diff --git a/src/sixDoFRigidBodyMotion/Make/files b/src/sixDoFRigidBodyMotion/Make/files
index 022baa43df6e0ebe4c8f36a2193cf8ca7c56418c..75435920ea441c167af884370570c97ad5eae050 100644
--- a/src/sixDoFRigidBodyMotion/Make/files
+++ b/src/sixDoFRigidBodyMotion/Make/files
@@ -3,7 +3,7 @@ sixDoFRigidBodyMotion/sixDoFRigidBodyMotionIO.C
sixDoFRigidBodyMotion/sixDoFRigidBodyMotionState.C
sixDoFRigidBodyMotion/sixDoFRigidBodyMotionStateIO.C
-restraints = sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint
+restraints = sixDoFRigidBodyMotion/restraints
$(restraints)/sixDoFRigidBodyMotionRestraint/sixDoFRigidBodyMotionRestraint.C
$(restraints)/sixDoFRigidBodyMotionRestraint/sixDoFRigidBodyMotionRestraintNew.C
@@ -12,7 +12,7 @@ $(restraints)/linearSpring/linearSpring.C
$(restraints)/sphericalAngularSpring/sphericalAngularSpring.C
$(restraints)/tabulatedAxialAngularSpring/tabulatedAxialAngularSpring.C
-constraints = sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint
+constraints = sixDoFRigidBodyMotion/constraints
$(constraints)/sixDoFRigidBodyMotionConstraint/sixDoFRigidBodyMotionConstraint.C
$(constraints)/sixDoFRigidBodyMotionConstraint/sixDoFRigidBodyMotionConstraintNew.C
diff --git a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedAxis/fixedAxis.C b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/constraints/fixedAxis/fixedAxis.C
similarity index 60%
rename from src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedAxis/fixedAxis.C
rename to src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/constraints/fixedAxis/fixedAxis.C
index 0e2737842535eba35bbd5a64b08e37c9a1a2b701..db7b66a6ff993e33abb9c248b43a83e00e774c8d 100644
--- a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedAxis/fixedAxis.C
+++ b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/constraints/fixedAxis/fixedAxis.C
@@ -49,10 +49,11 @@ namespace sixDoFRigidBodyMotionConstraints
Foam::sixDoFRigidBodyMotionConstraints::fixedAxis::fixedAxis
(
+ const word& name,
const dictionary& sDoFRBMCDict
)
:
- sixDoFRigidBodyMotionConstraint(sDoFRBMCDict),
+ sixDoFRigidBodyMotionConstraint(name, sDoFRBMCDict),
fixedAxis_()
{
read(sDoFRBMCDict);
@@ -67,79 +68,19 @@ Foam::sixDoFRigidBodyMotionConstraints::fixedAxis::~fixedAxis()
// * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * * //
-bool Foam::sixDoFRigidBodyMotionConstraints::fixedAxis::constrain
+void Foam::sixDoFRigidBodyMotionConstraints::fixedAxis::constrainTranslation
(
- const sixDoFRigidBodyMotion& motion,
- const vector& existingConstraintForce,
- const vector& existingConstraintMoment,
- scalar deltaT,
- vector& constraintPosition,
- vector& constraintForceIncrement,
- vector& constraintMomentIncrement
+ pointConstraint& pc
) const
-{
- constraintMomentIncrement = vector::zero;
-
- vector predictedDir = motion.predictedOrientation
- (
- fixedAxis_,
- existingConstraintMoment,
- deltaT
- );
-
- scalar theta = acos(min(predictedDir & fixedAxis_, 1.0));
-
- vector rotationAxis = fixedAxis_ ^ predictedDir;
-
- scalar magRotationAxis = mag(rotationAxis);
-
- if (magRotationAxis > VSMALL)
- {
- rotationAxis /= magRotationAxis;
-
- const tensor& Q = motion.orientation();
-
- // Transform rotationAxis to body local system
- rotationAxis = Q.T() & rotationAxis;
-
- constraintMomentIncrement =
- -relaxationFactor_
- *(motion.momentOfInertia() & rotationAxis)
- *theta/sqr(deltaT);
-
- // Transform moment increment to global system
- constraintMomentIncrement = Q & constraintMomentIncrement;
-
- // Remove any moment that is around the fixedAxis_
- constraintMomentIncrement -=
- (constraintMomentIncrement & fixedAxis_)*fixedAxis_;
- }
-
- constraintPosition = motion.centreOfMass();
-
- constraintForceIncrement = vector::zero;
-
- bool converged(mag(theta) < tolerance_);
+{}
- if (sixDoFRigidBodyMotionConstraint::debug)
- {
- Info<< " angle " << theta
- << " force " << constraintForceIncrement
- << " moment " << constraintMomentIncrement;
-
- if (converged)
- {
- Info<< " converged";
- }
- else
- {
- Info<< " not converged";
- }
-
- Info<< endl;
- }
- return converged;
+void Foam::sixDoFRigidBodyMotionConstraints::fixedAxis::constrainRotation
+(
+ pointConstraint& pc
+) const
+{
+ pc.combine(pointConstraint(Tuple2<label, vector>(2, vector(0,1,0))));
}
diff --git a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedAxis/fixedAxis.H b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/constraints/fixedAxis/fixedAxis.H
similarity index 83%
rename from src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedAxis/fixedAxis.H
rename to src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/constraints/fixedAxis/fixedAxis.H
index 7772833f4d53fccb4f81be74b404cc92c9433e2e..e2a2cc26da0ebff96788e1188869933228072678 100644
--- a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedAxis/fixedAxis.H
+++ b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/constraints/fixedAxis/fixedAxis.H
@@ -37,8 +37,6 @@ SourceFiles
#define fixedAxis_H
#include "sixDoFRigidBodyMotionConstraint.H"
-#include "point.H"
-#include "tensor.H"
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
@@ -74,6 +72,7 @@ public:
//- Construct from components
fixedAxis
(
+ const word& name,
const dictionary& sDoFRBMCDict
);
@@ -93,19 +92,11 @@ public:
// Member Functions
- //- Calculate the constraint position, force and moment.
- // Global reference frame vectors. Returns boolean stating
- // whether the constraint been converged to tolerance.
