b060378dca
- wrap command-line retrieval of fileName with an implicit validate.
Instead of this:
fileName input(args[1]);
fileName other(args["someopt"]);
Now use this:
auto input = args.get<fileName>(1);
auto other = args.get<fileName>("someopt");
which adds a fileName::validate on the inputs
Because of how it is implemented, it will automatically also apply
to argList getOrDefault<fileName>, readIfPresent<fileName> etc.
- adjust fileName::validate and clean to handle backslash conversion.
This makes it easier to ensure that path names arising from MS-Windows
are consistently handled internally.
- dictionarySearch: now check for initial '/' directly instead of
relying on fileName isAbsolute(), which now does more things
BREAKING: remove fileName::clean() const method
- relying on const/non-const to control the behaviour (inplace change
or return a copy) is too fragile and the const version was
almost never used.
Replace:
fileName sanitized = constPath.clean();
With:
fileName sanitized(constPath);
sanitized.clean());
STYLE: test empty() instead of comparing with fileName::null
425 lines
11 KiB
C
425 lines
11 KiB
C
/*---------------------------------------------------------------------------*\
|
|
========= |
|
|
\\ / F ield | OpenFOAM: The Open Source CFD Toolbox
|
|
\\ / O peration |
|
|
\\ / A nd | www.openfoam.com
|
|
\\/ M anipulation |
|
|
-------------------------------------------------------------------------------
|
|
Copyright (C) 2011-2016 OpenFOAM Foundation
|
|
Copyright (C) 2015-2021 OpenCFD Ltd.
|
|
-------------------------------------------------------------------------------
|
|
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/>.
|
|
|
|
Application
|
|
surfaceInertia
|
|
|
|
Group
|
|
grpSurfaceUtilities
|
|
|
|
Description
|
|
Calculates the inertia tensor, principal axes and moments of a
|
|
command line specified triSurface.
|
|
|
|
Inertia can either be of the solid body or of a thin shell.
|
|
|
|
\*---------------------------------------------------------------------------*/
|
|
|
|
#include "argList.H"
|
|
#include "ListOps.H"
|
|
#include "triSurface.H"
|
|
#include "OFstream.H"
|
|
#include "meshTools.H"
|
|
#include "Random.H"
|
|
#include "transform.H"
|
|
#include "IOmanip.H"
|
|
#include "Pair.H"
|
|
#include "momentOfInertia.H"
|
|
|
|
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
|
|
|
using namespace Foam;
|
|
|
|
int main(int argc, char *argv[])
|
|
{
|
|
argList::addNote
|
|
(
|
|
"Calculates the inertia tensor and principal axes and moments"
|
|
" of the specified surface.\n"
|
|
"Inertia can either be of the solid body or of a thin shell."
|
|
);
|
|
|
|
argList::noParallel();
|
|
argList::addArgument("input", "The input surface file");
|
|
|
|
argList::addBoolOption
|
|
(
|
|
"shellProperties",
|
|
"Inertia of a thin shell"
|
|
);
|
|
|
|
argList::addOption
|
|
(
|
|
"density",
|
|
"scalar",
|
|
"Specify density, "
|
|
"kg/m3 for solid properties, kg/m2 for shell properties"
|
|
);
|
|
|
|
argList::addOption
|
|
(
|
|
"referencePoint",
|
|
"vector",
|
|
"Inertia relative to this point, not the centre of mass"
|
|
);
|
|
|
|
argList args(argc, argv);
|
|
|
|
const auto surfFileName = args.get<fileName>(1);
|
|
const scalar density = args.getOrDefault<scalar>("density", 1);
|
|
|
|
vector refPt = Zero;
|
|
bool calcAroundRefPt = args.readIfPresent("referencePoint", refPt);
|
|
|
|
const triSurface surf(surfFileName);
|
|
|
|
scalar m = 0.0;
|
|
vector cM = Zero;
|
|
tensor J = Zero;
|
|
|
|
if (args.found("shellProperties"))
|
|
{
|
|
momentOfInertia::massPropertiesShell(surf, density, m, cM, J);
|
|
}
|
|
else
|
|
{
|
|
momentOfInertia::massPropertiesSolid(surf, density, m, cM, J);
|
|
}
|
|
|
|
if (m < 0)
|
|
{
|
|
WarningInFunction
|
|
<< "Negative mass detected, the surface may be inside-out." << endl;
|
|
}
|
|
|
|
vector eVal = eigenValues(symm(J));
|
|
|
|
tensor eVec = eigenVectors(symm(J));
|
|
|
|
label pertI = 0;
|
|
|
|
Random rand(57373);
|
|
|
|
while ((magSqr(eVal) < VSMALL) && pertI < 10)
|
|
{
|
|
WarningInFunction
|
|
<< "No eigenValues found, shape may have symmetry, "
|
|
<< "perturbing inertia tensor diagonal" << endl;
|
|
|
|
J.xx() *= 1.0 + SMALL*rand.sample01<scalar>();
|
|
J.yy() *= 1.0 + SMALL*rand.sample01<scalar>();
|
|
J.zz() *= 1.0 + SMALL*rand.sample01<scalar>();
|
|
|
|
eVal = eigenValues(symm(J));
|
|
|
|
eVec = eigenVectors(symm(J));
|
|
|
|
pertI++;
|
|
}
|
|
|
|
bool showTransform = true;
|
|
|
|
if
|
|
(
|
|
(mag(eVec.x() ^ eVec.y()) > (1.0 - SMALL))
|
|
&& (mag(eVec.y() ^ eVec.z()) > (1.0 - SMALL))
|
|
&& (mag(eVec.z() ^ eVec.x()) > (1.0 - SMALL))
|
|
)
|
|
{
|
|
// Make the eigenvectors a right handed orthogonal triplet
|
|
eVec = tensor
|
|
(
|
|
eVec.x(),
|
|
eVec.y(),
|
|
eVec.z() * sign((eVec.x() ^ eVec.y()) & eVec.z())
|
|
);
|
|
|
|
// Finding the most natural transformation. Using Lists
|
|
// rather than tensors to allow indexed permutation.
