diff --git a/src/fvMotionSolver/Make/files b/src/fvMotionSolver/Make/files
index bd1bb87ede2b32056614a854307fa267f09ed13f..fc295442b64d4a1335f17a7193e962402228d2e1 100644
--- a/src/fvMotionSolver/Make/files
+++ b/src/fvMotionSolver/Make/files
@@ -34,5 +34,7 @@ pointPatchFields/derived/surfaceDisplacement/surfaceDisplacementPointPatchVector
pointPatchFields/derived/sixDofRigidBodyDisplacement/sixDofRigidBodyDisplacementPointPatchVectorField.C
pointPatchFields/derived/sixDofRigidBodyDisplacement/sixDofRigidBodyMotion/sixDofRigidBodyMotion.C
pointPatchFields/derived/sixDofRigidBodyDisplacement/sixDofRigidBodyMotion/sixDofRigidBodyMotionIO.C
+pointPatchFields/derived/sixDofRigidBodyDisplacement/sixDofRigidBodyMotion/sixDofRigidBodyMotionState.C
+pointPatchFields/derived/sixDofRigidBodyDisplacement/sixDofRigidBodyMotion/sixDofRigidBodyMotionStateIO.C
LIB = $(FOAM_LIBBIN)/libfvMotionSolvers
diff --git a/src/fvMotionSolver/pointPatchFields/derived/sixDofRigidBodyDisplacement/sixDofRigidBodyDisplacementPointPatchVectorField.C b/src/fvMotionSolver/pointPatchFields/derived/sixDofRigidBodyDisplacement/sixDofRigidBodyDisplacementPointPatchVectorField.C
index ddfe3d94cbfc1712452b3e2ed3a8e391cd5f6ca1..324b10f574f597e6e0dca7d4d6e1558dcd3c87db 100644
--- a/src/fvMotionSolver/pointPatchFields/derived/sixDofRigidBodyDisplacement/sixDofRigidBodyDisplacementPointPatchVectorField.C
+++ b/src/fvMotionSolver/pointPatchFields/derived/sixDofRigidBodyDisplacement/sixDofRigidBodyDisplacementPointPatchVectorField.C
@@ -130,7 +130,7 @@ void sixDofRigidBodyDisplacementPointPatchVectorField::updateCoeffs()
dictionary forcesDict;
forcesDict.add("patches", wordList(1, ptPatch.name()));
- forcesDict.add("rhoInf", 0.0);
+ forcesDict.add("rhoInf", 1.0);
forcesDict.add("CofR", motion_.centreOfMass());
forces f("forces", db(), forcesDict);
@@ -148,22 +148,6 @@ void sixDofRigidBodyDisplacementPointPatchVectorField::updateCoeffs()
gravity = g.value();
}
- else
- {
- uniformDimensionedVectorField g
- (
- IOobject
- (
- "g",
- db().time().constant(),
- db(),
- IOobject::READ_IF_PRESENT,
- IOobject::NO_WRITE
- )
- );
-
- gravity = g.value();
- }
motion_.updateForce
(
@@ -172,15 +156,6 @@ void sixDofRigidBodyDisplacementPointPatchVectorField::updateCoeffs()
t.deltaT().value()
);
- // motion_.updateForce
- // (
- // vector::zero,
- // vector::zero,
- // t.deltaT().value()
- // );
-
- Info<< motion_ << endl;
-
Field<vector>::operator=(motion_.generatePositions(p0_) - p0_);
fixedValuePointPatchField<vector>::updateCoeffs();
diff --git a/src/fvMotionSolver/pointPatchFields/derived/sixDofRigidBodyDisplacement/sixDofRigidBodyMotion/sixDofRigidBodyMotion.C b/src/fvMotionSolver/pointPatchFields/derived/sixDofRigidBodyDisplacement/sixDofRigidBodyMotion/sixDofRigidBodyMotion.C
index 02ad37e4416de104796d267548107c6188f0781b..5db7351535ef682e0ec495d19559a8978ec61b61 100644
--- a/src/fvMotionSolver/pointPatchFields/derived/sixDofRigidBodyDisplacement/sixDofRigidBodyMotion/sixDofRigidBodyMotion.C
