From e50d8ece5747c6349240004df65c8c0136675034 Mon Sep 17 00:00:00 2001
From: Henry Weller <http://cfd.direct>
Date: Mon, 4 Apr 2016 09:26:37 +0100
Subject: [PATCH] applications/test/rigidBodyDynamics/pendulum: Add a test for
merging bodies
---
.../rigidBodyDynamics/pendulum/pendulum.C | 37 +++++++++++++++----
1 file changed, 30 insertions(+), 7 deletions(-)
diff --git a/applications/test/rigidBodyDynamics/pendulum/pendulum.C b/applications/test/rigidBodyDynamics/pendulum/pendulum.C
index 23c35c4af34..ac6455b0f74 100644
--- a/applications/test/rigidBodyDynamics/pendulum/pendulum.C
+++ b/applications/test/rigidBodyDynamics/pendulum/pendulum.C
@@ -31,6 +31,7 @@ Description
\*---------------------------------------------------------------------------*/
#include "rigidBodyModel.H"
+#include "masslessBody.H"
#include "joints.H"
using namespace Foam;
@@ -40,18 +41,40 @@ using namespace RBD;
int main(int argc, char *argv[])
{
+ bool testMerge = false;
+
// Create a model for the pendulum
rigidBodyModel pendulum;
// Join a weight to the origin with a centre of mass -1m below the origin
// by a hinge which rotates about the z-axis
- pendulum.join
- (
- 0,
- Xt(vector(0, 0, 0)),
- joint::New(new joints::Rz(pendulum)),
- rigidBody::New("hinge", 1, vector(0, -1, 0), 0.02*I)
- );
+ if (testMerge)
+ {
+ label hingeID = pendulum.join
+ (
+ 0,
+ Xt(Zero),
+ joint::New(new joints::Rz(pendulum)),
+ autoPtr<rigidBody>(new masslessBody("hinge"))
+ );
+
+ pendulum.merge
+ (
+ hingeID,
+ Xt(vector(0, -1, 0)),
+ rigidBody::New("weight", 1, Zero, 0.02*I)
+ );
+ }
+ else
+ {
+ pendulum.join
+ (
+ 0,
+ Xt(Zero),
+ joint::New(new joints::Rz(pendulum)),
+ rigidBody::New("pendulum", 1, vector(0, -1, 0), 0.02*I)
+ );
+ }
// Create the joint-space state fields
scalarField q(pendulum.nDoF(), Zero);
--
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