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sixDoFRigidBodyMotion Class Reference

Six degree of freedom motion for a rigid body. More...

Public Member Functions

 sixDoFRigidBodyMotion (const Time &)
 
 sixDoFRigidBodyMotion (const dictionary &dict, const dictionary &stateDict, const Time &time)
 
 sixDoFRigidBodyMotion (const sixDoFRigidBodyMotion &)
 
 ~sixDoFRigidBodyMotion ()
 
scalar mass () const
 
const diagTensor & momentOfInertia () const
 
const sixDoFRigidBodyMotionState & state () const
 
const point & centreOfRotation () const
 
const point & initialCentreOfMass () const
 
point centreOfMass () const
 
const tensor & orientation () const
 
vector omega () const
 
const vector & v () const
 
vector & v ()
 
vector momentArm () const
 
bool report () const
 
const Time & time () const
 
void newTime ()
 
point & centreOfRotation ()
 
void addRestraints (const dictionary &dict)
 
void addConstraints (const dictionary &dict)
 
void update (bool firstIter, const vector &fGlobal, const vector &tauGlobal, scalar deltaT, scalar deltaT0)
 
void status () const
 
point velocity (const point &pt) const
 
point transform (const point &initialPoints) const
 
tmp< pointField > transform (const pointField &initialPoints) const
 
tmp< pointField > transform (const pointField &initialPoints, const scalarField &scale) const
 
void write (Ostream &) const
 
bool read (const dictionary &dict)
 

Friends

class sixDoFSolver
 

Detailed Description

Six degree of freedom motion for a rigid body.

Angular momentum stored in body fixed reference frame. Reference orientation of the body (where Q = I) must align with the cartesian axes such that the Inertia tensor is in principle component form. Can add restraints (e.g. a spring) and constraints (e.g. motion may only be on a plane).

The time-integrator for the motion is run-time selectable with options for symplectic (explicit), Crank-Nicolson and Newmark schemes.

Source files

Definition at line 65 of file sixDoFRigidBodyMotion.H.

Constructor & Destructor Documentation

◆ sixDoFRigidBodyMotion() [1/3]

sixDoFRigidBodyMotion ( const Time &  time)

Definition at line 69 of file sixDoFRigidBodyMotion.C.

◆ sixDoFRigidBodyMotion() [2/3]

sixDoFRigidBodyMotion ( const dictionary &  dict,
const dictionary &  stateDict,
const Time &  time 
)

Definition at line 91 of file sixDoFRigidBodyMotion.C.

References Foam::diag(), dict, dictionary::found(), Foam::I, Foam::magSqr(), R, and Foam::sqr().

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◆ sixDoFRigidBodyMotion() [3/3]

sixDoFRigidBodyMotion ( const sixDoFRigidBodyMotion &  sDoFRBM)

Definition at line 155 of file sixDoFRigidBodyMotion.C.

◆ ~sixDoFRigidBodyMotion()

~sixDoFRigidBodyMotion ( )

Definition at line 180 of file sixDoFRigidBodyMotion.C.

Member Function Documentation

◆ mass()

Foam::scalar mass ( ) const
inline

Definition at line 204 of file sixDoFRigidBodyMotionI.H.

Referenced by linearSpringDamper::restrain(), uncoupledSixDoFRigidBodyDisplacementPointPatchVectorField::updateCoeffs(), and sixDoFRigidBodyDisplacementPointPatchVectorField::updateCoeffs().

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◆ momentOfInertia()

const Foam::diagTensor & momentOfInertia ( ) const
inline

Definition at line 211 of file sixDoFRigidBodyMotionI.H.

◆ state()

const Foam::sixDoFRigidBodyMotionState & state ( ) const
inline

Definition at line 218 of file sixDoFRigidBodyMotionI.H.

◆ centreOfRotation() [1/2]

Foam::point & centreOfRotation ( ) const
inline

Definition at line 224 of file sixDoFRigidBodyMotionI.H.

Referenced by sphericalAngularSpring::restrain(), linearAxialAngularSpring::restrain(), tabulatedAxialAngularSpring::restrain(), sixDoFRigidBodyDisplacementPointPatchVectorField::updateCoeffs(), and sixDoFRigidBodyState::write().

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◆ initialCentreOfMass()

const Foam::point & initialCentreOfMass ( ) const
inline

Definition at line 231 of file sixDoFRigidBodyMotionI.H.

◆ centreOfMass()

Foam::point centreOfMass ( ) const
inline

Definition at line 237 of file sixDoFRigidBodyMotionI.H.

References Foam::transform().

Referenced by sixDoFRigidBodyState::write().

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◆ orientation()

const Foam::tensor & orientation ( ) const
inline

Definition at line 250 of file sixDoFRigidBodyMotionI.H.

Referenced by sphericalAngularSpring::restrain(), linearAxialAngularSpring::restrain(), tabulatedAxialAngularSpring::restrain(), and sixDoFRigidBodyState::write().

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◆ omega()

Foam::vector omega ( ) const
inline

Definition at line 256 of file sixDoFRigidBodyMotionI.H.

References Foam::inv(), and Foam::constant::mathematical::pi().

