From 5ffda9b52b5446f38488a185664a92a04e6e17c2 Mon Sep 17 00:00:00 2001
From: Henry <Henry>
Date: Sun, 8 Dec 2013 21:59:40 +0000
Subject: [PATCH] sixDoFRigidBodyMotion: Created separate library Added
sixDoFRigidBodyMotionSolver using septernion interpolation for mesh-morphing
---
.../functionObjects/forces/Make/files | 29 ---
src/sixDoFRigidBodyMotion/Make/files | 30 +++
src/sixDoFRigidBodyMotion/Make/options | 12 ++
...gidBodyDisplacementPointPatchVectorField.C | 7 +-
...gidBodyDisplacementPointPatchVectorField.H | 0
...gidBodyDisplacementPointPatchVectorField.C | 0
...gidBodyDisplacementPointPatchVectorField.H | 0
.../sixDoFRigidBodyMotion.C | 44 +++++
.../sixDoFRigidBodyMotion.H | 13 +-
.../fixedAxis/fixedAxis.C | 0
.../fixedAxis/fixedAxis.H | 0
.../fixedLine/fixedLine.C | 0
.../fixedLine/fixedLine.H | 0
.../fixedOrientation/fixedOrientation.C | 0
.../fixedOrientation/fixedOrientation.H | 0
.../fixedPlane/fixedPlane.C | 0
.../fixedPlane/fixedPlane.H | 0
.../fixedPoint/fixedPoint.C | 0
.../fixedPoint/fixedPoint.H | 0
.../sixDoFRigidBodyMotionConstraint.C | 0
.../sixDoFRigidBodyMotionConstraint.H | 0
.../sixDoFRigidBodyMotionConstraintNew.C | 0
.../sixDoFRigidBodyMotionI.H | 15 +-
.../sixDoFRigidBodyMotionIO.C | 0
.../linearAxialAngularSpring.C | 0
.../linearAxialAngularSpring.H | 0
.../linearSpring/linearSpring.C | 0
.../linearSpring/linearSpring.H | 0
.../sixDoFRigidBodyMotionRestraint.C | 0
.../sixDoFRigidBodyMotionRestraint.H | 0
.../sixDoFRigidBodyMotionRestraintNew.C | 0
.../sphericalAngularSpring.C | 0
.../sphericalAngularSpring.H | 0
.../tabulatedAxialAngularSpring.C | 0
.../tabulatedAxialAngularSpring.H | 0
.../sixDoFRigidBodyMotionState.C | 0
.../sixDoFRigidBodyMotionState.H | 0
.../sixDoFRigidBodyMotionStateI.H | 0
.../sixDoFRigidBodyMotionStateIO.C | 0
.../sixDoFRigidBodyMotionSolver.C | 186 ++++++++++++++++++
.../sixDoFRigidBodyMotionSolver.H | 136 +++++++++++++
.../floatingObject/constant/dynamicMeshDict | 2 +-
.../ras/floatingObject/system/controlDict | 8 -
43 files changed, 425 insertions(+), 57 deletions(-)
create mode 100644 src/sixDoFRigidBodyMotion/Make/files
create mode 100644 src/sixDoFRigidBodyMotion/Make/options
rename src/{postProcessing/functionObjects/forces => sixDoFRigidBodyMotion}/pointPatchFields/derived/sixDoFRigidBodyDisplacement/sixDoFRigidBodyDisplacementPointPatchVectorField.C (97%)
rename src/{postProcessing/functionObjects/forces => sixDoFRigidBodyMotion}/pointPatchFields/derived/sixDoFRigidBodyDisplacement/sixDoFRigidBodyDisplacementPointPatchVectorField.H (100%)
rename src/{postProcessing/functionObjects/forces => sixDoFRigidBodyMotion}/pointPatchFields/derived/uncoupledSixDoFRigidBodyDisplacement/uncoupledSixDoFRigidBodyDisplacementPointPatchVectorField.C (100%)
rename src/{postProcessing/functionObjects/forces => sixDoFRigidBodyMotion}/pointPatchFields/derived/uncoupledSixDoFRigidBodyDisplacement/uncoupledSixDoFRigidBodyDisplacementPointPatchVectorField.H (100%)
rename src/{postProcessing/functionObjects/forces/pointPatchFields/derived => sixDoFRigidBodyMotion}/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion.C (93%)
rename src/{postProcessing/functionObjects/forces/pointPatchFields/derived => sixDoFRigidBodyMotion}/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion.H (97%)
rename src/{postProcessing/functionObjects/forces/pointPatchFields/derived => sixDoFRigidBodyMotion}/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedAxis/fixedAxis.C (100%)
rename src/{postProcessing/functionObjects/forces/pointPatchFields/derived => sixDoFRigidBodyMotion}/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedAxis/fixedAxis.H (100%)
rename src/{postProcessing/functionObjects/forces/pointPatchFields/derived => sixDoFRigidBodyMotion}/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedLine/fixedLine.C (100%)
rename src/{postProcessing/functionObjects/forces/pointPatchFields/derived => sixDoFRigidBodyMotion}/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedLine/fixedLine.H (100%)
rename src/{postProcessing/functionObjects/forces/pointPatchFields/derived => sixDoFRigidBodyMotion}/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedOrientation/fixedOrientation.C (100%)
rename src/{postProcessing/functionObjects/forces/pointPatchFields/derived => sixDoFRigidBodyMotion}/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedOrientation/fixedOrientation.H (100%)
rename src/{postProcessing/functionObjects/forces/pointPatchFields/derived => sixDoFRigidBodyMotion}/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedPlane/fixedPlane.C (100%)
rename src/{postProcessing/functionObjects/forces/pointPatchFields/derived => sixDoFRigidBodyMotion}/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedPlane/fixedPlane.H (100%)
rename src/{postProcessing/functionObjects/forces/pointPatchFields/derived => sixDoFRigidBodyMotion}/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedPoint/fixedPoint.C (100%)
rename src/{postProcessing/functionObjects/forces/pointPatchFields/derived => sixDoFRigidBodyMotion}/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedPoint/fixedPoint.H (100%)
rename src/{postProcessing/functionObjects/forces/pointPatchFields/derived => sixDoFRigidBodyMotion}/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/sixDoFRigidBodyMotionConstraint/sixDoFRigidBodyMotionConstraint.C (100%)
rename src/{postProcessing/functionObjects/forces/pointPatchFields/derived => sixDoFRigidBodyMotion}/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/sixDoFRigidBodyMotionConstraint/sixDoFRigidBodyMotionConstraint.H (100%)
