diff --git a/src/sixDoFRigidBodyMotion/Make/files b/src/sixDoFRigidBodyMotion/Make/files
index 02ef85eaa166950aca7002c62ea8134faa75afc3..8e825f0a010760696e12c38e24e7e3f5f5bf36dc 100644
--- a/src/sixDoFRigidBodyMotion/Make/files
+++ b/src/sixDoFRigidBodyMotion/Make/files
@@ -11,6 +11,8 @@ $(restraints)/linearAxialAngularSpring/linearAxialAngularSpring.C
$(restraints)/linearSpring/linearSpring.C
$(restraints)/sphericalAngularSpring/sphericalAngularSpring.C
$(restraints)/tabulatedAxialAngularSpring/tabulatedAxialAngularSpring.C
+$(restraints)/linearDamper/linearDamper.C
+$(restraints)/sphericalAngularDamper/sphericalAngularDamper.C
constraints = sixDoFRigidBodyMotion/constraints
diff --git a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/linearAxialAngularSpring/linearAxialAngularSpring.C b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/linearAxialAngularSpring/linearAxialAngularSpring.C
index 3701dd8bf951461d88b77fbfce32fa001bfc0aea..504944bb29aff0272f399a3b7e1e1f19c1cdd815 100644
--- a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/linearAxialAngularSpring/linearAxialAngularSpring.C
+++ b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/linearAxialAngularSpring/linearAxialAngularSpring.C
@@ -135,7 +135,6 @@ Foam::sixDoFRigidBodyMotionRestraints::linearAxialAngularSpring::restrain
if (motion.report())
{
Info<< " angle " << theta*sign(a & axis_)
- << " force " << restraintForce
<< " moment " << restraintMoment
<< endl;
}
@@ -190,7 +189,6 @@ bool Foam::sixDoFRigidBodyMotionRestraints::linearAxialAngularSpring::read
}
sDoFRBMRCoeffs_.lookup("stiffness") >> stiffness_;
-
sDoFRBMRCoeffs_.lookup("damping") >> damping_;
return true;
diff --git a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/linearDamper/linearDamper.C b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/linearDamper/linearDamper.C
new file mode 100644
index 0000000000000000000000000000000000000000..792f265c2dedaaabce74bcf269de92c7a805a735
--- /dev/null
+++ b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/linearDamper/linearDamper.C
@@ -0,0 +1,113 @@
+/*---------------------------------------------------------------------------*\
+ ========= |
+ \\ / 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 "linearDamper.H"
+#include "addToRunTimeSelectionTable.H"
+#include "sixDoFRigidBodyMotion.H"
+
+// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
+
+namespace Foam
+{
+namespace sixDoFRigidBodyMotionRestraints
+{
+ defineTypeNameAndDebug(linearDamper, 0);
+
+ addToRunTimeSelectionTable
+ (
+ sixDoFRigidBodyMotionRestraint,
+ linearDamper,
+ dictionary
+ );
+}
+}
+
+
+// * * * * * * * * * * * * * * * * Constructors * * * * * * * * * * * * * * //
+
+Foam::sixDoFRigidBodyMotionRestraints::linearDamper::linearDamper
+(
+ const word& name,
+ const dictionary& sDoFRBMRDict
+)
+:
+ sixDoFRigidBodyMotionRestraint(name, sDoFRBMRDict),
+ coeff_()
+{
+ read(sDoFRBMRDict);
+}
+
+
+// * * * * * * * * * * * * * * * * Destructors * * * * * * * * * * * * * * * //
+
+Foam::sixDoFRigidBodyMotionRestraints::linearDamper::~linearDamper()
+{}
+
+
+// * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * * //
+
+void Foam::sixDoFRigidBodyMotionRestraints::linearDamper::restrain
+(
+ const sixDoFRigidBodyMotion& motion,
+ vector& restraintPosition,
+ vector& restraintForce,
+ vector& restraintMoment
+) const
+{
+ restraintForce = -coeff_*motion.v();
+ restraintMoment = vector::zero;
+
+ if (motion.report())
+ {
+ Info<< " force " << restraintForce
+ << endl;
+ }
+}
+
+
+bool Foam::sixDoFRigidBodyMotionRestraints::linearDamper::read
+(
+ const dictionary& sDoFRBMRDict
+)
+{
+ sixDoFRigidBodyMotionRestraint::read(sDoFRBMRDict);
+
+ sDoFRBMRCoeffs_.lookup("coeff") >> coeff_;
+
+ return true;
+}
+
+
+void Foam::sixDoFRigidBodyMotionRestraints::linearDamper::write
+(
+ Ostream& os
+) const
+{
+ os.writeKeyword("coeff")
+ << coeff_ << token::END_STATEMENT << nl;
+}
+
+
+// ************************************************************************* //
diff --git a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/linearDamper/linearDamper.H b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/linearDamper/linearDamper.H
new file mode 100644
index 0000000000000000000000000000000000000000..0e991363fcef5e5faec7b09ad49ace028a123076
--- /dev/null
+++ b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/linearDamper/linearDamper.H
@@ -0,0 +1,121 @@
+/*---------------------------------------------------------------------------*\
+ ========= |
+ \\ / F ield | OpenFOAM: The Open Source CFD Toolbox
+ \\ / O peration |
+ \\ / A nd | Copyright (C) 2011-2013 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::sixDoFRigidBodyMotionRestraints::linearDamper
+
+Description
+ sixDoFRigidBodyMotionRestraints model. Linear spring.
