OpenFOAM: API Guide
v2012
The open source CFD toolbox
rigidBodySolver.C
Go to the documentation of this file.
1
/*---------------------------------------------------------------------------*\
2
========= |
3
\\ / F ield | OpenFOAM: The Open Source CFD Toolbox
4
\\ / O peration |
5
\\ / A nd | www.openfoam.com
6
\\/ M anipulation |
7
-------------------------------------------------------------------------------
8
Copyright (C) 2016 OpenFOAM Foundation
9
-------------------------------------------------------------------------------
10
License
11
This file is part of OpenFOAM.
12
13
OpenFOAM is free software: you can redistribute it and/or modify it
14
under the terms of the GNU General Public License as published by
15
the Free Software Foundation, either version 3 of the License, or
16
(at your option) any later version.
17
18
OpenFOAM is distributed in the hope that it will be useful, but WITHOUT
19
ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
20
FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
21
for more details.
22
23
You should have received a copy of the GNU General Public License
24
along with OpenFOAM. If not, see <http://www.gnu.org/licenses/>.
25
26
\*---------------------------------------------------------------------------*/
27
28
#include "
rigidBodySolver.H
"
29
30
// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
31
32
namespace
Foam
33
{
34
namespace
RBD
35
{
36
37
defineTypeNameAndDebug
(rigidBodySolver, 0);
38
defineRunTimeSelectionTable
(rigidBodySolver, dictionary);
39
}
40
}
41
42
43
// * * * * * * * * * * * * * * * * Constructors * * * * * * * * * * * * * * //
44
45
Foam::RBD::rigidBodySolver::rigidBodySolver
(
rigidBodyMotion
& body)
46
:
47
model_(body)
48
{}
49
50
51
// * * * * * * * * * * * * * * * * Destructor * * * * * * * * * * * * * * * //
52
53
Foam::RBD::rigidBodySolver::~rigidBodySolver
()
54
{}
55
56
57
// * * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * //
58
59
void
Foam::RBD::rigidBodySolver::correctQuaternionJoints
()
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
normalize
(model_.joints()[i].unitQuaternion(q0())*dQuat)
82
);
83
84
// Update the joint unit quaternion
85
model_.joints()[i].unitQuaternion(quat, q());
86
}
87
}
88
}
89
}
90
}
91
92
93
// ************************************************************************* //
rigidBodySolver.H
Foam::block
Creates a single block of cells from point coordinates, numbers of cells in each direction and an exp...
Definition:
block.H:58
Foam::RBD::rigidBodyMotion
Six degree of freedom motion for a rigid body.
Definition:
rigidBodyMotion.H:73
Foam::RBD::rigidBodySolver::rigidBodySolver
rigidBodySolver(rigidBodyMotion &body)
Definition:
rigidBodySolver.C:45
forAll
#define forAll(list, i)
Loop across all elements in list.
Definition:
stdFoam.H:296
Foam::quaternion
Quaternion class used to perform rotations in 3D space.
Definition:
quaternion.H:56
Foam::RBD::rigidBodySolver::correctQuaternionJoints
void correctQuaternionJoints()
Correct the quaternion joints based on the current change in q.
Definition:
rigidBodySolver.C:59
Foam::RBD::defineTypeNameAndDebug
defineTypeNameAndDebug(cuboid, 0)
Foam
Namespace for OpenFOAM.
Definition:
atmBoundaryLayer.C:33
Foam::Vector< scalar >
Foam::mag
dimensioned< typename typeOfMag< Type >::type > mag(const dimensioned< Type > &dt)
Foam::RBD::defineRunTimeSelectionTable
defineRunTimeSelectionTable(rigidBody, dictionary)
Foam::normalize
quaternion normalize(const quaternion &q)
Return the normalized (unit) quaternion of the given quaternion.
Definition:
quaternionI.H:661
Foam::RBD::rigidBodySolver::~rigidBodySolver
virtual ~rigidBodySolver()
Destructor.
Definition:
rigidBodySolver.C:53
Foam::cos
dimensionedScalar cos(const dimensionedScalar &ds)
Definition:
dimensionedScalar.C:265
src
rigidBodyDynamics
rigidBodySolvers
rigidBodySolver
rigidBodySolver.C
Generated by
1.8.17
OPENFOAM® is a registered
trademark
of OpenCFD Ltd.