+++ b/src/fvMotionSolver/pointPatchFields/derived/sixDofRigidBodyDisplacement/sixDofRigidBodyMotion/sixDofRigidBodyMotion.C
@@ -30,54 +30,47 @@ License
Foam::sixDofRigidBodyMotion::sixDofRigidBodyMotion()
:
- centreOfMass_(vector::zero),
+ motionState_(),
refCentreOfMass_(vector::zero),
momentOfInertia_(diagTensor::one*VSMALL),
- mass_(VSMALL),
- Q_(I),
- v_(vector::zero),
- a_(vector::zero),
- pi_(vector::zero),
- tau_(vector::zero)
+ mass_(VSMALL)
{}
Foam::sixDofRigidBodyMotion::sixDofRigidBodyMotion
(
const point& centreOfMass,
- const point& refCentreOfMass,
- const diagTensor& momentOfInertia,
- scalar mass,
const tensor& Q,
const vector& v,
const vector& a,
const vector& pi,
- const vector& tau
+ const vector& tau,
+ scalar mass,
+ const point& refCentreOfMass,
+ const diagTensor& momentOfInertia
)
:
- centreOfMass_(centreOfMass),
+ motionState_
+ (
+ centreOfMass,
+ Q,
+ v,
+ a,
+ pi,
+ tau
+ ),
refCentreOfMass_(refCentreOfMass),
momentOfInertia_(momentOfInertia),
- mass_(mass),
- Q_(Q),
- v_(v),
- a_(a),
- pi_(pi),
- tau_(tau)
+ mass_(mass)
{}
Foam::sixDofRigidBodyMotion::sixDofRigidBodyMotion(const dictionary& dict)
:
- centreOfMass_(dict.lookup("centreOfMass")),
- refCentreOfMass_(dict.lookupOrDefault("refCentreOfMass", centreOfMass_)),
+ motionState_(dict),
+ refCentreOfMass_(dict.lookupOrDefault("refCentreOfMass", centreOfMass())),
momentOfInertia_(dict.lookup("momentOfInertia")),
- mass_(readScalar(dict.lookup("mass"))),
- Q_(dict.lookupOrDefault("Q", tensor(I))),
- v_(dict.lookupOrDefault("v", vector::zero)),
- a_(dict.lookupOrDefault("a", vector::zero)),
- pi_(dict.lookupOrDefault("pi", vector::zero)),
- tau_(dict.lookupOrDefault("tau", vector::zero))
+ mass_(readScalar(dict.lookup("mass")))
{}
@@ -86,15 +79,10 @@ Foam::sixDofRigidBodyMotion::sixDofRigidBodyMotion
const sixDofRigidBodyMotion& sDofRBM
)
:
- centreOfMass_(sDofRBM.centreOfMass()),
+ motionState_(sDofRBM.motionState()),
refCentreOfMass_(sDofRBM.refCentreOfMass()),
momentOfInertia_(sDofRBM.momentOfInertia()),
- mass_(sDofRBM.mass()),
- Q_(sDofRBM.Q()),
- v_(sDofRBM.v()),
- a_(sDofRBM.a()),
- pi_(sDofRBM.pi()),
- tau_(sDofRBM.tau())
+ mass_(sDofRBM.mass())
{}
@@ -114,36 +102,42 @@ void Foam::sixDofRigidBodyMotion::updatePosition
// First leapfrog velocity adjust and motion part, required before
// force calculation
- v_ += 0.5*deltaT*a_;
+ if (Pstream::master())
+ {
+ v() += 0.5*deltaT*a();
+
+ pi() += 0.5*deltaT*tau();
+
+ // Leapfrog move part
+ centreOfMass() += deltaT*v();
- pi_ += 0.5*deltaT*tau_;
+ // Leapfrog orientation adjustment
- // Leapfrog move part
- centreOfMass_ += deltaT*v_;
+ tensor R;
- // Leapfrog orientation adjustment
+ R = rotationTensorX(0.5*deltaT*pi().x()/momentOfInertia_.xx());
+ pi() = pi() & R;
+ Q() = Q() & R;
- tensor R;
+ R = rotationTensorY(0.5*deltaT*pi().y()/momentOfInertia_.yy());
+ pi() = pi() & R;
+ Q() = Q() & R;
- R = rotationTensorX(0.5*deltaT*pi_.x()/momentOfInertia_.xx());
- pi_ = pi_ & R;
- Q_ = Q_ & R;
+ R = rotationTensorZ(deltaT*pi().z()/momentOfInertia_.zz());
+ pi() = pi() & R;
+ Q() = Q() & R;
- R = rotationTensorY(0.5*deltaT*pi_.y()/momentOfInertia_.yy());