- virtual bool constrain
- (
- const sixDoFRigidBodyMotion& motion,
- const vector& existingConstraintForce,
- const vector& existingConstraintMoment,
- scalar deltaT,
- vector& constraintPosition,
- vector& constraintForceIncrement,
- vector& constraintMomentIncrement
- ) const;
+ //- Apply and accumulate translational constraints
+ virtual void constrainTranslation(pointConstraint&) const;
+
+ //- Apply and accumulate rotational constraints
+ virtual void constrainRotation(pointConstraint&) const;
//- Update properties from given dictionary
virtual bool read(const dictionary& sDoFRBMCCoeff);
diff --git a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedLine/fixedLine.C b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/constraints/fixedLine/fixedLine.C
similarity index 63%
rename from src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedLine/fixedLine.C
rename to src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/constraints/fixedLine/fixedLine.C
index f77afa2b10ade1dc45492a1995ab8dd67f2fd1da..5aa4d669daa7d1ef5400ee1ac884bdc09e831320 100644
--- a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedLine/fixedLine.C
+++ b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/constraints/fixedLine/fixedLine.C
@@ -49,11 +49,11 @@ namespace sixDoFRigidBodyMotionConstraints
Foam::sixDoFRigidBodyMotionConstraints::fixedLine::fixedLine
(
+ const word& name,
const dictionary& sDoFRBMCDict
)
:
- sixDoFRigidBodyMotionConstraint(sDoFRBMCDict),
- refPt_(),
+ sixDoFRigidBodyMotionConstraint(name, sDoFRBMCDict),
dir_()
{
read(sDoFRBMCDict);
@@ -68,65 +68,20 @@ Foam::sixDoFRigidBodyMotionConstraints::fixedLine::~fixedLine()
// * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * * //
-bool Foam::sixDoFRigidBodyMotionConstraints::fixedLine::constrain
+void Foam::sixDoFRigidBodyMotionConstraints::fixedLine::constrainTranslation
(
- const sixDoFRigidBodyMotion& motion,
- const vector& existingConstraintForce,
- const vector& existingConstraintMoment,
- scalar deltaT,
- vector& constraintPosition,
- vector& constraintForceIncrement,
- vector& constraintMomentIncrement
+ pointConstraint& pc
) const
{
- point predictedPosition = motion.predictedPosition
- (
- refPt_,
- existingConstraintForce,
- existingConstraintMoment,
- deltaT
- );
-
- constraintPosition = motion.currentPosition(refPt_);
-
- // Info<< "current position " << constraintPosition << nl
- // << "next predictedPosition " << predictedPosition
- // << endl;
-
- // Vector from reference point to predicted point
- vector rC = predictedPosition - refPt_;
-
- vector error = rC - ((rC) & dir_)*dir_;
-
- // Info<< "error " << error << endl;
-
- constraintForceIncrement =
- -relaxationFactor_*error*motion.mass()/sqr(deltaT);
-
- constraintMomentIncrement = vector::zero;
-
- bool converged(mag(error) < tolerance_);
+ pc.combine(pointConstraint(Tuple2<label, vector>(2, dir_)));
+}
- if (sixDoFRigidBodyMotionConstraint::debug)
- {
- Info<< " error " << error
- << " force " << constraintForceIncrement
- << " moment " << constraintMomentIncrement;
-
- if (converged)
- {
- Info<< " converged";
- }
- else
- {
- Info<< " not converged";
- }
-
- Info<< endl;
- }
- return converged;
-}
+void Foam::sixDoFRigidBodyMotionConstraints::fixedLine::constrainRotation
+(
+ pointConstraint& pc
+) const
+{}
bool Foam::sixDoFRigidBodyMotionConstraints::fixedLine::read
@@ -136,8 +91,6 @@ bool Foam::sixDoFRigidBodyMotionConstraints::fixedLine::read
{
sixDoFRigidBodyMotionConstraint::read(sDoFRBMCDict);
- sDoFRBMCCoeffs_.lookup("refPoint") >> refPt_;
-
sDoFRBMCCoeffs_.lookup("direction") >> dir_;
scalar magDir(mag(dir_));
@@ -168,9 +121,6 @@ void Foam::sixDoFRigidBodyMotionConstraints::fixedLine::write
Ostream& os
) const
{
- os.writeKeyword("refPoint")
- << refPt_ << token::END_STATEMENT << nl;
-
os.writeKeyword("direction")
<< dir_ << token::END_STATEMENT << nl;
}
diff --git a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedLine/fixedLine.H b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/constraints/fixedLine/fixedLine.H
similarity index 81%
rename from src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedLine/fixedLine.H
rename to src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/constraints/fixedLine/fixedLine.H
index 8d0710e0908780deb5364a99e63c4f5ab695e388..2e48f564a74a068d1642b308cea38d4b900f9d52 100644
--- a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedLine/fixedLine.H
+++ b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/constraints/fixedLine/fixedLine.H
@@ -37,7 +37,6 @@ SourceFiles
#define fixedLine_H
#include "sixDoFRigidBodyMotionConstraint.H"
-#include "point.H"
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
@@ -57,9 +56,6 @@ class fixedLine
{
// Private data
- //- Reference point for the constraining line
- point refPt_;
-
//- Direction of the constraining line
vector dir_;
@@ -75,6 +71,7 @@ public:
//- Construct from components
fixedLine
(
+ const word& name,
const dictionary& sDoFRBMCDict
);
@@ -94,19 +91,11 @@ public:
// Member Functions
- //- Calculate the constraint position, force and moment.
- // Global reference frame vectors. Returns boolean stating
- // whether the constraint been converged to tolerance.
- virtual bool constrain
- (
- const sixDoFRigidBodyMotion& motion,
- const vector& existingConstraintForce,
- const vector& existingConstraintMoment,
- scalar deltaT,
- vector& constraintPosition,
- vector& constraintForceIncrement,
- vector& constraintMomentIncrement
- ) const;
+ //- Apply and accumulate translational constraints
+ virtual void constrainTranslation(pointConstraint&) const;
+
+ //- Apply and accumulate rotational constraints
+ virtual void constrainRotation(pointConstraint&) const;
//- Update properties from given dictionary
virtual bool read(const dictionary& sDoFRBMCCoeff);
diff --git a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedOrientation/fixedOrientation.C b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/constraints/fixedOrientation/fixedOrientation.C
similarity index 51%
rename from src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedOrientation/fixedOrientation.C
rename to src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/constraints/fixedOrientation/fixedOrientation.C
index c66bdbb3623383e897bf77d359c2ca110314030e..5d4cc8cff045eb32764069b25d880556dc7bacc1 100644
--- a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedOrientation/fixedOrientation.C
+++ b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/constraints/fixedOrientation/fixedOrientation.C
@@ -49,10 +49,11 @@ namespace sixDoFRigidBodyMotionConstraints
Foam::sixDoFRigidBodyMotionConstraints::fixedOrientation::fixedOrientation
(
+ const word& name,
const dictionary& sDoFRBMCDict
)
:
- sixDoFRigidBodyMotionConstraint(sDoFRBMCDict)
+ sixDoFRigidBodyMotionConstraint(name, sDoFRBMCDict)
{
read(sDoFRBMCDict);
}
@@ -66,102 +67,21 @@ Foam::sixDoFRigidBodyMotionConstraints::fixedOrientation::~fixedOrientation()
// * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * * //
-bool Foam::sixDoFRigidBodyMotionConstraints::fixedOrientation::constrain
+void Foam::sixDoFRigidBodyMotionConstraints::fixedOrientation::
+constrainTranslation
(
- const sixDoFRigidBodyMotion& motion,
- const vector& existingConstraintForce,
- const vector& existingConstraintMoment,
- scalar deltaT,
- vector& constraintPosition,
- vector& constraintForceIncrement,
- vector& constraintMomentIncrement
+ pointConstraint& pc
) const
-{
- constraintMomentIncrement = vector::zero;
-
- scalar maxTheta = -SMALL;
-
- for (direction cmpt=0; cmpt<vector::nComponents; cmpt++)
- {
- vector axis = vector::zero;
-
- axis[cmpt] = 1;
-
- vector refDir = vector::zero;
-
- refDir[(cmpt + 1) % 3] = 1;
-
- vector predictedDir = motion.predictedOrientation
- (
- refDir,
- existingConstraintMoment,
- deltaT
- );
-
- // Removing any axis component from predictedDir
- predictedDir -= (axis & predictedDir)*axis;
-
- scalar theta = GREAT;
-
- scalar magPredictedDir = mag(predictedDir);
-
- if (magPredictedDir > VSMALL)
- {
- predictedDir /= magPredictedDir;
-
- theta = acos(min(predictedDir & refDir, 1.0));
-
- // Recalculating axis to give correct sign to angle
- axis = (refDir ^ predictedDir);
-
- scalar magAxis = mag(axis);
-
- if (magAxis > VSMALL)
- {
- axis /= magAxis;
- }
- else
- {
- axis = vector::zero;
- }
- }
-
- if (theta > maxTheta)
- {
- maxTheta = theta;
- }
-
- constraintMomentIncrement +=
- -relaxationFactor_
- *theta*axis
- *motion.momentOfInertia()[cmpt]/sqr(deltaT);
- }
-
- constraintPosition = motion.centreOfMass();
-
- constraintForceIncrement = vector::zero;
-
- bool converged(mag(maxTheta) < tolerance_);
-
- if (sixDoFRigidBodyMotionConstraint::debug)
- {
- Info<< " max angle " << maxTheta
- << " force " << constraintForceIncrement
- << " moment " << constraintMomentIncrement;
-
- if (converged)
- {
- Info<< " converged";
- }
- else
- {
- Info<< " not converged";
- }
+{}
- Info<< endl;
- }
- return converged;
+void Foam::sixDoFRigidBodyMotionConstraints::fixedOrientation::
+constrainRotation
+(
+ pointConstraint& pc
+) const
+{
+ pc.combine(pointConstraint(Tuple2<label, vector>(3, vector::zero)));
}
diff --git a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedOrientation/fixedOrientation.H b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/constraints/fixedOrientation/fixedOrientation.H
similarity index 79%
rename from src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedOrientation/fixedOrientation.H
rename to src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/constraints/fixedOrientation/fixedOrientation.H
index fcf7a62167ac24d29205cc07a68cd133c0d4a89a..b41945837a82eaa85779db2d9df568e27d06df28 100644
--- a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedOrientation/fixedOrientation.H
+++ b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/constraints/fixedOrientation/fixedOrientation.H
@@ -25,9 +25,7 @@ Class
Foam::sixDoFRigidBodyMotionConstraints::fixedOrientation
Description
- sixDoFRigidBodyMotionConstraint. Orientation of body fixed global
- space. Only valid where the predicted deviation from alignment is
- < 90 degrees.
