diff --git a/applications/test/rigidBodyDynamics/pendulum/pendulum.C b/applications/test/rigidBodyDynamics/pendulum/pendulum.C
index 18626cba7cee5c4ae25faa40b9a18fb5ca26e288..cc9fc374e5afb965ade02c0d7b265ce384516b62 100644
--- a/applications/test/rigidBodyDynamics/pendulum/pendulum.C
+++ b/applications/test/rigidBodyDynamics/pendulum/pendulum.C
@@ -32,6 +32,7 @@ Description
#include "rigidBodyModel.H"
#include "masslessBody.H"
+#include "rigidBodyModelState.H"
#include "sphere.H"
#include "joints.H"
#include "IFstream.H"
@@ -86,10 +87,11 @@ int main(int argc, char *argv[])
Info<< pendulum << endl;
// Create the joint-space state fields
- scalarField q(pendulum.nDoF(), Zero);
- scalarField w(pendulum.nw(), Zero);
- scalarField qDot(pendulum.nDoF(), Zero);
- scalarField qDdot(pendulum.nDoF(), Zero);
+ rigidBodyModelState pendulumState(pendulum);
+ scalarField& q = pendulumState.q();
+ scalarField& qDot = pendulumState.qDot();
+ scalarField& qDdot = pendulumState.qDdot();
+
scalarField tau(pendulum.nDoF(), Zero);
// Set the angle of the pendulum to 0.3rad
@@ -106,15 +108,7 @@ int main(int argc, char *argv[])
qDot += 0.5*deltaT*qDdot;
q += deltaT*qDot;
- pendulum.forwardDynamics
- (
- q,
- w,
- qDot,
- tau,
- Field<spatialVector>(),
- qDdot
- );
+ pendulum.forwardDynamics(pendulumState, tau, Field<spatialVector>());
qDot += 0.5*deltaT*qDdot;
diff --git a/applications/test/rigidBodyDynamics/spring/spring.C b/applications/test/rigidBodyDynamics/spring/spring.C
index a62bcb696da59017cf8eb9ec8b3f0066456f7e41..d427a620bada87f31975d6a07d69d76135d7c6d4 100644
--- a/applications/test/rigidBodyDynamics/spring/spring.C
+++ b/applications/test/rigidBodyDynamics/spring/spring.C
@@ -34,6 +34,7 @@ Description
#include "sphere.H"
#include "joints.H"
#include "rigidBodyRestraint.H"
+#include "rigidBodyModelState.H"
#include "IFstream.H"
#include "OFstream.H"
@@ -50,10 +51,11 @@ int main(int argc, char *argv[])
Info<< spring << endl;
// Create the joint-space state fields
- scalarField q(spring.nDoF(), Zero);
- scalarField w(spring.nw(), Zero);
- scalarField qDot(spring.nDoF(), Zero);
- scalarField qDdot(spring.nDoF(), Zero);
+ rigidBodyModelState springState(spring);
+ scalarField& q = springState.q();
+ scalarField& qDot = springState.qDot();
+ scalarField& qDdot = springState.qDdot();
+
scalarField tau(spring.nDoF(), Zero);
Field<spatialVector> fx(spring.nBodies(), Zero);
@@ -68,13 +70,7 @@ int main(int argc, char *argv[])
q += deltaT*qDot;
// Update the body-state prior to the evaluation of the restraints
- spring.forwardDynamicsCorrection
- (
- q,
- w,
- qDot,
- qDdot
- );
+ spring.forwardDynamicsCorrection(springState);
// Accumulate the restraint forces
fx = Zero;
@@ -82,15 +78,7 @@ int main(int argc, char *argv[])
// Calculate the body acceleration for the given state
// and restraint forces
- spring.forwardDynamics
- (
- q,
- w,
- qDot,
- tau,
- fx,
- qDdot
- );
+ spring.forwardDynamics(springState, tau, fx);
// Update the velocity
qDot += 0.5*deltaT*qDdot;
diff --git a/src/rigidBodyDynamics/Make/files b/src/rigidBodyDynamics/Make/files
index 5323037c3a80819c11279dc0b910076f668d0286..761aec2db192e4d33cba91c2718e66aaac8bb08d 100644
--- a/src/rigidBodyDynamics/Make/files
+++ b/src/rigidBodyDynamics/Make/files
@@ -35,4 +35,7 @@ restraints/sphericalAngularDamper/sphericalAngularDamper.C
rigidBodyModel/rigidBodyModel.C
rigidBodyModel/forwardDynamics.C
+rigidBodyModelState/rigidBodyModelState.C
+rigidBodyModelState/rigidBodyModelStateIO.C
+
LIB = $(FOAM_LIBBIN)/librigidBodyDynamics
diff --git a/src/rigidBodyDynamics/rigidBodyModel/forwardDynamics.C b/src/rigidBodyDynamics/rigidBodyModel/forwardDynamics.C
index 37800dcaddb7c8ff4d6f9422c0e04c825eb718d6..fafce3431f44d7ce13eaedf3b04b6fed69532936 100644
--- a/src/rigidBodyDynamics/rigidBodyModel/forwardDynamics.C
+++ b/src/rigidBodyDynamics/rigidBodyModel/forwardDynamics.C
@@ -24,6 +24,7 @@ License
\*---------------------------------------------------------------------------*/