+
+SourceFiles
+ linearDamper.C
+
+\*---------------------------------------------------------------------------*/
+
+#ifndef linearDamper_H
+#define linearDamper_H
+
+#include "sixDoFRigidBodyMotionRestraint.H"
+#include "point.H"
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+namespace Foam
+{
+
+namespace sixDoFRigidBodyMotionRestraints
+{
+
+/*---------------------------------------------------------------------------*\
+ Class linearDamper Declaration
+\*---------------------------------------------------------------------------*/
+
+class linearDamper
+:
+ public sixDoFRigidBodyMotionRestraint
+{
+ // Private data
+
+ //- Damping coefficient (Ns/m)
+ scalar coeff_;
+
+
+public:
+
+ //- Runtime type information
+ TypeName("linearDamper");
+
+
+ // Constructors
+
+ //- Construct from components
+ linearDamper
+ (
+ const word& name,
+ const dictionary& sDoFRBMRDict
+ );
+
+ //- Construct and return a clone
+ virtual autoPtr<sixDoFRigidBodyMotionRestraint> clone() const
+ {
+ return autoPtr<sixDoFRigidBodyMotionRestraint>
+ (
+ new linearDamper(*this)
+ );
+ }
+
+
+ //- Destructor
+ virtual ~linearDamper();
+
+
+ // Member Functions
+
+ //- Calculate the restraint position, force and moment.
+ // Global reference frame vectors.
+ virtual void restrain
+ (
+ const sixDoFRigidBodyMotion& motion,
+ vector& restraintPosition,
+ vector& restraintForce,
+ vector& restraintMoment
+ ) const;
+
+ //- Update properties from given dictionary
+ virtual bool read(const dictionary& sDoFRBMRCoeff);
+
+ //- Write
+ virtual void write(Ostream&) const;
+};
+
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+} // End namespace solidBodyMotionFunctions
+} // End namespace Foam
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+#endif
+
+// ************************************************************************* //
diff --git a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/linearSpring/linearSpring.C b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/linearSpring/linearSpring.C
index a9ed4ce7a3f413eaa936e88be8a6ceeb0c8970fa..a26660caf87871aad1e3379852820ee62ac0540f 100644
--- a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/linearSpring/linearSpring.C
+++ b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/linearSpring/linearSpring.C
@@ -85,8 +85,6 @@ void Foam::sixDoFRigidBodyMotionRestraints::linearSpring::restrain
vector r = restraintPosition - anchor_;
scalar magR = mag(r);
-
- // r is now the r unit vector
r /= (magR + VSMALL);
vector v = motion.currentVelocity(restraintPosition);
@@ -100,7 +98,6 @@ void Foam::sixDoFRigidBodyMotionRestraints::linearSpring::restrain
Info<< " attachmentPt - anchor " << r*magR
<< " spring length " << magR
<< " force " << restraintForce
- << " moment " << restraintMoment
<< endl;
}
}
@@ -114,13 +111,9 @@ bool Foam::sixDoFRigidBodyMotionRestraints::linearSpring::read
sixDoFRigidBodyMotionRestraint::read(sDoFRBMRDict);
sDoFRBMRCoeffs_.lookup("anchor") >> anchor_;
-
sDoFRBMRCoeffs_.lookup("refAttachmentPt") >> refAttachmentPt_;
-
sDoFRBMRCoeffs_.lookup("stiffness") >> stiffness_;
-
sDoFRBMRCoeffs_.lookup("damping") >> damping_;
-
sDoFRBMRCoeffs_.lookup("restLength") >> restLength_;
return true;
diff --git a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/sphericalAngularDamper/sphericalAngularDamper.C b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/sphericalAngularDamper/sphericalAngularDamper.C
new file mode 100644
index 0000000000000000000000000000000000000000..fe5481689fd55aca58887295d8ac515c5bccf081
--- /dev/null
+++ b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/sphericalAngularDamper/sphericalAngularDamper.C
@@ -0,0 +1,114 @@
+/*---------------------------------------------------------------------------*\
+ ========= |
+ \\ / 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 "sphericalAngularDamper.H"
+#include "addToRunTimeSelectionTable.H"
