diff --git a/src/fvMotionSolver/Make/files b/src/fvMotionSolver/Make/files
index f229ae322ef04b4bf61dd4bb0eb336fed3764e48..bd1bb87ede2b32056614a854307fa267f09ed13f 100644
--- a/src/fvMotionSolver/Make/files
+++ b/src/fvMotionSolver/Make/files
@@ -31,5 +31,8 @@ pointPatchFields/derived/oscillatingDisplacement/oscillatingDisplacementPointPat
pointPatchFields/derived/angularOscillatingDisplacement/angularOscillatingDisplacementPointPatchVectorField.C
pointPatchFields/derived/surfaceSlipDisplacement/surfaceSlipDisplacementPointPatchVectorField.C
pointPatchFields/derived/surfaceDisplacement/surfaceDisplacementPointPatchVectorField.C
+pointPatchFields/derived/sixDofRigidBodyDisplacement/sixDofRigidBodyDisplacementPointPatchVectorField.C
+pointPatchFields/derived/sixDofRigidBodyDisplacement/sixDofRigidBodyMotion/sixDofRigidBodyMotion.C
+pointPatchFields/derived/sixDofRigidBodyDisplacement/sixDofRigidBodyMotion/sixDofRigidBodyMotionIO.C
LIB = $(FOAM_LIBBIN)/libfvMotionSolvers
diff --git a/src/fvMotionSolver/Make/options b/src/fvMotionSolver/Make/options
index 966b56964d720cb3acf3a2f006a63d6b14284ef5..9222d5f97c8e43b80117b51b5d21abc1216f2d71 100644
--- a/src/fvMotionSolver/Make/options
+++ b/src/fvMotionSolver/Make/options
@@ -2,10 +2,12 @@ EXE_INC = \
-I$(LIB_SRC)/triSurface/lnInclude \
-I$(LIB_SRC)/meshTools/lnInclude \
-I$(LIB_SRC)/dynamicMesh/lnInclude \
- -I$(LIB_SRC)/finiteVolume/lnInclude
+ -I$(LIB_SRC)/finiteVolume/lnInclude \
+ -I$(LIB_SRC)/postProcessing/functionObjects/forces/lnInclude \
LIB_LIBS = \
-ltriSurface \
-lmeshTools \
-ldynamicMesh \
- -lfiniteVolume
+ -lfiniteVolume \
+ -lforces
diff --git a/src/fvMotionSolver/pointPatchFields/derived/sixDofRigidBodyDisplacement/sixDofRigidBodyDisplacementPointPatchVectorField.C b/src/fvMotionSolver/pointPatchFields/derived/sixDofRigidBodyDisplacement/sixDofRigidBodyDisplacementPointPatchVectorField.C
new file mode 100644
index 0000000000000000000000000000000000000000..ddfe3d94cbfc1712452b3e2ed3a8e391cd5f6ca1
--- /dev/null
+++ b/src/fvMotionSolver/pointPatchFields/derived/sixDofRigidBodyDisplacement/sixDofRigidBodyDisplacementPointPatchVectorField.C
@@ -0,0 +1,211 @@
+/*---------------------------------------------------------------------------*\
+ ========= |
+ \\ / 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 "sixDofRigidBodyDisplacementPointPatchVectorField.H"
+#include "pointPatchFields.H"
+#include "addToRunTimeSelectionTable.H"
+#include "Time.H"
+#include "fvMesh.H"
+#include "volFields.H"
+#include "uniformDimensionedFields.H"
+#include "forces.H"
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+namespace Foam
+{
+
+// * * * * * * * * * * * * * * * * Constructors * * * * * * * * * * * * * * //
+
+sixDofRigidBodyDisplacementPointPatchVectorField::
+sixDofRigidBodyDisplacementPointPatchVectorField
+(
+ const pointPatch& p,
+ const DimensionedField<vector, pointMesh>& iF
+)
+:
+ fixedValuePointPatchField<vector>(p, iF),
+ motion_(),
+ p0_(p.localPoints())
+{}
+
+
+sixDofRigidBodyDisplacementPointPatchVectorField::
+sixDofRigidBodyDisplacementPointPatchVectorField
+(
+ const pointPatch& p,
+ const DimensionedField<vector, pointMesh>& iF,
+ const dictionary& dict
+)
+:
+ fixedValuePointPatchField<vector>(p, iF, dict),
+ motion_(dict)
+{
+ if (!dict.found("value"))
+ {
+ updateCoeffs();
+ }
+
+ if (dict.found("p0"))
+ {
+ p0_ = vectorField("p0", dict , p.size());
+ }
+ else
+ {
+ p0_ = p.localPoints();
+ }
+}
+
+
+sixDofRigidBodyDisplacementPointPatchVectorField::