#include "rigidBodyModel.H"
+#include "rigidBodyModelState.H"
#include "rigidBodyRestraint.H"
// * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * * //
@@ -47,14 +48,16 @@ void Foam::RBD::rigidBodyModel::applyRestraints(Field<spatialVector>& fx) const
void Foam::RBD::rigidBodyModel::forwardDynamics
(
- const scalarField& q,
- const scalarField& w,
- const scalarField& qDot,
+ rigidBodyModelState& state,
const scalarField& tau,
- const Field<spatialVector>& fx,
- scalarField& qDdot
+ const Field<spatialVector>& fx
) const
{
+ const scalarField& q = state.q();
+ const scalarField& w = state.w();
+ const scalarField& qDot = state.qDot();
+ scalarField& qDdot = state.qDdot();
+
DebugInFunction
<< "q = " << q << nl
<< "qDot = " << qDot << nl
@@ -199,14 +202,16 @@ void Foam::RBD::rigidBodyModel::forwardDynamics
void Foam::RBD::rigidBodyModel::forwardDynamicsCorrection
(
- const scalarField& q,
- const scalarField& w,
- const scalarField& qDot,
- const scalarField& qDdot
+ const rigidBodyModelState& state
) const
{
DebugInFunction << endl;
+ const scalarField& q = state.q();
+ const scalarField& w = state.w();
+ const scalarField& qDot = state.qDot();
+ const scalarField& qDdot = state.qDdot();
+
// Joint state returned by jcalc
joint::XSvc J;
diff --git a/src/rigidBodyDynamics/rigidBodyModel/rigidBodyModel.H b/src/rigidBodyDynamics/rigidBodyModel/rigidBodyModel.H
index d02baa1704eec033cb5393c4251012cba6baeac7..6357458f36d46208c1653e215860645c258ffe2b 100644
--- a/src/rigidBodyDynamics/rigidBodyModel/rigidBodyModel.H
+++ b/src/rigidBodyDynamics/rigidBodyModel/rigidBodyModel.H
@@ -63,10 +63,12 @@ namespace RBD
// Forward declaration of friend functions and operators
class rigidBodyModel;
-class restraint;
Ostream& operator<<(Ostream&, const rigidBodyModel&);
+class rigidBodyModelState;
+class restraint;
+
/*---------------------------------------------------------------------------*\
Class rigidBodyModel Declaration
@@ -336,24 +338,15 @@ public:
// algorithm (Section 7.3 and Table 7.1)
void forwardDynamics
(
- const scalarField& q,
- const scalarField& w,
- const scalarField& qDot,
+ rigidBodyModelState& state,
const scalarField& tau,
- const Field<spatialVector>& fx,
- scalarField& qDdot
+ const Field<spatialVector>& fx
) const;
//- Correct the velocity and acceleration of the bodies in the model
// from the given joint state fields following an integration step
// of the forwardDynamics
- void forwardDynamicsCorrection
- (
- const scalarField& q,
- const scalarField& w,
- const scalarField& qDot,
- const scalarField& qDdot
- ) const;
+ void forwardDynamicsCorrection(const rigidBodyModelState& state) const;
//- Write
virtual void write(Ostream&) const;
diff --git a/src/rigidBodyDynamics/rigidBodyModelState/rigidBodyModelState.C b/src/rigidBodyDynamics/rigidBodyModelState/rigidBodyModelState.C
new file mode 100644
index 0000000000000000000000000000000000000000..cad3a5ce04a837e280acba4b37d16c9727dd3f9d
--- /dev/null
+++ b/src/rigidBodyDynamics/rigidBodyModelState/rigidBodyModelState.C
@@ -0,0 +1,55 @@
+/*---------------------------------------------------------------------------*\
+ ========= |
+ \\ / 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 "rigidBodyModelState.H"
+
+// * * * * * * * * * * * * * * * * Constructors * * * * * * * * * * * * * * //
+
+Foam::RBD::rigidBodyModelState::rigidBodyModelState
+(
+ const rigidBodyModel& model
+)
+:
+ q_(model.nDoF(), Zero),
+ w_(model.nw(), Zero),
+ qDot_(model.nDoF(), Zero),
+ qDdot_(model.nDoF(), Zero)
+{}
+
+
+Foam::RBD::rigidBodyModelState::rigidBodyModelState
+(
+ const rigidBodyModel& model,
+ const dictionary& dict
+)
+:
+ q_(dict.lookupOrDefault("q", scalarField(model.nDoF(), Zero))),
+ w_(dict.lookupOrDefault("w", scalarField(model.nw(), Zero))),
+ qDot_(dict.lookupOrDefault("qDot", scalarField(model.nDoF(), Zero))),
+ qDdot_(dict.lookupOrDefault("qDdot", scalarField(model.nDoF(), Zero)))
+{}
+
+
