rigidBodyMotion.H
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5 \\ / A nd | www.openfoam.com
6 \\/ M anipulation |
7-------------------------------------------------------------------------------
8 Copyright (C) 2016-2017 OpenFOAM Foundation
9 Copyright (C) 2021 OpenCFD Ltd.
10-------------------------------------------------------------------------------
11License
12 This file is part of OpenFOAM.
13
14 OpenFOAM is free software: you can redistribute it and/or modify it
15 under the terms of the GNU General Public License as published by
16 the Free Software Foundation, either version 3 of the License, or
17 (at your option) any later version.
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21 FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
22 for more details.
23
24 You should have received a copy of the GNU General Public License
25 along with OpenFOAM. If not, see <http://www.gnu.org/licenses/>.
26
27Class
28 Foam::RBD::rigidBodyMotion
29
30Description
31 Six degree of freedom motion for a rigid body.
32
33 Angular momentum stored in body fixed reference frame. Reference
34 orientation of the body (where Q = I) must align with the cartesian axes
35 such that the Inertia tensor is in principle component form. Can add
36 restraints (e.g. a spring) and constraints (e.g. motion may only be on a
37 plane).
38
39 The time-integrator for the motion is run-time selectable with options for
40 symplectic (explicit), Crank-Nicolson and Newmark schemes.
41
42SourceFiles
43 rigidBodyMotionI.H
44 rigidBodyMotion.C
45 rigidBodyMotionIO.C
46
47\*---------------------------------------------------------------------------*/
48
49#ifndef rigidBodyMotion_H
50#define rigidBodyMotion_H
51
52#include "rigidBodyModel.H"
53#include "rigidBodyModelState.H"
54#include "pointField.H"
55#include "Switch.H"
56#include "Function1.H"
57
58// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
59
60namespace Foam
61{
62
63// Forward declarations
64class Time;
65
66namespace RBD
67{
68
69// Forward declarations
70class rigidBodySolver;
71
72/*---------------------------------------------------------------------------*\
73 Class rigidBodyMotion Declaration
74\*---------------------------------------------------------------------------*/
77:
78 public rigidBodyModel
80 friend class rigidBodySolver;
81
82 // Private data
83
84 //- Motion state data object
85 rigidBodyModelState motionState_;
86
87 //- Motion state data object for previous time-step
88 rigidBodyModelState motionState0_;
89
90 //- Initial transform for external forces to the bodies reference frame
92
93 //- Acceleration relaxation coefficient
95
96 //- Acceleration damping coefficient (for steady-state simulations)
97 scalar aDamp_;
98
99 //- Switch to turn reporting of motion data on and off
100 Switch report_;
101
102 //- Motion solver
104
105
106 // Private Member Functions
107
108 //- Initialize the body-state
109 void initialize();
110
111 //- No copy construct
112 rigidBodyMotion(const rigidBodyMotion&) = delete;
113
114 //- No copy assignment
115 void operator=(const rigidBodyMotion&) = delete;
116
117
118public:
119
120 // Constructors
121
122 //- Construct null
123 rigidBodyMotion(const Time& time);
124
125 //- Construct from dictionary
127 (
128 const Time& time,
129 const dictionary& dict
130 );
131
132 //- Construct from constant and state dictionaries
134 (
135 const Time& time,
136 const dictionary& dict,
137 const dictionary& stateDict
138 );
139
140
141 //- Destructor
143
144
145 // Member Functions
146
147 // Access
148
149 //- Return the report Switch
150 inline bool report() const;
151
152 //- Return the motion state
153 inline const rigidBodyModelState& state() const;
154
155 //- Return the motion state for modification
156 inline rigidBodyModelState& state();
157
158 //- Return the initial transform to the global frame for the
159 // given body
160 spatialTransform X00(const label bodyId) const;
161
162
163 // Edit
164
165 //- Store the motion state at the beginning of the time-step
166 inline void newTime();
167
168
169 // Update state
170
171 //- Calculate and optionally relax the joint acceleration qDdot from
172 // the joint state q, velocity qDot, internal force tau (in the
173 // joint frame) and external force fx (in the global frame)
174 void forwardDynamics
175 (
177 const scalarField& tau,
178 const Field<spatialVector>& fx
179 ) const;
180
181 //- Integrate velocities, orientation and position
182 // for the given time and time-step
183 void solve
184 (
185 const scalar t,
186 const scalar deltaT,
187 const scalarField& tau,
188 const Field<spatialVector>& fx
189 );
190
191 //- Report the status of the motion of the given body
192 void status(const label bodyID) const;
193
194 //- Report linear velocity of the given body
195 const vector vCofR(const label bodyID) const;
196
197 //- Report CofR of the given body
198 const vector cCofR(const label bodyID) const;
199
200
201 // Transformations
202
203 //- Transform the given initial pointField of the specified body
204 // to correspond to the current motion state
206 (
207 const label bodyID,
208 const pointField& initialPoints
209 ) const;
210
211 //- Transform the given initial pointField of the specified body
212 // to correspond to the current motion state scaled using
213 // 'slerp' interpolation
215 (
216 const label bodyID,
217 const scalarField& weight,
218 const pointField& initialPoints
219 ) const;
220
221 //- Transform the given initial pointField of the specified body
222 // to correspond to the current motion state scaled using
223 // 'slerp' interpolation
225 (
226 const labelList& bodyIDs,
227 const List<const scalarField*>& weights,
228 const pointField& initialPoints
229 ) const;
230
231
232 //- Write
233 void write(Ostream&) const;
234
235 //- Read coefficients dictionary and update system parameters,
236 // constraints and restraints but not the current state
237 bool read(const dictionary& dict);
238};
239
240
241// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
242
243} // End namespace RBD
244} // End namespace Foam
245
246// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
247
248#include "rigidBodyMotionI.H"
249
250// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
251
252#endif
253
254// ************************************************************************* //
A 1D array of objects of type <T>, where the size of the vector is known and used for subscript bound...
Definition: List.H:77
An Ostream is an abstract base class for all output systems (streams, files, token lists,...
Definition: Ostream.H:62
Holds the motion state of rigid-body model.
Basic rigid-body model representing a system of rigid-bodies connected by 1-6 DoF joints.
const Time & time() const
Return the time.
label bodyID(const word &name) const
Return the ID of the body with the given name.
Six degree of freedom motion for a rigid body.
void newTime()
Store the motion state at the beginning of the time-step.
spatialTransform X00(const label bodyId) const
Return the initial transform to the global frame for the.
bool report() const
Return the report Switch.
tmp< pointField > transformPoints(const label bodyID, const pointField &initialPoints) const
Transform the given initial pointField of the specified body.
const vector vCofR(const label bodyID) const
Report linear velocity of the given body.
const rigidBodyModelState & state() const
Return the motion state.
bool read(const dictionary &dict)
Read coefficients dictionary and update system parameters,.
void status(const label bodyID) const
Report the status of the motion of the given body.
void forwardDynamics(rigidBodyModelState &state, const scalarField &tau, const Field< spatialVector > &fx) const
Calculate and optionally relax the joint acceleration qDdot from.
const vector cCofR(const label bodyID) const
Report CofR of the given body.
A simple wrapper around bool so that it can be read as a word: true/false, on/off,...
Definition: Switch.H:78
Class to control time during OpenFOAM simulations that is also the top-level objectRegistry.
Definition: Time.H:80
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
Compact representation of the Pl├╝cker spatial transformation tensor in terms of the rotation tensor E...
A class for managing temporary objects.
Definition: tmp.H:65
Namespace for OpenFOAM.
runTime write()
dictionary dict
CEqn solve()