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ENC: sixDoFRigidBodyMotion. Adding fixedOrientation constraint.

Browse Source 
Adding report Switch to turn on reporting.

Renaming linearSphericalAngularSpring to sphericalAngularSpring and
getting a moment contribution from each axis.  Can supply a reference
orientation.
This commit is contained in:
graham
2010-02-01 16:58:34 +00:00
parent 6cecf20555
commit f8cad124c7
10 changed files with 465 additions and 89 deletions
Download Patch File Download Diff File Expand all files Collapse all files

3
src/postProcessing/functionObjects/forces/Make/files
View File

@ -16,7 +16,7 @@ sDoFRBMR = $(sDoFRBM)/sixDoFRigidBodyMotionRestraint
$(sDoFRBMR)/sixDoFRigidBodyMotionRestraint/sixDoFRigidBodyMotionRestraint.C
$(sDoFRBMR)/sixDoFRigidBodyMotionRestraint/newSixDoFRigidBodyMotionRestraint.C
$(sDoFRBMR)/linearSpring/linearSpring.C
$(sDoFRBMR)/linearSphericalAngularSpring/linearSphericalAngularSpring.C
$(sDoFRBMR)/sphericalAngularSpring/sphericalAngularSpring.C
sDoFRBMC = $(sDoFRBM)/sixDoFRigidBodyMotionConstraint
@ -25,6 +25,7 @@ $(sDoFRBMC)/sixDoFRigidBodyMotionConstraint/newSixDoFRigidBodyMotionConstraint.C
$(sDoFRBMC)/fixedPoint/fixedPoint.C
$(sDoFRBMC)/fixedPlane/fixedPlane.C
$(sDoFRBMC)/fixedLine/fixedLine.C
$(sDoFRBMC)/fixedOrientation/fixedOrientation.C
pointPatchFields/derived/sixDoFRigidBodyDisplacement/sixDoFRigidBodyDisplacementPointPatchVectorField.C
pointPatchFields/derived/uncoupledSixDoFRigidBodyDisplacement/uncoupledSixDoFRigidBodyDisplacementPointPatchVectorField.C