rename src/{postProcessing/functionObjects/forces/pointPatchFields/derived => sixDoFRigidBodyMotion}/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/sixDoFRigidBodyMotionConstraint/sixDoFRigidBodyMotionConstraintNew.C (100%)
rename src/{postProcessing/functionObjects/forces/pointPatchFields/derived => sixDoFRigidBodyMotion}/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionI.H (95%)
rename src/{postProcessing/functionObjects/forces/pointPatchFields/derived => sixDoFRigidBodyMotion}/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionIO.C (100%)
rename src/{postProcessing/functionObjects/forces/pointPatchFields/derived => sixDoFRigidBodyMotion}/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/linearAxialAngularSpring/linearAxialAngularSpring.C (100%)
rename src/{postProcessing/functionObjects/forces/pointPatchFields/derived => sixDoFRigidBodyMotion}/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/linearAxialAngularSpring/linearAxialAngularSpring.H (100%)
rename src/{postProcessing/functionObjects/forces/pointPatchFields/derived => sixDoFRigidBodyMotion}/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/linearSpring/linearSpring.C (100%)
rename src/{postProcessing/functionObjects/forces/pointPatchFields/derived => sixDoFRigidBodyMotion}/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/linearSpring/linearSpring.H (100%)
rename src/{postProcessing/functionObjects/forces/pointPatchFields/derived => sixDoFRigidBodyMotion}/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/sixDoFRigidBodyMotionRestraint/sixDoFRigidBodyMotionRestraint.C (100%)
rename src/{postProcessing/functionObjects/forces/pointPatchFields/derived => sixDoFRigidBodyMotion}/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/sixDoFRigidBodyMotionRestraint/sixDoFRigidBodyMotionRestraint.H (100%)
rename src/{postProcessing/functionObjects/forces/pointPatchFields/derived => sixDoFRigidBodyMotion}/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/sixDoFRigidBodyMotionRestraint/sixDoFRigidBodyMotionRestraintNew.C (100%)
rename src/{postProcessing/functionObjects/forces/pointPatchFields/derived => sixDoFRigidBodyMotion}/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/sphericalAngularSpring/sphericalAngularSpring.C (100%)
rename src/{postProcessing/functionObjects/forces/pointPatchFields/derived => sixDoFRigidBodyMotion}/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/sphericalAngularSpring/sphericalAngularSpring.H (100%)
rename src/{postProcessing/functionObjects/forces/pointPatchFields/derived => sixDoFRigidBodyMotion}/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/tabulatedAxialAngularSpring/tabulatedAxialAngularSpring.C (100%)
rename src/{postProcessing/functionObjects/forces/pointPatchFields/derived => sixDoFRigidBodyMotion}/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/tabulatedAxialAngularSpring/tabulatedAxialAngularSpring.H (100%)
rename src/{postProcessing/functionObjects/forces/pointPatchFields/derived => sixDoFRigidBodyMotion}/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionState.C (100%)
rename src/{postProcessing/functionObjects/forces/pointPatchFields/derived => sixDoFRigidBodyMotion}/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionState.H (100%)
rename src/{postProcessing/functionObjects/forces/pointPatchFields/derived => sixDoFRigidBodyMotion}/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionStateI.H (100%)
rename src/{postProcessing/functionObjects/forces/pointPatchFields/derived => sixDoFRigidBodyMotion}/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionStateIO.C (100%)
create mode 100644 src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionSolver/sixDoFRigidBodyMotionSolver.C
create mode 100644 src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionSolver/sixDoFRigidBodyMotionSolver.H
diff --git a/src/postProcessing/functionObjects/forces/Make/files b/src/postProcessing/functionObjects/forces/Make/files
index 4f9cf092148..8b91d909222 100644
--- a/src/postProcessing/functionObjects/forces/Make/files
+++ b/src/postProcessing/functionObjects/forces/Make/files
@@ -4,33 +4,4 @@ forces/forcesFunctionObject.C
forceCoeffs/forceCoeffs.C
forceCoeffs/forceCoeffsFunctionObject.C
-sDoFRBM = pointPatchFields/derived/sixDoFRigidBodyMotion
-
-$(sDoFRBM)/sixDoFRigidBodyMotion.C
-$(sDoFRBM)/sixDoFRigidBodyMotionIO.C
-$(sDoFRBM)/sixDoFRigidBodyMotionState.C
-$(sDoFRBM)/sixDoFRigidBodyMotionStateIO.C
-
-sDoFRBMR = $(sDoFRBM)/sixDoFRigidBodyMotionRestraint
-
-$(sDoFRBMR)/sixDoFRigidBodyMotionRestraint/sixDoFRigidBodyMotionRestraint.C
-$(sDoFRBMR)/sixDoFRigidBodyMotionRestraint/sixDoFRigidBodyMotionRestraintNew.C
-$(sDoFRBMR)/linearAxialAngularSpring/linearAxialAngularSpring.C
-$(sDoFRBMR)/linearSpring/linearSpring.C
-$(sDoFRBMR)/sphericalAngularSpring/sphericalAngularSpring.C
-$(sDoFRBMR)/tabulatedAxialAngularSpring/tabulatedAxialAngularSpring.C
-
-sDoFRBMC = $(sDoFRBM)/sixDoFRigidBodyMotionConstraint
-
-$(sDoFRBMC)/sixDoFRigidBodyMotionConstraint/sixDoFRigidBodyMotionConstraint.C
-$(sDoFRBMC)/sixDoFRigidBodyMotionConstraint/sixDoFRigidBodyMotionConstraintNew.C
-$(sDoFRBMC)/fixedAxis/fixedAxis.C
-$(sDoFRBMC)/fixedLine/fixedLine.C
-$(sDoFRBMC)/fixedOrientation/fixedOrientation.C
-$(sDoFRBMC)/fixedPlane/fixedPlane.C
-$(sDoFRBMC)/fixedPoint/fixedPoint.C
-
-pointPatchFields/derived/sixDoFRigidBodyDisplacement/sixDoFRigidBodyDisplacementPointPatchVectorField.C
