sixDoFRigidBodyState: New functionObject which writes the rigid-body state

Based on code contributed by SeongMo Yeon
Resolves feature request https://bugs.openfoam.org/view.php?id=2656

src/dynamicFvMesh/dynamicMotionSolverFvMesh/dynamicMotionSolverFvMesh.C

@@ -59,6 +59,12 @@ Foam::dynamicMotionSolverFvMesh::~dynamicMotionSolverFvMesh()
 
 // * * * * * * * * * * * * * * * Member Functions  * * * * * * * * * * * * * //
 
+const Foam::motionSolver& Foam::dynamicMotionSolverFvMesh::motion() const
+{
+    return motionPtr_();
+}
+
+
 bool Foam::dynamicMotionSolverFvMesh::update()
 {
     fvMesh::movePoints(motionPtr_->newPoints());

src/dynamicFvMesh/dynamicMotionSolverFvMesh/dynamicMotionSolverFvMesh.H

@@ -2,7 +2,7 @@
   =========                 |
   \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
    \\    /   O peration     |
-    \\  /    A nd           | Copyright (C) 2011 OpenFOAM Foundation
+    \\  /    A nd           | Copyright (C) 2011-2017 OpenFOAM Foundation
      \\/     M anipulation  |
 -------------------------------------------------------------------------------
 License
@@ -84,6 +84,9 @@ public:
 
     // Member Functions
 
+        //- Return the motionSolver
+        const motionSolver& motion() const;
+
         //- Update the mesh for both mesh motion and topology change
         virtual bool update();
 };

src/functionObjects/sixDoFRigidBodyState/Make/files

@@ -0,0 +1,3 @@
+sixDoFRigidBodyState.C
+
+LIB = $(FOAM_LIBBIN)/libsixDoFRigidBodyState

src/functionObjects/sixDoFRigidBodyState/Make/options

@@ -0,0 +1,11 @@
+EXE_INC = \
+    -I$(LIB_SRC)/finiteVolume/lnInclude \
+    -I$(LIB_SRC)/dynamicMesh/lnInclude \
+    -I$(LIB_SRC)/dynamicFvMesh/lnInclude \
+    -I$(LIB_SRC)/sixDoFRigidBodyMotion/lnInclude \
+    -I$(LIB_SRC)/OpenFOAM/lnInclude \
+    -I$(LIB_SRC)/meshTools/lnInclude
+
+LIB_LIBS = \
+    -lfiniteVolume \
+    -lmeshTools

src/functionObjects/sixDoFRigidBodyState/sixDoFRigidBodyState.C

@@ -0,0 +1,153 @@
+/*---------------------------------------------------------------------------*\
+  =========                 |
+  \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
+   \\    /   O peration     |
+    \\  /    A nd           | Copyright (C) 2017 OpenFOAM Foundation
+     \\/     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 3 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, see <http://www.gnu.org/licenses/>.
+
+\*---------------------------------------------------------------------------*/
+
+#include "sixDoFRigidBodyState.H"
+#include "dynamicMotionSolverFvMesh.H"
+#include "sixDoFRigidBodyMotionSolver.H"
+#include "unitConversion.H"
+#include "addToRunTimeSelectionTable.H"
+
+// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
+
+namespace Foam
+{
+namespace functionObjects
+{
+    defineTypeNameAndDebug(sixDoFRigidBodyState, 0);
+
+    addToRunTimeSelectionTable
+    (
+        functionObject,
+        sixDoFRigidBodyState,
+        dictionary
+    );
+}
+}
+
+
+// * * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * //
+
+Foam::functionObjects::sixDoFRigidBodyState::sixDoFRigidBodyState
+(
+    const word& name,
+    const Time& runTime,
+    const dictionary& dict
+)
+:
+    fvMeshFunctionObject(name, runTime, dict),
+    logFiles(obr_, name)
+{
+    read(dict);
+    resetName(typeName);
+}
+
+
+// * * * * * * * * * * * * * * * * Destructor  * * * * * * * * * * * * * * * //
+
+Foam::functionObjects::sixDoFRigidBodyState::~sixDoFRigidBodyState()
+{}
+
+
+// * * * * * * * * * * * * * * * Member Functions  * * * * * * * * * * * * * //
+
+bool Foam::functionObjects::sixDoFRigidBodyState::read(const dictionary& dict)
+{
+    fvMeshFunctionObject::read(dict);
+    angleFormat_ = dict.lookupOrDefault<word>("angleFormat", "radians");
+
+    return true;
+}
+
+
+void Foam::functionObjects::sixDoFRigidBodyState::writeFileHeader(const label)
+{
+    OFstream& file = this->file();
+
+    writeHeader(file, "Motion State");
+    writeHeaderValue(file, "Angle Units", angleFormat_);
+    writeCommented(file, "Time");
+
+    file<< tab
+        << "centreOfRotation" << tab
+        << "centreOfMass" << tab
+        << "rotation" << tab
+        << "velocity" << tab
+        << "omega" << endl;
+}
+
+
+bool Foam::functionObjects::sixDoFRigidBodyState::execute()
+{
+    return true;
+}
+
+
+bool Foam::functionObjects::sixDoFRigidBodyState::write()
+{
+    logFiles::write();
+
+    if (Pstream::master())
+    {
+        const dynamicMotionSolverFvMesh& mesh =
+            refCast<const dynamicMotionSolverFvMesh>(obr_);
+
+        const sixDoFRigidBodyMotionSolver& motionSolver_ =
+            refCast<const sixDoFRigidBodyMotionSolver>(mesh.motion());
+
+        const sixDoFRigidBodyMotion& motion = motionSolver_.motion();
+
+        vector rotationAngle
+        (
+            quaternion(motion.orientation()).eulerAngles(quaternion::XYZ)
+        );
+
+        vector angularVelocity(motion.omega());
+
+        if (angleFormat_ == "degrees")
+        {
+            rotationAngle.x() = radToDeg(rotationAngle.x());
+            rotationAngle.y() = radToDeg(rotationAngle.y());
+            rotationAngle.z() = radToDeg(rotationAngle.z());
+
+            angularVelocity.x() = radToDeg(angularVelocity.x());
+            angularVelocity.y() = radToDeg(angularVelocity.y());
+            angularVelocity.z() = radToDeg(angularVelocity.z());
+        }
+
+        writeTime(file());
+        file()
+            << tab
+            << motion.centreOfRotation()  << tab
+            << motion.centreOfMass()  << tab
+            << rotationAngle  << tab
+            << motion.v()  << tab
+            << angularVelocity << endl;
+    }
+
+    return true;
+}
+
+
+// ************************************************************************* //