67
src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion.C
View File

@ -45,9 +45,12 @@ void Foam::sixDoFRigidBodyMotion::applyRestraints()
restraints_[rI].restrain(*this, rP, rF, rM);
// Info<< "Restraint " << rI << " force " << rF << nl
// << "Restraint " << rI << " moment " << rM
// << endl;
if (report_)
{
Info<< "Restraint " << restraints_[rI].name() << ": "
<< "force " << rF << " moment " << rM
<< endl;
}
a() += rF/mass_;
@ -121,16 +124,16 @@ void Foam::sixDoFRigidBodyMotion::applyConstraints(scalar deltaT)
<< "iterations (" << maxConstraintIters_ << ") exceeded." << nl
<< exit(FatalError);
}
else
else if (report_)
{
Info<< "sixDoFRigidBodyMotion constraints converged in "
<< iter << " iterations"
// << nl << "Constraint force: " << cFA << nl
// << "Constraint moment: " << cMA
<< nl << "Constraint force: " << cFA << nl
<< "Constraint moment: " << cMA
<< endl;
}
// Add the constrain forces and moments to the motion state variables
// Add the constraint forces and moments to the motion state variables
a() += cFA/mass_;
// The moment of constraint forces has already been added
@ -150,7 +153,8 @@ Foam::sixDoFRigidBodyMotion::sixDoFRigidBodyMotion()
maxConstraintIters_(0),
refCentreOfMass_(vector::zero),
momentOfInertia_(diagTensor::one*VSMALL),
mass_(VSMALL)
mass_(VSMALL),
report_(false)
{}
@ -164,7 +168,8 @@ Foam::sixDoFRigidBodyMotion::sixDoFRigidBodyMotion
const vector& tau,
scalar mass,
const point& refCentreOfMass,
const diagTensor& momentOfInertia
const diagTensor& momentOfInertia,
bool report
)
:
motionState_
@ -181,7 +186,8 @@ Foam::sixDoFRigidBodyMotion::sixDoFRigidBodyMotion
maxConstraintIters_(0),
refCentreOfMass_(refCentreOfMass),
momentOfInertia_(momentOfInertia),
mass_(mass)
mass_(mass),
report_(report)
{}
@ -193,7 +199,8 @@ Foam::sixDoFRigidBodyMotion::sixDoFRigidBodyMotion(const dictionary& dict)
maxConstraintIters_(0),
refCentreOfMass_(dict.lookupOrDefault("refCentreOfMass", centreOfMass())),
momentOfInertia_(dict.lookup("momentOfInertia")),
mass_(readScalar(dict.lookup("mass")))
mass_(readScalar(dict.lookup("mass"))),
report_(dict.lookupOrDefault<Switch>("report", false))
{
addRestraints(dict);
@ -212,7 +219,8 @@ Foam::sixDoFRigidBodyMotion::sixDoFRigidBodyMotion
maxConstraintIters_(sDoFRBM.maxConstraintIters()),
refCentreOfMass_(sDoFRBM.refCentreOfMass()),
momentOfInertia_(sDoFRBM.momentOfInertia()),
mass_(sDoFRBM.mass())
mass_(sDoFRBM.mass()),
report_(sDoFRBM.report())
{}
@ -347,6 +355,11 @@ void Foam::sixDoFRigidBodyMotion::updateForce
v() += 0.5*deltaT*a();
pi() += 0.5*deltaT*tau();
if(report_)
{
status();
}
}
Pstream::scatter(motionState_);
@ -383,8 +396,8 @@ void Foam::sixDoFRigidBodyMotion::updateForce
Foam::point Foam::sixDoFRigidBodyMotion::predictedPosition
(
const point& pt,
const vector deltaForce,
const vector deltaMoment,
const vector& deltaForce,
const vector& deltaMoment,
scalar deltaT
) const
{
@ -402,4 +415,30 @@ Foam::point Foam::sixDoFRigidBodyMotion::predictedPosition
}
Foam::vector Foam::sixDoFRigidBodyMotion::predictedOrientation
(
const vector& v,
const vector& deltaMoment,
scalar deltaT
) const
{
vector piTemp = pi() + deltaT*(tau() + (Q().T() & deltaMoment));
tensor QTemp = Q();
rotate(QTemp, piTemp, deltaT);
return (QTemp & v);
}
void Foam::sixDoFRigidBodyMotion::status() const
{
Info<< "Centre of mass: " << centreOfMass() << nl
<< "Linear velocity: " << v() << nl
<< "Angular velocity: " << omega()
<< endl;
}
// ************************************************************************* //

39
src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion.H
View File

@ -107,6 +107,9 @@ class sixDoFRigidBodyMotion
//- Mass of the body
scalar mass_;
//- Switch to turn reporting of motion data on and off
Switch report_;
// Private Member Functions
@ -154,9 +157,6 @@ class sixDoFRigidBodyMotion
//- Return access to the centre of mass
inline const point& refCentreOfMass() const;
//- Return access to the inertia tensor
inline const diagTensor& momentOfInertia() const;
//- Return access to the orientation
inline const tensor& Q() const;
@ -178,9 +178,6 @@ class sixDoFRigidBodyMotion
//- Return access to the centre of mass
inline point& refCentreOfMass();
//- Return non-const access to the inertia tensor
inline diagTensor& momentOfInertia();
//- Return non-const access to the orientation
inline tensor& Q();
@ -215,7 +212,8 @@ public:
const vector& tau,
scalar mass,
const point& refCentreOfMass,
const diagTensor& momentOfInertia
const diagTensor& momentOfInertia,
bool report = false
);
//- Construct from dictionary
@ -282,8 +280,18 @@ public:
point predictedPosition
(
const point& pt,
const vector deltaForce,
const vector deltaMoment,
const vector& deltaForce,
const vector& deltaMoment,
scalar deltaT
) const;
//- Predict the orientation of the supplied vector after deltaT
// given the current motion state and the additional supplied
// moment
vector predictedOrientation
(
const vector& v,
const vector& deltaMoment,
scalar deltaT
) const;
@ -294,20 +302,33 @@ public:
// motion state
inline point currentVelocity(const point& pt) const;
//- Report the status of the motion
void status() const;
// Access
//- Return const access to the centre of mass
inline const point& centreOfMass() const;
//- Return access to the inertia tensor
inline const diagTensor& momentOfInertia() const;
//- Return const access to the mass
inline scalar mass() const;
//- Return the report Switch
inline bool report() const;
// Edit
//- Return non-const access to the centre of mass
inline point& centreOfMass();
//- Return non-const access to the inertia tensor
inline diagTensor& momentOfInertia();
//- Return non-const access to the mass
inline scalar& mass();