+sixDofRigidBodyDisplacementPointPatchVectorField
+(
+ const sixDofRigidBodyDisplacementPointPatchVectorField& ptf,
+ const pointPatch& p,
+ const DimensionedField<vector, pointMesh>& iF,
+ const pointPatchFieldMapper& mapper
+)
+:
+ fixedValuePointPatchField<vector>(ptf, p, iF, mapper),
+ motion_(ptf.motion_),
+ p0_(ptf.p0_)
+{}
+
+
+sixDofRigidBodyDisplacementPointPatchVectorField::
+sixDofRigidBodyDisplacementPointPatchVectorField
+(
+ const sixDofRigidBodyDisplacementPointPatchVectorField& ptf,
+ const DimensionedField<vector, pointMesh>& iF
+)
+:
+ fixedValuePointPatchField<vector>(ptf, iF),
+ motion_(ptf.motion_),
+ p0_(ptf.p0_)
+{}
+
+
+// * * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * //
+
+void sixDofRigidBodyDisplacementPointPatchVectorField::updateCoeffs()
+{
+ if (this->updated())
+ {
+ return;
+ }
+
+ const polyMesh& mesh = this->dimensionedInternalField().mesh()();
+ const Time& t = mesh.time();
+ const pointPatch& ptPatch = this->patch();
+
+ // 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.deltaT().value());
+
+ dictionary forcesDict;
+
+ forcesDict.add("patches", wordList(1, ptPatch.name()));
+ forcesDict.add("rhoInf", 0.0);
+ forcesDict.add("CofR", motion_.centreOfMass());
+
+ forces f("forces", db(), forcesDict);
+
+ forces::forcesMoments fm = f.calcForcesMoment();
+
+ // Get the forces on the patch faces at the current positions
+
+ vector gravity = vector::zero;
+
+ if (db().foundObject<uniformDimensionedVectorField>("g"))
+ {
+ uniformDimensionedVectorField g =
+ db().lookupObject<uniformDimensionedVectorField>("g");
+
+ gravity = g.value();
+ }
+ else
+ {
+ uniformDimensionedVectorField g
+ (
+ IOobject
+ (
+ "g",
+ db().time().constant(),
+ db(),
+ IOobject::READ_IF_PRESENT,
+ IOobject::NO_WRITE
+ )
+ );
+
+ gravity = g.value();
+ }
+
+ motion_.updateForce
+ (
+ fm.first().first() + fm.first().second() + gravity*motion_.mass(),
+ fm.second().first() + fm.second().second(),
+ 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();
+}
+
+
+void sixDofRigidBodyDisplacementPointPatchVectorField::write(Ostream& os) const
+{
+ pointPatchField<vector>::write(os);
+ motion_.write(os);
+ p0_.writeEntry("p0", os);
+ writeEntry("value", os);
+}
+
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+makePointPatchTypeField
+(
+ pointPatchVectorField,
+ sixDofRigidBodyDisplacementPointPatchVectorField
+);
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+} // End namespace Foam
+
+// ************************************************************************* //
diff --git a/src/fvMotionSolver/pointPatchFields/derived/sixDofRigidBodyDisplacement/sixDofRigidBodyDisplacementPointPatchVectorField.H b/src/fvMotionSolver/pointPatchFields/derived/sixDofRigidBodyDisplacement/sixDofRigidBodyDisplacementPointPatchVectorField.H
new file mode 100644
index 0000000000000000000000000000000000000000..b619baa3f24e02560fe15c8b2edd8ed3e0a49ba3
--- /dev/null
+++ b/src/fvMotionSolver/pointPatchFields/derived/sixDofRigidBodyDisplacement/sixDofRigidBodyDisplacementPointPatchVectorField.H
@@ -0,0 +1,153 @@
+/*---------------------------------------------------------------------------*\
+ ========= |
+ \\ / 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::sixDofRigidBodyDisplacementPointPatchVectorField
+
+Description
+ Foam::sixDofRigidBodyDisplacementPointPatchVectorField
+
+SourceFiles
+ sixDofRigidBodyDisplacementPointPatchVectorField.C
+
+\*---------------------------------------------------------------------------*/
+
