sixDoFRigidBody: adding constraints.

Adding outline and placeholders for constraints and their solution.

src/postProcessing/functionObjects/forces/Make/files

@@ -17,6 +17,12 @@ $(sDoFRBMR)/sixDoFRigidBodyMotionRestraint/sixDoFRigidBodyMotionRestraint.C
 $(sDoFRBMR)/sixDoFRigidBodyMotionRestraint/newSixDoFRigidBodyMotionRestraint.C
 $(sDoFRBMR)/linearSpring/linearSpring.C
 
+sDoFRBMC = $(sDoFRBM)/sixDoFRigidBodyMotionConstraint
+
+$(sDoFRBMC)/sixDoFRigidBodyMotionConstraint/sixDoFRigidBodyMotionConstraint.C
+$(sDoFRBMC)/sixDoFRigidBodyMotionConstraint/newSixDoFRigidBodyMotionConstraint.C
+$(sDoFRBMC)/fixedPoint/fixedPoint.C
+
 pointPatchFields/derived/sixDoFRigidBodyDisplacement/sixDoFRigidBodyDisplacementPointPatchVectorField.C
 pointPatchFields/derived/uncoupledSixDoFRigidBodyDisplacement/uncoupledSixDoFRigidBodyDisplacementPointPatchVectorField.C
 pointPatchFields/derived/constrainedSixDoFRigidBodyDisplacement/constrainedSixDoFRigidBodyDisplacementPointPatchVectorField.C

src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion.C

@@ -49,15 +49,61 @@ void Foam::sixDoFRigidBodyMotion::applyRestraints()
 
             a() += rF/mass_;
 
-            tau() += Q().T() & (rM + (rP - centreOfMass()) ^ rF);
+            tau() += Q().T() & (rM + ((rP - centreOfMass()) ^ rF));
         }
     }
 }
 
 
-void Foam::sixDoFRigidBodyMotion::applyConstraints()
+void Foam::sixDoFRigidBodyMotion::applyConstraints(scalar deltaT)
 {
+    if (Pstream::master())
+    {
+        label iter = 0;
+
+        bool converged = true;
+
+        // constraint force accumulator
+        vector cFA = vector::zero;
+
+        // constraint moment accumulator
+        vector cMA = vector::zero;
+
+        do
+        {
+            converged = true;
+
+            Info<< "Iteration " << iter << endl;
+
+            forAll(constraints_, cI)
+            {
+                Info<< "Constraint " << cI << endl;
+
+                // constraint position
+                point cP = vector::zero;
 
+                // constraint force
+                vector cF = vector::zero;
+
+                // constraint moment
+                vector cM = vector::zero;
+
+                converged = converged && constraints_[cI].constrain
+                (
+                    *this,
+                    cFA,
+                    cMA,
+                    deltaT,
+                    cP,
+                    cF,
+                    cM
+                );
+            }
+
+            iter++;
+
+        } while(!converged);
+    }
 }
 
 
@@ -67,6 +113,7 @@ Foam::sixDoFRigidBodyMotion::sixDoFRigidBodyMotion()
 :
     motionState_(),
     restraints_(),
+    constraints_(),
     refCentreOfMass_(vector::zero),
     momentOfInertia_(diagTensor::one*VSMALL),
     mass_(VSMALL)
@@ -96,6 +143,7 @@ Foam::sixDoFRigidBodyMotion::sixDoFRigidBodyMotion
         tau
     ),
     restraints_(),
+    constraints_(),
     refCentreOfMass_(refCentreOfMass),
     momentOfInertia_(momentOfInertia),
     mass_(mass)
@@ -106,6 +154,7 @@ Foam::sixDoFRigidBodyMotion::sixDoFRigidBodyMotion(const dictionary& dict)
 :
     motionState_(dict),
     restraints_(),
+    constraints_(),
     refCentreOfMass_(dict.lookupOrDefault("refCentreOfMass", centreOfMass())),
     momentOfInertia_(dict.lookup("momentOfInertia")),
     mass_(readScalar(dict.lookup("mass")))
@@ -123,6 +172,7 @@ Foam::sixDoFRigidBodyMotion::sixDoFRigidBodyMotion
 :
     motionState_(sDoFRBM.motionState()),
     restraints_(sDoFRBM.restraints()),
+    constraints_(sDoFRBM.constraints()),
     refCentreOfMass_(sDoFRBM.refCentreOfMass()),
     momentOfInertia_(sDoFRBM.momentOfInertia()),
     mass_(sDoFRBM.mass())
@@ -176,7 +226,32 @@ void Foam::sixDoFRigidBodyMotion::addConstraints
     const dictionary& dict
 )
 {
+    if (dict.found("constraints"))
+    {
+        const dictionary& constraintDict = dict.subDict("constraints");
 