180
src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedOrientation/fixedOrientation.C Normal file
View File

@ -0,0 +1,180 @@
/*---------------------------------------------------------------------------*\
========= |
\\ / F ield | OpenFOAM: The Open Source CFD Toolbox
\\ / O peration |
\\ / A nd | Copyright (C) 1991-2009 OpenCFD Ltd.
\\/ 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 2 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, write to the Free Software Foundation,
Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
\*---------------------------------------------------------------------------*/
#include "fixedOrientation.H"
#include "addToRunTimeSelectionTable.H"
#include "sixDoFRigidBodyMotion.H"
// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
namespace Foam
{
namespace sixDoFRigidBodyMotionConstraints
{
defineTypeNameAndDebug(fixedOrientation, 0);
addToRunTimeSelectionTable
(
sixDoFRigidBodyMotionConstraint,
fixedOrientation,
dictionary
);
};
};
// * * * * * * * * * * * * * * * * Constructors * * * * * * * * * * * * * * //
Foam::sixDoFRigidBodyMotionConstraints::fixedOrientation::fixedOrientation
(
const dictionary& sDoFRBMCDict
)
:
sixDoFRigidBodyMotionConstraint(sDoFRBMCDict),
fixedOrientation_()
{
read(sDoFRBMCDict);
}
// * * * * * * * * * * * * * * * * Destructors * * * * * * * * * * * * * * * //
Foam::sixDoFRigidBodyMotionConstraints::fixedOrientation::~fixedOrientation()
{}
// * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * * //
bool Foam::sixDoFRigidBodyMotionConstraints::fixedOrientation::constrain
(
const sixDoFRigidBodyMotion& motion,
const vector& existingConstraintForce,
const vector& existingConstraintMoment,
scalar deltaT,
vector& constraintPosition,
vector& constraintForceIncrement,
vector& constraintMomentIncrement
) const
{
constraintMomentIncrement = vector::zero;
scalar maxTheta = -SMALL;
for (direction cmpt=0; cmpt<vector::nComponents; cmpt++)
{
vector axis = vector::zero;
axis[cmpt] = 1;
vector refDir = vector::zero;
refDir[(cmpt + 1) % 3] = 1;
vector predictedDir = motion.predictedOrientation
(
refDir,
existingConstraintMoment,
deltaT
);
axis = (fixedOrientation_ & axis);
refDir = (fixedOrientation_ & refDir);
// Removing any axis component from predictedDir
predictedDir -= (axis & predictedDir)*axis;
scalar theta = GREAT;
scalar magPredictedDir = mag(predictedDir);
if (magPredictedDir > VSMALL)
{
predictedDir /= magPredictedDir;
theta = acos(predictedDir & refDir);
// Recalculating axis to give correct sign to angle
axis = (refDir ^ predictedDir);
scalar magAxis = mag(axis);
if (magAxis > VSMALL)
{
axis /= magAxis;
}
else
{
axis = vector::zero;
}
}
if (theta > maxTheta)
{
maxTheta = theta;
}
constraintMomentIncrement +=
-relaxationFactor_
*theta*axis
*motion.momentOfInertia()[cmpt]/sqr(deltaT);
}
constraintPosition = motion.centreOfMass();
constraintForceIncrement = vector::zero;
return (mag(maxTheta) < tolerance_);
}
bool Foam::sixDoFRigidBodyMotionConstraints::fixedOrientation::read
(
const dictionary& sDoFRBMCDict
)
{
sixDoFRigidBodyMotionConstraint::read(sDoFRBMCDict);
fixedOrientation_ =
sDoFRBMCCoeffs_.lookupOrDefault<tensor>("fixedOrientation", I);
if (mag(mag(fixedOrientation_) - sqrt(3.0)) > 1e-9)
{
FatalErrorIn
(
"Foam::sixDoFRigidBodyMotionConstraints::fixedOrientation::read"
"("
"const dictionary& sDoFRBMCDict"
")"
)
<< "fixedOrientation " << fixedOrientation_
<< " is not a rotation tensor."
<< exit(FatalError);
}
return true;
}
// ************************************************************************* //