- pi_ = pi_ & R;
- Q_ = Q_ & R;
+ R = rotationTensorY(0.5*deltaT*pi().y()/momentOfInertia_.yy());
+ pi() = pi() & R;
+ Q() = Q() & R;
- R = rotationTensorZ(deltaT*pi_.z()/momentOfInertia_.zz());
- pi_ = pi_ & R;
- Q_ = Q_ & R;
+ R = rotationTensorX(0.5*deltaT*pi().x()/momentOfInertia_.xx());
+ pi() = pi() & R;
+ Q() = Q() & R;
- R = rotationTensorY(0.5*deltaT*pi_.y()/momentOfInertia_.yy());
- pi_ = pi_ & R;
- Q_ = Q_ & R;
+ }
- R = rotationTensorX(0.5*deltaT*pi_.x()/momentOfInertia_.xx());
- pi_ = pi_ & R;
- Q_ = Q_ & R;
+ Pstream::scatter(motionState_);
}
@@ -157,14 +151,18 @@ void Foam::sixDofRigidBodyMotion::updateForce
// Second leapfrog velocity adjust part, required after motion and
// force calculation part
- a_ = fGlobal/mass_;
+ if (Pstream::master())
+ {
+ a() = fGlobal/mass_;
- tau_ = (Q_.T() & tauGlobal);
+ tau() = (Q().T() & tauGlobal);
- v_ += 0.5*deltaT*a_;
+ v() += 0.5*deltaT*a();
- pi_ += 0.5*deltaT*tau_;
+ pi() += 0.5*deltaT*tau();
+ }
+ Pstream::scatter(motionState_);
}
@@ -178,30 +176,34 @@ void Foam::sixDofRigidBodyMotion::updateForce
// Second leapfrog velocity adjust part, required after motion and
// force calculation part
- a_ = vector::zero;
+ if (Pstream::master())
+ {
+ a() = vector::zero;
- tau_ = vector::zero;
+ tau() = vector::zero;
- forAll(positions, i)
- {
- const vector& f = forces[i];
+ forAll(positions, i)
+ {
+ const vector& f = forces[i];
- a_ += f/mass_;
+ a() += f/mass_;
- tau_ += (positions[i] ^ (Q_.T() & f));
- }
+ tau() += (positions[i] ^ (Q().T() & f));
+ }
- v_ += 0.5*deltaT*a_;
+ v() += 0.5*deltaT*a();
- pi_ += 0.5*deltaT*tau_;
+ pi() += 0.5*deltaT*tau();
+ }
+ Pstream::scatter(motionState_);
}
Foam::tmp<Foam::pointField>
Foam::sixDofRigidBodyMotion::generatePositions(const pointField& pts) const
{
- return (centreOfMass_ + (Q_ & (pts - refCentreOfMass_)));
+ return (centreOfMass() + (Q() & (pts - refCentreOfMass_)));
}
diff --git a/src/fvMotionSolver/pointPatchFields/derived/sixDofRigidBodyDisplacement/sixDofRigidBodyMotion/sixDofRigidBodyMotion.H b/src/fvMotionSolver/pointPatchFields/derived/sixDofRigidBodyDisplacement/sixDofRigidBodyMotion/sixDofRigidBodyMotion.H
index 2bdb7fbf0562d46a7b9c2c501b7c2c16b1b342d0..3db9d58f6d74e32e5a8bdbf74d5fa96b5ff84708 100644
--- a/src/fvMotionSolver/pointPatchFields/derived/sixDofRigidBodyDisplacement/sixDofRigidBodyMotion/sixDofRigidBodyMotion.H
+++ b/src/fvMotionSolver/pointPatchFields/derived/sixDofRigidBodyDisplacement/sixDofRigidBodyMotion/sixDofRigidBodyMotion.H
@@ -53,8 +53,7 @@ SourceFiles
#ifndef sixDofRigidBodyMotion_H
#define sixDofRigidBodyMotion_H
-#include "vector.H"
-#include "diagTensor.H"
+#include "sixDofRigidBodyMotionState.H"
#include "pointField.H"
#include "mathConstants.H"
@@ -81,8 +80,8 @@ class sixDofRigidBodyMotion
{
// Private data
- //- Current position of the centre of mass of the body
- point centreOfMass_;
+ // state data object
+ sixDofRigidBodyMotionState motionState_;
//- Centre of mass of reference state
point refCentreOfMass_;
