ENH: Adding more useful information to sixDoFRigidBodyMotion restraint

reporting.

Making sixDoFRigidBodyMotionConstraints less verbose by default, now
requires debug switch to be set.

etc/controlDict

@@ -726,6 +726,7 @@ DebugSwitches
     shapeList           0;
     shapeToCell         0;
     simple              0;
+    sixDoFRigidBodyMotionConstraint 0;
     skewCorrected       0;
     skewCorrectionVectors 0;
     sliced              0;

src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyDisplacement/sixDoFRigidBodyDisplacementPointPatchVectorField.C

@@ -248,10 +248,13 @@ void sixDoFRigidBodyDisplacementPointPatchVectorField::write(Ostream& os) const
 {
     pointPatchField<vector>::write(os);
 
-    os.writeKeyword("rhoInf") << rhoInf_ << token::END_STATEMENT << nl;
-
     os.writeKeyword("rhoName") << rhoName_ << token::END_STATEMENT << nl;
 
+    if (rhoName_ == "rhoInf")
+    {
+        os.writeKeyword("rhoInf") << rhoInf_ << token::END_STATEMENT << nl;
+    }
+
     if (lookupGravity_ == 0 || lookupGravity_ == -2)
     {
         os.writeKeyword("g") << g_ << token::END_STATEMENT << nl;

src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion.C

@@ -40,7 +40,7 @@ void Foam::sixDoFRigidBodyMotion::applyRestraints()
         {
             if (report_)
             {
-                Info<< "Restraint " << restraintNames_[rI];
+                Info<< "Restraint " << restraintNames_[rI] << ": ";
             }
 
             // restraint position
@@ -89,9 +89,9 @@ void Foam::sixDoFRigidBodyMotion::applyConstraints(scalar deltaT)
 
             forAll(constraints_, cI)
             {
-                if (report_)
+                if (sixDoFRigidBodyMotionConstraint::debug)
                 {
-                    Info<< "Constraint " << constraintNames_[cI];
+                    Info<< "Constraint " << constraintNames_[cI] << ": ";
                 }
 
                 // constraint position

src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedAxis/fixedAxis.C

@@ -121,7 +121,7 @@ bool Foam::sixDoFRigidBodyMotionConstraints::fixedAxis::constrain
 
     bool converged(mag(theta) < tolerance_);
 
-    if (motion.report())
+    if (sixDoFRigidBodyMotionConstraint::debug)
     {
         Info<< " angle " << theta
             << " force " << constraintForceIncrement

src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedLine/fixedLine.C

@@ -107,7 +107,7 @@ bool Foam::sixDoFRigidBodyMotionConstraints::fixedLine::constrain
 
     bool converged(mag(error) < tolerance_);
 
-    if (motion.report())
+    if (sixDoFRigidBodyMotionConstraint::debug)
     {
         Info<< " error " << error
             << " force " << constraintForceIncrement

src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedOrientation/fixedOrientation.C

@@ -143,7 +143,7 @@ bool Foam::sixDoFRigidBodyMotionConstraints::fixedOrientation::constrain
 
     bool converged(mag(maxTheta) < tolerance_);
 
-    if (motion.report())
+    if (sixDoFRigidBodyMotionConstraint::debug)
     {
         Info<< " max angle " << maxTheta
             << " force " << constraintForceIncrement

src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedPlane/fixedPlane.C

@@ -107,7 +107,7 @@ bool Foam::sixDoFRigidBodyMotionConstraints::fixedPlane::constrain
 
     bool converged(mag(error) < tolerance_);
 
-    if (motion.report())
+    if (sixDoFRigidBodyMotionConstraint::debug)
     {
         Info<< " error " << error
             << " force " << constraintForceIncrement

src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedPoint/fixedPoint.C

@@ -116,7 +116,7 @@ bool Foam::sixDoFRigidBodyMotionConstraints::fixedPoint::constrain
 
     bool converged(mag(error) < tolerance_);
 
-    if (motion.report())
+    if (sixDoFRigidBodyMotionConstraint::debug)
     {
         Info<< " error " << error
             << " force " << constraintForceIncrement

src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/linearAxialAngularSpring/linearAxialAngularSpring.C

@@ -136,7 +136,7 @@ Foam::sixDoFRigidBodyMotionRestraints::linearAxialAngularSpring::restrain
 
     if (motion.report())
     {
-        Info<< " angle " << theta
+        Info<< " angle " << theta*sign(a & axis_)
             << " force " << restraintForce
             << " moment " << restraintMoment
             << endl;

src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/linearSpring/linearSpring.C

@@ -96,7 +96,8 @@ void Foam::sixDoFRigidBodyMotionRestraints::linearSpring::restrain
 
     if (motion.report())
     {
-        Info<< " spring length " << magR
+        Info<< " attachmentPt - anchor " << r
+            << " spring length " << magR
             << " force " << restraintForce
             << " moment " << restraintMoment
             << endl;

tutorials/multiphase/interDyMFoam/ras/floatingObject/0.org/pointDisplacement

@@ -37,7 +37,6 @@ boundaryField
         centreOfMass    (0.5 0.5 0.5);
         momentOfInertia (0.08622222 0.08622222 0.144);
         mass            9.6;
-        rhoInf          1;
         report          on;
         value           uniform (0 0 0);
     }