sphericalAngularSpring.H

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/*---------------------------------------------------------------------------*\
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    Copyright (C) 2011-2013 OpenFOAM Foundation
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License
    This file is part of OpenFOAM.

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Class
    Foam::sixDoFRigidBodyMotionRestraints::sphericalAngularSpring

Description
    sixDoFRigidBodyMotionRestraints model.  Spherical angular spring.

SourceFiles
    sphericalAngularSpring.C

\*---------------------------------------------------------------------------*/

#ifndef sphericalAngularSpring_H
#define sphericalAngularSpring_H

#include "sixDoFRigidBodyMotionRestraint.H"
#include "point.H"
#include "tensor.H"

// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //

namespace Foam
{

namespace sixDoFRigidBodyMotionRestraints
{

/*---------------------------------------------------------------------------*\
                   Class sphericalAngularSpring Declaration
\*---------------------------------------------------------------------------*/

class sphericalAngularSpring
:
    public sixDoFRigidBodyMotionRestraint
{
    // Private data

        //- Reference orientation where there is no moment
        tensor refQ_;

        //- Spring stiffness coefficient (Nm/rad)
        scalar stiffness_;

        //- Damping coefficient (Nms/rad)
        scalar damping_;


public:

    //- Runtime type information
    TypeName("sphericalAngularSpring");


    // Constructors

        //- Construct from components
        sphericalAngularSpring
        (
            const word& name,
            const dictionary& sDoFRBMRDict
        );

        //- Construct and return a clone
        virtual autoPtr<sixDoFRigidBodyMotionRestraint> clone() const
        {
            return autoPtr<sixDoFRigidBodyMotionRestraint>
            (
                new sphericalAngularSpring(*this)
            );
        }


    //- Destructor
    virtual ~sphericalAngularSpring();


    // Member Functions

        //- Calculate the restraint position, force and moment.
        //  Global reference frame vectors.
        virtual void restrain
        (
            const sixDoFRigidBodyMotion& motion,
            vector& restraintPosition,
            vector& restraintForce,
            vector& restraintMoment
        ) const;

        //- Update properties from given dictionary
        virtual bool read(const dictionary& sDoFRBMRCoeff);

        //- Write
        virtual void write(Ostream&) const;
};


// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //

} // End namespace solidBodyMotionFunctions
} // End namespace Foam

// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //

#endif

// ************************************************************************* //