+ Fix orientation of body in global space.
SourceFiles
fixedOrientation.C
@@ -38,8 +36,6 @@ SourceFiles
#define fixedOrientation_H
#include "sixDoFRigidBodyMotionConstraint.H"
-#include "point.H"
-#include "tensor.H"
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
@@ -69,6 +65,7 @@ public:
//- Construct from components
fixedOrientation
(
+ const word& name,
const dictionary& sDoFRBMCDict
);
@@ -88,19 +85,11 @@ public:
// Member Functions
- //- Calculate the constraint position, force and moment.
- // Global reference frame vectors. Returns boolean stating
- // whether the constraint been converged to tolerance.
- virtual bool constrain
- (
- const sixDoFRigidBodyMotion& motion,
- const vector& existingConstraintForce,
- const vector& existingConstraintMoment,
- scalar deltaT,
- vector& constraintPosition,
- vector& constraintForceIncrement,
- vector& constraintMomentIncrement
- ) const;
+ //- Apply and accumulate translational constraints
+ virtual void constrainTranslation(pointConstraint&) const;
+
+ //- Apply and accumulate rotational constraints
+ virtual void constrainRotation(pointConstraint&) const;
//- Update properties from given dictionary
virtual bool read(const dictionary& sDoFRBMCCoeff);
diff --git a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedPlane/fixedPlane.C b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/constraints/fixedPlane/fixedPlane.C
similarity index 56%
rename from src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedPlane/fixedPlane.C
rename to src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/constraints/fixedPlane/fixedPlane.C
index 263694ee3f2ee1a8c449055844088dcb1632e88f..edcde4d07c22a35b40ee01d6b2cc2dc00e3526d0 100644
--- a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedPlane/fixedPlane.C
+++ b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/constraints/fixedPlane/fixedPlane.C
@@ -49,11 +49,12 @@ namespace sixDoFRigidBodyMotionConstraints
Foam::sixDoFRigidBodyMotionConstraints::fixedPlane::fixedPlane
(
+ const word& name,
const dictionary& sDoFRBMCDict
)
:
- sixDoFRigidBodyMotionConstraint(sDoFRBMCDict),
- fixedPlane_(vector::one)
+ sixDoFRigidBodyMotionConstraint(name, sDoFRBMCDict),
+ normal_(vector::zero)
{
read(sDoFRBMCDict);
}
@@ -67,66 +68,20 @@ Foam::sixDoFRigidBodyMotionConstraints::fixedPlane::~fixedPlane()
// * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * * //
-bool Foam::sixDoFRigidBodyMotionConstraints::fixedPlane::constrain
+void Foam::sixDoFRigidBodyMotionConstraints::fixedPlane::constrainTranslation
(
- const sixDoFRigidBodyMotion& motion,
- const vector& existingConstraintForce,
- const vector& existingConstraintMoment,
- scalar deltaT,
- vector& constraintPosition,
- vector& constraintForceIncrement,
- vector& constraintMomentIncrement
+ pointConstraint& pc
) const
{
- const point& refPt = fixedPlane_.refPoint();
-
- const vector& n = fixedPlane_.normal();
-
- point predictedPosition = motion.predictedPosition
- (
- refPt,
- existingConstraintForce,
- existingConstraintMoment,
- deltaT
- );
-
- constraintPosition = motion.currentPosition(refPt);
-
- // Info<< "current position " << constraintPosition << nl
- // << "next predictedPosition " << predictedPosition
- // << endl;
-
- vector error = ((predictedPosition - refPt) & n)*n;
-
- // Info<< "error " << error << endl;
-
- constraintForceIncrement =
- -relaxationFactor_*error*motion.mass()/sqr(deltaT);
-
- constraintMomentIncrement = vector::zero;
-
- bool converged(mag(error) < tolerance_);
-
- if (sixDoFRigidBodyMotionConstraint::debug)
- {
- Info<< " error " << error
- << " force " << constraintForceIncrement
- << " moment " << constraintMomentIncrement;
-
- if (converged)
- {
- Info<< " converged";
- }
- else
- {
- Info<< " not converged";
- }
+ pc.applyConstraint(normal_);
+}
- Info<< endl;
- }
- return converged;
-}
+void Foam::sixDoFRigidBodyMotionConstraints::fixedPlane::constrainRotation
+(
+ pointConstraint& pc
+) const
+{}
bool Foam::sixDoFRigidBodyMotionConstraints::fixedPlane::read
@@ -136,11 +91,7 @@ bool Foam::sixDoFRigidBodyMotionConstraints::fixedPlane::read
{
sixDoFRigidBodyMotionConstraint::read(sDoFRBMCDict);
- point refPt = sDoFRBMCCoeffs_.lookup("refPoint");
-
- vector normal = sDoFRBMCCoeffs_.lookup("normal");
-
- fixedPlane_ = plane(refPt, normal);
+ normal_ = sDoFRBMCCoeffs_.lookup("normal");
return true;
}
@@ -151,11 +102,8 @@ void Foam::sixDoFRigidBodyMotionConstraints::fixedPlane::write
Ostream& os
) const
{
- os.writeKeyword("refPoint")
- << fixedPlane_.refPoint() << token::END_STATEMENT << nl;
-
os.writeKeyword("normal")
- << fixedPlane_.normal() << token::END_STATEMENT << nl;
+ << normal_ << token::END_STATEMENT << nl;
}
// ************************************************************************* //
diff --git a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedPlane/fixedPlane.H b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/constraints/fixedPlane/fixedPlane.H
similarity index 80%
rename from src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedPlane/fixedPlane.H
rename to src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/constraints/fixedPlane/fixedPlane.H
index b7f100ac5eae4e7dfd6d0d556dbe702fe8cdf055..82ed9fab9e714dfd32c32556711fb95d6cad256b 100644
--- a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedPlane/fixedPlane.H
+++ b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/constraints/fixedPlane/fixedPlane.H
@@ -37,7 +37,6 @@ SourceFiles
#define fixedPlane_H
#include "sixDoFRigidBodyMotionConstraint.H"
-#include "plane.H"
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
@@ -57,9 +56,8 @@ class fixedPlane
{
// Private data
- //- Plane which the transformed reference point is constrained
- // to move along
- plane fixedPlane_;
+ //- Normal to plane
+ vector normal_;
public:
@@ -73,6 +71,7 @@ public:
//- Construct from components
fixedPlane
(
+ const word& name,
const dictionary& sDoFRBMCDict
);
@@ -92,19 +91,11 @@ public:
// Member Functions
- //- Calculate the constraint position, force and moment.
- // Global reference frame vectors. Returns boolean stating
- // whether the constraint been converged to tolerance.