@@ -93,23 +92,6 @@ class sixDofRigidBodyMotion
//- Mass of the body
scalar mass_;
- //- Orientation, stored as the rotation tensor to transform
- // from the body to the global reference frame, i.e.:
- // globalVector = Q_ & bodyLocalVector
- // bodyLocalVector = Q_.T() & globalVector
- tensor Q_;
-
- // Linear velocity of body
- vector v_;
-
- // Total linear acceleration of body
- vector a_;
-
- //- Angular momentum of body, in body local reference frame
- vector pi_;
-
- //- Total torque on body, in body local reference frame
- vector tau_;
// Private Member Functions
@@ -137,14 +119,14 @@ public:
sixDofRigidBodyMotion
(
const point& centreOfMass,
- const point& refCentreOfMass,
- const diagTensor& momentOfInertia,
- scalar mass,
const tensor& Q,
const vector& v,
const vector& a,
- const vector& pi,
- const vector& tau
+ const vector& pi,
+ const vector& tau,
+ scalar mass,
+ const point& refCentreOfMass,
+ const diagTensor& momentOfInertia
);
//- Construct from dictionary
@@ -183,6 +165,9 @@ public:
// Access
+ //- Return access to the motion state
+ inline const sixDofRigidBodyMotionState& motionState() const;
+
//- Return access to the centre of mass
inline const point& centreOfMass() const;
diff --git a/src/fvMotionSolver/pointPatchFields/derived/sixDofRigidBodyDisplacement/sixDofRigidBodyMotion/sixDofRigidBodyMotionI.H b/src/fvMotionSolver/pointPatchFields/derived/sixDofRigidBodyDisplacement/sixDofRigidBodyMotion/sixDofRigidBodyMotionI.H
index 09b1fa64db8b5375445ed8e8216086ba2ca2b9b0..2ce3160b016dc9fc23bb9e7a6609e99dff143e82 100644
--- a/src/fvMotionSolver/pointPatchFields/derived/sixDofRigidBodyDisplacement/sixDofRigidBodyMotion/sixDofRigidBodyMotionI.H
+++ b/src/fvMotionSolver/pointPatchFields/derived/sixDofRigidBodyDisplacement/sixDofRigidBodyMotion/sixDofRigidBodyMotionI.H
@@ -64,9 +64,16 @@ Foam::sixDofRigidBodyMotion::rotationTensorZ(scalar phi) const
}
+inline const Foam::sixDofRigidBodyMotionState&
+Foam::sixDofRigidBodyMotion::motionState() const
+{
+ return motionState_;
+}
+
+
inline const Foam::point& Foam::sixDofRigidBodyMotion::centreOfMass() const
{
- return centreOfMass_;
+ return motionState_.centreOfMass();
}
@@ -91,37 +98,37 @@ inline Foam::scalar Foam::sixDofRigidBodyMotion::mass() const
inline const Foam::tensor& Foam::sixDofRigidBodyMotion::Q() const
{
- return Q_;
+ return motionState_.Q();
}
inline const Foam::vector& Foam::sixDofRigidBodyMotion::v() const
{
- return v_;
+ return motionState_.v();
}
inline const Foam::vector& Foam::sixDofRigidBodyMotion::a() const
{
- return a_;
+ return motionState_.a();
}
inline const Foam::vector& Foam::sixDofRigidBodyMotion::pi() const
{
- return pi_;
+ return motionState_.pi();
}
inline const Foam::vector& Foam::sixDofRigidBodyMotion::tau() const
{
- return tau_;
+ return motionState_.tau();
}
inline Foam::point& Foam::sixDofRigidBodyMotion::centreOfMass()
{
- return centreOfMass_;
+ return motionState_.centreOfMass();
}
@@ -145,31 +152,31 @@ inline Foam::scalar& Foam::sixDofRigidBodyMotion::mass()
inline Foam::tensor& Foam::sixDofRigidBodyMotion::Q()