|
|
|
|
// Cartesian basis vectors - right handed orthogonal triplet
|
|
List<vector> cartesian(3);
|
|
|
|
cartesian[0] = vector(1, 0, 0);
|
|
cartesian[1] = vector(0, 1, 0);
|
|
cartesian[2] = vector(0, 0, 1);
|
|
|
|
// Principal axis basis vectors - right handed orthogonal
|
|
// triplet
|
|
List<vector> principal(3);
|
|
|
|
principal[0] = eVec.x();
|
|
principal[1] = eVec.y();
|
|
principal[2] = eVec.z();
|
|
|
|
scalar maxMagDotProduct = -GREAT;
|
|
|
|
// Matching axis indices, first: cartesian, second:principal
|
|
|
|
Pair<label> match(-1, -1);
|
|
|
|
forAll(cartesian, cI)
|
|
{
|
|
forAll(principal, pI)
|
|
{
|
|
scalar magDotProduct = mag(cartesian[cI] & principal[pI]);
|
|
|
|
if (magDotProduct > maxMagDotProduct)
|
|
{
|
|
maxMagDotProduct = magDotProduct;
|
|
|
|
match.first() = cI;
|
|
|
|
match.second() = pI;
|
|
}
|
|
}
|
|
}
|
|
|
|
scalar sense = sign
|
|
(
|
|
cartesian[match.first()] & principal[match.second()]
|
|
);
|
|
|
|
if (sense < 0)
|
|
{
|
|
// Invert the best match direction and swap the order of
|
|
// the other two vectors
|
|
|
|
List<vector> tPrincipal = principal;
|
|
|
|
tPrincipal[match.second()] *= -1;
|
|
|
|
tPrincipal[(match.second() + 1) % 3] =
|
|
principal[(match.second() + 2) % 3];
|
|
|
|
tPrincipal[(match.second() + 2) % 3] =
|
|
principal[(match.second() + 1) % 3];
|
|
|
|
principal = tPrincipal;
|
|
|
|
vector tEVal = eVal;
|
|
|
|
tEVal[(match.second() + 1) % 3] = eVal[(match.second() + 2) % 3];
|
|
|
|
tEVal[(match.second() + 2) % 3] = eVal[(match.second() + 1) % 3];
|
|
|
|
eVal = tEVal;
|
|
}
|
|
|
|
label permutationDelta = match.second() - match.first();
|
|
|
|
if (permutationDelta != 0)
|
|
{
|
|
// Add 3 to the permutationDelta to avoid negative indices
|
|
|
|
permutationDelta += 3;
|
|
|
|
List<vector> tPrincipal = principal;
|
|
|
|
vector tEVal = eVal;
|
|
|
|
for (label i = 0; i < 3; i++)
|
|
{
|
|
tPrincipal[i] = principal[(i + permutationDelta) % 3];
|
|
|
|
tEVal[i] = eVal[(i + permutationDelta) % 3];
|
|
}
|
|
|
|
principal = tPrincipal;
|
|
|
|
eVal = tEVal;
|
|
}
|
|
|
|
label matchedAlready = match.first();
|
|
|
|
match =Pair<label>(-1, -1);
|
|
|
|
maxMagDotProduct = -GREAT;
|
|
|
|
forAll(cartesian, cI)
|
|
{
|
|
if (cI == matchedAlready)
|
|
{
|
|
continue;
|
|
}
|
|
|
|
forAll(principal, pI)
|
|
{
|
|
if (pI == matchedAlready)
|
|
{
|
|
continue;
|
|
}
|
|
|
|
scalar magDotProduct = mag(cartesian[cI] & principal[pI]);
|
|
|
|
if (magDotProduct > maxMagDotProduct)
|
|
{
|
|
maxMagDotProduct = magDotProduct;
|
|
|
|
match.first() = cI;
|
|
|
|
match.second() = pI;
|
|
}
|
|
}
|
|
}
|
|
|
|
sense = sign
|
|
(
|
|
cartesian[match.first()] & principal[match.second()]
|
|
);
|
|
|
|
if (sense < 0 || (match.second() - match.first()) != 0)
|
|
{
|
|
principal[match.second()] *= -1;
|
|
|
|
List<vector> tPrincipal = principal;
|
|
|
|
tPrincipal[(matchedAlready + 1) % 3] =
|
|
principal[(matchedAlready + 2) % 3]*-sense;
|
|
|
|
tPrincipal[(matchedAlready + 2) % 3] =
|
|
principal[(matchedAlready + 1) % 3]*-sense;
|
|
|
|
principal = tPrincipal;
|
|
|
|
vector tEVal = eVal;
