From 11775540293a2ab7d94f125c7af192faccf71316 Mon Sep 17 00:00:00 2001
From: Henry Weller <http://cfd.direct>
Date: Mon, 11 Apr 2016 11:45:51 +0100
Subject: [PATCH] rigidBodyDynamics/restraints: Complete dictionary IO
---
.../test/rigidBodyDynamics/spring/spring.C | 1 +
.../restraints/linearSpring/linearSpring.C | 13 ++---
.../restraints/linearSpring/linearSpring.H | 5 +-
.../restraints/restraint/rigidBodyRestraint.C | 5 +-
.../restraints/restraint/rigidBodyRestraint.H | 16 ++++++-
.../restraint/rigidBodyRestraintI.H | 48 +++++++++++++++++++
.../rigidBodyModel/forwardDynamics.C | 1 +
.../rigidBodyModel/rigidBodyModel.C | 1 +
.../rigidBodyModel/rigidBodyModel.H | 5 +-
.../rigidBodyModel/rigidBodyModelI.H | 22 +++++++--
10 files changed, 99 insertions(+), 18 deletions(-)
create mode 100644 src/rigidBodyDynamics/restraints/restraint/rigidBodyRestraintI.H
diff --git a/applications/test/rigidBodyDynamics/spring/spring.C b/applications/test/rigidBodyDynamics/spring/spring.C
index 65c6e88a5a..a62bcb696d 100644
--- a/applications/test/rigidBodyDynamics/spring/spring.C
+++ b/applications/test/rigidBodyDynamics/spring/spring.C
@@ -33,6 +33,7 @@ Description
#include "masslessBody.H"
#include "sphere.H"
#include "joints.H"
+#include "rigidBodyRestraint.H"
#include "IFstream.H"
#include "OFstream.H"
diff --git a/src/rigidBodyDynamics/restraints/linearSpring/linearSpring.C b/src/rigidBodyDynamics/restraints/linearSpring/linearSpring.C
index ed1efb7f42..42dc95b3ef 100644
--- a/src/rigidBodyDynamics/restraints/linearSpring/linearSpring.C
+++ b/src/rigidBodyDynamics/restraints/linearSpring/linearSpring.C
@@ -78,22 +78,19 @@ Foam::RBD::restraints::linearSpring::~linearSpring()
Foam::spatialVector Foam::RBD::restraints::linearSpring::restrain() const
{
- spatialVector attachmentPt
- (
- model_.X0(bodyIndex_).inv() && spatialVector(Zero, refAttachmentPt_)
- );
+ point attachmentPt = bodyPoint(refAttachmentPt_);
// Current axis of the spring
- vector r = attachmentPt.l() - anchor_;
+ vector r = attachmentPt - anchor_;
scalar magR = mag(r);
r /= (magR + VSMALL);
- // Velocity of the end of the spring
- vector v = model_.v(bodyIndex_, refAttachmentPt_).l();
+ // Velocity of the attached end of the spring
+ vector v = bodyPointVelocity(refAttachmentPt_).l();
// Force and moment including optional damping
vector force = (-stiffness_*(magR - restLength_) - damping_*(r & v))*r;
- vector moment = (attachmentPt.l() - model_.X0(bodyIndex_).r()) ^ force;
+ vector moment = (attachmentPt - model_.X0(bodyIndex_).r()) ^ force;
if (model_.debug)
{
diff --git a/src/rigidBodyDynamics/restraints/linearSpring/linearSpring.H b/src/rigidBodyDynamics/restraints/linearSpring/linearSpring.H
index 83d26b512e..26bff8b8c0 100644
--- a/src/rigidBodyDynamics/restraints/linearSpring/linearSpring.H
+++ b/src/rigidBodyDynamics/restraints/linearSpring/linearSpring.H
@@ -32,11 +32,10 @@ SourceFiles
\*---------------------------------------------------------------------------*/
-#ifndef linearSpring_H
-#define linearSpring_H
+#ifndef RBD_restraints_linearSpring_H