-pointPatchFields/derived/uncoupledSixDoFRigidBodyDisplacement/uncoupledSixDoFRigidBodyDisplacementPointPatchVectorField.C
-
LIB = $(FOAM_LIBBIN)/libforces
diff --git a/src/sixDoFRigidBodyMotion/Make/files b/src/sixDoFRigidBodyMotion/Make/files
new file mode 100644
index 00000000000..7ceb41d544e
--- /dev/null
+++ b/src/sixDoFRigidBodyMotion/Make/files
@@ -0,0 +1,30 @@
+sixDoFRigidBodyMotion/sixDoFRigidBodyMotion.C
+sixDoFRigidBodyMotion/sixDoFRigidBodyMotionIO.C
+sixDoFRigidBodyMotion/sixDoFRigidBodyMotionState.C
+sixDoFRigidBodyMotion/sixDoFRigidBodyMotionStateIO.C
+
+restraints = sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint
+
+$(restraints)/sixDoFRigidBodyMotionRestraint/sixDoFRigidBodyMotionRestraint.C
+$(restraints)/sixDoFRigidBodyMotionRestraint/sixDoFRigidBodyMotionRestraintNew.C
+$(restraints)/linearAxialAngularSpring/linearAxialAngularSpring.C
+$(restraints)/linearSpring/linearSpring.C
+$(restraints)/sphericalAngularSpring/sphericalAngularSpring.C
+$(restraints)/tabulatedAxialAngularSpring/tabulatedAxialAngularSpring.C
+
+constraints = sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint
+
+$(constraints)/sixDoFRigidBodyMotionConstraint/sixDoFRigidBodyMotionConstraint.C
+$(constraints)/sixDoFRigidBodyMotionConstraint/sixDoFRigidBodyMotionConstraintNew.C
+$(constraints)/fixedAxis/fixedAxis.C
+$(constraints)/fixedLine/fixedLine.C
+$(constraints)/fixedOrientation/fixedOrientation.C
+$(constraints)/fixedPlane/fixedPlane.C
+$(constraints)/fixedPoint/fixedPoint.C
+
+pointPatchFields/derived/sixDoFRigidBodyDisplacement/sixDoFRigidBodyDisplacementPointPatchVectorField.C
+pointPatchFields/derived/uncoupledSixDoFRigidBodyDisplacement/uncoupledSixDoFRigidBodyDisplacementPointPatchVectorField.C
+
+sixDoFRigidBodyMotionSolver/sixDoFRigidBodyMotionSolver.C
+
+LIB = $(FOAM_LIBBIN)/libsixDoFRigidBodyMotion
diff --git a/src/sixDoFRigidBodyMotion/Make/options b/src/sixDoFRigidBodyMotion/Make/options
new file mode 100644
index 00000000000..f2367d2e1d4
--- /dev/null
+++ b/src/sixDoFRigidBodyMotion/Make/options
@@ -0,0 +1,12 @@
+EXE_INC = \
+ -I$(LIB_SRC)/finiteVolume/lnInclude \
+ -I$(LIB_SRC)/meshTools/lnInclude \
+ -I$(LIB_SRC)/postProcessing/functionObjects/forces/lnInclude \
+ -I$(LIB_SRC)/fileFormats/lnInclude \
+ -I$(LIB_SRC)/dynamicMesh/lnInclude
+
+LIB_LIBS = \
+ -lforces \
+ -lmeshTools \
+ -lfileFormats \
+ -ldynamicMesh
diff --git a/src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyDisplacement/sixDoFRigidBodyDisplacementPointPatchVectorField.C b/src/sixDoFRigidBodyMotion/pointPatchFields/derived/sixDoFRigidBodyDisplacement/sixDoFRigidBodyDisplacementPointPatchVectorField.C
similarity index 97%
rename from src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyDisplacement/sixDoFRigidBodyDisplacementPointPatchVectorField.C
rename to src/sixDoFRigidBodyMotion/pointPatchFields/derived/sixDoFRigidBodyDisplacement/sixDoFRigidBodyDisplacementPointPatchVectorField.C
index 30452824470..75af41d304a 100644
--- a/src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyDisplacement/sixDoFRigidBodyDisplacementPointPatchVectorField.C
+++ b/src/sixDoFRigidBodyMotion/pointPatchFields/derived/sixDoFRigidBodyDisplacement/sixDoFRigidBodyDisplacementPointPatchVectorField.C
@@ -238,10 +238,13 @@ void sixDoFRigidBodyDisplacementPointPatchVectorField::updateCoeffs()
g_ = g.value();
}
+ // scalar ramp = min(max((this->db().time().value() - 5)/10, 0), 1);
+ scalar ramp = 1.0;
+
motion_.updateAcceleration
(
- f.forceEff() + g_*motion_.mass(),
- f.momentEff(),
+ ramp*(f.forceEff() + g_*motion_.mass()),
+ ramp*(f.momentEff()),
t.deltaTValue()
);
diff --git a/src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyDisplacement/sixDoFRigidBodyDisplacementPointPatchVectorField.H b/src/sixDoFRigidBodyMotion/pointPatchFields/derived/sixDoFRigidBodyDisplacement/sixDoFRigidBodyDisplacementPointPatchVectorField.H
similarity index 100%
rename from src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyDisplacement/sixDoFRigidBodyDisplacementPointPatchVectorField.H
rename to src/sixDoFRigidBodyMotion/pointPatchFields/derived/sixDoFRigidBodyDisplacement/sixDoFRigidBodyDisplacementPointPatchVectorField.H
diff --git a/src/postProcessing/functionObjects/forces/pointPatchFields/derived/uncoupledSixDoFRigidBodyDisplacement/uncoupledSixDoFRigidBodyDisplacementPointPatchVectorField.C b/src/sixDoFRigidBodyMotion/pointPatchFields/derived/uncoupledSixDoFRigidBodyDisplacement/uncoupledSixDoFRigidBodyDisplacementPointPatchVectorField.C
similarity index 100%
rename from src/postProcessing/functionObjects/forces/pointPatchFields/derived/uncoupledSixDoFRigidBodyDisplacement/uncoupledSixDoFRigidBodyDisplacementPointPatchVectorField.C
rename to src/sixDoFRigidBodyMotion/pointPatchFields/derived/uncoupledSixDoFRigidBodyDisplacement/uncoupledSixDoFRigidBodyDisplacementPointPatchVectorField.C
diff --git a/src/postProcessing/functionObjects/forces/pointPatchFields/derived/uncoupledSixDoFRigidBodyDisplacement/uncoupledSixDoFRigidBodyDisplacementPointPatchVectorField.H b/src/sixDoFRigidBodyMotion/pointPatchFields/derived/uncoupledSixDoFRigidBodyDisplacement/uncoupledSixDoFRigidBodyDisplacementPointPatchVectorField.H
similarity index 100%
rename from src/postProcessing/functionObjects/forces/pointPatchFields/derived/uncoupledSixDoFRigidBodyDisplacement/uncoupledSixDoFRigidBodyDisplacementPointPatchVectorField.H
rename to src/sixDoFRigidBodyMotion/pointPatchFields/derived/uncoupledSixDoFRigidBodyDisplacement/uncoupledSixDoFRigidBodyDisplacementPointPatchVectorField.H