126
src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedOrientation/fixedOrientation.H Normal file
View File

@ -0,0 +1,126 @@
/*---------------------------------------------------------------------------*\
========= |
\\ / F ield | OpenFOAM: The Open Source CFD Toolbox
\\ / O peration |
\\ / A nd | Copyright (C) 1991-2009 OpenCFD Ltd.
\\/ 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 2 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, write to the Free Software Foundation,
Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
Class
Foam::sixDoFRigidBodyMotionConstraints::fixedOrientation
Description
sixDoFRigidBodyMotionConstraint. Orientation of body fixed global
space. Only valid where the predicted deviation from alignment is
< 90 degrees.
SourceFiles
fixedOrientation.C
\*---------------------------------------------------------------------------*/
#ifndef fixedOrientation_H
#define fixedOrientation_H
#include "sixDoFRigidBodyMotionConstraint.H"
#include "point.H"
#include "tensor.H"
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
namespace Foam
{
namespace sixDoFRigidBodyMotionConstraints
{
/*---------------------------------------------------------------------------*\
Class fixedOrientation Declaration
\*---------------------------------------------------------------------------*/
class fixedOrientation
:
public sixDoFRigidBodyMotionConstraint
{
// Private data
//- Reference orientation where there is no moment
tensor fixedOrientation_;
public:
//- Runtime type information
TypeName("fixedOrientation");
// Constructors
//- Construct from components
fixedOrientation
(
const dictionary& sDoFRBMCDict
);
//- Construct and return a clone
virtual autoPtr<sixDoFRigidBodyMotionConstraint> clone() const
{
return autoPtr<sixDoFRigidBodyMotionConstraint>
(
new fixedOrientation(*this)
);
}
// Destructor
virtual ~fixedOrientation();
// Member Functions
//- Calculate the constraint position, force and moment.
// Global reference frame vectors. Returns boolean stating
// whether the constraint been converged to tolerance.
virtual bool constrain
(
const sixDoFRigidBodyMotion& motion,
const vector& existingConstraintForce,
const vector& existingConstraintMoment,
scalar deltaT,
vector& constraintPosition,
vector& constraintForceIncrement,
vector& constraintMomentIncrement
) const;
//- Update properties from given dictionary
virtual bool read(const dictionary& sDoFRBMCCoeff);
};
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
} // End namespace solidBodyMotionFunctions
} // End namespace Foam
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
#endif
// ************************************************************************* //

2
src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedPoint/fixedPoint.C
View File

@ -53,7 +53,7 @@ Foam::sixDoFRigidBodyMotionConstraints::fixedPoint::fixedPoint
)
:
sixDoFRigidBodyMotionConstraint(sDoFRBMCDict),
fixedPoint_(sDoFRBMCCoeffs_.lookup("fixedPoint"))
fixedPoint_()
{
read(sDoFRBMCDict);
}

32
src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionI.H
View File

@ -126,13 +126,6 @@ inline const Foam::point& Foam::sixDoFRigidBodyMotion::refCentreOfMass() const
}
inline const Foam::diagTensor&
Foam::sixDoFRigidBodyMotion::momentOfInertia() const
{
return momentOfInertia_;
}
inline const Foam::tensor& Foam::sixDoFRigidBodyMotion::Q() const
{
return motionState_.Q();
@ -169,12 +162,6 @@ inline Foam::point& Foam::sixDoFRigidBodyMotion::refCentreOfMass()
}
inline Foam::diagTensor& Foam::sixDoFRigidBodyMotion::momentOfInertia()
{
return momentOfInertia_;
}
inline Foam::tensor& Foam::sixDoFRigidBodyMotion::Q()
{
return motionState_.Q();
@ -253,18 +240,37 @@ inline const Foam::point& Foam::sixDoFRigidBodyMotion::centreOfMass() const
}
inline const Foam::diagTensor&
Foam::sixDoFRigidBodyMotion::momentOfInertia() const
{
return momentOfInertia_;
}
inline Foam::scalar Foam::sixDoFRigidBodyMotion::mass() const
{
return mass_;
}
inline bool Foam::sixDoFRigidBodyMotion::report() const
{
return report_;
}
inline Foam::point& Foam::sixDoFRigidBodyMotion::centreOfMass()
{
return motionState_.centreOfMass();
}
inline Foam::diagTensor& Foam::sixDoFRigidBodyMotion::momentOfInertia()
{
return momentOfInertia_;
}
inline Foam::scalar& Foam::sixDoFRigidBodyMotion::mass()
{
return mass_;

