83 point attachmentPt = bodyPoint(refAttachmentPt_);
86 vector r = attachmentPt - anchor_;
91 vector v = bodyPointVelocity(refAttachmentPt_).l();
96 (-stiffness_*(magR - restLength_) - damping_*(r & v))*r
99 vector moment(attachmentPt ^ force);
103 Info<<
" attachmentPt " << attachmentPt
104 <<
" attachmentPt - anchor " << r*magR
105 <<
" spring length " << magR
106 <<
" force " << force
107 <<
" moment " << moment
123 coeffs_.readEntry(
"anchor", anchor_);
124 coeffs_.readEntry(
"refAttachmentPt", refAttachmentPt_);
125 coeffs_.readEntry(
"stiffness", stiffness_);
126 coeffs_.readEntry(
"damping", damping_);
127 coeffs_.readEntry(
"restLength", restLength_);
140 os.writeEntry(
"anchor", anchor_);
141 os.writeEntry(
"refAttachmentPt", refAttachmentPt_);
142 os.writeEntry(
"stiffness", stiffness_);
143 os.writeEntry(
"damping", damping_);
144 os.writeEntry(
"restLength", restLength_);
addToRunTimeSelectionTable(restraint, externalForce, dictionary)
dimensioned< typename typeOfMag< Type >::type > mag(const dimensioned< Type > &dt)
defineTypeNameAndDebug(externalForce, 0)
A list of keyword definitions, which are a keyword followed by a number of values (eg...
linearSpring(const word &name, const dictionary &dict, const rigidBodyModel &model)
Construct from components.
Base class for defining restraints for rigid-body dynamics.
virtual void write(Ostream &) const
Write.
virtual bool read(const dictionary &dict)
Update properties from given dictionary.
Ostream & endl(Ostream &os)
Add newline and flush stream.
Macros for easy insertion into run-time selection tables.
Holds the motion state of rigid-body model.
virtual bool read(const dictionary &dict)
Update properties from given dictionary.
word name(const expressions::valueTypeCode typeCode)
A word representation of a valueTypeCode. Empty for INVALID.
A class for handling words, derived from Foam::string.
SpatialVector< scalar > spatialVector
SpatialVector of scalars.
An Ostream is an abstract base class for all output systems (streams, files, token lists...
A Vector of values with scalar precision, where scalar is float/double depending on the compilation f...
OBJstream os(runTime.globalPath()/outputName)
virtual void restrain(scalarField &tau, Field< spatialVector > &fx, const rigidBodyModelState &state) const
Accumulate the restraint internal joint forces into the tau field and.
virtual ~linearSpring()
Destructor.
messageStream Info
Information stream (stdout output on master, null elsewhere)
Basic rigid-body model representing a system of rigid-bodies connected by 1-6 DoF joints...
virtual void write(Ostream &) const =0
Write.