diff --git a/applications/test/rigidBodyDynamics/sphericalJoint/sphericalJoint.C b/applications/test/rigidBodyDynamics/sphericalJoint/sphericalJoint.C
index d69fdb54cad4858c82fa624b3cfd0b76129447d6..91a59104ed471933c459d48b687bd3e9737be8be 100644
--- a/applications/test/rigidBodyDynamics/sphericalJoint/sphericalJoint.C
+++ b/applications/test/rigidBodyDynamics/sphericalJoint/sphericalJoint.C
@@ -61,7 +61,7 @@ int main(int argc, char *argv[])
Field<spatialVector> fx(sphericalJoint.nBodies(), Zero);
// Set the angle of the pendulum to 0.3rad
- sphericalJoint.joints()[1]
+ sphericalJoint.joints()[1].unitQuaternion
(
quaternion(quaternion::ZYX, vector(0.3, 0, 0)),
sphericalJoint.state().q()
@@ -87,7 +87,7 @@ int main(int argc, char *argv[])
// using 'gnuplot sphericalJoint.gnuplot'
omegaFile
<< t << " "
- << sphericalJoint.joints()[1]
+ << sphericalJoint.joints()[1].unitQuaternion
(
sphericalJoint.state().q()
).eulerAngles(quaternion::ZYX).x()
diff --git a/src/rigidBodyDynamics/joints/Rs/Rs.C b/src/rigidBodyDynamics/joints/Rs/Rs.C
index e7b284ebedb3151be4986abcb91e56df72097e55..da4bd36183ee1a449d5c05a42a8627b59635eb04 100644
--- a/src/rigidBodyDynamics/joints/Rs/Rs.C
+++ b/src/rigidBodyDynamics/joints/Rs/Rs.C
@@ -84,9 +84,9 @@ Foam::RBD::joints::Rs::~Rs()
// * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * * //
-Foam::label Foam::RBD::joints::Rs::nw() const
+bool Foam::RBD::joints::Rs::unitQuaternion() const
{
- return 1;
+ return true;
}
@@ -97,7 +97,7 @@ void Foam::RBD::joints::Rs::jcalc
const scalarField& qDot
) const
{
- J.X.E() = operator()(q).R().T();
+ J.X.E() = joint::unitQuaternion(q).R().T();
J.X.r() = Zero;
J.S = Zero;
diff --git a/src/rigidBodyDynamics/joints/Rs/Rs.H b/src/rigidBodyDynamics/joints/Rs/Rs.H
index 9672168e8f488afc871f78a026a1239a907b38cc..f689869056c224c29652693912ca4f747ef11b11 100644
--- a/src/rigidBodyDynamics/joints/Rs/Rs.H
+++ b/src/rigidBodyDynamics/joints/Rs/Rs.H
@@ -88,9 +88,8 @@ public:
// Member Functions
- //- Return the number of additional state variable for this joint
- // For the quaternion this is 1 in addition to the 3 stored in q
- virtual label nw() const;
+ //- Return true as this joint describes rotation using a quaternion
+ virtual bool unitQuaternion() const;
//- Update the model state for this joint
virtual void jcalc
diff --git a/src/rigidBodyDynamics/joints/composite/compositeJoint.C b/src/rigidBodyDynamics/joints/composite/compositeJoint.C
index 819d575962bccdd708da2f53d183f539bbe01ae3..a7d1fd887563ba401471323b05202352b9999547 100644
--- a/src/rigidBodyDynamics/joints/composite/compositeJoint.C
+++ b/src/rigidBodyDynamics/joints/composite/compositeJoint.C
@@ -86,12 +86,6 @@ Foam::RBD::joints::composite::~composite()
// * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * * //
-Foam::label Foam::RBD::joints::composite::nw() const
-{
- return last().nw();
-}
-
-
void Foam::RBD::joints::composite::jcalc
(
joint::XSvc& J,
diff --git a/src/rigidBodyDynamics/joints/composite/compositeJoint.H b/src/rigidBodyDynamics/joints/composite/compositeJoint.H
index 80f3496fa7e67d9615f4f93105f04aaf8cfec8f8..5d12bf5025d70be05943b4fdaa16d0d7a6b6f7c3 100644
--- a/src/rigidBodyDynamics/joints/composite/compositeJoint.H
+++ b/src/rigidBodyDynamics/joints/composite/compositeJoint.H
@@ -101,9 +101,6 @@ public:
// Member Functions
- //- Return the number of additional state variables need by this joint
- virtual label nw() const;
-
//- Update the model state for this joint
virtual void jcalc
(
diff --git a/src/rigidBodyDynamics/joints/joint/joint.H b/src/rigidBodyDynamics/joints/joint/joint.H
index eb06419e938e8449760b2a58949b05d457b13bb8..0ea00b678bcd0699eaa16bd109caabcfd7ce40c2 100644
--- a/src/rigidBodyDynamics/joints/joint/joint.H
+++ b/src/rigidBodyDynamics/joints/joint/joint.H
@@ -93,9 +93,6 @@ protected:
//- Index of this joints data in the rigidBodyModel state
label qIndex_;
- //- Index of this joints quaternion data in the rigidBodyModel state
- label wIndex_;
-
private:
@@ -113,12 +110,6 @@ private:
return qIndex_;
}
- //- Allow the rigidBodyModel to set the wIndex for this joint
- label& wIndex()
- {
- return wIndex_;
- }
-
public:
@@ -213,8 +204,8 @@ public:
//- Return the number of degrees of freedom in this joint
inline label nDoF() const;