diff --git a/src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion.C b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion.C
similarity index 93%
rename from src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion.C
rename to src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion.C
index 7f6c58b150b..492b88752c0 100644
--- a/src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion.C
+++ b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion.C
@@ -24,6 +24,7 @@ License
\*---------------------------------------------------------------------------*/
#include "sixDoFRigidBodyMotion.H"
+#include "septernion.H"
// * * * * * * * * * * * * * Private Member Functions * * * * * * * * * * * //
@@ -533,4 +534,47 @@ void Foam::sixDoFRigidBodyMotion::status() const
}
+Foam::tmp<Foam::pointField> Foam::sixDoFRigidBodyMotion::currentPosition
+(
+ const pointField& initialPoints
+) const
+{
+ return
+ (
+ centreOfMass()
+ + (Q() & initialQ_.T() & (initialPoints - initialCentreOfMass_))
+ );
+}
+
+
+Foam::tmp<Foam::pointField> Foam::sixDoFRigidBodyMotion::scaledPosition
+(
+ const pointField& initialPoints,
+ const scalarField& scale
+) const
+{
+ // Calculate the transformation septerion from the initial state
+ septernion s
+ (
+ centreOfMass() - initialCentreOfMass(),
+ quaternion(Q() & initialQ().T())
+ );
+
+ tmp<pointField> tpoints(new pointField(initialPoints));
+ pointField& points = tpoints();
+
+ forAll(points, pointi)
+ {
+ //- Slerp septernion
+ septernion ss(slerp(septernion::I, s, scale[pointi]));
+
+ points[pointi] =
+ initialCentreOfMass()
+ + ss.transform(initialPoints[pointi] - initialCentreOfMass());
+ }
+
+ return tpoints;
+}
+
+
// ************************************************************************* //
diff --git a/src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion.H b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion.H
similarity index 97%
rename from src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion.H
rename to src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion.H
index 2a9d6dcfa19..c75e0719642 100644
--- a/src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion.H
+++ b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion.H
@@ -325,14 +325,19 @@ public:
//- Transform the given initial state pointField by the current
// motion state
- inline tmp<pointField> currentPosition
+ tmp<pointField> currentPosition(const pointField& initialPoints) const;
+
+ //- Transform the given initial state pointField by the current
+ // motion state
+ tmp<pointField> scaledPosition
(
- const pointField& pInitial
+ const pointField& initialPoints,
+ const scalarField& scale
) const;
//- Transform the given initial state point by the current motion
// state
- inline point currentPosition(const point& pInitial) const;
+ inline point currentPosition(const point& initialPoints) const;
//- Transform the given initial state direction by the current
// motion state
@@ -348,7 +353,7 @@ public:
// additional supplied force and moment
point predictedPosition
(
- const point& pInitial,
+ const point& initialPoints,
const vector& deltaForce,
const vector& deltaMoment,
scalar deltaT
diff --git a/src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedAxis/fixedAxis.C b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedAxis/fixedAxis.C
similarity index 100%
rename from src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedAxis/fixedAxis.C
rename to src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedAxis/fixedAxis.C
diff --git a/src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedAxis/fixedAxis.H b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedAxis/fixedAxis.H
similarity index 100%
rename from src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedAxis/fixedAxis.H
rename to src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedAxis/fixedAxis.H
diff --git a/src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedLine/fixedLine.C b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedLine/fixedLine.C
similarity index 100%
rename from src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedLine/fixedLine.C
rename to src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedLine/fixedLine.C
diff --git a/src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedLine/fixedLine.H b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedLine/fixedLine.H
similarity index 100%
rename from src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedLine/fixedLine.H
rename to src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedLine/fixedLine.H
diff --git a/src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedOrientation/fixedOrientation.C b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedOrientation/fixedOrientation.C
similarity index 100%
rename from src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedOrientation/fixedOrientation.C
rename to src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedOrientation/fixedOrientation.C
diff --git a/src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedOrientation/fixedOrientation.H b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedOrientation/fixedOrientation.H
similarity index 100%
rename from src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedOrientation/fixedOrientation.H
rename to src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedOrientation/fixedOrientation.H