- virtual bool constrain
- (
- const sixDoFRigidBodyMotion& motion,
- const vector& existingConstraintForce,
- const vector& existingConstraintMoment,
- scalar deltaT,
- vector& constraintPosition,
- vector& constraintForceIncrement,
- vector& constraintMomentIncrement
- ) const;
+ //- Apply and accumulate translational constraints
+ virtual void constrainTranslation(pointConstraint&) const;
+
+ //- Apply and accumulate rotational constraints
+ virtual void constrainRotation(pointConstraint&) const;
//- Update properties from given dictionary
virtual bool read(const dictionary& sDoFRBMCCoeff);
diff --git a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedPoint/fixedPoint.C b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/constraints/fixedPoint/fixedPoint.C
similarity index 56%
rename from src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedPoint/fixedPoint.C
rename to src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/constraints/fixedPoint/fixedPoint.C
index 084334868dbee3ab2cc9a8f20b9625e29c22666c..c0f4bbf311665af81d24f8a07832bebf62c3e562 100644
--- a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedPoint/fixedPoint.C
+++ b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/constraints/fixedPoint/fixedPoint.C
@@ -49,10 +49,11 @@ namespace sixDoFRigidBodyMotionConstraints
Foam::sixDoFRigidBodyMotionConstraints::fixedPoint::fixedPoint
(
+ const word& name,
const dictionary& sDoFRBMCDict
)
:
- sixDoFRigidBodyMotionConstraint(sDoFRBMCDict),
+ sixDoFRigidBodyMotionConstraint(name, sDoFRBMCDict),
fixedPoint_()
{
read(sDoFRBMCDict);
@@ -67,75 +68,20 @@ Foam::sixDoFRigidBodyMotionConstraints::fixedPoint::~fixedPoint()
// * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * * //
-bool Foam::sixDoFRigidBodyMotionConstraints::fixedPoint::constrain
+void Foam::sixDoFRigidBodyMotionConstraints::fixedPoint::constrainTranslation
(
- const sixDoFRigidBodyMotion& motion,
- const vector& existingConstraintForce,
- const vector& existingConstraintMoment,
- scalar deltaT,
- vector& constraintPosition,
- vector& constraintForceIncrement,
- vector& constraintMomentIncrement
+ pointConstraint& pc
) const
{
- point predictedPosition = motion.predictedPosition
- (
- fixedPoint_,
- existingConstraintForce,
- existingConstraintMoment,
- deltaT
- );
-
- constraintPosition = motion.currentPosition(fixedPoint_);
-
- // Info<< "current position " << constraintPosition << nl
- // << "next predictedPosition " << predictedPosition
- // << endl;
-
- vector error = predictedPosition - fixedPoint_;
-
- // Info<< "error " << error << endl;
-
- // Correction force derived from Lagrange multiplier:
- // G = -lambda*grad(sigma)
- // where
- // sigma = mag(error) = 0
- // so
- // grad(sigma) = error/mag(error)
- // Solving for lambda using the SHAKE methodology gives
- // lambda = mass*mag(error)/sqr(deltaT)
- // This is only strictly applicable (i.e. will converge in one
- // iteration) to constraints at the centre of mass. Everything
- // else will need to iterate, and may need under-relaxed to be
- // stable.
-
- constraintForceIncrement =
- -relaxationFactor_*error*motion.mass()/sqr(deltaT);
-
- constraintMomentIncrement = vector::zero;
-
- bool converged(mag(error) < tolerance_);
-
- if (sixDoFRigidBodyMotionConstraint::debug)
- {
- Info<< " error " << error
- << " force " << constraintForceIncrement
- << " moment " << constraintMomentIncrement;
-
- if (converged)
- {
- Info<< " converged";
- }
- else
- {
- Info<< " not converged";
- }
+ pc.combine(pointConstraint(Tuple2<label, vector>(3, vector::zero)));
+}
- Info<< endl;
- }
- return converged;
-}
+void Foam::sixDoFRigidBodyMotionConstraints::fixedPoint::constrainRotation
+(
+ pointConstraint& pc
+) const
+{}
bool Foam::sixDoFRigidBodyMotionConstraints::fixedPoint::read
diff --git a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedPoint/fixedPoint.H b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/constraints/fixedPoint/fixedPoint.H
similarity index 83%
rename from src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedPoint/fixedPoint.H
rename to src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/constraints/fixedPoint/fixedPoint.H
index c361d3a8b3d0ad730ec293f2fdc39b02c50f379a..4745adc8a9e6af28fcb9d5c8778ff54bd7fb23b6 100644
--- a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedPoint/fixedPoint.H
+++ b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/constraints/fixedPoint/fixedPoint.H
@@ -25,7 +25,7 @@ Class
Foam::sixDoFRigidBodyMotionConstraints::fixedPoint
Description
- sixDoFRigidBodyMotionConstraint. Point fixed in space.
+ Point fixed in space.
SourceFiles
fixedPoint.C
@@ -74,6 +74,7 @@ public:
//- Construct from components
fixedPoint
(
+ const word& name,
const dictionary& sDoFRBMCDict
);
@@ -93,19 +94,11 @@ public:
// Member Functions
- //- Calculate the constraint position, force and moment.
- // Global reference frame vectors. Returns boolean stating
- // whether the constraint been converged to tolerance.
- virtual bool constrain
- (
- const sixDoFRigidBodyMotion& motion,
- const vector& existingConstraintForce,
- const vector& existingConstraintMoment,
- scalar deltaT,
- vector& constraintPosition,
- vector& constraintForceIncrement,
- vector& constraintMomentIncrement
- ) const;
+ //- Apply and accumulate translational constraints
+ virtual void constrainTranslation(pointConstraint&) const;
+
+ //- Apply and accumulate rotational constraints
+ virtual void constrainRotation(pointConstraint&) const;
//- Update properties from given dictionary
virtual bool read(const dictionary& sDoFRBMCCoeff);
diff --git a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/sixDoFRigidBodyMotionConstraint/sixDoFRigidBodyMotionConstraint.C b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/constraints/sixDoFRigidBodyMotionConstraint/sixDoFRigidBodyMotionConstraint.C
similarity index 77%
rename from src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/sixDoFRigidBodyMotionConstraint/sixDoFRigidBodyMotionConstraint.C
rename to src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/constraints/sixDoFRigidBodyMotionConstraint/sixDoFRigidBodyMotionConstraint.C
index 22299c7f3c8cc3f2dc1b7fca94aa554a3c975665..6a497d4de5abe9bf8407e1c5c2634f98362ea1c1 100644
--- a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/sixDoFRigidBodyMotionConstraint/sixDoFRigidBodyMotionConstraint.C
+++ b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/constraints/sixDoFRigidBodyMotionConstraint/sixDoFRigidBodyMotionConstraint.C
@@ -29,9 +29,8 @@ License
namespace Foam
{
-defineTypeNameAndDebug(sixDoFRigidBodyMotionConstraint, 0);
-
-defineRunTimeSelectionTable(sixDoFRigidBodyMotionConstraint, dictionary);
+ defineTypeNameAndDebug(sixDoFRigidBodyMotionConstraint, 0);
+ defineRunTimeSelectionTable(sixDoFRigidBodyMotionConstraint, dictionary);
}
@@ -39,9 +38,11 @@ defineRunTimeSelectionTable(sixDoFRigidBodyMotionConstraint, dictionary);
Foam::sixDoFRigidBodyMotionConstraint::sixDoFRigidBodyMotionConstraint
(
+ const word& name,
const dictionary& sDoFRBMCDict
)
:
+ name_(name),
sDoFRBMCCoeffs_
(
sDoFRBMCDict.subDict
@@ -49,11 +50,6 @@ Foam::sixDoFRigidBodyMotionConstraint::sixDoFRigidBodyMotionConstraint
word(sDoFRBMCDict.lookup("sixDoFRigidBodyMotionConstraint"))
+ "Coeffs"
)
- ),
- tolerance_(readScalar(sDoFRBMCDict.lookup("tolerance"))),
- relaxationFactor_
- (
- sDoFRBMCDict.lookupOrDefault<scalar>("relaxationFactor", 1)
)
{}
@@ -71,14 +67,6 @@ bool Foam::sixDoFRigidBodyMotionConstraint::read
const dictionary& sDoFRBMCDict
)
{
- tolerance_ = (readScalar(sDoFRBMCDict.lookup("tolerance")));
-
- relaxationFactor_ = sDoFRBMCDict.lookupOrDefault<scalar>
- (
- "relaxationFactor",
- 1
- );
-
sDoFRBMCCoeffs_ = sDoFRBMCDict.subDict(type() + "Coeffs");
return true;
@@ -86,12 +74,7 @@ bool Foam::sixDoFRigidBodyMotionConstraint::read
void Foam::sixDoFRigidBodyMotionConstraint::write(Ostream& os) const
-{
- os.writeKeyword("tolerance")
- << tolerance_ << token::END_STATEMENT << nl;
+{}
- os.writeKeyword("relaxationFactor")
- << relaxationFactor_ << token::END_STATEMENT << nl;
-}
// ************************************************************************* //
diff --git a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/sixDoFRigidBodyMotionConstraint/sixDoFRigidBodyMotionConstraint.H b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/constraints/sixDoFRigidBodyMotionConstraint/sixDoFRigidBodyMotionConstraint.H
similarity index 75%
rename from src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/sixDoFRigidBodyMotionConstraint/sixDoFRigidBodyMotionConstraint.H
rename to src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/constraints/sixDoFRigidBodyMotionConstraint/sixDoFRigidBodyMotionConstraint.H
index b1f5438948cf5ad3bd255f1e403db4a28d4f90ad..b4eed214f9db1ad4eb8c883862f0127cc35c283d 100644
--- a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/sixDoFRigidBodyMotionConstraint/sixDoFRigidBodyMotionConstraint.H
+++ b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/constraints/sixDoFRigidBodyMotionConstraint/sixDoFRigidBodyMotionConstraint.H
@@ -46,7 +46,7 @@ SourceFiles
#include "Time.H"
#include "dictionary.H"
#include "autoPtr.H"
-#include "vector.H"
+#include "pointConstraint.H"
#include "runTimeSelectionTables.H"
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
@@ -69,16 +69,12 @@ protected:
// Protected data
+ //- Name of the constraint
+ word name_;
+
//- Constraint model specific coefficient dictionary
dictionary sDoFRBMCCoeffs_;
- //- Solution tolerance. Meaning depends on model, usually an
- // absolute distance or angle.
