sixDof motion pointPatchField
This commit is contained in:
graham
parent
7e985f898e
commit
dfd02c8b4f
@ -31,5 +31,8 @@ pointPatchFields/derived/oscillatingDisplacement/oscillatingDisplacementPointPat
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pointPatchFields/derived/angularOscillatingDisplacement/angularOscillatingDisplacementPointPatchVectorField.C
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pointPatchFields/derived/surfaceSlipDisplacement/surfaceSlipDisplacementPointPatchVectorField.C
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pointPatchFields/derived/surfaceDisplacement/surfaceDisplacementPointPatchVectorField.C
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pointPatchFields/derived/sixDofRigidBodyDisplacement/sixDofRigidBodyDisplacementPointPatchVectorField.C
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pointPatchFields/derived/sixDofRigidBodyDisplacement/sixDofRigidBodyMotion/sixDofRigidBodyMotion.C
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pointPatchFields/derived/sixDofRigidBodyDisplacement/sixDofRigidBodyMotion/sixDofRigidBodyMotionIO.C
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LIB = $(FOAM_LIBBIN)/libfvMotionSolvers
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@ -2,10 +2,12 @@ EXE_INC = \
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-I$(LIB_SRC)/triSurface/lnInclude \
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-I$(LIB_SRC)/meshTools/lnInclude \
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-I$(LIB_SRC)/dynamicMesh/lnInclude \
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-I$(LIB_SRC)/finiteVolume/lnInclude
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-I$(LIB_SRC)/finiteVolume/lnInclude \
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-I$(LIB_SRC)/postProcessing/functionObjects/forces/lnInclude \
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LIB_LIBS = \
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-ltriSurface \
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-lmeshTools \
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-ldynamicMesh \
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-lfiniteVolume
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-lfiniteVolume \
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-lforces
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@ -0,0 +1,211 @@
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/*---------------------------------------------------------------------------*\
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========= |
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\\ / F ield | OpenFOAM: The Open Source CFD Toolbox
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\\ / O peration |
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\\ / A nd | Copyright (C) 1991-2009 OpenCFD Ltd.
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\\/ M anipulation |
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-------------------------------------------------------------------------------
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License
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This file is part of OpenFOAM.
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OpenFOAM is free software; you can redistribute it and/or modify it
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||||
under the terms of the GNU General Public License as published by the
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||||
Free Software Foundation; either version 2 of the License, or (at your
|
||||
option) any later version.
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||||
|
||||
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.
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||||
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||||
You should have received a copy of the GNU General Public License
|
||||
along with OpenFOAM; if not, write to the Free Software Foundation,
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||||
Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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\*---------------------------------------------------------------------------*/
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#include "sixDofRigidBodyDisplacementPointPatchVectorField.H"
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#include "pointPatchFields.H"
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#include "addToRunTimeSelectionTable.H"
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#include "Time.H"
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#include "fvMesh.H"
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#include "volFields.H"
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#include "uniformDimensionedFields.H"
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#include "forces.H"
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// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
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namespace Foam
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{
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// * * * * * * * * * * * * * * * * Constructors * * * * * * * * * * * * * * //
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sixDofRigidBodyDisplacementPointPatchVectorField::
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sixDofRigidBodyDisplacementPointPatchVectorField
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(
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const pointPatch& p,
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const DimensionedField<vector, pointMesh>& iF
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)
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:
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fixedValuePointPatchField<vector>(p, iF),
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motion_(),
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p0_(p.localPoints())
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{}
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sixDofRigidBodyDisplacementPointPatchVectorField::
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sixDofRigidBodyDisplacementPointPatchVectorField
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(
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const pointPatch& p,
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const DimensionedField<vector, pointMesh>& iF,
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const dictionary& dict
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)
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:
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fixedValuePointPatchField<vector>(p, iF, dict),
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motion_(dict)
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{
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if (!dict.found("value"))
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{
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updateCoeffs();
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}
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if (dict.found("p0"))
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{
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p0_ = vectorField("p0", dict , p.size());
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}
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else
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{
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p0_ = p.localPoints();
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}
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}
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sixDofRigidBodyDisplacementPointPatchVectorField::
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sixDofRigidBodyDisplacementPointPatchVectorField
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(
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const sixDofRigidBodyDisplacementPointPatchVectorField& ptf,