+#ifndef sixDofRigidBodyDisplacementPointPatchVectorField_H
+#define sixDofRigidBodyDisplacementPointPatchVectorField_H
+
+#include "fixedValuePointPatchField.H"
+#include "sixDofRigidBodyMotion.H"
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+namespace Foam
+{
+
+/*---------------------------------------------------------------------------*\
+ Class sixDofRigidBodyDisplacementPointPatchVectorField Declaration
+\*---------------------------------------------------------------------------*/
+
+class sixDofRigidBodyDisplacementPointPatchVectorField
+:
+ public fixedValuePointPatchField<vector>
+{
+ // Private data
+
+ //- Six dof motion object
+ sixDofRigidBodyMotion motion_;
+
+ //- Reference positions of points on the patch
+ pointField p0_;
+
+
+public:
+
+ //- Runtime type information
+ TypeName("sixDofRigidBodyDisplacement");
+
+
+ // Constructors
+
+ //- Construct from patch and internal field
+ sixDofRigidBodyDisplacementPointPatchVectorField
+ (
+ const pointPatch&,
+ const DimensionedField<vector, pointMesh>&
+ );
+
+ //- Construct from patch, internal field and dictionary
+ sixDofRigidBodyDisplacementPointPatchVectorField
+ (
+ const pointPatch&,
+ const DimensionedField<vector, pointMesh>&,
+ const dictionary&
+ );
+
+ //- Construct by mapping given patchField<vector> onto a new patch
+ sixDofRigidBodyDisplacementPointPatchVectorField
+ (
+ const sixDofRigidBodyDisplacementPointPatchVectorField&,
+ const pointPatch&,
+ const DimensionedField<vector, pointMesh>&,
+ const pointPatchFieldMapper&
+ );
+
+ //- Construct and return a clone
+ virtual autoPtr<pointPatchField<vector> > clone() const
+ {
+ return autoPtr<pointPatchField<vector> >
+ (
+ new sixDofRigidBodyDisplacementPointPatchVectorField
+ (
+ *this
+ )
+ );
+ }
+
+ //- Construct as copy setting internal field reference
+ sixDofRigidBodyDisplacementPointPatchVectorField
+ (
+ const sixDofRigidBodyDisplacementPointPatchVectorField&,
+ const DimensionedField<vector, pointMesh>&
+ );
+
+ //- Construct and return a clone setting internal field reference
+ virtual autoPtr<pointPatchField<vector> > clone
+ (
+ const DimensionedField<vector, pointMesh>& iF
+ ) const
+ {
+ return autoPtr<pointPatchField<vector> >
+ (
+ new sixDofRigidBodyDisplacementPointPatchVectorField
+ (
+ *this,
+ iF
+ )
+ );
+ }
+
+
+ // Member functions
+
+ // Evaluation functions
+
+ //- Update the coefficients associated with the patch field
+ virtual void updateCoeffs();
+
+
+ //- Write
+ virtual void write(Ostream&) const;
+};
+
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+} // End namespace Foam
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+#endif
+
+// ************************************************************************* //
diff --git a/src/fvMotionSolver/pointPatchFields/derived/sixDofRigidBodyDisplacement/sixDofRigidBodyMotion/sixDofRigidBodyMotion.C b/src/fvMotionSolver/pointPatchFields/derived/sixDofRigidBodyDisplacement/sixDofRigidBodyMotion/sixDofRigidBodyMotion.C
new file mode 100644
index 0000000000000000000000000000000000000000..02ad37e4416de104796d267548107c6188f0781b
--- /dev/null
+++ b/src/fvMotionSolver/pointPatchFields/derived/sixDofRigidBodyDisplacement/sixDofRigidBodyMotion/sixDofRigidBodyMotion.C
@@ -0,0 +1,208 @@
+/*---------------------------------------------------------------------------*\
+ ========= |
+ \\ / 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 "sixDofRigidBodyMotion.H"
+
+// * * * * * * * * * * * * * * * * Constructors * * * * * * * * * * * * * * //
