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79 c_(
vector(-st(1, 5), st(0, 5), -st(0, 4))/m_),
116 return Ioc(m_,
c - c_);
147 is >> rbi.m_ >> rbi.c_ >> rbi.Ic_;
158 os << rbi.m_ <<
nl << rbi.c_ <<
nl << rbi.Ic_ <<
endl;
179 const scalar m12 = rbi1.
m() + rbi2.m();
180 const vector c12 = (rbi1.
m()*rbi1.
c() + rbi2.m()*rbi2.c())/m12;
186 rbi1.
Ic() + rbi1.
Icc(c12) + rbi2.Ic() + rbi2.Icc(c12)
203 (rbi.
Io() & av) + rbi.
m()*(rbi.
c() ^ lv),
204 rbi.
m()*lv - rbi.
m()*(rbi.
c() ^ av)
240 return 0.5*(v && (*
this & v));
246 inline void Foam::RBD::rigidBodyInertia::operator+=
dimensionedSymmTensor symm(const dimensionedSymmTensor &dt)
Creates a single block of cells from point coordinates, numbers of cells in each direction and an exp...
A templated (3 x 3) symmetric tensor of objects of <T>, effectively containing 6 elements,...
static constexpr const zero Zero
Global zero (0)
This class represents the linear and angular inertia of a rigid body by the mass, centre of mass and ...
Ostream & endl(Ostream &os)
Add newline and flush stream.
symmTensor Ioc() const
Return the difference between the inertia tensor of the rigid-body.
Templated 3D spatial tensor derived from MatrixSpace used to represent transformations of spatial vec...
dimensioned< typename typeOfMag< Type >::type > magSqr(const dimensioned< Type > &dt)
An Istream is an abstract base class for all input systems (streams, files, token lists etc)....
rigidBodyInertia()
Null constructor, initializes to zero.
scalar m() const
Return the mass of the rigid-body.
A list of keyword definitions, which are a keyword followed by a number of values (eg,...
OBJstream os(runTime.globalPath()/outputName)
dimensionedSymmTensor sqr(const dimensionedVector &dv)
symmTensor Icc(const vector &c) const
Return the difference between the inertia tensor of the rigid-body.
SpatialTensor< scalar > spatialTensor
SpatialTensor of scalars.
const symmTensor & Ic() const
Return the inertia tensor of the rigid-body about the centre of mass.
rigidBodyInertia transform(const spatialTransform &X, const rigidBodyInertia &I)
Return (^BX_A)^* I ^AX_B.
Tensor< Cmpt > T() const
Return non-Hermitian transpose.
const dimensionedScalar c
Speed of light in a vacuum.
List< ReturnType > get(const UPtrList< T > &list, const AccessOp &aop)
SpatialVector< scalar > spatialVector
SpatialVector of scalars.
An Ostream is an abstract base class for all output systems (streams, files, token lists,...
scalar kineticEnergy(const spatialVector &v)
Return the kinetic energy of the body with the given velocity.
symmTensor Io() const
Return the inertia tensor of the rigid-body about the origin.
static const Identity< scalar > I
const vector & c() const
Return the centre of mass of the rigid-body.