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const pointPatch& p,
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const DimensionedField<vector, pointMesh>& iF,
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const pointPatchFieldMapper& mapper
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)
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:
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fixedValuePointPatchField<vector>(ptf, p, iF, mapper),
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motion_(ptf.motion_),
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p0_(ptf.p0_)
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{}
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sixDofRigidBodyDisplacementPointPatchVectorField::
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sixDofRigidBodyDisplacementPointPatchVectorField
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(
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const sixDofRigidBodyDisplacementPointPatchVectorField& ptf,
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const DimensionedField<vector, pointMesh>& iF
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)
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:
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fixedValuePointPatchField<vector>(ptf, iF),
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motion_(ptf.motion_),
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p0_(ptf.p0_)
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{}
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// * * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * //
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void sixDofRigidBodyDisplacementPointPatchVectorField::updateCoeffs()
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{
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if (this->updated())
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{
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return;
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}
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const polyMesh& mesh = this->dimensionedInternalField().mesh()();
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const Time& t = mesh.time();
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const pointPatch& ptPatch = this->patch();
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// Patch force data is valid for the current positions, so
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// calculate the forces on the motion object from this data, then
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// update the positions
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motion_.updatePosition(t.deltaT().value());
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dictionary forcesDict;
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forcesDict.add("patches", wordList(1, ptPatch.name()));
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forcesDict.add("rhoInf", 0.0);
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forcesDict.add("CofR", motion_.centreOfMass());
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forces f("forces", db(), forcesDict);
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forces::forcesMoments fm = f.calcForcesMoment();
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// Get the forces on the patch faces at the current positions
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vector gravity = vector::zero;
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if (db().foundObject<uniformDimensionedVectorField>("g"))
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{
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uniformDimensionedVectorField g =
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db().lookupObject<uniformDimensionedVectorField>("g");
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gravity = g.value();
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}
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else
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{
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uniformDimensionedVectorField g
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(
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IOobject
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(
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"g",
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db().time().constant(),
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db(),
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IOobject::READ_IF_PRESENT,
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IOobject::NO_WRITE
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)
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);
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gravity = g.value();
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}
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motion_.updateForce
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(
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fm.first().first() + fm.first().second() + gravity*motion_.mass(),
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fm.second().first() + fm.second().second(),
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t.deltaT().value()
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);
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// motion_.updateForce
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// (
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// vector::zero,
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// vector::zero,
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// t.deltaT().value()
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// );
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Info<< motion_ << endl;
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Field<vector>::operator=(motion_.generatePositions(p0_) - p0_);
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fixedValuePointPatchField<vector>::updateCoeffs();
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}
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void sixDofRigidBodyDisplacementPointPatchVectorField::write(Ostream& os) const
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{
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pointPatchField<vector>::write(os);
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motion_.write(os);
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p0_.writeEntry("p0", os);
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writeEntry("value", os);
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}
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// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
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makePointPatchTypeField
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(
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pointPatchVectorField,
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sixDofRigidBodyDisplacementPointPatchVectorField
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);
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// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
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} // End namespace Foam
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// ************************************************************************* //
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@ -0,0 +1,153 @@
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/*---------------------------------------------------------------------------*\
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========= |
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\\ / F ield | OpenFOAM: The Open Source CFD Toolbox
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||||
\\ / O peration |
|
||||
\\ / A nd | Copyright (C) 1991-2009 OpenCFD Ltd.