- //- Return the number of additional state variables need by this joint
- inline virtual label nw() const;
+ //- Return true if this joint describes rotation using a quaternion
+ inline virtual bool unitQuaternion() const;
//- Return the index of this joint in the model
inline label index() const;
@@ -223,10 +214,6 @@ public:
// in the rigidBodyModel state fields
inline label qIndex() const;
- //- Return start index for the additional state variables for this joint
- // in the rigidBodyModel w state field
- inline label wIndex() const;
-
//- Return the joint motion sub-space
inline const List<spatialVector>& S() const;
@@ -245,16 +232,16 @@ public:
// Member Operators
- //- Return the state quaternion for this joint
+ //- Return the unit quaternion for this joint
// if it uses a quaternion representation for rotation
- inline quaternion operator()
+ inline quaternion unitQuaternion
(
const scalarField& q
) const;
- //- Set the state quaternion for this joint
+ //- Set the unit quaternion for this joint
// if it uses a quaternion representation for rotation
- inline void operator()
+ inline void unitQuaternion
(
const quaternion& quat,
scalarField& q
diff --git a/src/rigidBodyDynamics/joints/joint/jointI.H b/src/rigidBodyDynamics/joints/joint/jointI.H
index 090adb18d285470cd873ced3512704e02f3ae204..eb6e36a2ca8408c1505eaad0a46f1a752cafa2bc 100644
--- a/src/rigidBodyDynamics/joints/joint/jointI.H
+++ b/src/rigidBodyDynamics/joints/joint/jointI.H
@@ -29,8 +29,7 @@ inline Foam::RBD::joint::joint(const label nDoF)
:
S_(nDoF),
index_(0),
- qIndex_(0),
- wIndex_(0)
+ qIndex_(0)
{}
@@ -41,9 +40,9 @@ inline Foam::label Foam::RBD::joint::nDoF() const
return S_.size();
}
-inline Foam::label Foam::RBD::joint::nw() const
+inline bool Foam::RBD::joint::unitQuaternion() const
{
- return 0;
+ return false;
}
inline Foam::label Foam::RBD::joint::index() const
@@ -56,11 +55,6 @@ inline Foam::label Foam::RBD::joint::qIndex() const
return qIndex_;
}
-inline Foam::label Foam::RBD::joint::wIndex() const
-{
- return wIndex_;
-}
-
inline const Foam::List<Foam::spatialVector>& Foam::RBD::joint::S() const
{
return S_;
@@ -69,12 +63,12 @@ inline const Foam::List<Foam::spatialVector>& Foam::RBD::joint::S() const
// * * * * * * * * * * * * * * * Member Operators * * * * * * * * * * * * * //
-inline Foam::quaternion Foam::RBD::joint::operator()
+inline Foam::quaternion Foam::RBD::joint::unitQuaternion
(
const scalarField& q
) const
{
- if (nw() != 1)
+ if (!unitQuaternion())
{
FatalErrorInFunction
<< "Attempt to get the quaternion for a non-spherical joint"
@@ -85,13 +79,13 @@ inline Foam::quaternion Foam::RBD::joint::operator()
}
-inline void Foam::RBD::joint::operator()
+inline void Foam::RBD::joint::unitQuaternion
(
const quaternion& quat,
scalarField& q
) const
{
- if (nw() != 1)
+ if (!unitQuaternion())
{
FatalErrorInFunction
<< "Attempt to set quaternion for a non-spherical joint"
diff --git a/src/rigidBodyDynamics/rigidBodyModel/rigidBodyModel.C b/src/rigidBodyDynamics/rigidBodyModel/rigidBodyModel.C
index 9b2a32de71157eea4d6f15813e0ad269d1354bc9..aebfb762edcbea4e4b59df797da6c597ccee6b9a 100644
--- a/src/rigidBodyDynamics/rigidBodyModel/rigidBodyModel.C
+++ b/src/rigidBodyDynamics/rigidBodyModel/rigidBodyModel.C
@@ -52,7 +52,7 @@ void Foam::RBD::rigidBodyModel::initializeRootBody()
XT_.append(spatialTransform());
nDoF_ = 0;
- nw_ = 0;
+ unitQuaternions_ = false;
resizeState();
}
@@ -204,11 +204,10 @@ Foam::label Foam::RBD::rigidBodyModel::join_
joint& curJoint = joints_[joints_.size() - 1];
curJoint.index() = joints_.size() - 1;
curJoint.qIndex() = prevJoint.qIndex() + prevJoint.nDoF();
- curJoint.wIndex() = prevJoint.wIndex() + prevJoint.nw();
// Increment the degrees of freedom
nDoF_ += curJoint.nDoF();
- nw_ += curJoint.nw();
+ unitQuaternions_ = unitQuaternions_ || curJoint.unitQuaternion();
resizeState();
diff --git a/src/rigidBodyDynamics/rigidBodyModel/rigidBodyModel.H b/src/rigidBodyDynamics/rigidBodyModel/rigidBodyModel.H
index 6357458f36d46208c1653e215860645c258ffe2b..8d6c604ca02eaf18a1ddc6bb51810a4e2bc5a2e7 100644
--- a/src/rigidBodyDynamics/rigidBodyModel/rigidBodyModel.H
+++ b/src/rigidBodyDynamics/rigidBodyModel/rigidBodyModel.H
@@ -123,11 +123,8 @@ protected:
// used to set the size of the of joint state fields q, qDot and qDdot.