+// ************************************************************************* //
diff --git a/src/rigidBodyDynamics/rigidBodyModelState/rigidBodyModelState.H b/src/rigidBodyDynamics/rigidBodyModelState/rigidBodyModelState.H
new file mode 100644
index 0000000000000000000000000000000000000000..770011cc90793edcf6d560d032e8c1f73e08975d
--- /dev/null
+++ b/src/rigidBodyDynamics/rigidBodyModelState/rigidBodyModelState.H
@@ -0,0 +1,157 @@
+/*---------------------------------------------------------------------------*\
+ ========= |
+ \\ / 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/>.
+
+Class
+ Foam::rigidBodyModelState
+
+Description
+ Holds the motion state of rigid-body model.
+
+SourceFiles
+ rigidBodyModelStateI.H
+ rigidBodyModelState.C
+ rigidBodyModelStateIO.C
+
+\*---------------------------------------------------------------------------*/
+
+#ifndef rigidBodyModelState_H
+#define rigidBodyModelState_H
+
+#include "rigidBodyModel.H"
+#include "scalarField.H"
+#include "dictionary.H"
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+namespace Foam
+{
+
+// Forward declaration of classes
+class Istream;
+class Ostream;
+
+namespace RBD
+{
+
+// Forward declaration of friend functions and operators
+class rigidBodyModelState;
+Istream& operator>>(Istream&, rigidBodyModelState&);
+Ostream& operator<<(Ostream&, const rigidBodyModelState&);
+
+
+/*---------------------------------------------------------------------------*\
+ Class rigidBodyModelState Declaration
+\*---------------------------------------------------------------------------*/
+
+class rigidBodyModelState
+{
+ // Private data
+
+ //- Joint position and orientation
+ scalarField q_;
+
+ //- Joint quaternion
+ scalarField w_;
+
+ //- Joint velocity
+ scalarField qDot_;
+
+ //- Joint acceleration
+ scalarField qDdot_;
+
+
+public:
+
+ // Constructors
+
+ //- Construct for the given rigidBodyModel
+ rigidBodyModelState(const rigidBodyModel& model);
+
+ //- Construct from dictionary for the given rigidBodyModel
+ rigidBodyModelState
+ (
+ const rigidBodyModel& model,
+ const dictionary& dict
+ );
+
+
+ // Member Functions
+
+ // Access
+
+ //- Return access to the joint position and orientation
+ inline const scalarField& q() const;
+
+ //- Return access to the joint quaternion
+ inline const scalarField& w() const;
+
+ //- Return access to the joint velocity
+ inline const scalarField& qDot() const;
+
+ //- Return access to the joint acceleration
+ inline const scalarField& qDdot() const;
+
+
+ // Edit
+
+ //- Return access to the joint position and orientation
+ inline scalarField& q();
+
+ //- Return access to the joint quaternion
+ inline scalarField& w();
+
+ //- Return access to the joint velocity
+ inline scalarField& qDot();
+
+ //- Return access to the joint acceleration
+ inline scalarField& qDdot();
+
+
+ //- Write to dictionary
+ void write(dictionary& dict) const;
+
+ //- Write to stream
+ void write(Ostream&) const;
+
+
+ // IOstream Operators
+
+ friend Istream& operator>>(Istream&, rigidBodyModelState&);
+ friend Ostream& operator<<(Ostream&, const rigidBodyModelState&);
+};
+
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+} // End namespace RBD
+} // End namespace Foam
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+#include "rigidBodyModelStateI.H"
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+#endif
+
+// ************************************************************************* //
diff --git a/src/rigidBodyDynamics/rigidBodyModelState/rigidBodyModelStateI.H b/src/rigidBodyDynamics/rigidBodyModelState/rigidBodyModelStateI.H
new file mode 100644
index 0000000000000000000000000000000000000000..34a3757e660b70ad217a1ac20efdf22e3b9f5b1f
--- /dev/null
+++ b/src/rigidBodyDynamics/rigidBodyModelState/rigidBodyModelStateI.H
@@ -0,0 +1,76 @@
+/*---------------------------------------------------------------------------*\
+ ========= |
+ \\ / 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/>.
