rigidBodySolver.H

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/*---------------------------------------------------------------------------*\
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-------------------------------------------------------------------------------
    Copyright (C) 2016 OpenFOAM Foundation
-------------------------------------------------------------------------------
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
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    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::RBD::rigidBodySolver
 
Description
 
SourceFiles
    rigidBodySolver.C
    newSixDoFSolver.C
 
\*---------------------------------------------------------------------------*/
 
#ifndef RBD_rigidBodySolver_H
#define RBD_rigidBodySolver_H
 
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
 
#include "rigidBodyMotion.H"
#include "runTimeSelectionTables.H"
 
namespace Foam
{
namespace RBD
{
 
/*---------------------------------------------------------------------------*\
                         Class rigidBodySolver Declaration
\*---------------------------------------------------------------------------*/
 
class rigidBodySolver
{
protected:
 
    // Protected data
 
        //- The rigid-body model
        rigidBodyMotion& model_;
 
 
        //- Return the motion state
        inline rigidBodyModelState& state();
 
        //- Return the current joint position and orientation
        inline scalarField& q();
 
        //- Return the current joint quaternion
 
        //- Return the current joint velocity
        inline scalarField& qDot();
 
        //- Return the current joint acceleration
        inline scalarField& qDdot();
 
        //- Return the current time-step
        inline scalar deltaT() const;
 
 
        //- Return the previous motion state
        inline const rigidBodyModelState& state0() const;
 
        //- Return the current joint position and orientation
        inline const scalarField& q0() const;
 
        //- Return the current joint quaternion
 
        //- Return the current joint velocity
        inline const scalarField& qDot0() const;
 
        //- Return the current joint acceleration
        inline const scalarField& qDdot0() const;
 
        //- Return the previous time-step
        inline scalar deltaT0() const;
 
        //- Correct the quaternion joints based on the current change in q
        void correctQuaternionJoints();
 
 
public:
 
    //- Runtime type information
    TypeName("rigidBodySolver");
 
 
    // Declare runtime construction
 
        declareRunTimeSelectionTable
        (
            autoPtr,
            rigidBodySolver,
            dictionary,
            (
                rigidBodyMotion& body,
                const dictionary& dict
            ),
            (body, dict)
        );
 
 
    // Constructors
 
        // Construct for given body
        rigidBodySolver(rigidBodyMotion& body);
 
 
    //- Destructor
    virtual ~rigidBodySolver();
 
 
    // Selectors
 
        static autoPtr<rigidBodySolver> New
        (
            rigidBodyMotion& body,
            const dictionary& dict
        );
 
 
    // Member Functions
 
        //- Integrate the rigid-body motion for one time-step
        virtual void solve
        (
            const scalarField& tau,
            const Field<spatialVector>& fx
        ) = 0;
};
 
 
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
 
} // End namespace RBD
} // End namespace Foam
 
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
 
#include "rigidBodySolverI.H"
 
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
 
#endif
 
// ************************************************************************* //