- scalar tolerance_;
-
- //- Relaxation factor for solution, default to one
- scalar relaxationFactor_;
-
public:
@@ -93,8 +89,8 @@ public:
autoPtr,
sixDoFRigidBodyMotionConstraint,
dictionary,
- (const dictionary& sDoFRBMCDict),
- (sDoFRBMCDict)
+ (const word& name, const dictionary& sDoFRBMCDict),
+ (name, sDoFRBMCDict)
);
@@ -103,6 +99,7 @@ public:
//- Construct from the sDoFRBMCDict dictionary and Time
sixDoFRigidBodyMotionConstraint
(
+ const word& name,
const dictionary& sDoFRBMCDict
);
@@ -115,6 +112,7 @@ public:
//- Select constructed from the sDoFRBMCDict dictionary and Time
static autoPtr<sixDoFRigidBodyMotionConstraint> New
(
+ const word& name,
const dictionary& sDoFRBMCDict
);
@@ -125,19 +123,17 @@ public:
// Member Functions
- //- Calculate the constraint position, force and moment.
- // Global reference frame vectors. Returns boolean stating
- // whether the constraint been converged to tolerance.
- virtual bool constrain
- (
- const sixDoFRigidBodyMotion& motion,
- const vector& existingConstraintForce,
- const vector& existingConstraintMoment,
- scalar deltaT,
- vector& constraintPosition,
- vector& constraintForceIncrement,
- vector& constraintMomentIncrement
- ) const = 0;
+ //- Return the name
+ const word& name() const
+ {
+ return name_;
+ }
+
+ //- Apply and accumulate translational constraints
+ virtual void constrainTranslation(pointConstraint&) const = 0;
+
+ //- Apply and accumulate rotational constraints
+ virtual void constrainRotation(pointConstraint&) const = 0;
//- Update properties from given dictionary
virtual bool read(const dictionary& sDoFRBMCDict);
@@ -150,18 +146,6 @@ public:
return sDoFRBMCCoeffs_;
}
- //- Return access to the tolerance
- inline scalar tolerance() const
- {
- return tolerance_;
- }
-
- //- Return access to the relaxationFactor
- inline scalar relaxationFactor() const
- {
- return relaxationFactor_;
- }
-
//- Write
virtual void write(Ostream&) const;
};
diff --git a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/sixDoFRigidBodyMotionConstraint/sixDoFRigidBodyMotionConstraintNew.C b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/constraints/sixDoFRigidBodyMotionConstraint/sixDoFRigidBodyMotionConstraintNew.C
similarity index 89%
rename from src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/sixDoFRigidBodyMotionConstraint/sixDoFRigidBodyMotionConstraintNew.C
rename to src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/constraints/sixDoFRigidBodyMotionConstraint/sixDoFRigidBodyMotionConstraintNew.C
index fa74999aa5d8d3ec9dd785422758ade35fba4de7..b6f3e8fb1f195cee52efe82a3e65f2e993a6c592 100644
--- a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/sixDoFRigidBodyMotionConstraint/sixDoFRigidBodyMotionConstraintNew.C
+++ b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/constraints/sixDoFRigidBodyMotionConstraint/sixDoFRigidBodyMotionConstraintNew.C
@@ -28,16 +28,17 @@ License
// * * * * * * * * * * * * * * * * Selectors * * * * * * * * * * * * * * * * //
Foam::autoPtr<Foam::sixDoFRigidBodyMotionConstraint>
-Foam::sixDoFRigidBodyMotionConstraint::New(const dictionary& sDoFRBMCDict)
+Foam::sixDoFRigidBodyMotionConstraint::New
+(
+ const word& name,
+ const dictionary& sDoFRBMCDict
+)
{
const word constraintType
(
sDoFRBMCDict.lookup("sixDoFRigidBodyMotionConstraint")
);
- // Info<< "Selecting sixDoFRigidBodyMotionConstraint function "
- // << constraintType << endl;
-
dictionaryConstructorTable::iterator cstrIter =
dictionaryConstructorTablePtr_->find(constraintType);
@@ -56,7 +57,10 @@ Foam::sixDoFRigidBodyMotionConstraint::New(const dictionary& sDoFRBMCDict)
<< exit(FatalError);
}
- return autoPtr<sixDoFRigidBodyMotionConstraint>(cstrIter()(sDoFRBMCDict));
+ return autoPtr<sixDoFRigidBodyMotionConstraint>
+ (
+ cstrIter()(name, sDoFRBMCDict)
+ );
}
diff --git a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/linearAxialAngularSpring/linearAxialAngularSpring.C b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/linearAxialAngularSpring/linearAxialAngularSpring.C
similarity index 98%
rename from src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/linearAxialAngularSpring/linearAxialAngularSpring.C
rename to src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/linearAxialAngularSpring/linearAxialAngularSpring.C
index 76805d60d47a8bf1772957292ca5a1a88ef9169a..3701dd8bf951461d88b77fbfce32fa001bfc0aea 100644
--- a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/linearAxialAngularSpring/linearAxialAngularSpring.C
+++ b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/linearAxialAngularSpring/linearAxialAngularSpring.C
@@ -51,10 +51,11 @@ namespace sixDoFRigidBodyMotionRestraints
Foam::sixDoFRigidBodyMotionRestraints::linearAxialAngularSpring::
linearAxialAngularSpring
(
+ const word& name,
const dictionary& sDoFRBMRDict
)
:
- sixDoFRigidBodyMotionRestraint(sDoFRBMRDict),
+ sixDoFRigidBodyMotionRestraint(name, sDoFRBMRDict),
refQ_(),
axis_(),
stiffness_(),
diff --git a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/linearAxialAngularSpring/linearAxialAngularSpring.H b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/linearAxialAngularSpring/linearAxialAngularSpring.H
similarity index 99%
rename from src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/linearAxialAngularSpring/linearAxialAngularSpring.H
rename to src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/linearAxialAngularSpring/linearAxialAngularSpring.H
index d7f8c5e2805bc572d86f902dade04204c4efd074..4a30e30c65c14d576a49e57a93118057630370fb 100644
--- a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/linearAxialAngularSpring/linearAxialAngularSpring.H
+++ b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/linearAxialAngularSpring/linearAxialAngularSpring.H
@@ -81,6 +81,7 @@ public:
//- Construct from components
linearAxialAngularSpring
(
+ const word& name,
const dictionary& sDoFRBMRDict
);
diff --git a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/linearSpring/linearSpring.C b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/linearSpring/linearSpring.C
similarity index 98%
rename from src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/linearSpring/linearSpring.C
rename to src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/linearSpring/linearSpring.C
index c6b1c10ca063592136c08861faa11022d9006566..a9ed4ce7a3f413eaa936e88be8a6ceeb0c8970fa 100644
--- a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/linearSpring/linearSpring.C
+++ b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/linearSpring/linearSpring.C
@@ -49,10 +49,11 @@ namespace sixDoFRigidBodyMotionRestraints
Foam::sixDoFRigidBodyMotionRestraints::linearSpring::linearSpring
(
+ const word& name,
const dictionary& sDoFRBMRDict
)
:
- sixDoFRigidBodyMotionRestraint(sDoFRBMRDict),
+ sixDoFRigidBodyMotionRestraint(name, sDoFRBMRDict),
anchor_(),
refAttachmentPt_(),
stiffness_(),
diff --git a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/linearSpring/linearSpring.H b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/linearSpring/linearSpring.H
similarity index 99%
rename from src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/linearSpring/linearSpring.H
rename to src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/linearSpring/linearSpring.H
index c0610d974b39d9843580e78c81c473206e6370cd..dbd12372c3a928556a1ccdc6760be3b0194b925b 100644