{
- return Q_;
+ return motionState_.Q();
}
inline Foam::vector& Foam::sixDofRigidBodyMotion::v()
{
- return v_;
+ return motionState_.v();
}
inline Foam::vector& Foam::sixDofRigidBodyMotion::a()
{
- return a_;
+ return motionState_.a();
}
inline Foam::vector& Foam::sixDofRigidBodyMotion::pi()
{
- return pi_;
+ return motionState_.pi();
}
inline Foam::vector& Foam::sixDofRigidBodyMotion::tau()
{
- return tau_;
+ return motionState_.tau();
}
diff --git a/src/fvMotionSolver/pointPatchFields/derived/sixDofRigidBodyDisplacement/sixDofRigidBodyMotion/sixDofRigidBodyMotionIO.C b/src/fvMotionSolver/pointPatchFields/derived/sixDofRigidBodyDisplacement/sixDofRigidBodyMotion/sixDofRigidBodyMotionIO.C
index b6dcf42891dd016dfe5d565a3ab45e74118c019e..fe4902a94d116eb3f1dc7c60f306c9c059d23c96 100644
--- a/src/fvMotionSolver/pointPatchFields/derived/sixDofRigidBodyDisplacement/sixDofRigidBodyMotion/sixDofRigidBodyMotionIO.C
+++ b/src/fvMotionSolver/pointPatchFields/derived/sixDofRigidBodyDisplacement/sixDofRigidBodyMotion/sixDofRigidBodyMotionIO.C
@@ -31,24 +31,14 @@ License
void Foam::sixDofRigidBodyMotion::write(Ostream& os) const
{
- os.writeKeyword("centreOfMass")
- << centreOfMass_ << token::END_STATEMENT << nl;
+ motionState_.write(os);
+
os.writeKeyword("refCentreOfMass")
<< refCentreOfMass_ << token::END_STATEMENT << nl;
os.writeKeyword("momentOfInertia")
<< momentOfInertia_ << token::END_STATEMENT << nl;
os.writeKeyword("mass")
<< mass_ << token::END_STATEMENT << nl;
- os.writeKeyword("Q")
- << Q_ << token::END_STATEMENT << nl;
- os.writeKeyword("v")
- << v_ << token::END_STATEMENT << nl;
- os.writeKeyword("a")
- << a_ << token::END_STATEMENT << nl;
- os.writeKeyword("pi")
- << pi_ << token::END_STATEMENT << nl;
- os.writeKeyword("tau")
- << tau_ << token::END_STATEMENT << nl;
}
@@ -56,15 +46,10 @@ void Foam::sixDofRigidBodyMotion::write(Ostream& os) const
Foam::Istream& Foam::operator>>(Istream& is, sixDofRigidBodyMotion& sDofRBM)
{
- is >> sDofRBM.centreOfMass_
+ is >> sDofRBM.motionState_
>> sDofRBM.refCentreOfMass_
>> sDofRBM.momentOfInertia_
- >> sDofRBM.mass_
- >> sDofRBM.Q_
- >> sDofRBM.v_
- >> sDofRBM.a_
- >> sDofRBM.pi_
- >> sDofRBM.tau_;
+ >> sDofRBM.mass_;
// Check state of Istream
is.check
@@ -83,15 +68,10 @@ Foam::Ostream& Foam::operator<<
const sixDofRigidBodyMotion& sDofRBM
)
{
- os << token::SPACE << sDofRBM.centreOfMass()
+ os << sDofRBM.motionState()
<< token::SPACE << sDofRBM.refCentreOfMass()
<< token::SPACE << sDofRBM.momentOfInertia()
- << token::SPACE << sDofRBM.mass()
- << token::SPACE << sDofRBM.Q()
- << token::SPACE << sDofRBM.v()
- << token::SPACE << sDofRBM.a()
- << token::SPACE << sDofRBM.pi()
- << token::SPACE << sDofRBM.tau();
+ << token::SPACE << sDofRBM.mass() ;
// Check state of Ostream
os.check
diff --git a/src/fvMotionSolver/pointPatchFields/derived/sixDofRigidBodyDisplacement/sixDofRigidBodyMotion/sixDofRigidBodyMotionState.C b/src/fvMotionSolver/pointPatchFields/derived/sixDofRigidBodyDisplacement/sixDofRigidBodyMotion/sixDofRigidBodyMotionState.C
new file mode 100644