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||||
\\/ M anipulation |
|
||||
-------------------------------------------------------------------------------
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||||
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
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||||
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Class
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Foam::sixDofRigidBodyDisplacementPointPatchVectorField
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Description
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Foam::sixDofRigidBodyDisplacementPointPatchVectorField
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SourceFiles
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sixDofRigidBodyDisplacementPointPatchVectorField.C
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\*---------------------------------------------------------------------------*/
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#ifndef sixDofRigidBodyDisplacementPointPatchVectorField_H
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#define sixDofRigidBodyDisplacementPointPatchVectorField_H
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#include "fixedValuePointPatchField.H"
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#include "sixDofRigidBodyMotion.H"
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// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
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namespace Foam
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{
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/*---------------------------------------------------------------------------*\
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Class sixDofRigidBodyDisplacementPointPatchVectorField Declaration
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\*---------------------------------------------------------------------------*/
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class sixDofRigidBodyDisplacementPointPatchVectorField
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:
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public fixedValuePointPatchField<vector>
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{
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// Private data
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//- Six dof motion object
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sixDofRigidBodyMotion motion_;
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//- Reference positions of points on the patch
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pointField p0_;
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public:
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//- Runtime type information
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TypeName("sixDofRigidBodyDisplacement");
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// Constructors
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//- Construct from patch and internal field
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sixDofRigidBodyDisplacementPointPatchVectorField
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(
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const pointPatch&,
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const DimensionedField<vector, pointMesh>&
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);
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//- Construct from patch, internal field and dictionary
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sixDofRigidBodyDisplacementPointPatchVectorField
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(
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const pointPatch&,
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const DimensionedField<vector, pointMesh>&,
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const dictionary&
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);
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//- Construct by mapping given patchField<vector> onto a new patch
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sixDofRigidBodyDisplacementPointPatchVectorField
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(
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const sixDofRigidBodyDisplacementPointPatchVectorField&,
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const pointPatch&,
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const DimensionedField<vector, pointMesh>&,
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const pointPatchFieldMapper&
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);
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//- Construct and return a clone
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virtual autoPtr<pointPatchField<vector> > clone() const
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{
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return autoPtr<pointPatchField<vector> >
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(
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new sixDofRigidBodyDisplacementPointPatchVectorField
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(
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*this
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)
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);
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}
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//- Construct as copy setting internal field reference
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sixDofRigidBodyDisplacementPointPatchVectorField
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(
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const sixDofRigidBodyDisplacementPointPatchVectorField&,
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const DimensionedField<vector, pointMesh>&
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);
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//- Construct and return a clone setting internal field reference
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virtual autoPtr<pointPatchField<vector> > clone
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(
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const DimensionedField<vector, pointMesh>& iF
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) const
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{
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return autoPtr<pointPatchField<vector> >
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(
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new sixDofRigidBodyDisplacementPointPatchVectorField
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(
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*this,
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iF
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)
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);
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}
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// Member functions
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// Evaluation functions
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//- Update the coefficients associated with the patch field
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virtual void updateCoeffs();
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//- Write
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virtual void write(Ostream&) const;
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};
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// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
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} // End namespace Foam
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// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
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#endif
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// ************************************************************************* //
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@ -0,0 +1,208 @@
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/*---------------------------------------------------------------------------*\
|
||||
========= |
|
||||
\\ / F ield | OpenFOAM: The Open Source CFD Toolbox
|
||||
\\ / O peration |
|
||||
\\ / A nd | Copyright (C) 2009-2009 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
|
||||
|
||||
\*---------------------------------------------------------------------------*/
|
||||
|
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#include "sixDofRigidBodyMotion.H"
|
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|
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// * * * * * * * * * * * * * * * * Constructors * * * * * * * * * * * * * * //
|
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Foam::sixDofRigidBodyMotion::sixDofRigidBodyMotion()
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:
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centreOfMass_(vector::zero),