+
+\*---------------------------------------------------------------------------*/
+
+// * * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * //
+
+inline const Foam::scalarField& Foam::RBD::rigidBodyModelState::q() const
+{
+ return q_;
+}
+
+
+inline const Foam::scalarField& Foam::RBD::rigidBodyModelState::w() const
+{
+ return w_;
+}
+
+
+inline const Foam::scalarField& Foam::RBD::rigidBodyModelState::qDot() const
+{
+ return qDot_;
+}
+
+
+inline const Foam::scalarField& Foam::RBD::rigidBodyModelState::qDdot() const
+{
+ return qDdot_;
+}
+
+
+inline Foam::scalarField& Foam::RBD::rigidBodyModelState::q()
+{
+ return q_;
+}
+
+
+inline Foam::scalarField& Foam::RBD::rigidBodyModelState::w()
+{
+ return w_;
+}
+
+
+inline Foam::scalarField& Foam::RBD::rigidBodyModelState::qDot()
+{
+ return qDot_;
+}
+
+
+inline Foam::scalarField& Foam::RBD::rigidBodyModelState::qDdot()
+{
+ return qDdot_;
+}
+
+
+// ************************************************************************* //
diff --git a/src/rigidBodyDynamics/rigidBodyModelState/rigidBodyModelStateIO.C b/src/rigidBodyDynamics/rigidBodyModelState/rigidBodyModelStateIO.C
new file mode 100644
index 0000000000000000000000000000000000000000..153f7ddd16187e4c3ead35395d0b6e8d739ad816
--- /dev/null
+++ b/src/rigidBodyDynamics/rigidBodyModelState/rigidBodyModelStateIO.C
@@ -0,0 +1,95 @@
+/*---------------------------------------------------------------------------*\
+ ========= |
+ \\ / 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 "rigidBodyModelState.H"
+#include "IOstreams.H"
+
+// * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * * //
+
+void Foam::RBD::rigidBodyModelState::write(dictionary& dict) const
+{
+ dict.add("q", q_);
+ dict.add("w", w_);
+ dict.add("qDot", qDot_);
+ dict.add("qDdot", qDdot_);
+}
+
+
+void Foam::RBD::rigidBodyModelState::write(Ostream& os) const
+{
+ os.writeKeyword("q") << q_ << token::END_STATEMENT << nl;
+ os.writeKeyword("w") << w_ << token::END_STATEMENT << nl;
+ os.writeKeyword("qDot") << qDot_ << token::END_STATEMENT << nl;
+ os.writeKeyword("qDdot") << qDdot_ << token::END_STATEMENT << nl;
+}
+
+
+// * * * * * * * * * * * * * * * IOstream Operators * * * * * * * * * * * * //
+
+Foam::Istream& Foam::RBD::operator>>
+(
+ Istream& is,
+ rigidBodyModelState& state
+)
+{
+ is >> state.q_
+ >> state.w_
+ >> state.qDot_
+ >> state.qDdot_;
+
+ // Check state of Istream
+ is.check
+ (
+ "Foam::Istream& Foam::operator>>"
+ "(Foam::Istream&, Foam::RBD::rigidBodyModelState&)"
+ );
+
+ return is;
+}
+
+
+Foam::Ostream& Foam::RBD::operator<<
+(
+ Ostream& os,
+ const rigidBodyModelState& state
+)
+{
+ os << token::SPACE << state.q_
+ << token::SPACE << state.w_
+ << token::SPACE << state.qDot_
+ << token::SPACE << state.qDdot_;
+
+ // Check state of Ostream
+ os.check
+ (
+ "Foam::Ostream& Foam::operator<<(Foam::Ostream&, "
+ "const Foam::RBD::rigidBodyModelState&)"
+ );
+
+ return os;
+}
+
+
+// ************************************************************************* //