Multiple rigid body mesh motion in which movement of the bodies is generated by RBD::rigidBodyMotion. More...
Public Member Functions | |
| TypeName ("rigidBodyMotion") | |
| Runtime type information. More... | |
| rigidBodyMotion (const polyMesh &, const dictionary &dict) | |
| Construct from polyMesh and dictionary. More... | |
| rigidBodyMotion (const rigidBodyMotion &)=delete | |
| Disallow default bitwise copy construction. More... | |
| ~rigidBodyMotion () | |
| Destructor. More... | |
| virtual bool | write () const |
| Write motion state information for restart. More... | |
| void | operator= (const rigidBodyMotion &)=delete |
| Disallow default bitwise assignment. More... | |
 Public Member Functions inherited from multiRigidBody | |
| TypeName ("multiRigidBody") | |
| Runtime type information. More... | |
| multiRigidBody (const polyMesh &, const dictionary &dict) | |
| Construct from polyMesh and dictionary. More... | |
| multiRigidBody (const multiRigidBody &)=delete | |
| Disallow default bitwise copy construction. More... | |
| ~multiRigidBody () | |
| Destructor. More... | |
| virtual tmp< pointField > | newPoints () |
| Return point location obtained from the current motion field. More... | |
| virtual void | topoChange (const polyTopoChangeMap &) |
| Update local data for topology changes. More... | |
| virtual void | mapMesh (const polyMeshMap &) |
| Update from another mesh using the given map. More... | |
| void | operator= (const multiRigidBody &)=delete |
| Disallow default bitwise assignment. More... | |
| Public Member Functions inherited from displacementPoints0 | |
| TypeName ("displacementPoints0") | |
| Runtime type information. More... | |
| displacementPoints0 (const polyMesh &, const dictionary &, const word &type) | |
| Construct from mesh and dictionary. More... | |
| displacementPoints0 (const displacementPoints0 &)=delete | |
| Disallow default bitwise copy construction. More... | |
| virtual | ~displacementPoints0 () |
| Destructor. More... | |
| pointField & | points0 () |
| Return reference to the reference field. More... | |
| const pointField & | points0 () const |
| Return reference to the reference field. More... | |
| virtual void | movePoints (const pointField &) |
| Update local data for geometry changes. More... | |
| virtual void | distribute (const polyDistributionMap &) |
| Update corresponding to the given distribution map. More... | |
| void | operator= (const displacementPoints0 &)=delete |
| Disallow default bitwise assignment. More... | |
| Public Member Functions inherited from pointMeshMover | |
| TypeName ("pointMeshMover") | |
| Runtime type information. More... | |
| declareRunTimeSelectionTable (autoPtr, pointMeshMover, dictionary,(const polyMesh &mesh, const dictionary &dict),(mesh, dict)) | |
| pointMeshMover (const polyMesh &mesh, const word &type) | |
| Construct from polyMesh and dictionary and type. More... | |
| virtual autoPtr< pointMeshMover > | clone () const |
| Clone function. More... | |
| virtual | ~pointMeshMover () |
| Destructor. More... | |
| const polyMesh & | poly () const |
| Return reference to mesh. More... | |
| virtual void | twoDCorrectPoints (pointField &) const |
| Correct point field for reduced-dimensionality cases. More... | |
| virtual bool | solidBodyMotion () const |
| Is the motion solid body? I.e., are the volumes and area magnitudes. More... | |
| Public Member Functions inherited from rigidBodyMotion | |
| rigidBodyMotion () | |
| Construct null. More... | |
| rigidBodyMotion (const dictionary &dict) | |
| Construct from dictionary. More... | |
| rigidBodyMotion (const dictionary &dict, const dictionary &stateDict) | |
| Construct from constant and state dictionaries. More... | |
| rigidBodyMotion (const rigidBodyMotion &)=delete | |
| Disallow default bitwise copy construction. More... | |
| ~rigidBodyMotion () | |
| Destructor. More... | |
| bool | report () const |
| Return the report Switch. More... | |
| const rigidBodyModelState & | state () const |
| Return the motion state. More... | |
| rigidBodyModelState & | state () |
| Return the motion state for modification. More... | |
| spatialTransform | X00 (const label bodyId) const |
| Return the initial transform to the global frame for the. More... | |
| void | newTime () |
| Store the motion state at the beginning of the time-step. More... | |
| void | forwardDynamics (rigidBodyModelState &state, const scalarField &tau, const Field< spatialVector > &fx) const |
| Calculate and optionally relax the joint acceleration qDdot from. More... | |
| void | solve (const scalar t, const scalar deltaT, const scalarField &tau, const Field< spatialVector > &fx) |
| Integrate velocities, orientation and position. More... | |
| void | status (const label bodyID) const |
