sphericalAngularDamper.C

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    Copyright (C) 2016-2017 OpenFOAM Foundation
-------------------------------------------------------------------------------
License
    This file is part of OpenFOAM.
 
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    for more details.
 
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#include "sphericalAngularDamper.H"
#include "rigidBodyModel.H"
#include "addToRunTimeSelectionTable.H"
 
// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
 
namespace Foam
{
namespace RBD
{
namespace restraints
{
    defineTypeNameAndDebug(sphericalAngularDamper, 0);
 
    addToRunTimeSelectionTable
    (
        restraint,
        sphericalAngularDamper,
        dictionary
    );
}
}
}
 
 
// * * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * //
 
Foam::RBD::restraints::sphericalAngularDamper::sphericalAngularDamper
(
    const word& name,
    const dictionary& dict,
    const rigidBodyModel& model
)
:
    restraint(name, dict, model)
{
    read(dict);
}
 
 
// * * * * * * * * * * * * * * * * Destructor  * * * * * * * * * * * * * * * //
 
Foam::RBD::restraints::sphericalAngularDamper::~sphericalAngularDamper()
{}
 
 
// * * * * * * * * * * * * * * Member Functions  * * * * * * * * * * * * * * //
 
void Foam::RBD::restraints::sphericalAngularDamper::restrain
(
    scalarField& tau,
    Field<spatialVector>& fx,
    const rigidBodyModelState& state
) const
{
    vector moment = -coeff_*model_.v(model_.master(bodyID_)).w();
 
    if (model_.debug)
    {
        Info<< " moment " << moment << endl;
    }
 
    // Accumulate the force for the restrained body
    fx[bodyIndex_] += model_.X0(bodyID_).T() & spatialVector(moment, Zero);
}
 
 
bool Foam::RBD::restraints::sphericalAngularDamper::read
(
    const dictionary& dict
)
{
    restraint::read(dict);
 
    coeffs_.readEntry("coeff", coeff_);
 
    return true;
}
 
 
void Foam::RBD::restraints::sphericalAngularDamper::write
(
    Ostream& os
) const
{
    restraint::write(os);
 
    os.writeEntry("coeff", coeff_);
}
 
 
// ************************************************************************* //