src/functionObjects/sixDoFRigidBodyState/sixDoFRigidBodyState.H

@@ -0,0 +1,146 @@
+/*---------------------------------------------------------------------------*\
+  =========                 |
+  \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
+   \\    /   O peration     |
+    \\  /    A nd           | Copyright (C) 2017 OpenFOAM Foundation
+     \\/     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 3 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, see <http://www.gnu.org/licenses/>.
+
+Class
+    Foam::functionObjects::sixDoFRigidBodyState
+
+Group
+    grpFieldFunctionObjects
+
+Description
+    Writes the 6-DoF motion state.
+
+    Example of function object specification:
+    \verbatim
+    sixDoFRigidBodyState
+    {
+        type           sixDoFRigidBodyState;
+        libs           ("libsixDoFRigidBodyState.so");
+        angleFormat    degrees;
+    }
+    \endverbatim
+
+Usage
+    \table
+        Property     | Description                  | Required | Default value
+        type         | type name: sixDoFRigidBodyState    | yes |
+        angleFormat  | degrees or radians           | no       | radian
+    \endtable
+
+See also
+    Foam::functionObjects::fvMeshFunctionObject
+    Foam::functionObjects::logFiles
+
+SourceFiles
+    sixDoFRigidBodyState.C
+
+\*---------------------------------------------------------------------------*/
+
+#ifndef sixDoFRigidBodyState_H
+#define sixDoFRigidBodyState_H
+
+#include "fvMeshFunctionObject.H"
+#include "logFiles.H"
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+namespace Foam
+{
+namespace functionObjects
+{
+
+/*---------------------------------------------------------------------------*\
+                   Class sixDoFRigidBodyState Declaration
+\*---------------------------------------------------------------------------*/
+
+class sixDoFRigidBodyState
+:
+    public fvMeshFunctionObject,
+    public logFiles
+{
+    // Private data
+
+        word angleFormat_;
+
+
+    // Private Member Functions
+
+        //- Disallow default bitwise copy construct
+        sixDoFRigidBodyState(const sixDoFRigidBodyState&);
+
+        //- Disallow default bitwise assignment
+        void operator=(const sixDoFRigidBodyState&);
+
+
+protected:
+
+    // Protected Member Functions
+
+        //- overloaded writeFileHeader from writeFile
+        virtual void writeFileHeader(const label i = 0);
+
+
+public:
+
+    //- Runtime type information
+    TypeName("sixDoFRigidBodyState");
+
+
+    // Constructors
+
+        //- Construct from Time and dictionary
+        sixDoFRigidBodyState
+        (
+            const word& name,
+            const Time& runTime,
+            const dictionary& dict
+        );
+
+
+    //- Destructor
+    virtual ~sixDoFRigidBodyState();
+
+
+    // Member Functions
+
+        //- Read the sixDoFRigidBodyState data
+        virtual bool read(const dictionary&);
+
+        //- Execute, currently does nothing
+        virtual bool execute();
+
+        //- Write the sixDoFRigidBodyState
+        virtual bool write();
+};
+
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+} // End namespace functionObjects
+} // End namespace Foam
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+#endif
+
+// ************************************************************************* //

src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionSolver/sixDoFRigidBodyMotionSolver.C

@@ -158,6 +158,13 @@ Foam::sixDoFRigidBodyMotionSolver::~sixDoFRigidBodyMotionSolver()
 
 // * * * * * * * * * * * * * * * Member Functions  * * * * * * * * * * * * * //
 
+const Foam::sixDoFRigidBodyMotion&
+Foam::sixDoFRigidBodyMotionSolver::motion() const
+{
+    return motion_;
+}
+
+
 Foam::tmp<Foam::pointField>
 Foam::sixDoFRigidBodyMotionSolver::curPoints() const
 {

src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionSolver/sixDoFRigidBodyMotionSolver.H

@@ -59,7 +59,7 @@ class sixDoFRigidBodyMotionSolver
 {
     // Private data
 
-        //- Six dof motion object
+        //- Six DoF motion object
         sixDoFRigidBodyMotion motion_;
 
         wordReList patches_;
@@ -127,6 +127,9 @@ public:
 
     // Member Functions
 
+        //- Return the six DoF motion object
+        const sixDoFRigidBodyMotion& motion() const;
+
         //- Return point location obtained from the current motion field
         virtual tmp<pointField> curPoints() const;
 

tutorials/incompressible/pimpleDyMFoam/wingMotion/wingMotion2D_pimpleDyMFoam/system/controlDict

@@ -49,4 +49,14 @@ adjustTimeStep  yes;
 
 maxCo           0.9;
 
+functions
+{
+    sixDoFRigidBodyState
+    {
+        type           sixDoFRigidBodyState;
+        libs           ("libsixDoFRigidBodyState.so");
+        angleFormat    degrees;
+    }
+}
+
 // ************************************************************************* //