98 lines
3.1 KiB
C
98 lines
3.1 KiB
C
/*---------------------------------------------------------------------------*\
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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 | www.openfoam.com
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\\/ M anipulation |
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-------------------------------------------------------------------------------
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Copyright (C) 2016-2017 OpenFOAM Foundation
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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
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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OpenFOAM is distributed in the hope that it will be useful, but WITHOUT
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ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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for more details.
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You should have received a copy of the GNU General Public License
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along with OpenFOAM. If not, see <http://www.gnu.org/licenses/>.
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Application
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pendulumAndSpring
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Description
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Simple 2-DoF pendulum and spring simulation.
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\*---------------------------------------------------------------------------*/
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#include "rigidBodyMotion.H"
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#include "masslessBody.H"
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#include "sphere.H"
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#include "joints.H"
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#include "rigidBodyRestraint.H"
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#include "rigidBodyModelState.H"
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#include "Fstream.H"
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#include "constants.H"
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#include "argList.H"
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#include "Time.H"
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using namespace Foam;
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using namespace RBD;
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using namespace Foam::constant::mathematical;
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// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
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int main(int argc, char *argv[])
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{
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#include "setRootCase.H"
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#include "createTime.H"
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dictionary pendulumAndSpringDict(IFstream("pendulumAndSpring")());
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// Create the pendulumAndSpring model from dictionary
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rigidBodyMotion pendulumAndSpring(runTime, pendulumAndSpringDict);
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label nIter(pendulumAndSpringDict.get<label>("nIter"));
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Info<< pendulumAndSpring << endl;
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Info<< "// Joint state " << endl;
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pendulumAndSpring.state().write(Info);
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// Create the joint-space force field
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scalarField tau(pendulumAndSpring.nDoF(), Zero);
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// Create the external body force field
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Field<spatialVector> fx(pendulumAndSpring.nBodies(), Zero);
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OFstream xFile("xVsTime");
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OFstream omegaFile("omegaVsTime");
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// Integrate the motion of the pendulumAndSpring for 100s
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scalar deltaT = 0.01;
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for (scalar t=0; t<20; t+=deltaT)
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{
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pendulumAndSpring.newTime();
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for (label i=0; i<nIter; i++)
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{
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pendulumAndSpring.solve(t + deltaT, deltaT, tau, fx);
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}
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// Write the results for graph generation
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xFile << t << " " << pendulumAndSpring.state().q()[0] << endl;
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omegaFile << t << " " << pendulumAndSpring.state().q()[1] << endl;
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}
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Info<< "\nEnd\n" << endl;
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return 0;
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}
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// ************************************************************************* //
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