Referenced by sphericalAngularDamper::restrain(), sphericalAngularSpring::restrain(), linearAxialAngularSpring::restrain(), tabulatedAxialAngularSpring::restrain(), and sixDoFRigidBodyState::write().

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◆ v() [1/2]

Foam::vector & v ( ) const
inline

Definition at line 136 of file sixDoFRigidBodyMotionI.H.

Referenced by linearDamper::restrain(), and sixDoFRigidBodyState::write().

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◆ v() [2/2]

vector& v ( )
inline

◆ momentArm()

Foam::vector momentArm ( ) const
inline

Definition at line 243 of file sixDoFRigidBodyMotionI.H.

Referenced by sixDoFRigidBodyDisplacementPointPatchVectorField::updateCoeffs().

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◆ report()

bool report ( ) const
inline

Definition at line 266 of file sixDoFRigidBodyMotionI.H.

Referenced by sphericalAngularDamper::restrain(), linearDamper::restrain(), sphericalAngularSpring::restrain(), linearAxialAngularSpring::restrain(), linearSpring::restrain(), tabulatedAxialAngularSpring::restrain(), and linearSpringDamper::restrain().

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◆ time()

const Foam::Time & time ( ) const
inline

Definition at line 261 of file sixDoFRigidBodyMotionI.H.

Referenced by linearSpringDamper::restrain().

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◆ newTime()

void newTime ( )
inline

Definition at line 272 of file sixDoFRigidBodyMotionI.H.

Referenced by uncoupledSixDoFRigidBodyDisplacementPointPatchVectorField::updateCoeffs(), and sixDoFRigidBodyDisplacementPointPatchVectorField::updateCoeffs().

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◆ centreOfRotation() [2/2]

point& centreOfRotation ( )
inline

◆ addRestraints()

void addRestraints ( const dictionary &  dict)

Definition at line 187 of file sixDoFRigidBodyMotion.C.

References dict, dictionary::found(), sixDoFRigidBodyMotionRestraint::New(), dictionary::set(), and dictionary::subDict().

Referenced by sixDoFRigidBodyMotion::read().

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◆ addConstraints()

void addConstraints ( const dictionary &  dict)

Definition at line 221 of file sixDoFRigidBodyMotion.C.

References pointConstraint::constraintTransformation(), dict, Foam::endl(), dictionary::found(), Foam::Info, sixDoFRigidBodyMotionConstraint::New(), Foam::nl, and dictionary::subDict().

Referenced by sixDoFRigidBodyMotion::read().

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◆ update()

void update ( bool  firstIter,
const vector &  fGlobal,
const vector &  tauGlobal,
scalar  deltaT,
scalar  deltaT0 
)

Definition at line 301 of file sixDoFRigidBodyMotion.C.

References UPstream::master(), and Pstream::scatter().

Referenced by uncoupledSixDoFRigidBodyDisplacementPointPatchVectorField::updateCoeffs(), and sixDoFRigidBodyDisplacementPointPatchVectorField::updateCoeffs().

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◆ status()

void status ( ) const

Definition at line 323 of file sixDoFRigidBodyMotion.C.

References Foam::endl(), Foam::Info, and Foam::nl.

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◆ velocity()

Foam::point velocity ( const point &  pt) const
inline

Definition at line 285 of file sixDoFRigidBodyMotionI.H.

Referenced by linearSpring::restrain(), and linearSpringDamper::restrain().

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◆ transform() [1/3]

Foam::point transform ( const point &  initialPoints) const
inline

Definition at line 294 of file sixDoFRigidBodyMotionI.H.

Referenced by linearSpring::restrain(), linearSpringDamper::restrain(), uncoupledSixDoFRigidBodyDisplacementPointPatchVectorField::updateCoeffs(), and sixDoFRigidBodyDisplacementPointPatchVectorField::updateCoeffs().

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◆ transform() [2/3]

Foam::tmp< Foam::pointField > transform ( const pointField &  initialPoints) const

Definition at line 336 of file sixDoFRigidBodyMotion.C.

◆ transform() [3/3]

Foam::tmp< Foam::pointField > transform ( const pointField &  initialPoints,
const scalarField &  scale 
) const

Definition at line 349 of file sixDoFRigidBodyMotion.C.

References forAll, septernion::I, septernion::invTransformPoint(), points, tmp::ref(), s, Foam::slerp(), Foam::T(), and Foam::transform().

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◆ write()

void write ( Ostream &  os) const

Definition at line 46 of file sixDoFRigidBodyMotionIO.C.

References Ostream::beginBlock(), Ostream::endBlock(), forAll, Foam::indent(), Foam::name(), os(), Foam::type(), Ostream::write(), and Ostream::writeEntry().

Referenced by sixDoFRigidBodyDisplacementPointPatchVectorField::write().

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◆ read()

bool read ( const dictionary &  dict)

Definition at line 28 of file sixDoFRigidBodyMotionIO.C.

References sixDoFRigidBodyMotion::addConstraints(), sixDoFRigidBodyMotion::addRestraints(), and dict.

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Friends And Related Function Documentation

◆ sixDoFSolver

friend class sixDoFSolver
friend

Definition at line 67 of file sixDoFRigidBodyMotion.H.

The documentation for this class was generated from the following files:

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