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refCentreOfMass_(vector::zero),
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momentOfInertia_(diagTensor::one*VSMALL),
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mass_(VSMALL),
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Q_(I),
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v_(vector::zero),
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a_(vector::zero),
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pi_(vector::zero),
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tau_(vector::zero)
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{}
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Foam::sixDofRigidBodyMotion::sixDofRigidBodyMotion
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(
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const point& centreOfMass,
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const point& refCentreOfMass,
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const diagTensor& momentOfInertia,
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scalar mass,
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const tensor& Q,
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const vector& v,
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const vector& a,
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const vector& pi,
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const vector& tau
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)
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:
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centreOfMass_(centreOfMass),
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refCentreOfMass_(refCentreOfMass),
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momentOfInertia_(momentOfInertia),
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mass_(mass),
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Q_(Q),
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v_(v),
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a_(a),
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pi_(pi),
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tau_(tau)
|
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{}
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|
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Foam::sixDofRigidBodyMotion::sixDofRigidBodyMotion(const dictionary& dict)
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:
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centreOfMass_(dict.lookup("centreOfMass")),
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refCentreOfMass_(dict.lookupOrDefault("refCentreOfMass", centreOfMass_)),
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momentOfInertia_(dict.lookup("momentOfInertia")),
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mass_(readScalar(dict.lookup("mass"))),
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Q_(dict.lookupOrDefault("Q", tensor(I))),
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v_(dict.lookupOrDefault("v", vector::zero)),
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a_(dict.lookupOrDefault("a", vector::zero)),
|
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pi_(dict.lookupOrDefault("pi", vector::zero)),
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tau_(dict.lookupOrDefault("tau", vector::zero))
|
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{}
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|
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Foam::sixDofRigidBodyMotion::sixDofRigidBodyMotion
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(
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const sixDofRigidBodyMotion& sDofRBM
|
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)
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:
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centreOfMass_(sDofRBM.centreOfMass()),
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refCentreOfMass_(sDofRBM.refCentreOfMass()),
|
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momentOfInertia_(sDofRBM.momentOfInertia()),
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mass_(sDofRBM.mass()),
|
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Q_(sDofRBM.Q()),
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v_(sDofRBM.v()),
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a_(sDofRBM.a()),
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pi_(sDofRBM.pi()),
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tau_(sDofRBM.tau())
|
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{}
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|
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|
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// * * * * * * * * * * * * * * * * Destructor * * * * * * * * * * * * * * * //
|
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|
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Foam::sixDofRigidBodyMotion::~sixDofRigidBodyMotion()
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{}
|
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|
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// * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * * //
|
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|
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void Foam::sixDofRigidBodyMotion::updatePosition
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(
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scalar deltaT
|
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)
|
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{
|
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// First leapfrog velocity adjust and motion part, required before
|
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// force calculation
|
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|
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v_ += 0.5*deltaT*a_;
|
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pi_ += 0.5*deltaT*tau_;
|
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// Leapfrog move part
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centreOfMass_ += deltaT*v_;
|
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// Leapfrog orientation adjustment
|
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|
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tensor R;
|
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|
||||
R = rotationTensorX(0.5*deltaT*pi_.x()/momentOfInertia_.xx());
|
||||
pi_ = pi_ & R;
|
||||
Q_ = Q_ & R;
|
||||
|
||||
R = rotationTensorY(0.5*deltaT*pi_.y()/momentOfInertia_.yy());
|
||||
pi_ = pi_ & R;
|
||||
Q_ = Q_ & R;
|
||||
|
||||
R = rotationTensorZ(deltaT*pi_.z()/momentOfInertia_.zz());
|
||||
pi_ = pi_ & R;
|
||||
Q_ = Q_ & R;
|
||||
|
||||
R = rotationTensorY(0.5*deltaT*pi_.y()/momentOfInertia_.yy());
|
||||
pi_ = pi_ & R;
|
||||
Q_ = Q_ & R;
|
||||
|
||||
R = rotationTensorX(0.5*deltaT*pi_.x()/momentOfInertia_.xx());
|
||||
pi_ = pi_ & R;
|
||||
Q_ = Q_ & R;
|
||||
}
|
||||
|
||||
|
||||
void Foam::sixDofRigidBodyMotion::updateForce
|
||||
(
|
||||
const vector& fGlobal,
|
||||
const vector& tauGlobal,
|
||||
scalar deltaT
|
||||
)
|
||||
{
|
||||
// Second leapfrog velocity adjust part, required after motion and
|
||||
// force calculation part
|
||||
|
||||
a_ = fGlobal/mass_;
|
||||
|
||||
tau_ = (Q_.T() & tauGlobal);
|
||||
|
||||
v_ += 0.5*deltaT*a_;
|
||||
|
||||
pi_ += 0.5*deltaT*tau_;
|
||||
|
||||
}
|
||||
|
||||
|
||||
void Foam::sixDofRigidBodyMotion::updateForce
|
||||
(
|
||||
const pointField& positions,
|
||||
const vectorField& forces,
|
||||
scalar deltaT
|
||||
)
|
||||
{
|
||||
// Second leapfrog velocity adjust part, required after motion and
|
||||
// force calculation part
|
||||
|
||||
a_ = vector::zero;
|
||||
|
||||
tau_ = vector::zero;
|
||||
|
||||
forAll(positions, i)
|
||||
{
|
||||
const vector& f = forces[i];
|
||||
|
||||
a_ += f/mass_;
|
||||
|
||||
tau_ += (positions[i] ^ (Q_.T() & f));
|
||||
}
|
||||
|
||||
v_ += 0.5*deltaT*a_;
|
||||
|
||||
pi_ += 0.5*deltaT*tau_;
|
||||
|
||||
}
|
||||
|
||||
|
||||
Foam::tmp<Foam::pointField>
|
||||
Foam::sixDofRigidBodyMotion::generatePositions(const pointField& pts) const
|
||||
{
|
||||
return (centreOfMass_ + (Q_ & (pts - refCentreOfMass_)));
|
||||
}
|
||||
|
||||
|
||||
// ************************************************************************* //
|
||||
@ -0,0 +1,267 @@
|
||||
/*---------------------------------------------------------------------------*\
|
||||
========= |
|
||||
\\ / F ield | OpenFOAM: The Open Source CFD Toolbox
|
||||
\\ / O peration |
|
||||
\\ / A nd | Copyright (C) 2009-2009 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::sixDofRigidBodyMotion
|
||||
|
||||
Description
|
||||
Six degree of freedom motion for a rigid body. Angular momentum stored in
|
||||
body fixed reference frame. Reference orientation of the body must align
|
||||
with the cartesian axes such that the Inertia tensor is in principle
|
||||
component form.
