Commit 8df5ca61 authored by Henry Weller's avatar Henry Weller
Browse files

rigidBodyDynamics/bodies/jointBody: Special body to support elements of composite joints

parent 0c48b153
bodies0
bodies
{
pendulum
{
......@@ -10,12 +10,12 @@ bodies0
transform (1 0 0 0 1 0 0 0 1) (0 0 0);
joint
{
type Rz;
type floating;
}
}
}
bodies
bodies0
{
hinge
{
......
bodies/rigidBody/rigidBody.C
bodies/masslessBody/masslessBody.C
bodies/jointBody/jointBody.C
bodies/compositeBody/compositeBody.C
bodies/subBody/subBody.C
bodies/sphere/sphere.C
......
/*---------------------------------------------------------------------------*\
========= |
\\ / 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 "jointBody.H"
#include "addToRunTimeSelectionTable.H"
// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
namespace Foam
{
namespace RBD
{
defineTypeNameAndDebug(jointBody, 0);
addToRunTimeSelectionTable
(
rigidBody,
jointBody,
dictionary
);
}
}
// * * * * * * * * * * * * * * * * Constructors * * * * * * * * * * * * * * //
Foam::autoPtr<Foam::RBD::rigidBody> Foam::RBD::jointBody::clone() const
{
return autoPtr<rigidBody>(new jointBody(*this));
}
// * * * * * * * * * * * * * * * * Destructor * * * * * * * * * * * * * * * //
Foam::RBD::jointBody::~jointBody()
{}
// ************************************************************************* //
/*---------------------------------------------------------------------------*\3
========= |
\\ / 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::jointBody
Description
SourceFiles
jointBodyI.H
jointBody.C
\*---------------------------------------------------------------------------*/
#ifndef RBD_jointBody_H
#define RBD_jointBody_H
#include "masslessBody.H"
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
namespace Foam
{
namespace RBD
{
/*---------------------------------------------------------------------------*\
Class jointBody Declaration
\*---------------------------------------------------------------------------*/
class jointBody
:
public masslessBody
{
public:
//- Runtime type information
TypeName("jointBody");
// Constructors
//- Construct a joint body
inline jointBody();
//- Construct a named joint body
inline jointBody(const word& name);
//- Construct from dictionary
inline jointBody
(
const word& name,
const dictionary& dict
);
//- Return clone of this jointBody
virtual autoPtr<rigidBody> clone() const;
//- Destructor
virtual ~jointBody();
};
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
} // End namespace RBD
} // End namespace Foam
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
#include "jointBodyI.H"
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
#endif
// ************************************************************************* //
/*---------------------------------------------------------------------------*\
========= |
\\ / 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/>.
\*---------------------------------------------------------------------------*/
// * * * * * * * * * * * * * * * * Constructors * * * * * * * * * * * * * * //
inline Foam::RBD::jointBody::jointBody()
{}
inline Foam::RBD::jointBody::jointBody(const word& name)
:
masslessBody(name)
{}
inline Foam::RBD::jointBody::jointBody
(
const word& name,
const dictionary& dict
)
:
masslessBody(name, dict)
{}
// ************************************************************************* //
......@@ -26,6 +26,7 @@ License
#include "rigidBodyModel.H"
#include "masslessBody.H"
#include "compositeBody.H"
#include "jointBody.H"
#include "nullJoint.H"
// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
......@@ -215,7 +216,7 @@ Foam::label Foam::RBD::rigidBodyModel::join
label parent = parentID;
joints::composite& cJoint = cJointPtr();
// For all but the final joint in the set add a masslessBody with the
// For all but the final joint in the set add a jointBody with the
// joint and transform
for (label j=0; j<cJoint.size()-1; j++)
{
......@@ -224,7 +225,7 @@ Foam::label Foam::RBD::rigidBodyModel::join
parent,
j == 0 ? XT : spatialTransform(),
cJoint[j].clone(),
autoPtr<rigidBody>(new masslessBody)
autoPtr<rigidBody>(new jointBody)
);
}
......@@ -341,24 +342,26 @@ void Foam::RBD::rigidBodyModel::write(Ostream& os) const
for (label i=1; i<nBodies(); i++)
{
os << indent << bodies_[i].name() << nl
<< indent << token::BEGIN_BLOCK << incrIndent << endl;
if (!isType<jointBody>(bodies_[i]))
{
os << indent << bodies_[i].name() << nl
<< indent << token::BEGIN_BLOCK << incrIndent << endl;
bodies_[i].write(os);
bodies_[i].write(os);
os.writeKeyword("parent")
<< bodies_[lambda_[i]].name() << token::END_STATEMENT << nl;
os.writeKeyword("parent")
<< bodies_[lambda_[i]].name() << token::END_STATEMENT << nl;
os.writeKeyword("transform")
<< XT_[i] << token::END_STATEMENT << nl;
os.writeKeyword("transform")
<< XT_[i] << token::END_STATEMENT << nl;
os << indent << "joint" << nl << joints_[i] << endl;
os << indent << "joint" << nl << joints_[i] << endl;
os << decrIndent << indent << token::END_BLOCK << endl;
os << decrIndent << indent << token::END_BLOCK << endl;
}
}
forAll (mergedBodies_, i)
forAll(mergedBodies_, i)
{
os << indent << mergedBodies_[i].name() << nl
<< indent << token::BEGIN_BLOCK << incrIndent << endl;
......
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