2
src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionIO.C
View File

@ -39,6 +39,8 @@ void Foam::sixDoFRigidBodyMotion::write(Ostream& os) const
<< momentOfInertia_ << token::END_STATEMENT << nl;
os.writeKeyword("mass")
<< mass_ << token::END_STATEMENT << nl;
os.writeKeyword("report")
<< report_ << token::END_STATEMENT << nl;
if (restraints_.size())
{

76
src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/linearSphericalAngularSpring/linearSphericalAngularSpring.C → src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/sphericalAngularSpring/sphericalAngularSpring.C
View File

@ -24,7 +24,7 @@ License
\*---------------------------------------------------------------------------*/
#include "linearSphericalAngularSpring.H"
#include "sphericalAngularSpring.H"
#include "addToRunTimeSelectionTable.H"
#include "sixDoFRigidBodyMotion.H"
@ -34,11 +34,11 @@ namespace Foam
{
namespace sixDoFRigidBodyMotionRestraints
{
defineTypeNameAndDebug(linearSphericalAngularSpring, 0);
defineTypeNameAndDebug(sphericalAngularSpring, 0);
addToRunTimeSelectionTable
(
sixDoFRigidBodyMotionRestraint,
linearSphericalAngularSpring,
sphericalAngularSpring,
dictionary
);
};
@ -47,14 +47,14 @@ namespace sixDoFRigidBodyMotionRestraints
// * * * * * * * * * * * * * * * * Constructors * * * * * * * * * * * * * * //
Foam::sixDoFRigidBodyMotionRestraints::linearSphericalAngularSpring::
linearSphericalAngularSpring
Foam::sixDoFRigidBodyMotionRestraints::sphericalAngularSpring::
sphericalAngularSpring
(
const dictionary& sDoFRBMRDict
)
:
sixDoFRigidBodyMotionRestraint(sDoFRBMRDict),
refDir_(),
refQ_(),
stiffness_(),
damping_()
{
@ -64,15 +64,15 @@ linearSphericalAngularSpring
// * * * * * * * * * * * * * * * * Destructors * * * * * * * * * * * * * * * //
Foam::sixDoFRigidBodyMotionRestraints::linearSphericalAngularSpring::
~linearSphericalAngularSpring()
Foam::sixDoFRigidBodyMotionRestraints::sphericalAngularSpring::
~sphericalAngularSpring()
{}
// * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * * //
void
Foam::sixDoFRigidBodyMotionRestraints::linearSphericalAngularSpring::restrain
Foam::sixDoFRigidBodyMotionRestraints::sphericalAngularSpring::restrain
(
const sixDoFRigidBodyMotion& motion,
vector& restraintPosition,
@ -80,62 +80,62 @@ Foam::sixDoFRigidBodyMotionRestraints::linearSphericalAngularSpring::restrain
vector& restraintMoment
) const
{
vector curDir = motion.currentOrientation(refDir_);
restraintMoment = vector::zero;
vector a = refDir_ ^ curDir;
scalar magA = mag(a);
scalar theta = 0;
if (magA > VSMALL)
for (direction cmpt=0; cmpt<vector::nComponents; cmpt++)
{
a /= magA;
vector axis = vector::zero;
theta = acos(curDir & refDir_);
}
else
{
a = vector::zero;
axis[cmpt] = 1;
vector refDir = vector::zero;
refDir[(cmpt + 1) % 3] = 1;
vector newDir = motion.currentOrientation(refDir);
axis = (refQ_ & axis);
refDir = (refQ_ & refDir);
newDir -= (axis & newDir)*axis;
restraintMoment += -stiffness_*(refDir ^ newDir);
}
restraintMoment = -stiffness_*theta*a - damping_*motion.omega();
restraintMoment += -damping_*motion.omega();
restraintForce = vector::zero;
// Not needed to be altered as restraintForce is zero, but set to
// centre of mass to be sure of no spurious moment
// centreOfMass to be sure of no spurious moment
restraintPosition = motion.centreOfMass();
}
bool Foam::sixDoFRigidBodyMotionRestraints::linearSphericalAngularSpring ::read
bool Foam::sixDoFRigidBodyMotionRestraints::sphericalAngularSpring::read
(
const dictionary& sDoFRBMRDict
)
{
sixDoFRigidBodyMotionRestraint::read(sDoFRBMRDict);
sDoFRBMRCoeffs_.lookup("referenceDirection") >> refDir_;
refQ_ = sDoFRBMRCoeffs_.lookupOrDefault<tensor>("referenceOrientation", I);
scalar magRefDir(mag(refDir_));
if (magRefDir > VSMALL)
{
refDir_ /= magRefDir;
}
else
if (mag(mag(refQ_) - sqrt(3.0)) > 1e-9)
{
FatalErrorIn
(
"bool Foam::sixDoFRigidBodyMotionRestraints::"
"linearSphericalAngularSpring ::read"
"Foam::sixDoFRigidBodyMotionConstraints::sphericalAngularSpring::"
"read"
"("
"const dictionary& sDoFRBMRDict"
")"
)
<< "referenceDirection has zero length"
<< abort(FatalError);
<< "referenceOrientation " << refQ_ << " is not a rotation tensor. "
<< "mag(referenceOrientation) - sqrt(3) = "
<< mag(refQ_) - sqrt(3.0) << nl
<< exit(FatalError);
}
sDoFRBMRCoeffs_.lookup("stiffness") >> stiffness_;