|
||||
|
||||
Symplectic motion as per:
|
||||
|
||||
title = {Symplectic splitting methods for rigid body molecular dynamics},
|
||||
publisher = {AIP},
|
||||
year = {1997},
|
||||
journal = {The Journal of Chemical Physics},
|
||||
volume = {107},
|
||||
number = {15},
|
||||
pages = {5840-5851},
|
||||
url = {http://link.aip.org/link/?JCP/107/5840/1},
|
||||
doi = {10.1063/1.474310}
|
||||
|
||||
SourceFiles
|
||||
sixDofRigidBodyMotionI.H
|
||||
sixDofRigidBodyMotion.C
|
||||
sixDofRigidBodyMotionIO.C
|
||||
|
||||
\*---------------------------------------------------------------------------*/
|
||||
|
||||
#ifndef sixDofRigidBodyMotion_H
|
||||
#define sixDofRigidBodyMotion_H
|
||||
|
||||
#include "vector.H"
|
||||
#include "diagTensor.H"
|
||||
#include "pointField.H"
|
||||
#include "mathConstants.H"
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
namespace Foam
|
||||
{
|
||||
|
||||
// Forward declaration of classes
|
||||
class Istream;
|
||||
class Ostream;
|
||||
|
||||
// Forward declaration of friend functions and operators
|
||||
class sixDofRigidBodyMotion;
|
||||
Istream& operator>>(Istream&, sixDofRigidBodyMotion&);
|
||||
Ostream& operator<<(Ostream&, const sixDofRigidBodyMotion&);
|
||||
|
||||
|
||||
/*---------------------------------------------------------------------------*\
|
||||
Class sixDofRigidBodyMotion Declaration
|
||||
\*---------------------------------------------------------------------------*/
|
||||
|
||||
class sixDofRigidBodyMotion
|
||||
{
|
||||
// Private data
|
||||
|
||||
//- Current position of the centre of mass of the body
|
||||
point centreOfMass_;
|
||||
|
||||
//- Centre of mass of reference state
|
||||
point refCentreOfMass_;
|
||||
|
||||
//- Moment of inertia of the body in reference configuration
|
||||
diagTensor momentOfInertia_;
|
||||
|
||||
//- Mass of the body
|
||||
scalar mass_;
|
||||
|
||||
//- Orientation, stored as the rotation tensor to transform
|
||||
// from the body to the global reference frame, i.e.:
|
||||
// globalVector = Q_ & bodyLocalVector
|
||||
// bodyLocalVector = Q_.T() & globalVector
|
||||
tensor Q_;
|
||||
|
||||
// Linear velocity of body
|
||||
vector v_;
|
||||
|
||||
// Total linear acceleration of body
|
||||
vector a_;
|
||||
|
||||
//- Angular momentum of body, in body local reference frame
|
||||
vector pi_;
|
||||
|
||||
//- Total torque on body, in body local reference frame
|
||||
vector tau_;
|
||||
|
||||
// Private Member Functions
|
||||
|
||||
//- Calculate the rotation tensor around the body reference
|
||||
// frame x-axis by the given angle
|
||||
inline tensor rotationTensorX(scalar deltaT) const;
|
||||
|
||||
//- Calculate the rotation tensor around the body reference
|
||||
// frame y-axis by the given angle
|
||||
inline tensor rotationTensorY(scalar deltaT) const;
|
||||
|
||||
//- Calculate the rotation tensor around the body reference
|
||||
// frame z-axis by the given angle
|
||||
inline tensor rotationTensorZ(scalar deltaT) const;
|
||||
|
||||
|
||||
public:
|
||||
|
||||
// Constructors
|
||||
|
||||
//- Construct null
|
||||
sixDofRigidBodyMotion();
|
||||
|
||||
//- Construct from components
