The open source CFD toolbox
rigidBodySolver.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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8 Copyright (C) 2016 OpenFOAM Foundation
9-------------------------------------------------------------------------------
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12
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20 FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
21 for more details.
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26\*---------------------------------------------------------------------------*/
27
28#include "rigidBodySolver.H"
29
30// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
31
32namespace Foam
33{
34namespace RBD
35{
36
39}
40}
41
42
43// * * * * * * * * * * * * * * * * Constructors * * * * * * * * * * * * * * //
44
46:
47 model_(body)
48{}
49
50
51// * * * * * * * * * * * * * * * * Destructor * * * * * * * * * * * * * * * //
52
54{}
55
56
57// * * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * //
58
60{
61 if (model_.unitQuaternions())
62 {
63 forAll(model_.joints(), i)
64 {
65 const label qi = model_.joints()[i].qIndex();
66
67 if (model_.joints()[i].unitQuaternion())
68 {
69 // Calculate the change in the unit quaternion
70 vector dv((q().block<vector>(qi) - q0().block<vector>(qi)));
71 scalar magDv = mag(dv);
72
73 if (magDv > SMALL)
74 {
75 // Calculate the unit quaternion corresponding to the change
76 quaternion dQuat(dv/magDv, cos(magDv), true);
77
78 // Transform the previous time unit quaternion
79 quaternion quat
80 (
81 model_.joints()[i].unitQuaternion(q0())*dQuat
82 );
83 quat.normalise();
84
85 // Update the joint unit quaternion
86 model_.joints()[i].unitQuaternion(quat, q());
87 }
88 }
89 }
90 }
91}
92
93
94// ************************************************************************* //
Six degree of freedom motion for a rigid body.
void correctQuaternionJoints()
Correct the quaternion joints based on the current change in q.
virtual ~rigidBodySolver()
Destructor.
Creates a single block of cells from point coordinates, numbers of cells in each direction and an exp...
Definition: block.H:61
A list of keyword definitions, which are a keyword followed by a number of values (eg,...
Definition: dictionary.H:126
Quaternion class used to perform rotations in 3D space.
Definition: quaternion.H:58
quaternion & normalise()
Inplace normalise the quaternion by its magnitude.
Definition: quaternionI.H:309
#define defineTypeNameAndDebug(Type, DebugSwitch)
Define the typeName and debug information.
Definition: className.H:121
Namespace for OpenFOAM.
dimensioned< typename typeOfMag< Type >::type > mag(const dimensioned< Type > &dt)
dimensionedScalar cos(const dimensionedScalar &ds)
#define defineRunTimeSelectionTable(baseType, argNames)
Define run-time selection table.
#define forAll(list, i)
Loop across all elements in list.
Definition: stdFoam.H:333