diff --git a/src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedPlane/fixedPlane.C b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedPlane/fixedPlane.C
similarity index 100%
rename from src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedPlane/fixedPlane.C
rename to src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedPlane/fixedPlane.C
diff --git a/src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedPlane/fixedPlane.H b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedPlane/fixedPlane.H
similarity index 100%
rename from src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedPlane/fixedPlane.H
rename to src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedPlane/fixedPlane.H
diff --git a/src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedPoint/fixedPoint.C b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedPoint/fixedPoint.C
similarity index 100%
rename from src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedPoint/fixedPoint.C
rename to src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedPoint/fixedPoint.C
diff --git a/src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedPoint/fixedPoint.H b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedPoint/fixedPoint.H
similarity index 100%
rename from src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedPoint/fixedPoint.H
rename to src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedPoint/fixedPoint.H
diff --git a/src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/sixDoFRigidBodyMotionConstraint/sixDoFRigidBodyMotionConstraint.C b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/sixDoFRigidBodyMotionConstraint/sixDoFRigidBodyMotionConstraint.C
similarity index 100%
rename from src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/sixDoFRigidBodyMotionConstraint/sixDoFRigidBodyMotionConstraint.C
rename to src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/sixDoFRigidBodyMotionConstraint/sixDoFRigidBodyMotionConstraint.C
diff --git a/src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/sixDoFRigidBodyMotionConstraint/sixDoFRigidBodyMotionConstraint.H b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/sixDoFRigidBodyMotionConstraint/sixDoFRigidBodyMotionConstraint.H
similarity index 100%
rename from src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/sixDoFRigidBodyMotionConstraint/sixDoFRigidBodyMotionConstraint.H
rename to src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/sixDoFRigidBodyMotionConstraint/sixDoFRigidBodyMotionConstraint.H
diff --git a/src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/sixDoFRigidBodyMotionConstraint/sixDoFRigidBodyMotionConstraintNew.C b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/sixDoFRigidBodyMotionConstraint/sixDoFRigidBodyMotionConstraintNew.C
similarity index 100%
rename from src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/sixDoFRigidBodyMotionConstraint/sixDoFRigidBodyMotionConstraintNew.C
rename to src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/sixDoFRigidBodyMotionConstraint/sixDoFRigidBodyMotionConstraintNew.C
diff --git a/src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionI.H b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionI.H
similarity index 95%
rename from src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionI.H
rename to src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionI.H
index 5c1eb5e7ebe..e64e1677fcb 100644
--- a/src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionI.H
+++ b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionI.H
@@ -255,26 +255,15 @@ inline Foam::vector& Foam::sixDoFRigidBodyMotion::tau()
// * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * * //
-inline Foam::tmp<Foam::pointField>
-Foam::sixDoFRigidBodyMotion::currentPosition(const pointField& pInitial) const
-{
- return
- (
- centreOfMass()
- + (Q() & initialQ_.T() & (pInitial - initialCentreOfMass_)))
- ;
-}
-
-
inline Foam::point Foam::sixDoFRigidBodyMotion::currentPosition
(
- const point& pInitial
+ const point& initialPoints
) const
{
return
(
centreOfMass()
- + (Q() & initialQ_.T() & (pInitial - initialCentreOfMass_))
+ + (Q() & initialQ_.T() & (initialPoints - initialCentreOfMass_))
);
}
diff --git a/src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionIO.C b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionIO.C
similarity index 100%
rename from src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionIO.C
rename to src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionIO.C
diff --git a/src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/linearAxialAngularSpring/linearAxialAngularSpring.C b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/linearAxialAngularSpring/linearAxialAngularSpring.C
similarity index 100%
rename from src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/linearAxialAngularSpring/linearAxialAngularSpring.C
rename to src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/linearAxialAngularSpring/linearAxialAngularSpring.C
diff --git a/src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/linearAxialAngularSpring/linearAxialAngularSpring.H b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/linearAxialAngularSpring/linearAxialAngularSpring.H
similarity index 100%
rename from src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/linearAxialAngularSpring/linearAxialAngularSpring.H
rename to src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/linearAxialAngularSpring/linearAxialAngularSpring.H