+
+Foam::sixDofRigidBodyMotion::sixDofRigidBodyMotion()
+:
+ centreOfMass_(vector::zero),
+ refCentreOfMass_(vector::zero),
+ momentOfInertia_(diagTensor::one*VSMALL),
+ mass_(VSMALL),
+ Q_(I),
+ v_(vector::zero),
+ a_(vector::zero),
+ pi_(vector::zero),
+ tau_(vector::zero)
+{}
+
+
+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
+)
+:
+ centreOfMass_(centreOfMass),
+ refCentreOfMass_(refCentreOfMass),
+ momentOfInertia_(momentOfInertia),
+ mass_(mass),
+ Q_(Q),
+ v_(v),
+ a_(a),
+ pi_(pi),
+ tau_(tau)
+{}
+
+
+Foam::sixDofRigidBodyMotion::sixDofRigidBodyMotion(const dictionary& dict)
+:
+ centreOfMass_(dict.lookup("centreOfMass")),
+ 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))
+{}
+
+
+Foam::sixDofRigidBodyMotion::sixDofRigidBodyMotion
+(
+ const sixDofRigidBodyMotion& sDofRBM
+)
+:
+ centreOfMass_(sDofRBM.centreOfMass()),
+ refCentreOfMass_(sDofRBM.refCentreOfMass()),
+ momentOfInertia_(sDofRBM.momentOfInertia()),
+ mass_(sDofRBM.mass()),
+ Q_(sDofRBM.Q()),
+ v_(sDofRBM.v()),
+ a_(sDofRBM.a()),
+ pi_(sDofRBM.pi()),
+ tau_(sDofRBM.tau())
+{}
+
+
+// * * * * * * * * * * * * * * * * Destructor * * * * * * * * * * * * * * * //
+
+Foam::sixDofRigidBodyMotion::~sixDofRigidBodyMotion()
+{}
+
+
+// * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * * //
+
+void Foam::sixDofRigidBodyMotion::updatePosition
+(
+ scalar deltaT
+)
+{
+ // First leapfrog velocity adjust and motion part, required before
+ // force calculation
+
+ v_ += 0.5*deltaT*a_;
+
+ pi_ += 0.5*deltaT*tau_;
+
+ // Leapfrog move part
+ centreOfMass_ += deltaT*v_;
+
+ // Leapfrog orientation adjustment
+
+ tensor 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 = 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 = rotationTensorX(0.5*deltaT*pi_.x()/momentOfInertia_.xx());
+ pi_ = pi_ & R;
+ Q_ = Q_ & R;
+}
+
+
+void Foam::sixDofRigidBodyMotion::updateForce
+(
+ const vector& fGlobal,
+ const vector& tauGlobal,
+ scalar deltaT
+)
+{
+ // Second leapfrog velocity adjust part, required after motion and
+ // force calculation part
+
+ a_ = fGlobal/mass_;
+
+ tau_ = (Q_.T() & tauGlobal);
+
+ v_ += 0.5*deltaT*a_;
+
+ pi_ += 0.5*deltaT*tau_;
+
+}
+
+
+void Foam::sixDofRigidBodyMotion::updateForce
+(
+ const pointField& positions,
+ const vectorField& forces,
+ scalar deltaT
+)
+{
+ // Second leapfrog velocity adjust part, required after motion and
+ // force calculation part
+
+ a_ = vector::zero;
+
+ tau_ = vector::zero;
+
+ forAll(positions, i)
+ {
+ const vector& f = forces[i];
+
+ a_ += f/mass_;
+
+ tau_ += (positions[i] ^ (Q_.T() & f));
+ }
+
+ v_ += 0.5*deltaT*a_;
+
+ pi_ += 0.5*deltaT*tau_;
+
+}
+
+
+Foam::tmp<Foam::pointField>
+Foam::sixDofRigidBodyMotion::generatePositions(const pointField& pts) const
+{
+ 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
new file mode 100644
index 0000000000000000000000000000000000000000..2bdb7fbf0562d46a7b9c2c501b7c2c16b1b342d0
--- /dev/null
+++ b/src/fvMotionSolver/pointPatchFields/derived/sixDofRigidBodyDisplacement/sixDofRigidBodyMotion/sixDofRigidBodyMotion.H
@@ -0,0 +1,267 @@
+/*---------------------------------------------------------------------------*\
+ ========= |
+ \\ / 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::sixDofRigidBodyMotion
+
+Description
+ Six degree of freedom motion for a rigid body. Angular momentum stored in
+ body fixed reference frame. Reference orientation of the body must align
+ with the cartesian axes such that the Inertia tensor is in principle
+ component form.
