 +319,14 @@ void Foam::rigidBodyMeshMotion::solve()
                 (
                     db().time().foundObject<uniformDimensionedVectorField>
                     (
-                        CofGvelocity_
+                        cOfGdisplacement_
                     )
                 )
                 {
-                    uniformDimensionedVectorField& disp =
+                    auto& disp =
                         db().time().lookupObjectRef<uniformDimensionedVectorField>
                         (
-                            CofGvelocity_
+                            cOfGdisplacement_
                         );
 
                     disp.value() += model_.cCofR(bodyIdCofG_) - oldPos;
@@ -335,8 +335,8 @@ void Foam::rigidBodyMeshMotion::solve()
             else
             {
                 FatalErrorInFunction
-                    << "CofGvelocity is different of none." << endl
+                    << "CofGdisplacement is different to none." << endl
-                    << "The model need the entry body reference Id: bodyIdCofG."
+                    << "The model needs the entry body reference Id: bodyIdCofG."
                     << exit(FatalError);
             }
         }

src/rigidBodyMeshMotion/rigidBodyMeshMotion/rigidBodyMeshMotion.H

@@ -128,10 +128,10 @@ class rigidBodyMeshMotion
         //- Current time index (used for updating)
         label curTimeIndex_;
 
-        //- Name of the uniformVectorField for CofG velocity
+        //- Name of the uniformVectorField for CofG displacement
-        word CofGvelocity_;
+        word cOfGdisplacement_;
 
-        //- Body Id for the body to write CofG velocity
+        //- Body Id for the body to write CofG displacement
         label bodyIdCofG_;
 
 

src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionSolver/sixDoFRigidBodyMotionSolver.C

@@ -107,7 +107,7 @@ Foam::sixDoFRigidBodyMotionSolver::sixDoFRigidBodyMotionSolver
         dimensionedScalar(dimless, Zero)
     ),
     curTimeIndex_(-1),
-    CofGvelocity_(coeffDict().getOrDefault<word>("CofGvelocity", "none"))
+    cOfGdisplacement_(coeffDict().getOrDefault<word>("cOfGdisplacement", "none"))
 {
     if (rhoName_ == "rhoInf")
     {
@@ -262,20 +262,20 @@ void Foam::sixDoFRigidBodyMotionSolver::solve()
             t.deltaT0Value()
         );
 
-        if (CofGvelocity_ != "none")
+        if (cOfGdisplacement_ != "none")
         {
             if
             (
                 db().time().foundObject<uniformDimensionedVectorField>
                 (
-                    CofGvelocity_
+                    cOfGdisplacement_
                 )
             )
             {
-                uniformDimensionedVectorField& disp =
+                auto& disp =
                     db().time().lookupObjectRef<uniformDimensionedVectorField>
                     (
-                        CofGvelocity_
+                        cOfGdisplacement_
                     );
 
                 disp += (motion_.centreOfRotation() - oldPos);

src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionSolver/sixDoFRigidBodyMotionSolver.H

@@ -94,8 +94,8 @@ class sixDoFRigidBodyMotionSolver
         //- Current time index (used for updating)
         label curTimeIndex_;
 
-        //- Name of the uniformVectorField for CofG velocity
+        //- Name of the uniformVectorField for CofG displacement
-        word CofGvelocity_;
+        word cOfGdisplacement_;
 
 
     // Private Member Functions

tutorials/multiphase/overInterDyMFoam/floatingBodyWithSpring/background/constant/dynamicMeshDict

@@ -26,7 +26,7 @@ solvers
         solidBodyMotionFunction drivenLinearMotion;
 
         cellSet                 c0;
-        CofGvelocity            CofG;
+        cOfGdisplacement        CofG;
     }
 
     cube
@@ -40,8 +40,8 @@ solvers
         innerDistance   1000.0;
         outerDistance   1001.0;
 
-        centreOfMass    (0.5 0.5 0.4);
+        centreOfMass        (0.5 0.5 0.4);
-        CofGvelocity    CofG;
+        cOfGdisplacement    CofG;
         
         // Cuboid dimensions
         Lx              0.24;