+#include "sixDoFRigidBodyMotion.H"
+
+// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
+
+namespace Foam
+{
+namespace sixDoFRigidBodyMotionRestraints
+{
+ defineTypeNameAndDebug(sphericalAngularDamper, 0);
+
+ addToRunTimeSelectionTable
+ (
+ sixDoFRigidBodyMotionRestraint,
+ sphericalAngularDamper,
+ dictionary
+ );
+}
+}
+
+
+// * * * * * * * * * * * * * * * * Constructors * * * * * * * * * * * * * * //
+
+Foam::sixDoFRigidBodyMotionRestraints::sphericalAngularDamper::
+sphericalAngularDamper
+(
+ const word& name,
+ const dictionary& sDoFRBMRDict
+)
+:
+ sixDoFRigidBodyMotionRestraint(name, sDoFRBMRDict),
+ coeff_()
+{
+ read(sDoFRBMRDict);
+}
+
+
+// * * * * * * * * * * * * * * * * Destructors * * * * * * * * * * * * * * * //
+
+Foam::sixDoFRigidBodyMotionRestraints::sphericalAngularDamper::
+~sphericalAngularDamper()
+{}
+
+
+// * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * * //
+
+void Foam::sixDoFRigidBodyMotionRestraints::sphericalAngularDamper::restrain
+(
+ const sixDoFRigidBodyMotion& motion,
+ vector& restraintPosition,
+ vector& restraintForce,
+ vector& restraintMoment
+) const
+{
+ restraintMoment = -coeff_*motion.omega();
+ restraintForce = vector::zero;
+
+ if (motion.report())
+ {
+ Info<< " moment " << restraintMoment
+ << endl;
+ }
+}
+
+
+bool Foam::sixDoFRigidBodyMotionRestraints::sphericalAngularDamper::read
+(
+ const dictionary& sDoFRBMRDict
+)
+{
+ sixDoFRigidBodyMotionRestraint::read(sDoFRBMRDict);
+
+ sDoFRBMRCoeffs_.lookup("coeff") >> coeff_;
+
+ return true;
+}
+
+
+void Foam::sixDoFRigidBodyMotionRestraints::sphericalAngularDamper::write
+(
+ Ostream& os
+) const
+{
+ os.writeKeyword("coeff") << coeff_ << token::END_STATEMENT << nl;
+}
+
+
+// ************************************************************************* //
diff --git a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/sphericalAngularDamper/sphericalAngularDamper.H b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/sphericalAngularDamper/sphericalAngularDamper.H
new file mode 100644
index 0000000000000000000000000000000000000000..d917ae7d916ff0f205e5f769f4f063cb349b4312
--- /dev/null
+++ b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/sphericalAngularDamper/sphericalAngularDamper.H
@@ -0,0 +1,120 @@
+/*---------------------------------------------------------------------------*\
+ ========= |
+ \\ / 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::sixDoFRigidBodyMotionRestraints::sphericalAngularDamper
+
+Description
+ sixDoFRigidBodyMotionRestraints model. Spherical angular damper.
+
+SourceFiles
+ sphericalAngularDamper.C
+
+\*---------------------------------------------------------------------------*/
+
+#ifndef sphericalAngularDamper_H
+#define sphericalAngularDamper_H
+
+#include "sixDoFRigidBodyMotionRestraint.H"
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+namespace Foam
+{
+
+namespace sixDoFRigidBodyMotionRestraints
+{
+
+/*---------------------------------------------------------------------------*\
+ Class sphericalAngularDamper Declaration
+\*---------------------------------------------------------------------------*/
+
+class sphericalAngularDamper
+:
+ public sixDoFRigidBodyMotionRestraint
+{
+ // Private data
+
+ //- Damping coefficient (Nms/rad)
+ scalar coeff_;
+
+
+public:
+
+ //- Runtime type information
+ TypeName("sphericalAngularDamper");
+
+
+ // Constructors
+
+ //- Construct from components
+ sphericalAngularDamper
+ (
+ const word& name,
+ const dictionary& sDoFRBMRDict
+ );
+
+ //- Construct and return a clone
+ virtual autoPtr<sixDoFRigidBodyMotionRestraint> clone() const
+ {
+ return autoPtr<sixDoFRigidBodyMotionRestraint>
+ (
+ new sphericalAngularDamper(*this)
+ );
+ }
+
+
+ //- Destructor
+ virtual ~sphericalAngularDamper();
+
+
+ // Member Functions
+
+ //- Calculate the restraint position, force and moment.