diff --git a/src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/linearSpring/linearSpring.C b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/linearSpring/linearSpring.C
similarity index 100%
rename from src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/linearSpring/linearSpring.C
rename to src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/linearSpring/linearSpring.C
diff --git a/src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/linearSpring/linearSpring.H b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/linearSpring/linearSpring.H
similarity index 100%
rename from src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/linearSpring/linearSpring.H
rename to src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/linearSpring/linearSpring.H
diff --git a/src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/sixDoFRigidBodyMotionRestraint/sixDoFRigidBodyMotionRestraint.C b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/sixDoFRigidBodyMotionRestraint/sixDoFRigidBodyMotionRestraint.C
similarity index 100%
rename from src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/sixDoFRigidBodyMotionRestraint/sixDoFRigidBodyMotionRestraint.C
rename to src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/sixDoFRigidBodyMotionRestraint/sixDoFRigidBodyMotionRestraint.C
diff --git a/src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/sixDoFRigidBodyMotionRestraint/sixDoFRigidBodyMotionRestraint.H b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/sixDoFRigidBodyMotionRestraint/sixDoFRigidBodyMotionRestraint.H
similarity index 100%
rename from src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/sixDoFRigidBodyMotionRestraint/sixDoFRigidBodyMotionRestraint.H
rename to src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/sixDoFRigidBodyMotionRestraint/sixDoFRigidBodyMotionRestraint.H
diff --git a/src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/sixDoFRigidBodyMotionRestraint/sixDoFRigidBodyMotionRestraintNew.C b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/sixDoFRigidBodyMotionRestraint/sixDoFRigidBodyMotionRestraintNew.C
similarity index 100%
rename from src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/sixDoFRigidBodyMotionRestraint/sixDoFRigidBodyMotionRestraintNew.C
rename to src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/sixDoFRigidBodyMotionRestraint/sixDoFRigidBodyMotionRestraintNew.C
diff --git a/src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/sphericalAngularSpring/sphericalAngularSpring.C b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/sphericalAngularSpring/sphericalAngularSpring.C
similarity index 100%
rename from src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/sphericalAngularSpring/sphericalAngularSpring.C
rename to src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/sphericalAngularSpring/sphericalAngularSpring.C
diff --git a/src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/sphericalAngularSpring/sphericalAngularSpring.H b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/sphericalAngularSpring/sphericalAngularSpring.H
similarity index 100%
rename from src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/sphericalAngularSpring/sphericalAngularSpring.H
rename to src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/sphericalAngularSpring/sphericalAngularSpring.H
diff --git a/src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/tabulatedAxialAngularSpring/tabulatedAxialAngularSpring.C b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/tabulatedAxialAngularSpring/tabulatedAxialAngularSpring.C
similarity index 100%
rename from src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/tabulatedAxialAngularSpring/tabulatedAxialAngularSpring.C
rename to src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/tabulatedAxialAngularSpring/tabulatedAxialAngularSpring.C
diff --git a/src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/tabulatedAxialAngularSpring/tabulatedAxialAngularSpring.H b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/tabulatedAxialAngularSpring/tabulatedAxialAngularSpring.H
similarity index 100%
rename from src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/tabulatedAxialAngularSpring/tabulatedAxialAngularSpring.H
rename to src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/tabulatedAxialAngularSpring/tabulatedAxialAngularSpring.H
diff --git a/src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionState.C b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionState.C
similarity index 100%
rename from src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionState.C
rename to src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionState.C
diff --git a/src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionState.H b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionState.H
similarity index 100%
rename from src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionState.H
rename to src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionState.H
diff --git a/src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionStateI.H b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionStateI.H
similarity index 100%
rename from src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionStateI.H
rename to src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionStateI.H
diff --git a/src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionStateIO.C b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionStateIO.C
