diff --git a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion.C b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion.C
index 8240a1305cb3969fc767acd297ed58512063166f..349493e09622564876eed2fa9da9dff8c742e95b 100644
--- a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion.C
+++ b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion.C
@@ -6,7 +6,7 @@
\\/ M anipulation |
-------------------------------------------------------------------------------
Copyright (C) 2011-2017 OpenFOAM Foundation
- Copyright (C) 2016-2020 OpenCFD Ltd.
+ Copyright (C) 2016-2023 OpenCFD Ltd.
-------------------------------------------------------------------------------
License
This file is part of OpenFOAM.
@@ -90,6 +90,7 @@ Foam::sixDoFRigidBodyMotion::sixDoFRigidBodyMotion(const Time& time)
aRelax_(1.0),
aDamp_(1.0),
report_(false),
+ updateConstraints_(false),
solver_(nullptr)
{}
@@ -130,6 +131,7 @@ Foam::sixDoFRigidBodyMotion::sixDoFRigidBodyMotion
aRelax_(dict.getOrDefault<scalar>("accelerationRelaxation", 1)),
aDamp_(dict.getOrDefault<scalar>("accelerationDamping", 1)),
report_(dict.getOrDefault("report", false)),
+ updateConstraints_(dict.getOrDefault("updateConstraints", false)),
solver_(sixDoFSolver::New(dict.subDict("solver"), *this))
{
addRestraints(dict);
@@ -178,6 +180,7 @@ Foam::sixDoFRigidBodyMotion::sixDoFRigidBodyMotion
aRelax_(sDoFRBM.aRelax_),
aDamp_(sDoFRBM.aDamp_),
report_(sDoFRBM.report_),
+ updateConstraints_(sDoFRBM.updateConstraints_),
solver_(sDoFRBM.solver_.clone())
{}
@@ -304,6 +307,31 @@ void Foam::sixDoFRigidBodyMotion::updateAcceleration
}
+void Foam::sixDoFRigidBodyMotion::updateConstraints()
+{
+ if (!updateConstraints_)
+ {
+ return;
+ }
+
+ pointConstraint pct;
+ pointConstraint pcr;
+
+ forAll(constraints_, i)
+ {
+ constraints_[i].setCentreOfRotation(initialCentreOfRotation_);
+ constraints_[i].constrainTranslation(pct);
+ constraints_[i].constrainRotation(pcr);
+ }
+
+ tConstraints_ = pct.constraintTransformation();
+ rConstraints_ = pcr.constraintTransformation();
+
+ Info<< "Translational constraint tensor " << tConstraints_ << nl
+ << "Rotational constraint tensor " << rConstraints_ << endl;
+}
+
+
void Foam::sixDoFRigidBodyMotion::update
(
bool firstIter,
diff --git a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion.H b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion.H
index c9dd5e7ab7d1490f6d4e8b07cb73eb7b644f6c85..8365882d842757ef3c113e0fe2ce836a6728ef32 100644
--- a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion.H
+++ b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion.H
@@ -6,7 +6,7 @@
\\/ M anipulation |
-------------------------------------------------------------------------------
Copyright (C) 2011-2015 OpenFOAM Foundation
- Copyright (C) 2016-2019 OpenCFD Ltd.
+ Copyright (C) 2016-2023 OpenCFD Ltd.
-------------------------------------------------------------------------------
License
This file is part of OpenFOAM.
@@ -119,6 +119,9 @@ class sixDoFRigidBodyMotion
//- Reporting of motion data (on or off)
bool report_;
+ //- Flag to enable time-variant constraints
+ bool updateConstraints_;
+
//- Motion solver
autoPtr<sixDoFSolver> solver_;
@@ -152,6 +155,9 @@ class sixDoFRigidBodyMotion
//- Update and relax accelerations from the force and torque
void updateAcceleration(const vector& fGlobal, const vector& tauGlobal);
+ //- Update the constraints to the object
+ void updateConstraints();
+
// Access functions retained as private because of the risk of
// confusion over what is a body local frame vector and what is global
@@ -271,6 +277,9 @@ public:
//- Return the report Switch
inline bool report() const;
+ //- Return the update-constraints flag
+ inline bool updateConstraints() const;
+
//- Return time
inline const Time& time() const;
diff --git a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionI.H b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionI.H
index 91eabdc34145be4929f366f16fed3259860a6162..f42f3045b5a0ce8639303e93d11242caec0ef1ce 100644
--- a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionI.H
+++ b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionI.H
@@ -6,7 +6,7 @@
\\/ M anipulation |
-------------------------------------------------------------------------------
Copyright (C) 2011-2015 OpenFOAM Foundation
- Copyright (C) 2016-2019 OpenCFD Ltd.