--- a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/linearSpring/linearSpring.H
+++ b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/linearSpring/linearSpring.H
@@ -84,6 +84,7 @@ public:
//- Construct from components
linearSpring
(
+ const word& name,
const dictionary& sDoFRBMRDict
);
diff --git a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/sixDoFRigidBodyMotionRestraint/sixDoFRigidBodyMotionRestraint.C b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/sixDoFRigidBodyMotionRestraint/sixDoFRigidBodyMotionRestraint.C
similarity index 98%
rename from src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/sixDoFRigidBodyMotionRestraint/sixDoFRigidBodyMotionRestraint.C
rename to src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/sixDoFRigidBodyMotionRestraint/sixDoFRigidBodyMotionRestraint.C
index b06c5baf465f9262ec34ae7d69934c60c3584b38..31c16f85acdcc2d3e3870aa8378697038371d0f4 100644
--- a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/sixDoFRigidBodyMotionRestraint/sixDoFRigidBodyMotionRestraint.C
+++ b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/sixDoFRigidBodyMotionRestraint/sixDoFRigidBodyMotionRestraint.C
@@ -39,9 +39,11 @@ defineRunTimeSelectionTable(sixDoFRigidBodyMotionRestraint, dictionary);
Foam::sixDoFRigidBodyMotionRestraint::sixDoFRigidBodyMotionRestraint
(
+ const word& name,
const dictionary& sDoFRBMRDict
)
:
+ name_(name),
sDoFRBMRCoeffs_
(
sDoFRBMRDict.subDict
diff --git a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/sixDoFRigidBodyMotionRestraint/sixDoFRigidBodyMotionRestraint.H b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/sixDoFRigidBodyMotionRestraint/sixDoFRigidBodyMotionRestraint.H
similarity index 92%
rename from src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/sixDoFRigidBodyMotionRestraint/sixDoFRigidBodyMotionRestraint.H
rename to src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/sixDoFRigidBodyMotionRestraint/sixDoFRigidBodyMotionRestraint.H
index d8bdf1469a3d60b404ce8ab0f25157002ec1723a..41216a0c2ba55a29eff5f340dd5d9155e647ff36 100644
--- a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/sixDoFRigidBodyMotionRestraint/sixDoFRigidBodyMotionRestraint.H
+++ b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/sixDoFRigidBodyMotionRestraint/sixDoFRigidBodyMotionRestraint.H
@@ -69,6 +69,9 @@ protected:
// Protected data
+ //- Name of the restraint
+ word name_;
+
//- Restraint model specific coefficient dictionary
dictionary sDoFRBMRCoeffs_;
@@ -86,8 +89,8 @@ public:
autoPtr,
sixDoFRigidBodyMotionRestraint,
dictionary,
- (const dictionary& sDoFRBMRDict),
- (sDoFRBMRDict)
+ (const word& name, const dictionary& sDoFRBMRDict),
+ (name, sDoFRBMRDict)
);
@@ -96,6 +99,7 @@ public:
//- Construct from the sDoFRBMRDict dictionary and Time
sixDoFRigidBodyMotionRestraint
(
+ const word& name,
const dictionary& sDoFRBMRDict
);
@@ -108,6 +112,7 @@ public:
//- Select constructed from the sDoFRBMRDict dictionary and Time
static autoPtr<sixDoFRigidBodyMotionRestraint> New
(
+ const word& name,
const dictionary& sDoFRBMRDict
);
@@ -118,6 +123,12 @@ public:
// Member Functions
+ //- Return the name
+ const word& name() const
+ {
+ return name_;
+ }
+
//- Calculate the restraint position, force and moment.
// Global reference frame vectors.
virtual void restrain
diff --git a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/sixDoFRigidBodyMotionRestraint/sixDoFRigidBodyMotionRestraintNew.C b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/sixDoFRigidBodyMotionRestraint/sixDoFRigidBodyMotionRestraintNew.C
similarity index 89%
rename from src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/sixDoFRigidBodyMotionRestraint/sixDoFRigidBodyMotionRestraintNew.C
rename to src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/sixDoFRigidBodyMotionRestraint/sixDoFRigidBodyMotionRestraintNew.C
index 9361e0ab4df1c3b788435bb944d02d6ca50563da..1bb047a77d6d270f40a6fd121bbbee03c70099b5 100644
--- a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/sixDoFRigidBodyMotionRestraint/sixDoFRigidBodyMotionRestraintNew.C
+++ b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/sixDoFRigidBodyMotionRestraint/sixDoFRigidBodyMotionRestraintNew.C
@@ -28,16 +28,17 @@ License
// * * * * * * * * * * * * * * * * Selectors * * * * * * * * * * * * * * * * //
Foam::autoPtr<Foam::sixDoFRigidBodyMotionRestraint>
-Foam::sixDoFRigidBodyMotionRestraint::New(const dictionary& sDoFRBMRDict)
+Foam::sixDoFRigidBodyMotionRestraint::New
+(
+ const word& name,
+ const dictionary& sDoFRBMRDict
+)
{
const word restraintType
(
sDoFRBMRDict.lookup("sixDoFRigidBodyMotionRestraint")
);
- // Info<< "Selecting sixDoFRigidBodyMotionRestraint function "
- // << restraintType << endl;
-
dictionaryConstructorTable::iterator cstrIter =
dictionaryConstructorTablePtr_->find(restraintType);
@@ -56,7 +57,10 @@ Foam::sixDoFRigidBodyMotionRestraint::New(const dictionary& sDoFRBMRDict)
<< exit(FatalError);
}
- return autoPtr<sixDoFRigidBodyMotionRestraint>(cstrIter()(sDoFRBMRDict));
+ return autoPtr<sixDoFRigidBodyMotionRestraint>
+ (
+ cstrIter()(name, sDoFRBMRDict)
+ );
}
diff --git a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/sphericalAngularSpring/sphericalAngularSpring.C b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/sphericalAngularSpring/sphericalAngularSpring.C
similarity index 98%
rename from src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/sphericalAngularSpring/sphericalAngularSpring.C
rename to src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/sphericalAngularSpring/sphericalAngularSpring.C
index dbb480b93aa692727e6ee5ca9b45cdc572809e0c..f3dab425d7c7351ae7c67c61faa73298e9991d5f 100644
--- a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/sphericalAngularSpring/sphericalAngularSpring.C
+++ b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/sphericalAngularSpring/sphericalAngularSpring.C
@@ -50,10 +50,11 @@ namespace sixDoFRigidBodyMotionRestraints
Foam::sixDoFRigidBodyMotionRestraints::sphericalAngularSpring::
sphericalAngularSpring
(
+ const word& name,
const dictionary& sDoFRBMRDict
)
:
- sixDoFRigidBodyMotionRestraint(sDoFRBMRDict),
+ sixDoFRigidBodyMotionRestraint(name, sDoFRBMRDict),
refQ_(),
stiffness_(),
damping_()
diff --git a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/sphericalAngularSpring/sphericalAngularSpring.H b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/sphericalAngularSpring/sphericalAngularSpring.H
similarity index 99%
rename from src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/sphericalAngularSpring/sphericalAngularSpring.H
rename to src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/sphericalAngularSpring/sphericalAngularSpring.H
index a36ef5d4ab104f3e1f2683184cd8496b73cb33f6..f1bfa784d371d1e78d0eb77890fd5c7736919da4 100644
--- a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/sphericalAngularSpring/sphericalAngularSpring.H
+++ b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/sphericalAngularSpring/sphericalAngularSpring.H
@@ -78,6 +78,7 @@ public:
//- Construct from components
sphericalAngularSpring
(
+ const word& name,
const dictionary& sDoFRBMRDict
);
diff --git a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/tabulatedAxialAngularSpring/tabulatedAxialAngularSpring.C b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/tabulatedAxialAngularSpring/tabulatedAxialAngularSpring.C
similarity index 98%
