83 point attachmentPt = bodyPoint(refAttachmentPt_);
86 vector r = attachmentPt - anchor_;
91 vector v = bodyPointVelocity(refAttachmentPt_).l();
96 (-stiffness_*(magR - restLength_) - damping_*(r & v))*r
99 vector moment(attachmentPt ^ force);
103 Info<<
" attachmentPt " << attachmentPt
104 <<
" attachmentPt - anchor " << r*magR
105 <<
" spring length " << magR
106 <<
" force " << force
107 <<
" moment " << moment
123 coeffs_.readEntry(
"anchor", anchor_);
124 coeffs_.readEntry(
"refAttachmentPt", refAttachmentPt_);
125 coeffs_.readEntry(
"stiffness", stiffness_);
126 coeffs_.readEntry(
"damping", damping_);
127 coeffs_.readEntry(
"restLength", restLength_);
140 os.writeEntry(
"anchor", anchor_);
141 os.writeEntry(
"refAttachmentPt", refAttachmentPt_);
142 os.writeEntry(
"stiffness", stiffness_);
143 os.writeEntry(
"damping", damping_);
144 os.writeEntry(
"restLength", restLength_);
Macros for easy insertion into run-time selection tables.
#define addToRunTimeSelectionTable(baseType, thisType, argNames)
Add to construction table with typeName as the key.
An Ostream is an abstract base class for all output systems (streams, files, token lists,...
virtual bool read()
Re-read model coefficients if they have changed.
Base class for defining restraints for rigid-body dynamics.
virtual bool read(const dictionary &dict)
Update properties from given dictionary.
virtual void restrain(scalarField &tau, Field< spatialVector > &fx, const rigidBodyModelState &state) const
Accumulate the restraint internal joint forces into the tau field and.
virtual ~linearSpring()
Destructor.
Holds the motion state of rigid-body model.
Basic rigid-body model representing a system of rigid-bodies connected by 1-6 DoF joints.
A list of keyword definitions, which are a keyword followed by a number of values (eg,...
virtual bool write()
Write the output fields.
A class for handling words, derived from Foam::string.
#define defineTypeNameAndDebug(Type, DebugSwitch)
Define the typeName and debug information.
OBJstream os(runTime.globalPath()/outputName)
messageStream Info
Information stream (stdout output on master, null elsewhere)
Ostream & endl(Ostream &os)
Add newline and flush stream.
dimensioned< typename typeOfMag< Type >::type > mag(const dimensioned< Type > &dt)
SpatialVector< scalar > spatialVector
SpatialVector of scalars.
word name(const expressions::valueTypeCode typeCode)
A word representation of a valueTypeCode. Empty for INVALID.