27
src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/linearSphericalAngularSpring/linearSphericalAngularSpring.H → src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/sphericalAngularSpring/sphericalAngularSpring.H
View File

@ -23,21 +23,22 @@ License
Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
Class
Foam::sixDoFRigidBodyMotionRestraints::linearSphericalAngularSpring
Foam::sixDoFRigidBodyMotionRestraints::sphericalAngularSpring
Description
sixDoFRigidBodyMotionRestraints model. Linear spherical angular spring.
sixDoFRigidBodyMotionRestraints model. Spherical angular spring.
SourceFiles
linearSphericalAngularSpring.C
sphericalAngularSpring.C
\*---------------------------------------------------------------------------*/
#ifndef linearSphericalAngularSpring_H
#define linearSphericalAngularSpring_H
#ifndef sphericalAngularSpring_H
#define sphericalAngularSpring_H
#include "sixDoFRigidBodyMotionRestraint.H"
#include "point.H"
#include "tensor.H"
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
@ -48,17 +49,17 @@ namespace sixDoFRigidBodyMotionRestraints
{
/*---------------------------------------------------------------------------*\
Class linearSphericalAngularSpring Declaration
Class sphericalAngularSpring Declaration
\*---------------------------------------------------------------------------*/
class linearSphericalAngularSpring
class sphericalAngularSpring
:
public sixDoFRigidBodyMotionRestraint
{
// Private data
// Reference direction there is no spring reaction torque
vector refDir_;
//- Reference orientation where there is no moment
tensor refQ_;
//- Spring stiffness coefficient (Nm/rad)
scalar stiffness_;
@ -70,13 +71,13 @@ class linearSphericalAngularSpring
public:
//- Runtime type information
TypeName("linearSphericalAngularSpring");
TypeName("sphericalAngularSpring");
// Constructors
//- Construct from components
linearSphericalAngularSpring
sphericalAngularSpring
(
const dictionary& sDoFRBMRDict
);
@ -86,14 +87,14 @@ public:
{
return autoPtr<sixDoFRigidBodyMotionRestraint>
(
new linearSphericalAngularSpring(*this)
new sphericalAngularSpring(*this)
);
}
// Destructor
virtual ~linearSphericalAngularSpring();
virtual ~sphericalAngularSpring();
// Member Functions