Pxyz.C
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1/*---------------------------------------------------------------------------*\
2 ========= |
3 \\ / F ield | OpenFOAM: The Open Source CFD Toolbox
4 \\ / O peration |
5 \\ / A nd | www.openfoam.com
6 \\/ M anipulation |
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9-------------------------------------------------------------------------------
10License
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27
28#include "Pxyz.H"
29#include "rigidBodyModel.H"
31
32// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
33
34namespace Foam
35{
36namespace RBD
37{
38namespace joints
39{
41
43 (
44 joint,
45 Pxyz,
47 );
48}
49}
50}
51
52
53// * * * * * * * * * * * * * * * * Constructors * * * * * * * * * * * * * * //
54
56:
57 joint(3)
58{
59 S_[0] = spatialVector(0, 0, 0, 1, 0, 0);
60 S_[1] = spatialVector(0, 0, 0, 0, 1, 0);
61 S_[2] = spatialVector(0, 0, 0, 0, 0, 1);
62}
63
64
66:
67 joint(3)
68{
69 S_[0] = spatialVector(0, 0, 0, 1, 0, 0);
70 S_[1] = spatialVector(0, 0, 0, 0, 1, 0);
71 S_[2] = spatialVector(0, 0, 0, 0, 0, 1);
72}
73
74
76{
77 return autoPtr<joint>(new Pxyz(*this));
78}
79
80
81// * * * * * * * * * * * * * * * * Destructor * * * * * * * * * * * * * * * //
82
84{}
85
86
87// * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * * //
88
90(
91 joint::XSvc& J,
92 const scalarField& q,
93 const scalarField& qDot
94) const
95{
96 J.X.E() = tensor::I;
97 J.X.r() = q.block<vector>(qIndex_);
98
99 J.S = Zero;
100 J.S(3,0) = 1;
101 J.S(4,1) = 1;
102 J.S(5,2) = 1;
103
104 J.v = spatialVector(Zero, qDot.block<vector>(qIndex_));
105 J.c = Zero;
106}
107
108
109// ************************************************************************* //
Macros for easy insertion into run-time selection tables.
#define addToRunTimeSelectionTable(baseType, thisType, argNames)
Add to construction table with typeName as the key.
VSForm block(const label start) const
Definition: Field.C:593
Joint state returned by jcalc.
Definition: joint.H:125
spatialVector c
The constrained joint acceleration correction.
Definition: joint.H:142
compactSpatialTensor S
The joint motion sub-space (3-DoF)
Definition: joint.H:132
spatialVector v
The constrained joint velocity.
Definition: joint.H:138
spatialTransform X
The joint transformation.
Definition: joint.H:129
Abstract base-class for all rigid-body joints.
Definition: joint.H:85
List< spatialVector > S_
Joint motion sub-space.
Definition: joint.H:92
Prismatic joint for translation in the x/y/z directions.
Definition: Pxyz.H:68
virtual autoPtr< joint > clone() const
Clone this joint.
Definition: Pxyz.C:75
virtual void jcalc(joint::XSvc &J, const scalarField &q, const scalarField &qDot) const
Update the model state for this joint.
Definition: Pxyz.C:90
Pxyz()
Construct for given model.
Definition: Pxyz.C:55
virtual ~Pxyz()
Destructor.
Definition: Pxyz.C:83
static const Tensor I
Definition: Tensor.H:81
Pointer management similar to std::unique_ptr, with some additional methods and type checking.
Definition: autoPtr.H:66
A list of keyword definitions, which are a keyword followed by a number of values (eg,...
Definition: dictionary.H:126
const vector & r() const
Return the translation vector.
const tensor & E() const
Return the rotation tensor.
#define defineTypeNameAndDebug(Type, DebugSwitch)
Define the typeName and debug information.
Definition: className.H:121
Namespace for OpenFOAM.
SpatialVector< scalar > spatialVector
SpatialVector of scalars.
Definition: spatialVector.H:50
static constexpr const zero Zero
Global zero (0)
Definition: zero.H:131
dictionary dict