rename from src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/tabulatedAxialAngularSpring/tabulatedAxialAngularSpring.C
rename to src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/tabulatedAxialAngularSpring/tabulatedAxialAngularSpring.C
index 252aa471f7958fab956c2887b1aa6e209e4537f0..037639dde8560abb21d27b0d3a9f0625db0f1fc9 100644
--- a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/tabulatedAxialAngularSpring/tabulatedAxialAngularSpring.C
+++ b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/tabulatedAxialAngularSpring/tabulatedAxialAngularSpring.C
@@ -52,10 +52,11 @@ namespace sixDoFRigidBodyMotionRestraints
Foam::sixDoFRigidBodyMotionRestraints::tabulatedAxialAngularSpring::
tabulatedAxialAngularSpring
(
+ const word& name,
const dictionary& sDoFRBMRDict
)
:
- sixDoFRigidBodyMotionRestraint(sDoFRBMRDict),
+ sixDoFRigidBodyMotionRestraint(name, sDoFRBMRDict),
refQ_(),
axis_(),
moment_(),
diff --git a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/tabulatedAxialAngularSpring/tabulatedAxialAngularSpring.H b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/tabulatedAxialAngularSpring/tabulatedAxialAngularSpring.H
similarity index 99%
rename from src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/tabulatedAxialAngularSpring/tabulatedAxialAngularSpring.H
rename to src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/tabulatedAxialAngularSpring/tabulatedAxialAngularSpring.H
index bb45f00d519361353833a4cb02574ccac7219757..bcd2c2c5b3f05362479d26028d2b698bcbe3aba9 100644
--- a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/tabulatedAxialAngularSpring/tabulatedAxialAngularSpring.H
+++ b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/tabulatedAxialAngularSpring/tabulatedAxialAngularSpring.H
@@ -88,6 +88,7 @@ public:
//- Construct from components
tabulatedAxialAngularSpring
(
+ const word& name,
const dictionary& sDoFRBMRDict
);
diff --git a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion.C b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion.C
index 6f002c5e2fec80cf2d5113c0de2b817a89db08b5..4ee39646d04e84826d3b93274ef9bda3ba36dd23 100644
--- a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion.C
+++ b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion.C
@@ -41,7 +41,7 @@ void Foam::sixDoFRigidBodyMotion::applyRestraints()
{
if (report_)
{
- Info<< "Restraint " << restraintNames_[rI] << ": ";
+ Info<< "Restraint " << restraints_[rI].name() << ": ";
}
// restraint position
@@ -65,101 +65,6 @@ void Foam::sixDoFRigidBodyMotion::applyRestraints()
}
-void Foam::sixDoFRigidBodyMotion::applyConstraints(scalar deltaT)
-{
- if (constraints_.empty())
- {
- return;
- }
-
- if (Pstream::master())
- {
- label iteration = 0;
-
- bool allConverged = true;
-
- // constraint force accumulator
- vector cFA = vector::zero;
-
- // constraint moment accumulator
- vector cMA = vector::zero;
-
- do
- {
- allConverged = true;
-
- forAll(constraints_, cI)
- {
- if (sixDoFRigidBodyMotionConstraint::debug)
- {
- Info<< "Constraint " << constraintNames_[cI] << ": ";
- }
-
- // constraint position
- point cP = vector::zero;
-
- // constraint force
- vector cF = vector::zero;
-
- // constraint moment
- vector cM = vector::zero;
-
- bool constraintConverged = constraints_[cI].constrain
- (
- *this,
- cFA,
- cMA,
- deltaT,
- cP,
- cF,
- cM
- );
-
- allConverged = allConverged && constraintConverged;
-
- // Accumulate constraint force
- cFA += cF;
-
- // Accumulate constraint moment
- cMA += cM + ((cP - centreOfMass()) ^ cF);
- }
-
- } while(++iteration < maxConstraintIterations_ && !allConverged);
-
- if (iteration >= maxConstraintIterations_)
- {
- FatalErrorIn
- (
- "Foam::sixDoFRigidBodyMotion::applyConstraints(scalar)"
- )
- << nl << "Maximum number of sixDoFRigidBodyMotion constraint "
- << "iterations ("
- << maxConstraintIterations_
- << ") exceeded." << nl
- << exit(FatalError);
- }
-
- Info<< "sixDoFRigidBodyMotion constraints converged in "
- << iteration << " iterations" << endl;
-
- if (report_)
- {
- Info<< "Constraint force: " << cFA << nl
- << "Constraint moment: " << cMA
- << endl;
- }
-
- // Add the constraint forces and moments to the motion state variables
- a() += cFA/mass_;
-
- // The moment of constraint forces has already been added
- // during accumulation. Moments are returned in global axes,
- // transforming to body local
- tau() += Q().T() & cMA;
- }
-}
-
-
// * * * * * * * * * * * * * * * * Constructors * * * * * * * * * * * * * * //
Foam::sixDoFRigidBodyMotion::sixDoFRigidBodyMotion()
@@ -167,17 +72,16 @@ Foam::sixDoFRigidBodyMotion::sixDoFRigidBodyMotion()
motionState_(),
motionState0_(),
restraints_(),
- restraintNames_(),
constraints_(),
- constraintNames_(),
- maxConstraintIterations_(0),
initialCentreOfMass_(vector::zero),
initialQ_(I),
momentOfInertia_(diagTensor::one*VSMALL),
mass_(VSMALL),
aRelax_(1.0),
aDamp_(1.0),
- report_(false)
+ report_(false),
+ tConstraints_(tensor::I),
+ rConstraints_(tensor::I)
{}
@@ -209,17 +113,16 @@ Foam::sixDoFRigidBodyMotion::sixDoFRigidBodyMotion
),
motionState0_(motionState_),
restraints_(),
- restraintNames_(),
constraints_(),
- constraintNames_(),
- maxConstraintIterations_(0),
initialCentreOfMass_(initialCentreOfMass),
initialQ_(initialQ),
momentOfInertia_(momentOfInertia),
mass_(mass),
aRelax_(aRelax),
aDamp_(aDamp),
- report_(report)
+ report_(report),
+ tConstraints_(tensor::I),
+ rConstraints_(tensor::I)
{}
@@ -232,10 +135,7 @@ Foam::sixDoFRigidBodyMotion::sixDoFRigidBodyMotion
motionState_(stateDict),
motionState0_(motionState_),
restraints_(),
- restraintNames_(),
constraints_(),
- constraintNames_(),
- maxConstraintIterations_(0),
initialCentreOfMass_
(
dict.lookupOrDefault
@@ -256,7 +156,9 @@ Foam::sixDoFRigidBodyMotion::sixDoFRigidBodyMotion
mass_(readScalar(dict.lookup("mass"))),
aRelax_(dict.lookupOrDefault<scalar>("accelerationRelaxation", 1.0)),
aDamp_(dict.lookupOrDefault<scalar>("accelerationDamping", 1.0)),
- report_(dict.lookupOrDefault<Switch>("report", false))
+ report_(dict.lookupOrDefault<Switch>("report", false)),
+ tConstraints_(tensor::I),
+ rConstraints_(tensor::I)
{
addRestraints(dict);
addConstraints(dict);
@@ -271,10 +173,7 @@ Foam::sixDoFRigidBodyMotion::sixDoFRigidBodyMotion
motionState_(sDoFRBM.motionState_),
motionState0_(sDoFRBM.motionState0_),
restraints_(sDoFRBM.restraints_),
- restraintNames_(sDoFRBM.restraintNames_),
constraints_(sDoFRBM.constraints_),
- constraintNames_(sDoFRBM.constraintNames_),
- maxConstraintIterations_(sDoFRBM.maxConstraintIterations_),
initialCentreOfMass_(sDoFRBM.initialCentreOfMass_),
initialQ_(sDoFRBM.initialQ_),
momentOfInertia_(sDoFRBM.momentOfInertia_),
@@ -306,29 +205,23 @@ void Foam::sixDoFRigidBodyMotion::addRestraints
restraints_.setSize(restraintDict.size());
- restraintNames_.setSize(restraintDict.size());
-
forAllConstIter(IDLList<entry>, restraintDict, iter)
{
if (iter().isDict())
{
- // Info<< "Adding restraint: " << iter().keyword() << endl;
-
restraints_.set
(
- i,
- sixDoFRigidBodyMotionRestraint::New(iter().dict())
+ i++,
+ sixDoFRigidBodyMotionRestraint::New
+ (
+ iter().keyword(),
+ iter().dict()
+ )
);
-
- restraintNames_[i] = iter().keyword();
-
- i++;
}
}
restraints_.setSize(i);
-
- restraintNames_.setSize(i);
}
}
@@ -346,21 +239,25 @@ void Foam::sixDoFRigidBodyMotion::addConstraints
constraints_.setSize(constraintDict.size());
- constraintNames_.setSize(constraintDict.size());