+#define RBD_restraints_linearSpring_H
#include "rigidBodyRestraint.H"
-#include "point.H"
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
diff --git a/src/rigidBodyDynamics/restraints/restraint/rigidBodyRestraint.C b/src/rigidBodyDynamics/restraints/restraint/rigidBodyRestraint.C
index 3a75c4efbb..f17b3b133a 100644
--- a/src/rigidBodyDynamics/restraints/restraint/rigidBodyRestraint.C
+++ b/src/rigidBodyDynamics/restraints/restraint/rigidBodyRestraint.C
@@ -77,7 +77,10 @@ bool Foam::RBD::restraint::read(const dictionary& dict)
void Foam::RBD::restraint::write(Ostream& os) const
{
- os.writeKeyword("type") << type() << token::END_STATEMENT << nl;
+ os.writeKeyword("type")
+ << type() << token::END_STATEMENT << nl;
+ os.writeKeyword("body")
+ << model_.name(bodyIndex_) << token::END_STATEMENT << nl;
}
diff --git a/src/rigidBodyDynamics/restraints/restraint/rigidBodyRestraint.H b/src/rigidBodyDynamics/restraints/restraint/rigidBodyRestraint.H
index 917e2e6e19..c8320cbe7e 100644
--- a/src/rigidBodyDynamics/restraints/restraint/rigidBodyRestraint.H
+++ b/src/rigidBodyDynamics/restraints/restraint/rigidBodyRestraint.H
@@ -39,12 +39,13 @@ SourceFiles
\*---------------------------------------------------------------------------*/
-#ifndef RBD_restraint_H
-#define RBD_restraint_H
+#ifndef RBD_rigidBodyRestraint_H
+#define RBD_rigidBodyRestraint_H
#include "dictionary.H"
#include "autoPtr.H"
#include "spatialVector.H"
+#include "point.H"
#include "runTimeSelectionTables.H"
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
@@ -80,6 +81,13 @@ protected:
//- Reference to the model
const rigidBodyModel& model_;
+ //- Transform the given point on the restrained body to the global frame
+ inline point bodyPoint(const point& p) const;
+
+ //- Transform the velocity of the given point on the restrained body
+ // to the global frame
+ inline spatialVector bodyPointVelocity(const point& p) const;
+
public:
@@ -166,6 +174,10 @@ public:
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+#include "rigidBodyRestraintI.H"
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
#endif
// ************************************************************************* //
diff --git a/src/rigidBodyDynamics/restraints/restraint/rigidBodyRestraintI.H b/src/rigidBodyDynamics/restraints/restraint/rigidBodyRestraintI.H
new file mode 100644
index 0000000000..c825702455
--- /dev/null
+++ b/src/rigidBodyDynamics/restraints/restraint/rigidBodyRestraintI.H
@@ -0,0 +1,48 @@
+/*---------------------------------------------------------------------------*\
+ ========= |
+ \\ / F ield | OpenFOAM: The Open Source CFD Toolbox
+ \\ / O peration |
+ \\ / A nd | Copyright (C) 2016 OpenFOAM Foundation
+ \\/ M anipulation |
+-------------------------------------------------------------------------------
+License
+ This file is part of OpenFOAM.
+
+ OpenFOAM is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ OpenFOAM is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with OpenFOAM. If not, see <http://www.gnu.org/licenses/>.