+ // Global reference frame vectors.
+ virtual void restrain
+ (
+ const sixDoFRigidBodyMotion& motion,
+ vector& restraintPosition,
+ vector& restraintForce,
+ vector& restraintMoment
+ ) const;
+
+ //- Update properties from given dictionary
+ virtual bool read(const dictionary& sDoFRBMRCoeff);
+
+ //- Write
+ virtual void write(Ostream&) const;
+};
+
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+} // End namespace solidBodyMotionFunctions
+} // End namespace Foam
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+#endif
+
+// ************************************************************************* //
diff --git a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/sphericalAngularSpring/sphericalAngularSpring.C b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/sphericalAngularSpring/sphericalAngularSpring.C
index f3dab425d7c7351ae7c67c61faa73298e9991d5f..a0525a19e66c0ad0096afe1037af1adafe9464e3 100644
--- a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/sphericalAngularSpring/sphericalAngularSpring.C
+++ b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/sphericalAngularSpring/sphericalAngularSpring.C
@@ -72,8 +72,7 @@ Foam::sixDoFRigidBodyMotionRestraints::sphericalAngularSpring::
// * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * * //
-void
-Foam::sixDoFRigidBodyMotionRestraints::sphericalAngularSpring::restrain
+void Foam::sixDoFRigidBodyMotionRestraints::sphericalAngularSpring::restrain
(
const sixDoFRigidBodyMotion& motion,
vector& restraintPosition,
@@ -86,19 +85,15 @@ Foam::sixDoFRigidBodyMotionRestraints::sphericalAngularSpring::restrain
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 newDir = motion.orientation() & refDir;
axis = (refQ_ & axis);
-
refDir = (refQ_ & refDir);
-
newDir -= (axis & newDir)*axis;
restraintMoment += -stiffness_*(refDir ^ newDir);
@@ -114,8 +109,7 @@ Foam::sixDoFRigidBodyMotionRestraints::sphericalAngularSpring::restrain
if (motion.report())
{
- Info<< " force " << restraintForce
- << " moment " << restraintMoment
+ Info<< " moment " << restraintMoment
<< endl;
}
}
@@ -147,7 +141,6 @@ bool Foam::sixDoFRigidBodyMotionRestraints::sphericalAngularSpring::read
}
sDoFRBMRCoeffs_.lookup("stiffness") >> stiffness_;
-
sDoFRBMRCoeffs_.lookup("damping") >> damping_;
return true;
diff --git a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/tabulatedAxialAngularSpring/tabulatedAxialAngularSpring.C b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/tabulatedAxialAngularSpring/tabulatedAxialAngularSpring.C
index 037639dde8560abb21d27b0d3a9f0625db0f1fc9..1bf86e3b19c297a7773c25ec9c3c3b0e203c1111 100644
--- a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/tabulatedAxialAngularSpring/tabulatedAxialAngularSpring.C
+++ b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/tabulatedAxialAngularSpring/tabulatedAxialAngularSpring.C
@@ -136,7 +136,6 @@ Foam::sixDoFRigidBodyMotionRestraints::tabulatedAxialAngularSpring::restrain
if (motion.report())
{
Info<< " angle " << theta
- << " force " << restraintForce
<< " moment " << restraintMoment
<< endl;
}
diff --git a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion.H b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion.H
index a2d4c3236ffec8697047cc945ae52f5399a31537..c7b4bd7c30a8aeb512e4a13ca82b53ba1d304498 100644
--- a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion.H
+++ b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion.H
@@ -174,9 +174,6 @@ class sixDoFRigidBodyMotion
//- Return access to the orientation
inline const tensor& Q() const;
- //- Return access to velocity
- inline const vector& v() const;
-
//- Return access to acceleration
inline const vector& a() const;
@@ -356,8 +353,7 @@ public:
//- Return the angular velocity in the global frame
inline vector omega() const;
- //- Return the velocity of a position given by the current
- // motion state
+ //- Return the velocity of a position
inline point currentVelocity(const point& pt) const;
//- Report the status of the motion
@@ -384,6 +380,9 @@ public:
//- Return the report Switch
inline bool report() const;
+ //- Return access to velocity
+ inline const vector& v() const;
+
// Edit