+        label i = 0;
+
+        constraints_.setSize(constraintDict.size());
+
+        forAllConstIter(IDLList<entry>, constraintDict, iter)
+        {
+            if (iter().isDict())
+            {
+                Info<< "Adding constraint: " << iter().keyword() << endl;
+
+                constraints_.set
+                (
+                    i,
+                    sixDoFRigidBodyMotionConstraint::New(iter().dict())
+                );
+            }
+
+            i++;
+        }
+
+        constraints_.setSize(i);
+    }
 }
 
 
@@ -244,7 +319,7 @@ void Foam::sixDoFRigidBodyMotion::updateForce
 
         applyRestraints();
 
-        applyConstraints();
+        applyConstraints(deltaT);
 
         v() += 0.5*deltaT*a();
 
@@ -282,5 +357,17 @@ void Foam::sixDoFRigidBodyMotion::updateForce
 }
 
 
+Foam::point Foam::sixDoFRigidBodyMotion::predictedPosition
+(
+    const point& pt,
+    const vector deltaForce,
+    const vector deltaMoment,
+    scalar deltaT
+) const
+{
+    Info<< "predictedPosition NOT IMPLEMENTED" << endl;
+    return pt;
+}
+
 
 // ************************************************************************* //

src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion.H

@@ -59,6 +59,7 @@ SourceFiles
 #include "sixDoFRigidBodyMotionState.H"
 #include "pointField.H"
 #include "sixDoFRigidBodyMotionRestraint.H"
+#include "sixDoFRigidBodyMotionConstraint.H"
 
 
 // * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
@@ -90,8 +91,8 @@ class sixDoFRigidBodyMotion
         //- Restraints on the motion
         PtrList<sixDoFRigidBodyMotionRestraint> restraints_;
 
-        // //- Constaints on the motion
-        // PtrList<sixDoFRigidBodyMotionConstraint> constraints_;
+        //- Constaints on the motion
+        PtrList<sixDoFRigidBodyMotionConstraint> constraints_;
 
         //- Centre of mass of reference state
         point refCentreOfMass_;
@@ -121,7 +122,7 @@ class sixDoFRigidBodyMotion
         void applyRestraints();
 
         //- Apply the constraints to the object
-        void applyConstraints();
+        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
@@ -135,6 +136,10 @@ class sixDoFRigidBodyMotion
             inline const PtrList<sixDoFRigidBodyMotionRestraint>&
                 restraints() const;
 
+            //- Return access to the constraints
+            inline const PtrList<sixDoFRigidBodyMotionConstraint>&
+                constraints() const;
+
             //- Return access to the centre of mass
             inline const point& refCentreOfMass() const;
 
@@ -256,6 +261,17 @@ public:
         //  motion state
         inline point currentPosition(const point& pt) const;
 