+
+ Symplectic motion as per:
+
+ title = {Symplectic splitting methods for rigid body molecular dynamics},
+ publisher = {AIP},
+ year = {1997},
+ journal = {The Journal of Chemical Physics},
+ volume = {107},
+ number = {15},
+ pages = {5840-5851},
+ url = {http://link.aip.org/link/?JCP/107/5840/1},
+ doi = {10.1063/1.474310}
+
+SourceFiles
+ sixDofRigidBodyMotionI.H
+ sixDofRigidBodyMotion.C
+ sixDofRigidBodyMotionIO.C
+
+\*---------------------------------------------------------------------------*/
+
+#ifndef sixDofRigidBodyMotion_H
+#define sixDofRigidBodyMotion_H
+
+#include "vector.H"
+#include "diagTensor.H"
+#include "pointField.H"
+#include "mathConstants.H"
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+namespace Foam
+{
+
+// Forward declaration of classes
+class Istream;
+class Ostream;
+
+// Forward declaration of friend functions and operators
+class sixDofRigidBodyMotion;
+Istream& operator>>(Istream&, sixDofRigidBodyMotion&);
+Ostream& operator<<(Ostream&, const sixDofRigidBodyMotion&);
+
+
+/*---------------------------------------------------------------------------*\
+ Class sixDofRigidBodyMotion Declaration
+\*---------------------------------------------------------------------------*/
+
+class sixDofRigidBodyMotion
+{
+ // Private data
+
+ //- Current position of the centre of mass of the body
+ point centreOfMass_;
+
+ //- Centre of mass of reference state
+ point refCentreOfMass_;
+
+ //- Moment of inertia of the body in reference configuration
+ diagTensor momentOfInertia_;
+
+ //- 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
+
+ //- Calculate the rotation tensor around the body reference
+ // frame x-axis by the given angle
+ inline tensor rotationTensorX(scalar deltaT) const;
+
+ //- Calculate the rotation tensor around the body reference
+ // frame y-axis by the given angle
+ inline tensor rotationTensorY(scalar deltaT) const;
+
+ //- Calculate the rotation tensor around the body reference
+ // frame z-axis by the given angle
+ inline tensor rotationTensorZ(scalar deltaT) const;
+
+
+public:
+
+ // Constructors
+
+ //- Construct null
+ sixDofRigidBodyMotion();
+
+ //- Construct from components
+ 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
+ );
+
+ //- Construct from dictionary
+ sixDofRigidBodyMotion(const dictionary& dict);
+
+ //- Construct as copy
+ sixDofRigidBodyMotion(const sixDofRigidBodyMotion&);
+
+
+ //- Destructor
+ ~sixDofRigidBodyMotion();
+
+
+ // Member Functions
+
+ void updatePosition
+ (
+ scalar deltaT
+ );
+
+ void updateForce
+ (
+ const vector& fGlobal,
+ const vector& tauGlobal,
+ scalar deltaT
+ );
+
+ void updateForce
+ (
+ const pointField& positions,
+ const vectorField& forces,
+ scalar deltaT
+ );
+
+ tmp<pointField> generatePositions(const pointField& pts) const;
+
+ // Access
+
+ //- Return access to the centre of mass
+ inline const point& centreOfMass() const;
+
+ //- Return access to the centre of mass
+ inline const point& refCentreOfMass() const;
+
+ //- Return access to the inertia tensor
+ inline const diagTensor& momentOfInertia() const;
