Six degree of freedom motion for a rigid body. More...
Public Member Functions | |
sixDoFRigidBodyMotion (const Time &) | |
Construct null. More... | |
sixDoFRigidBodyMotion (const dictionary &dict, const dictionary &stateDict, const Time &time) | |
Construct from constant and state dictionaries. More... | |
sixDoFRigidBodyMotion (const sixDoFRigidBodyMotion &) | |
Construct as copy. More... | |
~sixDoFRigidBodyMotion () | |
Destructor. More... | |
scalar | mass () const |
Return the mass. More... | |
const diagTensor & | momentOfInertia () const |
Return the inertia tensor. More... | |
const sixDoFRigidBodyMotionState & | state () const |
Return the motion state. More... | |
const point & | centreOfRotation () const |
Return the current centre of rotation. More... | |
const point & | initialCentreOfMass () const |
Return the initial centre of mass. More... | |
point | centreOfMass () const |
Return the current centre of mass. More... | |
const tensor & | orientation () const |
Return the orientation tensor, Q. More... | |
vector | omega () const |
Return the angular velocity in the global frame. More... | |
const vector & | v () const |
Return the current velocity. More... | |
vector & | v () |
Return non-const access to vector. More... | |
vector | momentArm () const |
Return the current momentArm. More... | |
bool | report () const |
Return the report Switch. More... | |
bool | updateConstraints () const |
Return the update-constraints flag. More... | |
const Time & | time () const |
Return time. More... | |
void | newTime () |
Store the motion state at the beginning of the time-step. More... | |
point & | centreOfRotation () |
Return non-const access to the centre of rotation. More... | |
void | addRestraints (const dictionary &dict) |
Add restraints to the motion, public to allow external. More... | |
void | addConstraints (const dictionary &dict) |
Add restraints to the motion, public to allow external. More... | |
void | update (bool firstIter, const vector &fGlobal, const vector &tauGlobal, scalar deltaT, scalar deltaT0) |
Symplectic integration of velocities, orientation and position. More... | |
void | status () const |
Report the status of the motion. More... | |
point | velocity (const point &pt) const |
Return the velocity of a position. More... | |
point | transform (const point &initialPoints) const |
Transform the given initial state point by the current motion. More... | |
tmp< pointField > | transform (const pointField &initialPoints) const |
Transform the given initial state pointField by the current. More... | |
tmp< pointField > | transform (const pointField &initialPoints, const scalarField &scale) const |
Transform the given initial state pointField by the current. More... | |
void | write (Ostream &) const |
Write. More... | |
bool | read (const dictionary &dict) |
Read coefficients dictionary and update system parameters,. More... | |
Friends | |
class | sixDoFSolver |
Six degree of freedom motion for a rigid body.
Angular momentum stored in body fixed reference frame. Reference orientation of the body (where Q = I) must align with the cartesian axes such that the Inertia tensor is in principle component form. Can add restraints (e.g. a spring) and constraints (e.g. motion may only be on a plane).
The time-integrator for the motion is run-time selectable with options for symplectic (explicit), Crank-Nicolson and Newmark schemes.
Definition at line 65 of file sixDoFRigidBodyMotion.H.
sixDoFRigidBodyMotion | ( | const Time & | time | ) |
Construct null.
Definition at line 69 of file sixDoFRigidBodyMotion.C.
sixDoFRigidBodyMotion | ( | const dictionary & | dict, |
const dictionary & | stateDict, | ||
const Time & | time | ||
) |
Construct from constant and state dictionaries.
Definition at line 92 of file sixDoFRigidBodyMotion.C.
References Foam::diag(), dict, dictionary::found(), Foam::I, Foam::magSqr(), R, and Foam::sqr().
sixDoFRigidBodyMotion | ( | const sixDoFRigidBodyMotion & | sDoFRBM | ) |
Construct as copy.
Definition at line 157 of file sixDoFRigidBodyMotion.C.
Destructor.
Definition at line 183 of file sixDoFRigidBodyMotion.C.
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Return the mass.
Definition at line 204 of file sixDoFRigidBodyMotionI.H.
Referenced by softWall::restrain(), linearSpringDamper::restrain(), uncoupledSixDoFRigidBodyDisplacementPointPatchVectorField::updateCoeffs(), and sixDoFRigidBodyDisplacementPointPatchVectorField::updateCoeffs().
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Return the inertia tensor.
Definition at line 211 of file sixDoFRigidBodyMotionI.H.
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Return the motion state.
Definition at line 218 of file sixDoFRigidBodyMotionI.H.
Referenced by axis::constrainRotation().
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Return the current centre of rotation.
Definition at line 224 of file sixDoFRigidBodyMotionI.H.
Referenced by sphericalAngularSpring::restrain(), linearAxialAngularSpring::restrain(), tabulatedAxialAngularSpring::restrain(), and sixDoFRigidBodyDisplacementPointPatchVectorField::updateCoeffs().
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Return the initial centre of mass.
Definition at line 231 of file sixDoFRigidBodyMotionI.H.
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Return the current centre of mass.
Definition at line 237 of file sixDoFRigidBodyMotionI.H.
References Foam::transform().
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Return the orientation tensor, Q.
globalVector = Q & bodyLocalVector bodyLocalVector = Q.T() & globalVector
Definition at line 250 of file sixDoFRigidBodyMotionI.H.
Referenced by sphericalAngularSpring::restrain(), linearAxialAngularSpring::restrain(), and tabulatedAxialAngularSpring::restrain().
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Return the angular velocity in the global frame.
Definition at line 256 of file sixDoFRigidBodyMotionI.H.