+        //- Predict the position of the supplied point after deltaT
+        //  given the current motion state and the additional supplied
+        //  force and moment
+        point predictedPosition
+        (
+            const point& pt,
+            const vector deltaForce,
+            const vector deltaMoment,
+            scalar deltaT
+        ) const;
+
         //- Return the angular velocity in the global frame
         inline vector omega() const;
 

src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedPoint/fixedPoint.C

+/*---------------------------------------------------------------------------*\
+  =========                 |
+  \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
+   \\    /   O peration     |
+    \\  /    A nd           | Copyright (C) 1991-2009 OpenCFD Ltd.
+     \\/     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 2 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, write to the Free Software Foundation,
+    Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+
+\*---------------------------------------------------------------------------*/
+
+#include "fixedPoint.H"
+#include "addToRunTimeSelectionTable.H"
+#include "sixDoFRigidBodyMotion.H"
+
+// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
+
+namespace Foam
+{
+namespace sixDoFRigidBodyMotionConstraints
+{
+    defineTypeNameAndDebug(fixedPoint, 0);
+    addToRunTimeSelectionTable
+    (
+        sixDoFRigidBodyMotionConstraint,
+        fixedPoint,
+        dictionary
+    );
+};
+};
+
+
+// * * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * //
+
+Foam::sixDoFRigidBodyMotionConstraints::fixedPoint::fixedPoint
+(
+    const dictionary& sDoFRBMCDict
+)
+:
+    sixDoFRigidBodyMotionConstraint(sDoFRBMCDict),
+    fixedPoint_()
+{
+    read(sDoFRBMCDict);
+}
+
+
+// * * * * * * * * * * * * * * * * Destructors * * * * * * * * * * * * * * * //
+
+Foam::sixDoFRigidBodyMotionConstraints::fixedPoint::~fixedPoint()
+{}
+
+
+// * * * * * * * * * * * * * * Member Functions  * * * * * * * * * * * * * * //
+
+bool Foam::sixDoFRigidBodyMotionConstraints::fixedPoint::constrain
+(
+    const sixDoFRigidBodyMotion& motion,
+    const vector& existingConstraintForce,
+    const vector& existingConstraintMoment,
+    scalar deltaT,
+    vector& constraintPosition,
+    vector& constraintForceIncrement,
+    vector& constraintMomentIncrement
+) const
+{
+    point predictedPosition = motion.predictedPosition
+    (
+        fixedPoint_,
+        existingConstraintForce,
+        existingConstraintMoment,
+        deltaT
+    );
+
+    vector error = predictedPosition - fixedPoint_;
+
+    Info<< error << endl;
+
+    return true;
+}
+
+
+bool Foam::sixDoFRigidBodyMotionConstraints::fixedPoint::read
+(
+    const dictionary& sDoFRBMCDict
+)
+{
+    sixDoFRigidBodyMotionConstraint::read(sDoFRBMCDict);
+
+    sDoFRBMCCoeffs_.lookup("fixedPoint") >> fixedPoint_;
+
+    return true;
+}
+
+// ************************************************************************* //

