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

Detailed Description

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.

Source files

Definition at line 65 of file sixDoFRigidBodyMotion.H.

Constructor & Destructor Documentation

◆ sixDoFRigidBodyMotion() [1/3]

sixDoFRigidBodyMotion ( const Time & time )

Construct null.

Definition at line 69 of file sixDoFRigidBodyMotion.C.

◆ sixDoFRigidBodyMotion() [2/3]

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().

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◆ sixDoFRigidBodyMotion() [3/3]

sixDoFRigidBodyMotion ( const sixDoFRigidBodyMotion & sDoFRBM )

Construct as copy.

Definition at line 157 of file sixDoFRigidBodyMotion.C.

◆ ~sixDoFRigidBodyMotion()

~sixDoFRigidBodyMotion ( )

Destructor.

Definition at line 183 of file sixDoFRigidBodyMotion.C.

Member Function Documentation

◆ mass()

Foam::scalar mass ( ) const

inline

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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◆ momentOfInertia()

const Foam::diagTensor & momentOfInertia ( ) const

inline

Return the inertia tensor.

Definition at line 211 of file sixDoFRigidBodyMotionI.H.

◆ state()

const Foam::sixDoFRigidBodyMotionState & state ( ) const

inline

Return the motion state.

Definition at line 218 of file sixDoFRigidBodyMotionI.H.

Referenced by axis::constrainRotation().

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◆ centreOfRotation() [1/2]

const Foam::point & centreOfRotation ( ) const

inline

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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◆ initialCentreOfMass()

const Foam::point & initialCentreOfMass ( ) const

inline

Return the initial centre of mass.

Definition at line 231 of file sixDoFRigidBodyMotionI.H.

◆ centreOfMass()

Foam::point centreOfMass ( ) const

inline

Return the current centre of mass.

Definition at line 237 of file sixDoFRigidBodyMotionI.H.

References Foam::transform().

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◆ orientation()

const Foam::tensor & orientation ( ) const

inline

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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◆ omega()

Foam::vector omega ( ) const

inline

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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◆ v() [1/2]

const Foam::vector & v ( ) const

inline

Return the current velocity.

Definition at line 136 of file sixDoFRigidBodyMotionI.H.

Referenced by linearDamper::restrain().

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◆ v() [2/2]

Foam::vector & v ( )

inline

Return non-const access to vector.

Definition at line 178 of file sixDoFRigidBodyMotionI.H.

◆ momentArm()

Foam::vector momentArm ( ) const

inline

Return the current momentArm.

Definition at line 243 of file sixDoFRigidBodyMotionI.H.

Referenced by sixDoFRigidBodyDisplacementPointPatchVectorField::updateCoeffs().

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◆ report()

bool report ( ) const

inline

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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◆ updateConstraints()

bool updateConstraints ( ) const

inline

Return the update-constraints flag.

Definition at line 271 of file sixDoFRigidBodyMotionI.H.

◆ time()

const Foam::Time & time ( ) const

inline

Return time.

Definition at line 261 of file sixDoFRigidBodyMotionI.H.

Referenced by axis::constrainRotation(), and linearSpringDamper::restrain().

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◆ newTime()

void newTime ( )

inline

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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◆ centreOfRotation() [2/2]

Foam::point & centreOfRotation ( )

inline

Return non-const access to the centre of rotation.

Definition at line 283 of file sixDoFRigidBodyMotionI.H.

◆ addRestraints()

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().

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◆ addConstraints()

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().

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◆ update()

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().

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◆ status()

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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◆ velocity()

Foam::point velocity ( const point & pt ) const

inline

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() [1/3]

Foam::point transform ( const point & initialPoints ) const

inline

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().

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◆ transform() [2/3]

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.

◆ transform() [3/3]

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().

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◆ write()

void write ( Ostream & os ) const

Write.

Definition at line 47 of file sixDoFRigidBodyMotionIO.C.

References Ostream::beginBlock(), Ostream::endBlock(), forAll, Foam::indent(), Foam::name(), Foam::type(), Ostream::write(), and Ostream::writeEntry().

Referenced by sixDoFRigidBodyDisplacementPointPatchVectorField::write().

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◆ read()

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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Friends And Related Function Documentation

◆ sixDoFSolver

friend class sixDoFSolver

friend

Definition at line 67 of file sixDoFRigidBodyMotion.H.

The documentation for this class was generated from the following files:

src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion.H
src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion.C
src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionI.H
src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionIO.C

Public Member Functions

Friends

Detailed Description

Constructor & Destructor Documentation

◆ sixDoFRigidBodyMotion() [1/3]

◆ sixDoFRigidBodyMotion() [2/3]

◆ sixDoFRigidBodyMotion() [3/3]

◆ ~sixDoFRigidBodyMotion()

Member Function Documentation

◆ mass()

◆ momentOfInertia()

◆ state()

◆ centreOfRotation() [1/2]

◆ initialCentreOfMass()

◆ centreOfMass()

◆ orientation()

◆ omega()

◆ v() [1/2]

◆ v() [2/2]

◆ momentArm()

◆ report()

◆ updateConstraints()

◆ time()

◆ newTime()

◆ centreOfRotation() [2/2]

◆ addRestraints()

◆ addConstraints()

◆ update()

◆ status()

◆ velocity()

◆ transform() [1/3]

◆ transform() [2/3]

◆ transform() [3/3]

◆ write()

◆ read()

Friends And Related Function Documentation

◆ sixDoFSolver