References Foam::inv(), and Foam::constant::mathematical::pi().
Referenced by sphericalAngularDamper::restrain(), sphericalAngularSpring::restrain(), linearAxialAngularSpring::restrain(), and tabulatedAxialAngularSpring::restrain().
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Return the current velocity.
Definition at line 136 of file sixDoFRigidBodyMotionI.H.
Referenced by linearDamper::restrain().
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Return non-const access to vector.
Definition at line 178 of file sixDoFRigidBodyMotionI.H.
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Return the current momentArm.
Definition at line 243 of file sixDoFRigidBodyMotionI.H.
Referenced by sixDoFRigidBodyDisplacementPointPatchVectorField::updateCoeffs().
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Return the report Switch.
Definition at line 266 of file sixDoFRigidBodyMotionI.H.
Referenced by sphericalAngularDamper::restrain(), linearDamper::restrain(), sphericalAngularSpring::restrain(), linearAxialAngularSpring::restrain(), softWall::restrain(), linearSpring::restrain(), tabulatedAxialAngularSpring::restrain(), and linearSpringDamper::restrain().
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Return the update-constraints flag.
Definition at line 271 of file sixDoFRigidBodyMotionI.H.
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Return time.
Definition at line 261 of file sixDoFRigidBodyMotionI.H.
Referenced by axis::constrainRotation(), and linearSpringDamper::restrain().
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Store the motion state at the beginning of the time-step.
Definition at line 277 of file sixDoFRigidBodyMotionI.H.
Referenced by uncoupledSixDoFRigidBodyDisplacementPointPatchVectorField::updateCoeffs(), and sixDoFRigidBodyDisplacementPointPatchVectorField::updateCoeffs().
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Return non-const access to the centre of rotation.
Definition at line 283 of file sixDoFRigidBodyMotionI.H.
void addRestraints | ( | const dictionary & | dict | ) |
Add restraints to the motion, public to allow external.
addition of restraints after construction
Definition at line 190 of file sixDoFRigidBodyMotion.C.
References dict, dictionary::found(), sixDoFRigidBodyMotionRestraint::New(), dictionary::set(), and dictionary::subDict().
Referenced by sixDoFRigidBodyMotion::read().
void addConstraints | ( | const dictionary & | dict | ) |
Add restraints to the motion, public to allow external.
addition of restraints after construction
Definition at line 224 of file sixDoFRigidBodyMotion.C.
References pointConstraint::constraintTransformation(), dict, Foam::endl(), dictionary::found(), Foam::Info, sixDoFRigidBodyMotionConstraint::New(), Foam::nl, and dictionary::subDict().
Referenced by sixDoFRigidBodyMotion::read().
void update | ( | bool | firstIter, |
const vector & | fGlobal, | ||
const vector & | tauGlobal, | ||
scalar | deltaT, | ||
scalar | deltaT0 | ||
) |
Symplectic integration of velocities, orientation and position.
Changes to Crank-Nicolson integration for subsequent iterations.
Definition at line 329 of file sixDoFRigidBodyMotion.C.
References Pstream::broadcast(), and UPstream::master().
Referenced by uncoupledSixDoFRigidBodyDisplacementPointPatchVectorField::updateCoeffs(), and sixDoFRigidBodyDisplacementPointPatchVectorField::updateCoeffs().
void status | ( | ) | const |
Report the status of the motion.
Definition at line 351 of file sixDoFRigidBodyMotion.C.
References Foam::endl(), Foam::Info, and Foam::nl.
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Return the velocity of a position.
Definition at line 290 of file sixDoFRigidBodyMotionI.H.
Referenced by softWall::restrain(), linearSpring::restrain(), and linearSpringDamper::restrain().
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Transform the given initial state point by the current motion.
state
Definition at line 299 of file sixDoFRigidBodyMotionI.H.
Referenced by softWall::restrain(), linearSpring::restrain(), linearSpringDamper::restrain(), uncoupledSixDoFRigidBodyDisplacementPointPatchVectorField::updateCoeffs(), and sixDoFRigidBodyDisplacementPointPatchVectorField::updateCoeffs().
Foam::tmp< Foam::pointField > transform | ( | const pointField & | initialPoints | ) | const |
Transform the given initial state pointField by the current.
motion state
Definition at line 364 of file sixDoFRigidBodyMotion.C.
Foam::tmp< Foam::pointField > transform | ( | const pointField & | initialPoints, |
const scalarField & | scale | ||
) | const |
Transform the given initial state pointField by the current.
motion state scaled by the given scale
Definition at line 377 of file sixDoFRigidBodyMotion.C.
References forAll, septernion::I, septernion::invTransformPoint(), tmp< T >::New(), points, s, Foam::slerp(), Foam::T(), and Foam::transform().
void write | ( | Ostream & | os | ) | const |
Write.
Definition at line 47 of file sixDoFRigidBodyMotionIO.C.
References Ostream::beginBlock(), Ostream::endBlock(), forAll, Foam::indent(), Foam::name(), os(), Foam::type(), Ostream::write(), and Ostream::writeEntry().
Referenced by sixDoFRigidBodyDisplacementPointPatchVectorField::write().
bool read | ( | const dictionary & | dict | ) |
Read coefficients dictionary and update system parameters,.
constraints and restraints but not the current state
Definition at line 28 of file sixDoFRigidBodyMotionIO.C.
References sixDoFRigidBodyMotion::addConstraints(), sixDoFRigidBodyMotion::addRestraints(), and dict.
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Definition at line 67 of file sixDoFRigidBodyMotion.H.