a0170df6c1
Replaced with 'unitQuaterion()' virtual function to indicate if the joint uses a unit quaternion to represent rotation.
104 lines
3.1 KiB
C
104 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 | Copyright (C) 2016 OpenFOAM Foundation
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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
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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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sphericalJoint
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Description
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Simple spherical-joint pendulum.
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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 "IFstream.H"
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#include "OFstream.H"
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using namespace Foam;
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using namespace RBD;
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// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
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int main(int argc, char *argv[])
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{
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dictionary sphericalJointDict(IFstream("sphericalJoint")());
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// Create the sphericalJoint model from dictionary
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rigidBodyMotion sphericalJoint(sphericalJointDict);
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label nIter(readLabel(sphericalJointDict.lookup("nIter")));
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Info<< sphericalJoint << endl;
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// Create the joint-space force field
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scalarField tau(sphericalJoint.nDoF(), Zero);
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// Create the external body force field
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Field<spatialVector> fx(sphericalJoint.nBodies(), Zero);
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// Set the angle of the pendulum to 0.3rad
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sphericalJoint.joints()[1].unitQuaternion
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(
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quaternion(quaternion::ZYX, vector(0.3, 0, 0)),
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sphericalJoint.state().q()
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);
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// Set the gravitational acceleration
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sphericalJoint.g() = vector(0, -9.81, 0);
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OFstream omegaFile("omegaVsTime");
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// Integrate the motion of the sphericalJoint for 4.1s
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scalar deltaT = 0.01;
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for (scalar t=0; t<4.1; t+=deltaT)
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{
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sphericalJoint.newTime();
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for (label i=0; i<nIter; i++)
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{
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sphericalJoint.solve(deltaT, tau, fx);
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}
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// Write the results for graph generation
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// using 'gnuplot sphericalJoint.gnuplot'
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omegaFile
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<< t << " "
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<< sphericalJoint.joints()[1].unitQuaternion
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(
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sphericalJoint.state().q()
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).eulerAngles(quaternion::ZYX).x()
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<< 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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