|
|
|
|
tEVal[(matchedAlready + 1) % 3] = eVal[(matchedAlready + 2) % 3];
|
|
|
|
tEVal[(matchedAlready + 2) % 3] = eVal[(matchedAlready + 1) % 3];
|
|
|
|
eVal = tEVal;
|
|
}
|
|
|
|
eVec = tensor(principal[0], principal[1], principal[2]);
|
|
|
|
// {
|
|
// tensor R = rotationTensor(vector(1, 0, 0), eVec.x());
|
|
|
|
// R = rotationTensor(R & vector(0, 1, 0), eVec.y()) & R;
|
|
|
|
// Info<< "R = " << nl << R << endl;
|
|
|
|
// Info<< "R - eVec.T() " << R - eVec.T() << endl;
|
|
// }
|
|
}
|
|
else
|
|
{
|
|
WarningInFunction
|
|
<< "Non-unique eigenvectors, cannot compute transformation "
|
|
<< "from Cartesian axes" << endl;
|
|
|
|
showTransform = false;
|
|
}
|
|
|
|
// calculate the total surface area
|
|
|
|
scalar surfaceArea = 0;
|
|
|
|
forAll(surf, facei)
|
|
{
|
|
const labelledTri& f = surf[facei];
|
|
|
|
if (f[0] == f[1] || f[0] == f[2] || f[1] == f[2])
|
|
{
|
|
WarningInFunction
|
|
<< "Illegal triangle " << facei << " vertices " << f
|
|
<< " coords " << f.points(surf.points()) << endl;
|
|
}
|
|
else
|
|
{
|
|
surfaceArea += triPointRef
|
|
(
|
|
surf.points()[f[0]],
|
|
surf.points()[f[1]],
|
|
surf.points()[f[2]]
|
|
).mag();
|
|
}
|
|
}
|
|
|
|
Info<< nl << setprecision(12)
|
|
<< "Density: " << density << nl
|
|
<< "Mass: " << m << nl
|
|
<< "Centre of mass: " << cM << nl
|
|
<< "Surface area: " << surfaceArea << nl
|
|
<< "Inertia tensor around centre of mass: " << nl << J << nl
|
|
<< "eigenValues (principal moments): " << eVal << nl
|
|
<< "eigenVectors (principal axes): " << nl
|
|
<< eVec.x() << nl << eVec.y() << nl << eVec.z() << endl;
|
|
|
|
if (showTransform)
|
|
{
|
|
Info<< "Transform tensor from reference state (orientation):" << nl
|
|
<< eVec.T() << nl
|
|
<< "Rotation tensor required to transform "
|
|
"from the body reference frame to the global "
|
|
"reference frame, i.e.:" << nl
|
|
<< "globalVector = orientation & bodyLocalVector"
|
|
<< nl;
|
|
|
|
Info<< nl
|
|
<< "Entries for sixDoFRigidBodyDisplacement boundary condition:"
|
|
<< nl;
|
|
|
|
Info()
|
|
.writeEntry("mass", m)
|
|
.writeEntry("centreOfMass", cM)
|
|
.writeEntry("momentOfInertia", eVal)
|
|
.writeEntry("orientation", eVec.T());
|
|
}
|
|
|
|
if (calcAroundRefPt)
|
|
{
|
|
Info<< nl << "Inertia tensor relative to " << refPt << ": " << nl
|
|
<< momentOfInertia::applyParallelAxisTheorem(m, cM, J, refPt)
|
|
<< endl;
|
|
}
|
|
|
|
OFstream str("axes.obj");
|
|
|
|
Info<< nl << "Writing scaled principal axes at centre of mass of "
|
|
<< surfFileName << " to " << str.name() << endl;
|
|
|
|
scalar scale = mag(cM - surf.points()[0])/eVal.component(findMin(eVal));
|
|
|
|
meshTools::writeOBJ(str, cM);
|
|
meshTools::writeOBJ(str, cM + scale*eVal.x()*eVec.x());
|
|
meshTools::writeOBJ(str, cM + scale*eVal.y()*eVec.y());
|
|
meshTools::writeOBJ(str, cM + scale*eVal.z()*eVec.z());
|
|
|
|
for (label i = 1; i < 4; i++)
|
|
{
|
|
str << "l " << 1 << ' ' << i + 1 << endl;
|
|
}
|
|
|
|
Info<< "\nEnd\n" << endl;
|
|
|
|
return 0;
|
|
}
|
|
|
|
|
|
// ************************************************************************* //
|