+
+\*---------------------------------------------------------------------------*/
+
+#include "rigidBodyModel.H"
+
+// * * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * //
+
+inline Foam::point Foam::RBD::restraint::bodyPoint
+(
+ const point& p
+) const
+{
+ return (model_.X0(bodyIndex_).inv() && spatialVector(Zero, p)).l();
+}
+
+
+inline Foam::spatialVector Foam::RBD::restraint::bodyPointVelocity
+(
+ const point& p
+) const
+{
+ return model_.v(bodyIndex_, p);
+}
+
+
+// ************************************************************************* //
diff --git a/src/rigidBodyDynamics/rigidBodyModel/forwardDynamics.C b/src/rigidBodyDynamics/rigidBodyModel/forwardDynamics.C
index 411404dd85..fbd0b02573 100644
--- a/src/rigidBodyDynamics/rigidBodyModel/forwardDynamics.C
+++ b/src/rigidBodyDynamics/rigidBodyModel/forwardDynamics.C
@@ -24,6 +24,7 @@ License
\*---------------------------------------------------------------------------*/
#include "rigidBodyModel.H"
+#include "rigidBodyRestraint.H"
// * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * * //
diff --git a/src/rigidBodyDynamics/rigidBodyModel/rigidBodyModel.C b/src/rigidBodyDynamics/rigidBodyModel/rigidBodyModel.C
index fe6471ac30..7993b3c77e 100644
--- a/src/rigidBodyDynamics/rigidBodyModel/rigidBodyModel.C
+++ b/src/rigidBodyDynamics/rigidBodyModel/rigidBodyModel.C
@@ -28,6 +28,7 @@ License
#include "compositeBody.H"
#include "jointBody.H"
#include "nullJoint.H"
+#include "rigidBodyRestraint.H"
// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
diff --git a/src/rigidBodyDynamics/rigidBodyModel/rigidBodyModel.H b/src/rigidBodyDynamics/rigidBodyModel/rigidBodyModel.H
index 5f4d18fb0d..c7a995a4be 100644
--- a/src/rigidBodyDynamics/rigidBodyModel/rigidBodyModel.H
+++ b/src/rigidBodyDynamics/rigidBodyModel/rigidBodyModel.H
@@ -53,7 +53,6 @@ SourceFiles
#include "subBody.H"
#include "joint.H"
#include "compositeJoint.H"
-#include "rigidBodyRestraint.H"
#include "PtrList.H"
#include "HashTable.H"
@@ -64,6 +63,7 @@ namespace RBD
// Forward declaration of friend functions and operators
class rigidBodyModel;
+class restraint;
Ostream& operator<<(Ostream&, const rigidBodyModel&);
@@ -255,6 +255,9 @@ public:
// after model construction
inline vector& g();
+ //- Return the name of body with the given ID
+ inline const word& name(const label bodyID) const;
+
//- Return the inertia of body i
inline const rigidBodyInertia& I(const label i) const;
diff --git a/src/rigidBodyDynamics/rigidBodyModel/rigidBodyModelI.H b/src/rigidBodyDynamics/rigidBodyModel/rigidBodyModelI.H
index 478547892e..ece6c9766d 100644
--- a/src/rigidBodyDynamics/rigidBodyModel/rigidBodyModelI.H
+++ b/src/rigidBodyDynamics/rigidBodyModel/rigidBodyModelI.H
@@ -38,6 +38,13 @@ Foam::RBD::rigidBodyModel::bodies() const
}
+inline const Foam::DynamicList<Foam::label>&
+Foam::RBD::rigidBodyModel::lambda() const
+{
+ return lambda_;
+}
+
+
inline const Foam::PtrList<Foam::RBD::joint>&
Foam::RBD::rigidBodyModel::joints() const
{
@@ -69,10 +76,19 @@ inline Foam::vector& Foam::RBD::rigidBodyModel::g()
}
-inline const Foam::DynamicList<Foam::label>&
-Foam::RBD::rigidBodyModel::lambda() const
+inline const Foam::word& Foam::RBD::rigidBodyModel::name
+(
+ const label bodyID
+) const
{
- return lambda_;
+ if (merged(bodyID))
+ {
+ return mergedBody(bodyID).name();
+ }
+ else
+ {
+ return bodies_[bodyID].name();
+ }
}
--
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