index 0000000000000000000000000000000000000000..5d54079099357d63b5edbdc62abd9a6b70834bf8
--- /dev/null
+++ b/src/fvMotionSolver/pointPatchFields/derived/sixDofRigidBodyDisplacement/sixDofRigidBodyMotion/sixDofRigidBodyMotionState.C
@@ -0,0 +1,95 @@
+/*---------------------------------------------------------------------------*\
+ ========= |
+ \\ / F ield | OpenFOAM: The Open Source CFD Toolbox
+ \\ / O peration |
+ \\ / A nd | Copyright (C) 2009-2009 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 "sixDofRigidBodyMotionState.H"
+
+// * * * * * * * * * * * * * * * * Constructors * * * * * * * * * * * * * * //
+
+Foam::sixDofRigidBodyMotionState::sixDofRigidBodyMotionState()
+:
+ centreOfMass_(vector::zero),
+ Q_(I),
+ v_(vector::zero),
+ a_(vector::zero),
+ pi_(vector::zero),
+ tau_(vector::zero)
+{}
+
+
+Foam::sixDofRigidBodyMotionState::sixDofRigidBodyMotionState
+(
+ const point& centreOfMass,
+ const tensor& Q,
+ const vector& v,
+ const vector& a,
+ const vector& pi,
+ const vector& tau
+)
+:
+ centreOfMass_(centreOfMass),
+ Q_(Q),
+ v_(v),
+ a_(a),
+ pi_(pi),
+ tau_(tau)
+{}
+
+
+Foam::sixDofRigidBodyMotionState::sixDofRigidBodyMotionState
+(
+ const dictionary& dict
+)
+:
+ centreOfMass_(dict.lookup("centreOfMass")),
+ Q_(dict.lookupOrDefault("Q", tensor(I))),
+ v_(dict.lookupOrDefault("v", vector::zero)),
+ a_(dict.lookupOrDefault("a", vector::zero)),
+ pi_(dict.lookupOrDefault("pi", vector::zero)),
+ tau_(dict.lookupOrDefault("tau", vector::zero))
+{}
+
+
+Foam::sixDofRigidBodyMotionState::sixDofRigidBodyMotionState
+(
+ const sixDofRigidBodyMotionState& sDofRBMS
+)
+:
+ centreOfMass_(sDofRBMS.centreOfMass()),
+ Q_(sDofRBMS.Q()),
+ v_(sDofRBMS.v()),
+ a_(sDofRBMS.a()),
+ pi_(sDofRBMS.pi()),
+ tau_(sDofRBMS.tau())
+{}
+
+
+// * * * * * * * * * * * * * * * * Destructor * * * * * * * * * * * * * * * //
+
+Foam::sixDofRigidBodyMotionState::~sixDofRigidBodyMotionState()
+{}
+
+
+// ************************************************************************* //
diff --git a/src/fvMotionSolver/pointPatchFields/derived/sixDofRigidBodyDisplacement/sixDofRigidBodyMotion/sixDofRigidBodyMotionState.H b/src/fvMotionSolver/pointPatchFields/derived/sixDofRigidBodyDisplacement/sixDofRigidBodyMotion/sixDofRigidBodyMotionState.H
new file mode 100644
index 0000000000000000000000000000000000000000..f7942e31bd99fb4304d49610cfe93c14780a2a68
--- /dev/null
+++ b/src/fvMotionSolver/pointPatchFields/derived/sixDofRigidBodyDisplacement/sixDofRigidBodyMotion/sixDofRigidBodyMotionState.H
@@ -0,0 +1,194 @@
+/*---------------------------------------------------------------------------*\
+ ========= |
+ \\ / F ield | OpenFOAM: The Open Source CFD Toolbox
+ \\ / O peration |
+ \\ / A nd | Copyright (C) 2009-2009 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::sixDofRigidBodyMotionState
+
+Description
+ Holds the motion state of sixDof object. Wrapped up together
+ to allow rapid scatter to other processors. The processors must all
+ maintain exactly the same state data to avoid any drift or inconsistency.