src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedPoint/fixedPoint.H

+/*---------------------------------------------------------------------------*\
+  =========                 |
+  \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
+   \\    /   O peration     |
+    \\  /    A nd           | Copyright (C) 1991-2009 OpenCFD Ltd.
+     \\/     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 2 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, write to the Free Software Foundation,
+    Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+
+Class
+    Foam::sixDoFRigidBodyMotionConstraints::fixedPoint
+
+Description
+    sixDoFRigidBodyMotionConstraint.  Point fixed in space.
+
+SourceFiles
+    fixedPoint.C
+
+\*---------------------------------------------------------------------------*/
+
+#ifndef fixedPoint_H
+#define fixedPoint_H
+
+#include "sixDoFRigidBodyMotionConstraint.H"
+#include "point.H"
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+namespace Foam
+{
+
+namespace sixDoFRigidBodyMotionConstraints
+{
+
+/*---------------------------------------------------------------------------*\
+                          Class fixedPoint Declaration
+\*---------------------------------------------------------------------------*/
+
+class fixedPoint
+:
+    public sixDoFRigidBodyMotionConstraint
+{
+    // Private data
+
+        //- Point which is rigidly attached to the body and constrains
+        //  it so that this point remains fixed.
+        point fixedPoint_;
+
+
+public:
+
+    //- Runtime type information
+    TypeName("fixedPoint");
+
+
+    // Constructors
+
+        //- Construct from components
+        fixedPoint
+        (
+            const dictionary& sDoFRBMCDict
+        );
+
+        //- Construct and return a clone
+        virtual autoPtr<sixDoFRigidBodyMotionConstraint> clone() const
+        {
+            return autoPtr<sixDoFRigidBodyMotionConstraint>
+            (
+                new fixedPoint(*this)
+            );
+        }
+
+
+    // Destructor
+
+        virtual ~fixedPoint();
+
+
+    // 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;
+
+        //- Update properties from given dictionary
+        virtual bool read(const dictionary& sDoFRBMCCoeff);
+};
+
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+} // End namespace solidBodyMotionFunctions
+} // End namespace Foam
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+#endif
+
+// ************************************************************************* //

src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/sixDoFRigidBodyMotionConstraint/newSixDoFRigidBodyMotionConstraint.C

+/*---------------------------------------------------------------------------*\
+  =========                 |
+  \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
+   \\    /   O peration     |
+    \\  /    A nd           | Copyright (C) 1991-2009 OpenCFD Ltd.
+     \\/     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 2 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, write to the Free Software Foundation,
+    Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+
+\*---------------------------------------------------------------------------*/
+
+#include "sixDoFRigidBodyMotionConstraint.H"
+
+// * * * * * * * * * * * * * * * * Selectors * * * * * * * * * * * * * * * * //
+
+Foam::autoPtr<Foam::sixDoFRigidBodyMotionConstraint>
+Foam::sixDoFRigidBodyMotionConstraint::New(const dictionary& sDoFRBMCDict)
+{
+    word sixDoFRigidBodyMotionConstraintTypeName =
+        sDoFRBMCDict.lookup("sixDoFRigidBodyMotionConstraint");
+
+    Info<< "Selecting sixDoFRigidBodyMotionConstraint function "
+        << sixDoFRigidBodyMotionConstraintTypeName << endl;
+
+    dictionaryConstructorTable::iterator cstrIter =
+    dictionaryConstructorTablePtr_->find
+    (
+        sixDoFRigidBodyMotionConstraintTypeName
+    );
+
+    if (cstrIter == dictionaryConstructorTablePtr_->end())
+    {
+        FatalErrorIn
+        (
+            "sixDoFRigidBodyMotionConstraint::New"
+            "("
+                "const dictionary& sDoFRBMCDict"
+            ")"
+        )   << "Unknown sixDoFRigidBodyMotionConstraint type "
+            << sixDoFRigidBodyMotionConstraintTypeName << endl << endl
+            << "Valid  sixDoFRigidBodyMotionConstraints are : " << endl
+            << dictionaryConstructorTablePtr_->sortedToc()
+            << exit(FatalError);
+    }
+
+    return autoPtr<sixDoFRigidBodyMotionConstraint>(cstrIter()(sDoFRBMCDict));
+}
+
+
+// ************************************************************************* //

src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/sixDoFRigidBodyMotionConstraint/sixDoFRigidBodyMotionConstraint.C

+/*---------------------------------------------------------------------------*\
+  =========                 |
+  \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
+   \\    /   O peration     |
+    \\  /    A nd           | Copyright (C) 1991-2009 OpenCFD Ltd.
+     \\/     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 2 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, write to the Free Software Foundation,
+    Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+
+\*---------------------------------------------------------------------------*/
+
+#include "sixDoFRigidBodyMotionConstraint.H"
+
+// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
+
+defineTypeNameAndDebug(Foam::sixDoFRigidBodyMotionConstraint, 0);
+