|
||||
sixDofRigidBodyMotion
|
||||
(
|
||||
const point& centreOfMass,
|
||||
const point& refCentreOfMass,
|
||||
const diagTensor& momentOfInertia,
|
||||
scalar mass,
|
||||
const tensor& Q,
|
||||
const vector& v,
|
||||
const vector& a,
|
||||
const vector& pi,
|
||||
const vector& tau
|
||||
);
|
||||
|
||||
//- Construct from dictionary
|
||||
sixDofRigidBodyMotion(const dictionary& dict);
|
||||
|
||||
//- Construct as copy
|
||||
sixDofRigidBodyMotion(const sixDofRigidBodyMotion&);
|
||||
|
||||
|
||||
//- Destructor
|
||||
~sixDofRigidBodyMotion();
|
||||
|
||||
|
||||
// Member Functions
|
||||
|
||||
void updatePosition
|
||||
(
|
||||
scalar deltaT
|
||||
);
|
||||
|
||||
void updateForce
|
||||
(
|
||||
const vector& fGlobal,
|
||||
const vector& tauGlobal,
|
||||
scalar deltaT
|
||||
);
|
||||
|
||||
void updateForce
|
||||
(
|
||||
const pointField& positions,
|
||||
const vectorField& forces,
|
||||
scalar deltaT
|
||||
);
|
||||
|
||||
tmp<pointField> generatePositions(const pointField& pts) const;
|
||||
|
||||
// Access
|
||||
|
||||
//- Return access to the centre of mass
|
||||
inline const point& centreOfMass() const;
|
||||
|
||||
//- 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 mass
|
||||
inline scalar mass() const;
|
||||
|
||||
//- Return access to the orientation
|
||||
inline const tensor& Q() const;
|
||||
|
||||
//- Return access to velocity
|
||||
inline const vector& v() const;
|
||||
|
||||
//- Return access to acceleration
|
||||
inline const vector& a() const;
|
||||
|
||||
//- Return access to angular momentum
|
||||
inline const vector& pi() const;
|
||||
|
||||
//- Return access to torque
|
||||
inline const vector& tau() const;
|
||||
|
||||
|
||||
// Edit
|
||||
|
||||
//- Return non-const access to the centre of mass
|
||||
inline point& centreOfMass();
|
||||
|
||||
//- 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 mass
|
||||
inline scalar& mass();
|
||||
|
||||
//- Return non-const access to the orientation
|
||||
inline tensor& Q();
|
||||
|
||||
//- Return non-const access to vector
|
||||
inline vector& v();
|
||||
|
||||
//- Return non-const access to acceleration
|
||||
inline vector& a();
|
||||
|
||||
//- Return non-const access to angular momentum
|
||||
inline vector& pi();
|
||||
|
||||
//- Return non-const access to torque
|
||||
inline vector& tau();
|
||||
|
||||
|
||||
//- Write
|
||||
void write(Ostream&) const;
|
||||
|
||||
|
||||
// IOstream Operators
|
||||
|
||||
friend Istream& operator>>(Istream&, sixDofRigidBodyMotion&);
|
||||
friend Ostream& operator<<(Ostream&, const sixDofRigidBodyMotion&);
|
||||
};
|
||||
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
} // End namespace Foam
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
#include "sixDofRigidBodyMotionI.H"
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
#endif
|
||||
|
||||
// ************************************************************************* //
|
||||
@ -0,0 +1,176 @@
|
||||
/*---------------------------------------------------------------------------*\
|
||||
========= |
|
||||
\\ / F ield | OpenFOAM: The Open Source CFD Toolbox
|
||||