+
+SourceFiles
+ sixDofRigidBodyMotionStateI.H
+ sixDofRigidBodyMotionState.C
+ sixDofRigidBodyMotionStateIO.C
+
+\*---------------------------------------------------------------------------*/
+
+#ifndef sixDofRigidBodyMotionState_H
+#define sixDofRigidBodyMotionState_H
+
+#include "vector.H"
+#include "point.H"
+#include "diagTensor.H"
+#include "tensor.H"
+#include "dictionary.H"
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+namespace Foam
+{
+
+// Forward declaration of classes
+class Istream;
+class Ostream;
+
+// Forward declaration of friend functions and operators
+class sixDofRigidBodyMotionState;
+Istream& operator>>(Istream&, sixDofRigidBodyMotionState&);
+Ostream& operator<<(Ostream&, const sixDofRigidBodyMotionState&);
+
+
+/*---------------------------------------------------------------------------*\
+ Class sixDofRigidBodyMotionState Declaration
+\*---------------------------------------------------------------------------*/
+
+class sixDofRigidBodyMotionState
+{
+ // Private data
+
+ //- Current position of the centre of mass of the body
+ point centreOfMass_;
+
+ //- Orientation, stored as the rotation tensor to transform
+ // from the body to the global reference frame, i.e.:
+ // globalVector = Q_ & bodyLocalVector
+ // bodyLocalVector = Q_.T() & globalVector
+ tensor Q_;
+
+ // Linear velocity of body
+ vector v_;
+
+ // Total linear acceleration of body
+ vector a_;
+
+ //- Angular momentum of body, in body local reference frame
+ vector pi_;
+
+ //- Total torque on body, in body local reference frame
+ vector tau_;
+
+
+public:
+
+ // Constructors
+
+ //- Construct null
+ sixDofRigidBodyMotionState();
+
+ //- Construct from components
+ sixDofRigidBodyMotionState
+ (
+ const point& centreOfMass,
+ const tensor& Q,
+ const vector& v,
+ const vector& a,
+ const vector& pi,
+ const vector& tau
+ );
+
+ //- Construct from dictionary
+ sixDofRigidBodyMotionState(const dictionary& dict);
+
+ //- Construct as copy
+ sixDofRigidBodyMotionState(const sixDofRigidBodyMotionState&);
+
+
+ //- Destructor
+ ~sixDofRigidBodyMotionState();
+
+
+ // Member Functions
+
+ // Access
+
+ //- Return access to the centre of mass
+ inline const point& centreOfMass() const;
+
+ //- 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;
+
+ //- Return access to angular momentum
+ inline const vector& pi() const;
+
+ //- Return access to torque
+ inline const vector& tau() const;
+
+
+ // Edit
+
+ //- Return non-const access to the centre of mass
+ inline point& centreOfMass();
+
+ //- Return non-const access to the orientation
+ inline tensor& Q();
+
+ //- Return non-const access to vector
+ inline vector& v();
+
+ //- Return non-const access to acceleration
+ inline vector& a();
+
+ //- Return non-const access to angular momentum
+ inline vector& pi();
+
+ //- Return non-const access to torque
+ inline vector& tau();
+
+
+ //- Write
+ void write(Ostream&) const;
+
+
+ // Friend Functions
+
+ // Friend Operators
+
+ // IOstream Operators
+
+ friend Istream& operator>>(Istream&, sixDofRigidBodyMotionState&);
+ friend Ostream& operator<<(Ostream&, const sixDofRigidBodyMotionState&);
+};
+
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+} // End namespace Foam
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+#include "sixDofRigidBodyMotionStateI.H"
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+#endif
+
+// ************************************************************************* //
diff --git a/src/fvMotionSolver/pointPatchFields/derived/sixDofRigidBodyDisplacement/sixDofRigidBodyMotion/sixDofRigidBodyMotionStateI.H b/src/fvMotionSolver/pointPatchFields/derived/sixDofRigidBodyDisplacement/sixDofRigidBodyMotion/sixDofRigidBodyMotionStateI.H
new file mode 100644
index 0000000000000000000000000000000000000000..dff9412fba8a767f896a2ace23cc062d3923bd1e
--- /dev/null
+++ b/src/fvMotionSolver/pointPatchFields/derived/sixDofRigidBodyDisplacement/sixDofRigidBodyMotion/sixDofRigidBodyMotionStateI.H
@@ -0,0 +1,102 @@
+/*---------------------------------------------------------------------------*\