+ Copyright (C) 2016-2023 OpenCFD Ltd.
-------------------------------------------------------------------------------
License
This file is part of OpenFOAM.
@@ -275,6 +275,11 @@ inline bool Foam::sixDoFRigidBodyMotion::report() const
return report_;
}
+inline bool Foam::sixDoFRigidBodyMotion::updateConstraints() const
+{
+ return updateConstraints_;
+}
+
inline void Foam::sixDoFRigidBodyMotion::newTime()
{
diff --git a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionIO.C b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionIO.C
index e6cbb4d59899bb4954b1877b1ac8bf5e992793a2..df005017e1e77027aa9d910e4726219bd54532da 100644
--- a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionIO.C
+++ b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionIO.C
@@ -6,7 +6,7 @@
\\/ M anipulation |
-------------------------------------------------------------------------------
Copyright (C) 2011-2014 OpenFOAM Foundation
- Copyright (C) 2020 OpenCFD Ltd.
+ Copyright (C) 2020-2023 OpenCFD Ltd.
-------------------------------------------------------------------------------
License
This file is part of OpenFOAM.
@@ -39,6 +39,7 @@ bool Foam::sixDoFRigidBodyMotion::read(const dictionary& dict)
aRelax_ = dict.getOrDefault<scalar>("accelerationRelaxation", 1);
aDamp_ = dict.getOrDefault<scalar>("accelerationDamping", 1);
report_ = dict.getOrDefault<Switch>("report", false);
+ updateConstraints_ = dict.getOrDefault("updateConstraints", false);
restraints_.clear();
addRestraints(dict);
@@ -61,6 +62,7 @@ void Foam::sixDoFRigidBodyMotion::write(Ostream& os) const
os.writeEntry("accelerationRelaxation", aRelax_);
os.writeEntry("accelerationDamping", aDamp_);
os.writeEntry("report", report_);
+ os.writeEntry("updateConstraints", updateConstraints_);
if (!restraints_.empty())
{
diff --git a/src/sixDoFRigidBodyMotion/sixDoFSolvers/CrankNicolson/CrankNicolson.C b/src/sixDoFRigidBodyMotion/sixDoFSolvers/CrankNicolson/CrankNicolson.C
index 7d446dd6ee6645efc8cedd10fd37e06d98aea172..f9fa6739f12b8cf33c454cb5cd7e8b443a0c7a1e 100644
--- a/src/sixDoFRigidBodyMotion/sixDoFSolvers/CrankNicolson/CrankNicolson.C
+++ b/src/sixDoFRigidBodyMotion/sixDoFSolvers/CrankNicolson/CrankNicolson.C
@@ -6,7 +6,7 @@
\\/ M anipulation |
-------------------------------------------------------------------------------
Copyright (C) 2015 OpenFOAM Foundation
- Copyright (C) 2020 OpenCFD Ltd.
+ Copyright (C) 2020-2023 OpenCFD Ltd.
-------------------------------------------------------------------------------
License
This file is part of OpenFOAM.
@@ -75,6 +75,9 @@ void Foam::sixDoFSolvers::CrankNicolson::solve
// Update the linear acceleration and torque
updateAcceleration(fGlobal, tauGlobal);
+ // Update the constraints to the object
+ updateConstraints();
+
// Correct linear velocity
v() = tConstraints()
& (v0() + aDamp()*deltaT*(aoc_*a() + (1 - aoc_)*a0()));
diff --git a/src/sixDoFRigidBodyMotion/sixDoFSolvers/Newmark/Newmark.C b/src/sixDoFRigidBodyMotion/sixDoFSolvers/Newmark/Newmark.C
index 35e506a8714c92857f0b6538dbbd09628f5f12e6..0ed1ef9beb331ab8a870124189c2a18680e3b36b 100644
--- a/src/sixDoFRigidBodyMotion/sixDoFSolvers/Newmark/Newmark.C
+++ b/src/sixDoFRigidBodyMotion/sixDoFSolvers/Newmark/Newmark.C
@@ -6,7 +6,7 @@
\\/ M anipulation |
-------------------------------------------------------------------------------
Copyright (C) 2015-2016 OpenFOAM Foundation
- Copyright (C) 2020 OpenCFD Ltd.