\\ / O peration |
|
||||
\\ / A nd | Copyright (C) 2009-2009 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
|
||||
|
||||
\*---------------------------------------------------------------------------*/
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
// * * * * * * * * * * * * * Private Member Functions * * * * * * * * * * * //
|
||||
|
||||
inline Foam::tensor
|
||||
Foam::sixDofRigidBodyMotion::rotationTensorX(scalar phi) const
|
||||
{
|
||||
return tensor
|
||||
(
|
||||
1, 0, 0,
|
||||
0, Foam::cos(phi), -Foam::sin(phi),
|
||||
0, Foam::sin(phi), Foam::cos(phi)
|
||||
);
|
||||
}
|
||||
|
||||
|
||||
inline Foam::tensor
|
||||
Foam::sixDofRigidBodyMotion::rotationTensorY(scalar phi) const
|
||||
{
|
||||
return tensor
|
||||
(
|
||||
Foam::cos(phi), 0, Foam::sin(phi),
|
||||
0, 1, 0,
|
||||
-Foam::sin(phi), 0, Foam::cos(phi)
|
||||
);
|
||||
}
|
||||
|
||||
|
||||
inline Foam::tensor
|
||||
Foam::sixDofRigidBodyMotion::rotationTensorZ(scalar phi) const
|
||||
{
|
||||
return tensor
|
||||
(
|
||||
Foam::cos(phi), -Foam::sin(phi), 0,
|
||||
Foam::sin(phi), Foam::cos(phi), 0,
|
||||
0, 0, 1
|
||||
);
|
||||
}
|
||||
|
||||
|
||||
inline const Foam::point& Foam::sixDofRigidBodyMotion::centreOfMass() const
|
||||
{
|
||||
return centreOfMass_;
|
||||
}
|
||||
|
||||
|
||||
inline const Foam::point& Foam::sixDofRigidBodyMotion::refCentreOfMass() const
|
||||
{
|
||||
return refCentreOfMass_;
|
||||
}
|
||||
|
||||
|
||||
inline const Foam::diagTensor&
|
||||
Foam::sixDofRigidBodyMotion::momentOfInertia() const
|
||||
{
|
||||
return momentOfInertia_;
|
||||
}
|
||||
|
||||
|
||||
inline Foam::scalar Foam::sixDofRigidBodyMotion::mass() const
|
||||
{
|
||||
return mass_;
|
||||
}
|
||||
|
||||
|
||||
inline const Foam::tensor& Foam::sixDofRigidBodyMotion::Q() const
|
||||
{
|
||||
return Q_;
|
||||
}
|
||||
|
||||
|
||||
inline const Foam::vector& Foam::sixDofRigidBodyMotion::v() const
|
||||
{
|
||||
return v_;
|
||||
}
|
||||
|
||||
|
||||
inline const Foam::vector& Foam::sixDofRigidBodyMotion::a() const
|
||||
{
|
||||
return a_;
|
||||
}
|
||||
|
||||
|
||||
inline const Foam::vector& Foam::sixDofRigidBodyMotion::pi() const
|
||||
{
|
||||
return pi_;
|
||||
}
|
||||
|
||||
|
||||
inline const Foam::vector& Foam::sixDofRigidBodyMotion::tau() const
|
||||
{
|
||||
return tau_;
|
||||
}
|
||||
|
||||
|
||||
inline Foam::point& Foam::sixDofRigidBodyMotion::centreOfMass()
|
||||
{
|
||||
return centreOfMass_;
|
||||
}
|
||||
|
||||
|
||||
inline Foam::point& Foam::sixDofRigidBodyMotion::refCentreOfMass()
|
||||
{
|
||||
return refCentreOfMass_;
|
||||
}
|
||||
|
||||
|
||||
inline Foam::diagTensor& Foam::sixDofRigidBodyMotion::momentOfInertia()
|
||||
{
|
||||
return momentOfInertia_;
|
||||
}
|
||||
|
||||
|
||||
inline Foam::scalar& Foam::sixDofRigidBodyMotion::mass()
|
||||
{
|
||||
return mass_;
|
||||
}
|
||||
|
||||
|
||||
inline Foam::tensor& Foam::sixDofRigidBodyMotion::Q()
|
||||
{
|
||||
return Q_;
|
||||
}
|
||||
|
||||
|
||||
inline Foam::vector& Foam::sixDofRigidBodyMotion::v()
|
||||
{
|
||||
return v_;
|
||||
}
|
||||
|
||||
|
||||
inline Foam::vector& Foam::sixDofRigidBodyMotion::a()
|
||||
{
