Commit 5c4719de authored by Henry Weller's avatar Henry Weller
Browse files

rigidBodyDynamics/restraints: Added sphericalAngularDamper, spherical angular damper restraint

parent 46cd2b3b
......@@ -30,6 +30,7 @@ restraints/restraint/rigidBodyRestraintNew.C
restraints/linearSpring/linearSpring.C
restraints/linearDamper/linearDamper.C
restraints/linearAxialAngularSpring/linearAxialAngularSpring.C
restraints/sphericalAngularDamper/sphericalAngularDamper.C
rigidBodyModel/rigidBodyModel.C
rigidBodyModel/forwardDynamics.C
......
......@@ -62,10 +62,10 @@ class linearAxialAngularSpring
//- Global unit axis around which the motion is sprung
vector axis_;
//- Spring stiffness coefficient (Nm/rad)
//- Spring stiffness coefficient [Nm/rad]
scalar stiffness_;
//- Damping coefficient (Nms/rad)
//- Damping coefficient [Nms/rad]
scalar damping_;
......
/*---------------------------------------------------------------------------*\
========= |
\\ / 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 "sphericalAngularDamper.H"
#include "rigidBodyModel.H"
#include "addToRunTimeSelectionTable.H"
// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
namespace Foam
{
namespace RBD
{
namespace restraints
{
defineTypeNameAndDebug(sphericalAngularDamper, 0);
addToRunTimeSelectionTable
(
restraint,
sphericalAngularDamper,
dictionary
);
}
}
}
// * * * * * * * * * * * * * * * * Constructors * * * * * * * * * * * * * * //
Foam::RBD::restraints::sphericalAngularDamper::
sphericalAngularDamper
(
const word& name,
const dictionary& dict,
const rigidBodyModel& model
)
:
restraint(name, dict, model)
{
read(dict);
}
// * * * * * * * * * * * * * * * * Destructor * * * * * * * * * * * * * * * //
Foam::RBD::restraints::sphericalAngularDamper::
~sphericalAngularDamper()
{}
// * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * * //
Foam::spatialVector
Foam::RBD::restraints::sphericalAngularDamper::restrain() const
{
vector moment = -coeff_*model_.v(model_.master(bodyID_)).w();
if (model_.debug)
{
Info<< " moment " << moment << endl;
}
return spatialVector(moment, Zero);
}
bool Foam::RBD::restraints::sphericalAngularDamper::read
(
const dictionary& dict
)
{
restraint::read(dict);
coeffs_.lookup("coeff") >> coeff_;
return true;
}
void Foam::RBD::restraints::sphericalAngularDamper::write
(
Ostream& os
) const
{
restraint::write(os);
os.writeKeyword("coeff") << coeff_ << token::END_STATEMENT << nl;
}
// ************************************************************************* //
/*---------------------------------------------------------------------------*\
========= |
\\ / 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::RBD::restraints::sphericalAngularDamper
Description
Spherical angular damper restraint.
Operates in the local frame of the body.
SourceFiles
sphericalAngularDamper.C
\*---------------------------------------------------------------------------*/
#ifndef sphericalAngularDamper_H
#define sphericalAngularDamper_H
#include "rigidBodyRestraint.H"
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
namespace Foam
{
namespace RBD
{
namespace restraints
{
/*---------------------------------------------------------------------------*\
Class sphericalAngularDamper Declaration
\*---------------------------------------------------------------------------*/
class sphericalAngularDamper
:
public restraint
{
// Private data
//- Damping coefficient [Nms/rad]
scalar coeff_;
public:
//- Runtime type information
TypeName("sphericalAngularDamper");
// Constructors
//- Construct from components
sphericalAngularDamper
(
const word& name,
const dictionary& dict,
const rigidBodyModel& model
);
//- Construct and return a clone
virtual autoPtr<restraint> clone() const
{
return autoPtr<restraint>
(
new sphericalAngularDamper(*this)
);
}
//- Destructor
virtual ~sphericalAngularDamper();
// Member Functions
//- Return the external force applied to the body by this restraint
virtual spatialVector restrain() const;
//- Update properties from given dictionary
virtual bool read(const dictionary& dict);
//- Write
virtual void write(Ostream&) const;
};
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
} // End namespace restraints
} // End namespace RBD
} // End namespace Foam
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
#endif
// ************************************************************************* //
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