label nDoF_;
- //- The number of additional state variable needed to describe the joint
- // states. Typically this is the number of quaternion joints for which
- // the 'w' element is additional to the 3-degrees of freedom of the
- // joint.
- label nw_;
+ //- True if any of the joints using quaternions
+ bool unitQuaternions_;
//- Motion restraints
PtrList<restraint> restraints_;
@@ -242,11 +239,8 @@ public:
// used to set the size of the of joint state fields q, qDot and qDdot.
inline label nDoF() const;
- //- Return the number of additional state variable needed to describe
- // the joint states. Typically this is the number of quaternion
- // joints for which the 'w' element is additional to the 3-degrees of
- // freedom of the joint.
- inline label nw() const;
+ //- Return true if any of the joints using quaternions
+ inline bool unitQuaternions() const;
//- Return the acceleration due to gravity
inline const vector& g() const;
diff --git a/src/rigidBodyDynamics/rigidBodyModel/rigidBodyModelI.H b/src/rigidBodyDynamics/rigidBodyModel/rigidBodyModelI.H
index 9cfab5e8cd959702b6ee072c130f5729c3beaa88..b2fc636ff5e090007db1979e11f8a837ecaa8878 100644
--- a/src/rigidBodyDynamics/rigidBodyModel/rigidBodyModelI.H
+++ b/src/rigidBodyDynamics/rigidBodyModel/rigidBodyModelI.H
@@ -58,9 +58,9 @@ inline Foam::label Foam::RBD::rigidBodyModel::nDoF() const
}
-inline Foam::label Foam::RBD::rigidBodyModel::nw() const
+inline bool Foam::RBD::rigidBodyModel::unitQuaternions() const
{
- return nw_;
+ return unitQuaternions_;
}
diff --git a/src/rigidBodyDynamics/rigidBodySolvers/rigidBodySolver/rigidBodySolver.C b/src/rigidBodyDynamics/rigidBodySolvers/rigidBodySolver/rigidBodySolver.C
index 9156db842cded8b6a3b4edfbc27ab1864f8775db..d161e6f68110572ded89a812b5e2f38a024ce404 100644
--- a/src/rigidBodyDynamics/rigidBodySolvers/rigidBodySolver/rigidBodySolver.C
+++ b/src/rigidBodyDynamics/rigidBodySolvers/rigidBodySolver/rigidBodySolver.C
@@ -56,13 +56,13 @@ Foam::RBD::rigidBodySolver::~rigidBodySolver()
void Foam::RBD::rigidBodySolver::correctQuaternionJoints()
{
- if (model_.nw())
+ if (model_.unitQuaternions())
{
forAll (model_.joints(), i)
{
const label qi = model_.joints()[i].qIndex();
- if (model_.joints()[i].nw() == 1)
+ if (model_.joints()[i].unitQuaternion())
{
// Calculate the change in the normalized quaternion axis
vector dv((q().block<vector>(qi) - q0().block<vector>(qi)));
@@ -76,11 +76,11 @@ void Foam::RBD::rigidBodySolver::correctQuaternionJoints()
// Transform the previous time quaternion
quaternion quat
(
- normalize(model_.joints()[i](q0())*dQuat)
+ normalize(model_.joints()[i].unitQuaternion(q0())*dQuat)
);
// Update the joint state
- model_.joints()[i](quat, q());
+ model_.joints()[i].unitQuaternion(quat, q());
}
}
}