similarity index 100%
rename from src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionStateIO.C
rename to src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionStateIO.C
diff --git a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionSolver/sixDoFRigidBodyMotionSolver.C b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionSolver/sixDoFRigidBodyMotionSolver.C
new file mode 100644
index 00000000000..ca303bbeca1
--- /dev/null
+++ b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionSolver/sixDoFRigidBodyMotionSolver.C
@@ -0,0 +1,186 @@
+/*---------------------------------------------------------------------------*\
+ ========= |
+ \\ / F ield | OpenFOAM: The Open Source CFD Toolbox
+ \\ / O peration |
+ \\ / A nd | Copyright (C) 2013 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 "sixDoFRigidBodyMotionSolver.H"
+#include "addToRunTimeSelectionTable.H"
+#include "polyMesh.H"
+#include "patchDist.H"
+#include "volPointInterpolation.H"
+#include "uniformDimensionedFields.H"
+#include "forces.H"
+
+// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
+
+namespace Foam
+{
+ defineTypeNameAndDebug(sixDoFRigidBodyMotionSolver, 0);
+
+ addToRunTimeSelectionTable
+ (
+ motionSolver,
+ sixDoFRigidBodyMotionSolver,
+ dictionary
+ );
+}
+
+
+// * * * * * * * * * * * * * * * * Constructors * * * * * * * * * * * * * * //
+
+Foam::sixDoFRigidBodyMotionSolver::sixDoFRigidBodyMotionSolver
+(
+ const polyMesh& mesh,
+ const IOdictionary& dict
+)
+:
+ displacementMotionSolver(mesh, dict, typeName),
+ motion_(coeffDict()),
+ patches_(wordReList(coeffDict().lookup("patches"))),
+ patchSet_(mesh.boundaryMesh().patchSet(patches_)),
+ distance_(readScalar(coeffDict().lookup("distance"))),
+ rhoInf_(1.0),
+ rhoName_(coeffDict().lookupOrDefault<word>("rhoName", "rho")),
+ scale_
+ (
+ IOobject
+ (
+ "scale",
+ mesh.time().timeName(),
+ mesh,
+ IOobject::NO_READ,
+ IOobject::NO_WRITE,
+ false
+ ),
+ pointMesh::New(mesh),
+ dimensionedScalar("zero", dimless, 0.0)
+ ),
+ curTimeIndex_(-1)
+{
+ const fvMesh& fMesh = dynamic_cast<const fvMesh&>(mesh);
+
+ if (rhoName_ == "rhoInf")
+ {
+ rhoInf_ = readScalar(dict.lookup("rhoInf"));
+ }
+
+ // Calculate scaling factor everywhere
+ // ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+ {
+ patchDist dist(fMesh, patchSet_);
+
+ // Update distance to object
+ pointScalarField pDist
+ (
+ volPointInterpolation::New
+ (
+ fMesh
+ ).interpolate(dist)
+ );
+
+ // Scaling. 1 at patches, 0 at distance_ away from patches
+ scale_.internalField() = 1 - min(1.0, pDist.internalField()/distance_);
+ scale_.correctBoundaryConditions();
+ scale_.write();
+ }
+}
+
+
+// * * * * * * * * * * * * * * * * Destructor * * * * * * * * * * * * * * * //
+
+Foam::sixDoFRigidBodyMotionSolver::~sixDoFRigidBodyMotionSolver()
+{}
+
+
+// * * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * //
+
+Foam::tmp<Foam::pointField>
+Foam::sixDoFRigidBodyMotionSolver::curPoints() const
+{
+ return points0() + pointDisplacement_.internalField();
+}
+
+
+void Foam::sixDoFRigidBodyMotionSolver::solve()
+{
+ const Time& t = mesh().time();
+
+ if (mesh().nPoints() != points0().size())
+ {
+ FatalErrorIn
+ (
+ "sixDoFRigidBodyMotionSolver::curPoints() const"
+ ) << "The number of points in the mesh seems to have changed." << endl
+ << "In constant/polyMesh there are " << points0().size()
+ << " points; in the current mesh there are " << mesh().nPoints()
+ << " points." << exit(FatalError);
+ }
+
+ // Store the motion state at the beginning of the time-step
+ if (curTimeIndex_ != this->db().time().timeIndex())
+ {
+ motion_.newTime();
+ curTimeIndex_ = this->db().time().timeIndex();
+ }
+
+ // Patch force data is valid for the current positions, so
+ // calculate the forces on the motion object from this data, then
+ // update the positions
+
+ motion_.updatePosition(t.deltaTValue(), t.deltaT0Value());
+
+ dictionary forcesDict;
+
+ forcesDict.add("type", forces::typeName);
+ forcesDict.add("patches", patches_);
+ forcesDict.add("rhoInf", rhoInf_);
+ forcesDict.add("rhoName", rhoName_);
+ forcesDict.add("CofR", motion_.centreOfMass());
+
+ forces f("forces", db(), forcesDict);
+
+ f.calcForcesMoment();
+
+ uniformDimensionedVectorField g =
+ db().lookupObject<uniformDimensionedVectorField>("g");
+
+ // scalar ramp = min(max((this->db().time().value() - 5)/10, 0), 1);
+ scalar ramp = 1.0;
+
+ motion_.updateAcceleration
+ (
+ ramp*(f.forceEff() + g.value()*motion_.mass()),
+ ramp*(f.momentEff()),
+ t.deltaTValue()
+ );
+
+ // Update the displacements
+ pointDisplacement_.internalField() =
+ motion_.scaledPosition(points0(), scale_) - points0();
+
+ pointDisplacement_.correctBoundaryConditions();
+}
+
+
+// ************************************************************************* //
diff --git a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionSolver/sixDoFRigidBodyMotionSolver.H b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionSolver/sixDoFRigidBodyMotionSolver.H
new file mode 100644
index 00000000000..1d1e72263c8
--- /dev/null
+++ b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionSolver/sixDoFRigidBodyMotionSolver.H
@@ -0,0 +1,136 @@
+/*---------------------------------------------------------------------------*\
+ ========= |
+ \\ / F ield | OpenFOAM: The Open Source CFD Toolbox
+ \\ / O peration |
+ \\ / A nd | Copyright (C) 2013 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::sixDoFRigidBodyMotionSolver
+
+Description
+ 6-DoF solid-body mesh motion solver for an fvMesh.