+ ========= |
+ \\ / F ield | OpenFOAM: The Open Source CFD Toolbox
+ \\ / O peration |
+ \\ / A nd | Copyright (C) 2009-2009 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
+
+\*---------------------------------------------------------------------------*/
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+// * * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * //
+inline const Foam::point& Foam::sixDofRigidBodyMotionState::centreOfMass() const
+{
+ return centreOfMass_;
+}
+
+
+inline const Foam::tensor& Foam::sixDofRigidBodyMotionState::Q() const
+{
+ return Q_;
+}
+
+
+inline const Foam::vector& Foam::sixDofRigidBodyMotionState::v() const
+{
+ return v_;
+}
+
+
+inline const Foam::vector& Foam::sixDofRigidBodyMotionState::a() const
+{
+ return a_;
+}
+
+
+inline const Foam::vector& Foam::sixDofRigidBodyMotionState::pi() const
+{
+ return pi_;
+}
+
+
+inline const Foam::vector& Foam::sixDofRigidBodyMotionState::tau() const
+{
+ return tau_;
+}
+
+
+inline Foam::point& Foam::sixDofRigidBodyMotionState::centreOfMass()
+{
+ return centreOfMass_;
+}
+
+
+inline Foam::tensor& Foam::sixDofRigidBodyMotionState::Q()
+{
+ return Q_;
+}
+
+
+inline Foam::vector& Foam::sixDofRigidBodyMotionState::v()
+{
+ return v_;
+}
+
+
+inline Foam::vector& Foam::sixDofRigidBodyMotionState::a()
+{
+ return a_;
+}
+
+
+inline Foam::vector& Foam::sixDofRigidBodyMotionState::pi()
+{
+ return pi_;
+}
+
+
+inline Foam::vector& Foam::sixDofRigidBodyMotionState::tau()
+{
+ return tau_;
+}
+
+
+// ************************************************************************* //
diff --git a/src/fvMotionSolver/pointPatchFields/derived/sixDofRigidBodyDisplacement/sixDofRigidBodyMotion/sixDofRigidBodyMotionStateIO.C b/src/fvMotionSolver/pointPatchFields/derived/sixDofRigidBodyDisplacement/sixDofRigidBodyMotion/sixDofRigidBodyMotionStateIO.C
new file mode 100644
index 0000000000000000000000000000000000000000..3934e57cf24af5c82adc621a34b9131a102b0dcc
--- /dev/null
+++ b/src/fvMotionSolver/pointPatchFields/derived/sixDofRigidBodyDisplacement/sixDofRigidBodyMotion/sixDofRigidBodyMotionStateIO.C
@@ -0,0 +1,98 @@
+/*---------------------------------------------------------------------------*\
+ ========= |
+ \\ / F ield | OpenFOAM: The Open Source CFD Toolbox
+ \\ / O peration |
+ \\ / A nd | Copyright (C) 2009-2009 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 "sixDofRigidBodyMotionState.H"
+#include "IOstreams.H"
+
+// * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * * //
+
+void Foam::sixDofRigidBodyMotionState::write(Ostream& os) const
+{
+ os.writeKeyword("centreOfMass")
+ << centreOfMass_ << token::END_STATEMENT << nl;
+ os.writeKeyword("Q")
+ << Q_ << token::END_STATEMENT << nl;
+ os.writeKeyword("v")
+ << v_ << token::END_STATEMENT << nl;
+ os.writeKeyword("a")
+ << a_ << token::END_STATEMENT << nl;
+ os.writeKeyword("pi")
+ << pi_ << token::END_STATEMENT << nl;
+ os.writeKeyword("tau")
+ << tau_ << token::END_STATEMENT << nl;
+}
+
+
+// * * * * * * * * * * * * * * * IOstream Operators * * * * * * * * * * * * //
+
+Foam::Istream& Foam::operator>>
+(
+ Istream& is, sixDofRigidBodyMotionState& sDofRBMS
+)
+{
+ is >> sDofRBMS.centreOfMass_
+ >> sDofRBMS.Q_
+ >> sDofRBMS.v_
+ >> sDofRBMS.a_
+ >> sDofRBMS.pi_
+ >> sDofRBMS.tau_;
+
+ // Check state of Istream
+ is.check
+ (
+ "Foam::Istream& Foam::operator>>"
+ "(Foam::Istream&, Foam::sixDofRigidBodyMotionState&)"
+ );
+
+ return is;
+}
+
+
+Foam::Ostream& Foam::operator<<
+(
+ Ostream& os,
+ const sixDofRigidBodyMotionState& sDofRBMS
+)
+{
+ os << token::SPACE << sDofRBMS.centreOfMass()
+ << token::SPACE << sDofRBMS.Q()
+ << token::SPACE << sDofRBMS.v()
+ << token::SPACE << sDofRBMS.a()
+ << token::SPACE << sDofRBMS.pi()
+ << token::SPACE << sDofRBMS.tau();
+
+ // Check state of Ostream
+ os.check
+ (
+ "Foam::Ostream& Foam::operator<<(Foam::Ostream&, "
+ "const Foam::sixDofRigidBodyMotionState&)"
+ );
+
+ return os;
+}
+
+
+// ************************************************************************* //