+ Copyright (C) 2020-2023 OpenCFD Ltd.
-------------------------------------------------------------------------------
License
This file is part of OpenFOAM.
@@ -82,6 +82,9 @@ void Foam::sixDoFSolvers::Newmark::solve
// Update the linear acceleration and torque
updateAcceleration(fGlobal, tauGlobal);
+ // Update the constraints to the object
+ updateConstraints();
+
// Correct linear velocity
v() =
tConstraints()
diff --git a/src/sixDoFRigidBodyMotion/sixDoFSolvers/sixDoFSolver/sixDoFSolver.H b/src/sixDoFRigidBodyMotion/sixDoFSolvers/sixDoFSolver/sixDoFSolver.H
index 800d819d1bb15e7155a4af15c5a63fcbb88e266c..97cc1a12561bb51a99cb347c63cf31e78ca0c906 100644
--- a/src/sixDoFRigidBodyMotion/sixDoFSolvers/sixDoFSolver/sixDoFSolver.H
+++ b/src/sixDoFRigidBodyMotion/sixDoFSolvers/sixDoFSolver/sixDoFSolver.H
@@ -6,6 +6,7 @@
\\/ M anipulation |
-------------------------------------------------------------------------------
Copyright (C) 2015 OpenFOAM Foundation
+ Copyright (C) 2023 OpenCFD Ltd.
-------------------------------------------------------------------------------
License
This file is part of OpenFOAM.
@@ -128,6 +129,9 @@ protected:
const vector& tauGlobal
);
+ //- Update the constraints to the object
+ inline void updateConstraints();
+
public:
diff --git a/src/sixDoFRigidBodyMotion/sixDoFSolvers/sixDoFSolver/sixDoFSolverI.H b/src/sixDoFRigidBodyMotion/sixDoFSolvers/sixDoFSolver/sixDoFSolverI.H
index f059b83c07c45b8a6c9dbb69376f0a7d9dee4555..e7fca2c5d17f1cbe0ed7c1002b7c20b4371a820a 100644
--- a/src/sixDoFRigidBodyMotion/sixDoFSolvers/sixDoFSolver/sixDoFSolverI.H
+++ b/src/sixDoFRigidBodyMotion/sixDoFSolvers/sixDoFSolver/sixDoFSolverI.H
@@ -6,6 +6,7 @@
\\/ M anipulation |
-------------------------------------------------------------------------------
Copyright (C) 2015 OpenFOAM Foundation
+ Copyright (C) 2023 OpenCFD Ltd.
-------------------------------------------------------------------------------
License
This file is part of OpenFOAM.
@@ -129,5 +130,10 @@ inline void Foam::sixDoFSolver::updateAcceleration
body_.updateAcceleration(fGlobal, tauGlobal);
}
+inline void Foam::sixDoFSolver::updateConstraints()
+{
+ body_.updateConstraints();
+}
+
// ************************************************************************* //
diff --git a/src/sixDoFRigidBodyMotion/sixDoFSolvers/symplectic/symplectic.C b/src/sixDoFRigidBodyMotion/sixDoFSolvers/symplectic/symplectic.C
index 0fdd3f863238527f300174ebfa33d4db48dec39d..d5875361e7acdeb2c68a63239d822fb7b61bfc59 100644
--- a/src/sixDoFRigidBodyMotion/sixDoFSolvers/symplectic/symplectic.C
+++ b/src/sixDoFRigidBodyMotion/sixDoFSolvers/symplectic/symplectic.C
@@ -6,6 +6,7 @@
\\/ M anipulation |
-------------------------------------------------------------------------------
Copyright (C) 2015-2016 OpenFOAM Foundation
+ Copyright (C) 2023 OpenCFD Ltd.
-------------------------------------------------------------------------------
License
This file is part of OpenFOAM.
@@ -85,6 +86,9 @@ void Foam::sixDoFSolvers::symplectic::solve
// Update the linear acceleration and torque
updateAcceleration(fGlobal, tauGlobal);
+ // Update the constraints to the object
+ updateConstraints();
+
// Second simplectic step:
// Complete update of linear and angular velocities