+
+ //- Return access to the mass
+ inline scalar mass() 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 access to the centre of mass
+ inline point& refCentreOfMass();
+
+ //- Return non-const access to the inertia tensor
+ inline diagTensor& momentOfInertia();
+
+ //- Return non-const access to the mass
+ inline scalar& mass();
+
+ //- 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;
+
+
+ // IOstream Operators
+
+ friend Istream& operator>>(Istream&, sixDofRigidBodyMotion&);
+ friend Ostream& operator<<(Ostream&, const sixDofRigidBodyMotion&);
+};
+
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+} // End namespace Foam
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+#include "sixDofRigidBodyMotionI.H"
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+#endif
+
+// ************************************************************************* //
diff --git a/src/fvMotionSolver/pointPatchFields/derived/sixDofRigidBodyDisplacement/sixDofRigidBodyMotion/sixDofRigidBodyMotionI.H b/src/fvMotionSolver/pointPatchFields/derived/sixDofRigidBodyDisplacement/sixDofRigidBodyMotion/sixDofRigidBodyMotionI.H
new file mode 100644
index 0000000000000000000000000000000000000000..09b1fa64db8b5375445ed8e8216086ba2ca2b9b0
--- /dev/null
+++ b/src/fvMotionSolver/pointPatchFields/derived/sixDofRigidBodyDisplacement/sixDofRigidBodyMotion/sixDofRigidBodyMotionI.H
@@ -0,0 +1,176 @@
+/*---------------------------------------------------------------------------*\
+ ========= |
+ \\ / 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
+
+\*---------------------------------------------------------------------------*/
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+// * * * * * * * * * * * * * Private Member Functions * * * * * * * * * * * //
+
+inline Foam::tensor
+Foam::sixDofRigidBodyMotion::rotationTensorX(scalar phi) const
+{
+ return tensor
+ (
+ 1, 0, 0,
+ 0, Foam::cos(phi), -Foam::sin(phi),
+ 0, Foam::sin(phi), Foam::cos(phi)
+ );
+}
+
+
+inline Foam::tensor
+Foam::sixDofRigidBodyMotion::rotationTensorY(scalar phi) const
+{
+ return tensor
+ (
+ Foam::cos(phi), 0, Foam::sin(phi),
+ 0, 1, 0,
+ -Foam::sin(phi), 0, Foam::cos(phi)
+ );
+}
+
+
+inline Foam::tensor
+Foam::sixDofRigidBodyMotion::rotationTensorZ(scalar phi) const
+{
+ return tensor
+ (
+ Foam::cos(phi), -Foam::sin(phi), 0,
+ Foam::sin(phi), Foam::cos(phi), 0,
+ 0, 0, 1
+ );
+}
+
+
+inline const Foam::point& Foam::sixDofRigidBodyMotion::centreOfMass() const
+{
+ return centreOfMass_;
+}
+
+
+inline const Foam::point& Foam::sixDofRigidBodyMotion::refCentreOfMass() const
+{
+ return refCentreOfMass_;
+}
+
+
+inline const Foam::diagTensor&
+Foam::sixDofRigidBodyMotion::momentOfInertia() const
+{
+ return momentOfInertia_;
+}
+
+
+inline Foam::scalar Foam::sixDofRigidBodyMotion::mass() const
+{
+ return mass_;
+}
+
+
+inline const Foam::tensor& Foam::sixDofRigidBodyMotion::Q() const
+{
+ return Q_;
+}
+
+
+inline const Foam::vector& Foam::sixDofRigidBodyMotion::v() const
+{
+ return v_;
+}
+
+
+inline const Foam::vector& Foam::sixDofRigidBodyMotion::a() const
