31 inline Foam::tensor Foam::sixDoFRigidBodyMotion::rotationTensorX
45 inline Foam::tensor Foam::sixDoFRigidBodyMotion::rotationTensorY
59 inline Foam::tensor Foam::sixDoFRigidBodyMotion::rotationTensorZ
74 Foam::sixDoFRigidBodyMotion::rotate
81 Tuple2<tensor, vector> Qpi(Q0, pi0);
85 tensor R = rotationTensorX(0.5*deltaT*
pi.x()/momentOfInertia_.xx());
89 R = rotationTensorY(0.5*deltaT*
pi.y()/momentOfInertia_.yy());
93 R = rotationTensorZ(deltaT*
pi.z()/momentOfInertia_.zz());
97 R = rotationTensorY(0.5*deltaT*
pi.y()/momentOfInertia_.yy());
101 R = rotationTensorX(0.5*deltaT*
pi.x()/momentOfInertia_.xx());
110 Foam::sixDoFRigidBodyMotion::restraints()
const
117 Foam::sixDoFRigidBodyMotion::constraints()
const
124 Foam::sixDoFRigidBodyMotion::initialCentreOfRotation()
const
126 return initialCentreOfRotation_;
131 Foam::sixDoFRigidBodyMotion::initialQ()
const
137 inline const Foam::tensor& Foam::sixDoFRigidBodyMotion::Q()
const
139 return motionState_.Q();
145 return motionState_.v();
149 inline const Foam::vector& Foam::sixDoFRigidBodyMotion::a()
const
151 return motionState_.a();
155 inline const Foam::vector& Foam::sixDoFRigidBodyMotion::pi()
const
157 return motionState_.pi();
161 inline const Foam::vector& Foam::sixDoFRigidBodyMotion::tau()
const
163 return motionState_.tau();
167 inline Foam::point& Foam::sixDoFRigidBodyMotion::initialCentreOfRotation()
169 return initialCentreOfRotation_;
173 inline Foam::tensor& Foam::sixDoFRigidBodyMotion::initialQ()
181 return motionState_.Q();
187 return motionState_.v();
193 return motionState_.a();
199 return motionState_.pi();
205 return motionState_.tau();
220 return momentOfInertia_;
233 return motionState_.centreOfRotation();
240 return initialCentreOfMass_;
252 return centreOfMass() - motionState_.centreOfRotation();
265 return Q() & (
inv(momentOfInertia_) &
pi());
281 motionState0_ = motionState_;
287 return motionState_.centreOfRotation();
296 return (omega() ^ (pt - centreOfRotation())) + v();
302 const point& initialPoint
308 + (Q() & initialQ_.T() & (initialPoint - initialCentreOfRotation_))