+ pointConstraint pct;
+ pointConstraint pcr;
forAllConstIter(IDLList<entry>, constraintDict, iter)
{
if (iter().isDict())
{
- // Info<< "Adding constraint: " << iter().keyword() << endl;
-
constraints_.set
(
i,
- sixDoFRigidBodyMotionConstraint::New(iter().dict())
+ sixDoFRigidBodyMotionConstraint::New
+ (
+ iter().keyword(),
+ iter().dict()
+ )
);
- constraintNames_[i] = iter().keyword();
+ constraints_[i].constrainTranslation(pct);
+ constraints_[i].constrainRotation(pcr);
i++;
}
@@ -368,15 +265,11 @@ void Foam::sixDoFRigidBodyMotion::addConstraints
constraints_.setSize(i);
- constraintNames_.setSize(i);
+ tConstraints_ = pct.constraintTransformation();
+ rConstraints_ = pcr.constraintTransformation();
- if (!constraints_.empty())
- {
- maxConstraintIterations_ = readLabel
- (
- constraintDict.lookup("maxIterations")
- );
- }
+ Info<< "Translational constraint tensor " << tConstraints_ << nl
+ << "Rotational constraint tensor " << rConstraints_ << endl;
}
}
@@ -392,8 +285,8 @@ void Foam::sixDoFRigidBodyMotion::updatePosition
if (Pstream::master())
{
- v() = v0() + aDamp_*0.5*deltaT0*a();
- pi() = pi0() + aDamp_*0.5*deltaT0*tau();
+ v() = tConstraints_ & aDamp_*(v0() + 0.5*deltaT0*a());
+ pi() = rConstraints_ & aDamp_*(pi0() + 0.5*deltaT0*tau());
// Leapfrog move part
centreOfMass() = centreOfMass0() + deltaT*v();
@@ -401,7 +294,7 @@ void Foam::sixDoFRigidBodyMotion::updatePosition
// Leapfrog orientation adjustment
Tuple2<tensor, vector> Qpi = rotate(Q0(), pi(), deltaT);
Q() = Qpi.first();
- pi() = Qpi.second();
+ pi() = rConstraints_ & Qpi.second();
}
Pstream::scatter(motionState_);
@@ -439,12 +332,9 @@ void Foam::sixDoFRigidBodyMotion::updateAcceleration
}
first = false;
- // Apply constraints after relaxation
- applyConstraints(deltaT);
-
// Correct velocities
- v() += aDamp_*0.5*deltaT*a();
- pi() += aDamp_*0.5*deltaT*tau();
+ v() += tConstraints_ & aDamp_*0.5*deltaT*a();
+ pi() += rConstraints_ & aDamp_*0.5*deltaT*tau();
if (report_)
{
@@ -463,8 +353,8 @@ void Foam::sixDoFRigidBodyMotion::updateVelocity(scalar deltaT)
if (Pstream::master())
{
- v() += aDamp_*0.5*deltaT*a();
- pi() += aDamp_*0.5*deltaT*tau();
+ v() += tConstraints_ & aDamp_*0.5*deltaT*a();
+ pi() += rConstraints_ & aDamp_*0.5*deltaT*tau();
if (report_)
{
@@ -532,7 +422,10 @@ Foam::vector Foam::sixDoFRigidBodyMotion::predictedOrientation
vector piTemp = pi() + deltaT*(tau() + (Q().T() & deltaMoment));
Tuple2<tensor, vector> QpiTemp = rotate(Q0(), piTemp, deltaT);
- return (QpiTemp.first() & initialQ_.T() & vInitial);
+ vector o(QpiTemp.first() & initialQ_.T() & vInitial);
+ o /= mag(o);
+
+ return o;
}
@@ -564,8 +457,6 @@ Foam::tmp<Foam::pointField> Foam::sixDoFRigidBodyMotion::scaledPosition
const scalarField& scale
) const
{
- Info<< "initialCentreOfMass " << initialCentreOfMass() << endl;
-
// Calculate the transformation septerion from the initial state
septernion s
(
diff --git a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion.H b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion.H
index 670004ba693e0eba489e2d7204ee1d6e8cd37b0b..34e5016e11a2b710e536d29662e7cd5577d049a3 100644
--- a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion.H
+++ b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion.H
@@ -90,22 +90,12 @@ class sixDoFRigidBodyMotion
//- Motion state data object for previous time-step
sixDoFRigidBodyMotionState motionState0_;
- //- Restraints on the motion
+ //- Motion restraints
PtrList<sixDoFRigidBodyMotionRestraint> restraints_;
- //- Names of the restraints
- wordList restraintNames_;
-
- //- Constaints on the motion
+ //- Motion constaints
PtrList<sixDoFRigidBodyMotionConstraint> constraints_;
- //- Names of the constraints
- wordList constraintNames_;
-
- //- Maximum number of iterations allowed to attempt to obey
- // constraints
- label maxConstraintIterations_;
-
//- Centre of mass of initial state
point initialCentreOfMass_;
@@ -128,6 +118,10 @@ class sixDoFRigidBodyMotion
//- Switch to turn reporting of motion data on and off
Switch report_;
+ tensor tConstraints_;
+
+ tensor rConstraints_;
+
// Private Member Functions
@@ -155,9 +149,6 @@ class sixDoFRigidBodyMotion
//- Apply the restraints to the object
void applyRestraints();
- //- Apply the constraints to the object
- void applyConstraints(scalar deltaT);
-
// Access functions retained as private because of the risk of
// confusion over what is a body local frame vector and what is global
@@ -168,20 +159,10 @@ class sixDoFRigidBodyMotion
inline const PtrList<sixDoFRigidBodyMotionRestraint>&
restraints() const;
- //- Return access to the restraintNames
- inline const wordList& restraintNames() const;
-
//- Return access to the constraints
inline const PtrList<sixDoFRigidBodyMotionConstraint>&
constraints() const;
- //- Return access to the constraintNames
- inline const wordList& constraintNames() const;
-
- //- Return access to the maximum allowed number of
- // constraint iterations
- inline label maxConstraintIterations() const;
-
//- Return access to the initial centre of mass
inline const point& initialCentreOfMass() const;
diff --git a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionI.H b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionI.H
index f70ba68ced1cc79c20dcc26b009130d4734201b4..3186ca2fa1251f190104e49dcbfbb368e59df12d 100644
--- a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionI.H
+++ b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionI.H
@@ -111,12 +111,6 @@ Foam::sixDoFRigidBodyMotion::restraints() const
}
-inline const Foam::wordList& Foam::sixDoFRigidBodyMotion::restraintNames() const
-{
- return restraintNames_;
-}
-
-
inline const Foam::PtrList<Foam::sixDoFRigidBodyMotionConstraint>&
Foam::sixDoFRigidBodyMotion::constraints() const
{
@@ -124,19 +118,6 @@ Foam::sixDoFRigidBodyMotion::constraints() const
}
-inline const Foam::wordList&
-Foam::sixDoFRigidBodyMotion::constraintNames() const
-{
- return constraintNames_;
-}
-
-
-inline Foam::label Foam::sixDoFRigidBodyMotion::maxConstraintIterations() const
-{
- return maxConstraintIterations_;
-}
-
-
inline const Foam::point&
Foam::sixDoFRigidBodyMotion::initialCentreOfMass() const
{
diff --git a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionIO.C b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionIO.C
index 99bdba3ef022f370b9c096ab7482db75b2ede074..11670ba6231ceb64a269a506cbbaaac5d2397d35 100644
--- a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionIO.C
+++ b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionIO.C
@@ -54,7 +54,7 @@ void Foam::sixDoFRigidBodyMotion::write(Ostream& os) const
{
word restraintType = restraints_[rI].type();
- os << indent << restraintNames_[rI] << nl
+ os << indent << restraints_[rI].name() << nl
<< indent << token::BEGIN_BLOCK << incrIndent << endl;
os.writeKeyword("sixDoFRigidBodyMotionRestraint")
@@ -79,14 +79,11 @@ void Foam::sixDoFRigidBodyMotion::write(Ostream& os) const
os << indent << "constraints" << nl
<< indent << token::BEGIN_BLOCK << incrIndent << nl;
- os.writeKeyword("maxIterations")
- << maxConstraintIterations_ << token::END_STATEMENT << nl;
-
forAll(constraints_, rI)
{
word constraintType = constraints_[rI].type();
- os << indent << constraintNames_[rI] << nl
+ os << indent << constraints_[rI].name() << nl
<< indent << token::BEGIN_BLOCK << incrIndent << endl;
os.writeKeyword("sixDoFRigidBodyMotionConstraint")