|
||||
return a_;
|
||||
}
|
||||
|
||||
|
||||
inline Foam::vector& Foam::sixDofRigidBodyMotion::pi()
|
||||
{
|
||||
return pi_;
|
||||
}
|
||||
|
||||
|
||||
inline Foam::vector& Foam::sixDofRigidBodyMotion::tau()
|
||||
{
|
||||
return tau_;
|
||||
}
|
||||
|
||||
|
||||
// ************************************************************************* //
|
||||
@ -0,0 +1,107 @@
|
||||
/*---------------------------------------------------------------------------*\
|
||||
========= |
|
||||
\\ / F ield | OpenFOAM: The Open Source CFD Toolbox
|
||||
\\ / O peration |
|
||||
\\ / A nd | Copyright (C) 2009-2009 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 "sixDofRigidBodyMotion.H"
|
||||
#include "IOstreams.H"
|
||||
|
||||
// * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * * //
|
||||
|
||||
void Foam::sixDofRigidBodyMotion::write(Ostream& os) const
|
||||
{
|
||||
os.writeKeyword("centreOfMass")
|
||||
<< centreOfMass_ << token::END_STATEMENT << nl;
|
||||
os.writeKeyword("refCentreOfMass")
|
||||
<< refCentreOfMass_ << token::END_STATEMENT << nl;
|
||||
os.writeKeyword("momentOfInertia")
|
||||
<< momentOfInertia_ << token::END_STATEMENT << nl;
|
||||
os.writeKeyword("mass")
|
||||
<< mass_ << token::END_STATEMENT << nl;
|
||||
os.writeKeyword("Q")
|
||||
<< Q_ << token::END_STATEMENT << nl;
|
||||
os.writeKeyword("v")
|
||||
<< v_ << token::END_STATEMENT << nl;
|
||||
os.writeKeyword("a")
|
||||
<< a_ << token::END_STATEMENT << nl;
|
||||
os.writeKeyword("pi")
|
||||
<< pi_ << token::END_STATEMENT << nl;
|
||||
os.writeKeyword("tau")
|
||||
<< tau_ << token::END_STATEMENT << nl;
|
||||
}
|
||||
|
||||
|
||||
// * * * * * * * * * * * * * * * IOstream Operators * * * * * * * * * * * * //
|
||||
|
||||
Foam::Istream& Foam::operator>>(Istream& is, sixDofRigidBodyMotion& sDofRBM)
|
||||
{
|
||||
is >> sDofRBM.centreOfMass_
|
||||
>> sDofRBM.refCentreOfMass_
|
||||
>> sDofRBM.momentOfInertia_
|
||||
>> sDofRBM.mass_
|
||||
>> sDofRBM.Q_
|
||||
>> sDofRBM.v_
|
||||
>> sDofRBM.a_
|
||||
>> sDofRBM.pi_
|
||||
>> sDofRBM.tau_;
|
||||
|
||||
// Check state of Istream
|
||||
is.check
|
||||
(
|
||||
"Foam::Istream& Foam::operator>>"
|
||||
"(Foam::Istream&, Foam::sixDofRigidBodyMotion&)"
|
||||
);
|
||||
|
||||
return is;
|
||||
}
|
||||
|
||||
|
||||
Foam::Ostream& Foam::operator<<
|
||||
(
|
||||
Ostream& os,
|
||||
const sixDofRigidBodyMotion& sDofRBM
|
||||
)
|
||||
{
|
||||
os << token::SPACE << sDofRBM.centreOfMass()
|
||||
<< token::SPACE << sDofRBM.refCentreOfMass()
|
||||
<< token::SPACE << sDofRBM.momentOfInertia()
|
||||
<< token::SPACE << sDofRBM.mass()
|
||||
<< token::SPACE << sDofRBM.Q()
|
||||
<< token::SPACE << sDofRBM.v()
|
||||
<< token::SPACE << sDofRBM.a()
|
||||
<< token::SPACE << sDofRBM.pi()
|
||||
<< token::SPACE << sDofRBM.tau();
|
||||
|
||||
// Check state of Ostream
|
||||
os.check
|
||||
(
|
||||
"Foam::Ostream& Foam::operator<<(Foam::Ostream&, "
|
||||
"const Foam::sixDofRigidBodyMotion&)"
|
||||
);
|
||||
|
||||
return os;
|
||||
}
|
||||
|
||||
|
||||
// ************************************************************************* //
|
||||
Loading…
Reference in New Issue
Block a user