+{
+ return a_;
+}
+
+
+inline const Foam::vector& Foam::sixDofRigidBodyMotion::pi() const
+{
+ return pi_;
+}
+
+
+inline const Foam::vector& Foam::sixDofRigidBodyMotion::tau() const
+{
+ return tau_;
+}
+
+
+inline Foam::point& Foam::sixDofRigidBodyMotion::centreOfMass()
+{
+ return centreOfMass_;
+}
+
+
+inline Foam::point& Foam::sixDofRigidBodyMotion::refCentreOfMass()
+{
+ return refCentreOfMass_;
+}
+
+
+inline Foam::diagTensor& Foam::sixDofRigidBodyMotion::momentOfInertia()
+{
+ return momentOfInertia_;
+}
+
+
+inline Foam::scalar& Foam::sixDofRigidBodyMotion::mass()
+{
+ return mass_;
+}
+
+
+inline Foam::tensor& Foam::sixDofRigidBodyMotion::Q()
+{
+ return Q_;
+}
+
+
+inline Foam::vector& Foam::sixDofRigidBodyMotion::v()
+{
+ return v_;
+}
+
+
+inline Foam::vector& Foam::sixDofRigidBodyMotion::a()
+{
+ return a_;
+}
+
+
+inline Foam::vector& Foam::sixDofRigidBodyMotion::pi()
+{
+ return pi_;
+}
+
+
+inline Foam::vector& Foam::sixDofRigidBodyMotion::tau()
+{
+ return tau_;
+}
+
+
+// ************************************************************************* //
diff --git a/src/fvMotionSolver/pointPatchFields/derived/sixDofRigidBodyDisplacement/sixDofRigidBodyMotion/sixDofRigidBodyMotionIO.C b/src/fvMotionSolver/pointPatchFields/derived/sixDofRigidBodyDisplacement/sixDofRigidBodyMotion/sixDofRigidBodyMotionIO.C
new file mode 100644
index 0000000000000000000000000000000000000000..b6dcf42891dd016dfe5d565a3ab45e74118c019e
--- /dev/null
+++ b/src/fvMotionSolver/pointPatchFields/derived/sixDofRigidBodyDisplacement/sixDofRigidBodyMotion/sixDofRigidBodyMotionIO.C
@@ -0,0 +1,107 @@
+/*---------------------------------------------------------------------------*\
+ ========= |
+ \\ / 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 "sixDofRigidBodyMotion.H"
+#include "IOstreams.H"
+
+// * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * * //
+
+void Foam::sixDofRigidBodyMotion::write(Ostream& os) const
+{
+ os.writeKeyword("centreOfMass")
+ << centreOfMass_ << token::END_STATEMENT << nl;
+ 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;
+}
+
+
+// * * * * * * * * * * * * * * * IOstream Operators * * * * * * * * * * * * //
+
+Foam::Istream& Foam::operator>>(Istream& is, sixDofRigidBodyMotion& sDofRBM)
+{
+ is >> sDofRBM.centreOfMass_
+ >> sDofRBM.refCentreOfMass_
+ >> sDofRBM.momentOfInertia_
+ >> sDofRBM.mass_
+ >> sDofRBM.Q_
+ >> sDofRBM.v_
+ >> sDofRBM.a_
+ >> sDofRBM.pi_
+ >> sDofRBM.tau_;
+
+ // Check state of Istream
+ is.check
+ (
+ "Foam::Istream& Foam::operator>>"
+ "(Foam::Istream&, Foam::sixDofRigidBodyMotion&)"
+ );
+
+ return is;
+}
+
+
+Foam::Ostream& Foam::operator<<
+(
+ Ostream& os,
+ const sixDofRigidBodyMotion& sDofRBM
+)
+{
+ os << token::SPACE << sDofRBM.centreOfMass()
+ << 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();
+
+ // Check state of Ostream
+ os.check
+ (
+ "Foam::Ostream& Foam::operator<<(Foam::Ostream&, "
+ "const Foam::sixDofRigidBodyMotion&)"
+ );
+
+ return os;
+}
+
+
+// ************************************************************************* //