+
+ Applies SLERP interpolation of movement as function of distance to
+ the object surface.
+
+SourceFiles
+ sixDoFRigidBodyMotionSolver.C
+
+\*---------------------------------------------------------------------------*/
+
+#ifndef sixDoFRigidBodyMotionSolver_H
+#define sixDoFRigidBodyMotionSolver_H
+
+#include "displacementMotionSolver.H"
+#include "sixDoFRigidBodyMotion.H"
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+namespace Foam
+{
+
+/*---------------------------------------------------------------------------*\
+ Class sixDoFRigidBodyMotionSolver Declaration
+\*---------------------------------------------------------------------------*/
+
+class sixDoFRigidBodyMotionSolver
+:
+ public displacementMotionSolver
+{
+ // Private data
+
+ //- Six dof motion object
+ sixDoFRigidBodyMotion motion_;
+
+ wordReList patches_;
+
+ //- Patches to integrate forces
+ const labelHashSet patchSet_;
+
+ //- Morphing distance
+ const scalar distance_;
+
+ //- Reference density required by the forces object for
+ // incompressible calculations, required if rhoName == rhoInf
+ scalar rhoInf_;
+
+ //- Name of density field, optional unless used for an
+ // incompressible simulation, when this needs to be specified
+ // as rhoInf
+ word rhoName_;
+
+ //- Current interpolation scale (1 at patches, 0 at distance_)
+ pointScalarField scale_;
+
+ //- Current time index (used for updating)
+ label curTimeIndex_;
+
+
+ // Private Member Functions
+
+ //- Disallow default bitwise copy construct
+ sixDoFRigidBodyMotionSolver
+ (
+ const sixDoFRigidBodyMotionSolver&
+ );
+
+ //- Disallow default bitwise assignment
+ void operator=(const sixDoFRigidBodyMotionSolver&);
+
+
+public:
+
+ //- Runtime type information
+ TypeName("sixDoFRigidBodyMotion");
+
+
+ // Constructors
+
+ //- Construct from polyMesh and IOdictionary
+ sixDoFRigidBodyMotionSolver
+ (
+ const polyMesh&,
+ const IOdictionary& dict
+ );
+
+
+ //- Destructor
+ ~sixDoFRigidBodyMotionSolver();
+
+
+ // Member Functions
+
+ //- Return point location obtained from the current motion field
+ virtual tmp<pointField> curPoints() const;
+
+ //- Solve for motion
+ virtual void solve();
+};
+
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+} // End namespace Foam
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+#endif
+
+// ************************************************************************* //
diff --git a/tutorials/multiphase/interDyMFoam/ras/floatingObject/constant/dynamicMeshDict b/tutorials/multiphase/interDyMFoam/ras/floatingObject/constant/dynamicMeshDict
index 8001efbebcf..b350585fe9e 100644
--- a/tutorials/multiphase/interDyMFoam/ras/floatingObject/constant/dynamicMeshDict
+++ b/tutorials/multiphase/interDyMFoam/ras/floatingObject/constant/dynamicMeshDict
@@ -16,7 +16,7 @@ FoamFile
dynamicFvMesh dynamicMotionSolverFvMesh;
-motionSolverLibs ("libfvMotionSolvers.so");
+motionSolverLibs ("libfvMotionSolvers.so" "libsixDoFRigidBodyMotion.so");
solver displacementLaplacian;
diff --git a/tutorials/multiphase/interDyMFoam/ras/floatingObject/system/controlDict b/tutorials/multiphase/interDyMFoam/ras/floatingObject/system/controlDict
index 2a0a90efa67..d51c2fd31ed 100644
--- a/tutorials/multiphase/interDyMFoam/ras/floatingObject/system/controlDict
+++ b/tutorials/multiphase/interDyMFoam/ras/floatingObject/system/controlDict
@@ -51,12 +51,4 @@ maxCo 5;
maxAlphaCo 5;
maxDeltaT 1;
-libs
-(
- "libOpenFOAM.so"
- "libincompressibleRASModels.so"
- "libfvMotionSolvers.so"
- "libforces.so"
-);
-
// ************************************************************************* //
--
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