| Report the status of the motion of the given body. More... | |
| spatialTransform | transform0 (const label bodyID) const |
| Return the transformation of bodyID relative to the initial time. More... | |
| virtual void | write (Ostream &) const |
| Write. More... | |
| bool | read (const dictionary &dict) |
| Read coefficients dictionary and update system parameters,. More... | |
| void | operator= (const rigidBodyMotion &)=delete |
| Disallow default bitwise assignment. More... | |
| Public Member Functions inherited from rigidBodyModel | |
| TypeName ("rigidBodyModel") | |
| Runtime type information. More... | |
| rigidBodyModel () | |
| Null-constructor which adds the single root-body at the origin. More... | |
| rigidBodyModel (const dictionary &dict) | |
| Construct from dictionary. More... | |
| virtual | ~rigidBodyModel () |
| Destructor. More... | |
| label | nBodies () const |
| Return the number of bodies in the model (bodies().size()) More... | |
| const PtrList< rigidBody > & | bodies () const |
| Return the list of the bodies in the model. More... | |
| const DynamicList< label > & | lambda () const |
| List of indices of the parent of each body. More... | |
| const PtrList< joint > & | joints () const |
| Return the list of joints in the model. More... | |
| label | nDoF () const |
| Return the number of degrees of freedom of the model. More... | |
| bool | unitQuaternions () const |
| Return true if any of the joints using quaternions. More... | |
| const vector & | g () const |
| Return the acceleration due to gravity. More... | |
| vector & | g () |
| Allow the acceleration due to gravity to be set. More... | |
| const word & | name (const label bodyID) const |
| Return the name of body with the given ID. More... | |
| wordList | movingBodyNames () const |
| Return the names of the moving bodies. More... | |
| const rigidBodyInertia & | I (const label i) const |
| Return the inertia of body i. More... | |
| const spatialVector & | v (const label i) const |
| Return the spatial velocity of body i. More... | |
| const spatialVector & | a (const label i) const |
| Return the spatial acceleration of body i. More... | |
| virtual label | join (const label parentID, const spatialTransform &XT, autoPtr< joint > jointPtr, autoPtr< rigidBody > bodyPtr) |
| Join the given body to the parent with ID parentID via the given. More... | |
| label | join (const label parentID, const spatialTransform &XT, autoPtr< joints::composite > cJoint, autoPtr< rigidBody > bodyPtr) |
| Join the given body to the parent with ID parentID via the given. More... | |
| label | merge (const label parentID, const spatialTransform &X, autoPtr< rigidBody > bodyPtr) |
| Merge the given body with transform X into the parent with ID. More... | |
| bool | merged (label bodyID) const |
| Return true if the body with given ID has been merged with a parent. More... | |
| label | master (label bodyID) const |
| Return the ID of the master body for a sub-body otherwise. More... | |
| label | mergedBodyIndex (const label mergedBodyID) const |
| Return the index of the merged body in the mergedBody list. More... | |
| label | mergedBodyID (const label mergedBodyIndex) const |
| Return the merged body ID for the given merged body index. More... | |
| const subBody & | mergedBody (label mergedBodyID) const |
| Return the merged body for the given body ID. More... | |
| label | bodyIndex (const word &name) const |
| Return the ID of the body with the given name. More... | |
| spatialTransform | X0 (const label bodyId) const |
| Return the current transform to the global frame for the given body. More... | |
| vector | masterPoint (const label bodyID, const vector &p) const |
| vector | p (const label bodyID, const vector &p) const |
| Return the current position of the given point on the given body. More... | |
| vector | d (const label bodyID, const vector &d) const |
| Return the current direction of the given direction. More... | |
| spatialVector | v (const label bodyID, const vector &p) const |
| Return the velocity of the given point on the given body. More... | |
| spatialVector | a (const label bodyID, const vector &p) const |
| Return the acceleration of the given point on the given body. More... | |
| void | applyRestraints (scalarField &tau, Field< spatialVector > &fx, const rigidBodyModelState &state) const |
| Apply the restraints and accumulate the internal joint forces. More... | |
| void | forwardDynamics (rigidBodyModelState &state, const scalarField &tau, const Field< spatialVector > &fx) const |
| Calculate the joint acceleration qDdot from the joint state q,. More... | |
| void | forwardDynamicsCorrection (const rigidBodyModelState &state) const |
| Correct the velocity and acceleration of the bodies in the model. More... | |
| bool | read (const dictionary &dict) |
| Read coefficients dictionary and update system parameters,. More... | |
Additional Inherited Members | |
| Static Public Member Functions inherited from displacementPoints0 | |
| static pointVectorField | readPoints0 (const polyMesh &mesh) |
| Static Public Member Functions inherited from pointMeshMover | |
| static autoPtr< pointMeshMover > | New (const polyMesh &, const dictionary &) |
| Select constructed from polyMesh and dictionary. More... | |
| Protected Member Functions inherited from rigidBodyModel | |
| virtual label | join_ (const label parentID, const spatialTransform &XT, autoPtr< joint > jointPtr, autoPtr< rigidBody > bodyPtr) |
| Join the given body to the parent with ID parentID via the given. More... | |
| Protected Attributes inherited from multiRigidBody | |
| PtrList< bodyMesh > | bodyMeshes_ |
| List of the bodyMeshes containing the patches and point motion. More... | |
| Protected Attributes inherited from displacementPoints0 | |
| pointVectorField | points0_ |
| Starting points. More... | |
| Protected Attributes inherited from rigidBodyModel | |
| PtrList< rigidBody > | bodies_ |
| List of the bodies. More... | |
| PtrList< subBody > | mergedBodies_ |
| Bodies may be merged into existing bodies, the inertia of which is. More... | |
| HashTable< label, word > | bodyIndices_ |
| Lookup-table of the IDs of the bodies. More... | |
| DynamicList< label > | lambda_ |
| List of indices of the parent of each body. More... | |
| PtrList< joint > | joints_ |
| Each body it attached with a joint which are held on this list. More... | |
| DynamicList< spatialTransform > | XT_ |
| Transform from the parent body frame to the joint frame. More... | |
| label | nDoF_ |
| The number of degrees of freedom of the model. More... | |
| bool | unitQuaternions_ |
| True if any of the joints using quaternions. More... | |
| PtrList< restraint > | restraints_ |
| Motion restraints. More... | |
| vector | g_ |
| Acceleration due to gravity. More... | |
| DynamicList< spatialTransform > | Xlambda_ |
| Transform from the parent body to the current body. More... | |
| DynamicList< spatialTransform > | X0_ |
| Transform for external forces to the bodies reference frame. More... | |
| DynamicList< spatialVector > | v_ |
| The spatial velocity of the bodies. More... | |
| DynamicList< spatialVector > | a_ |
| The spatial acceleration of the bodies. More... | |
| DynamicList< spatialVector > | c_ |
| The velocity dependent spatial acceleration of the joints. More... | |
| DynamicList< spatialTensor > | IA_ |
| Velocity-product acceleration. More... | |
| DynamicList< spatialVector > | pA_ |
| Articulated body bias force. More... | |
| DynamicList< compactSpatialTensor > | S_ |
| Motion subspace for joints with 3 degrees of freedom. More... | |
| DynamicList< spatialVector > | S1_ |
| Motion subspace for joints with 1 degrees of freedom. More... | |
| DynamicList< compactSpatialTensor > | U_ |
| Sub-expression IA.S in the forward-dynamics algorithm. More... | |
| DynamicList< spatialVector > | U1_ |
| Sub-expression IA.S1 in the forward-dynamics algorithm. More... | |
| DynamicList< tensor > | Dinv_ |
| Sub-expression (S^T.U)^-1 in the forward-dynamics algorithm. More... | |
| DynamicList< vector > | u_ |
| Sub-expression tau - S^T.pA in the forward-dynamics algorithm. More... | |
Multiple rigid body mesh motion in which movement of the bodies is generated by RBD::rigidBodyMotion.
Applies distance weighted SLERP interpolation between the septernion transformations for each body returned provided by the RBD::rigidBodyMotion solution of the multi-body + joint system.
The mesh patches for each body must be specified and optionally pointZones that move with each body. The motion of the mesh around each body may be constrained by the optional innerDistance and outerDistance, the mesh within the innerDistance moves with the body without distortion and the mesh beyond the outerDistance does not move with body but may move by the proximity of other bodies.
Example of the motion of a single constrained and restrained floating hull in a stationary region:
mover
{
type pointMeshMover;
libs ("librigidBodyMotion_pointMeshMover.so");
pointMeshMover
{
type rigidBodyMotion;
report on;
solver
{
type Newmark;
}
accelerationRelaxation 0.4;
bodies
{
hull
{
type rigidBody;
parent root;
centreOfMass (0 0 0);
mass 412.73;
inertia (40 0 0 921 0 921);
transform (1 0 0 0 1 0 0 0 1) (2.929541 0 0.2);
joint
{
type composite;
joints
(
{
type Pz;
}
{
type Ry;
}
);
}
patches (hull);
innerDistance 0.3;
outerDistance 1;
}
}
restraints
{
translationDamper
{
type linearDamper;
body hull;
coeff 8596;
}
rotationDamper
{
type sphericalAngularDamper;
body hull;
coeff 11586;
}
}
}
}
Definition at line 142 of file rigidBodyMotion_pointMeshMover.H.
| rigidBodyMotion | ( | const polyMesh & | mesh, |
| const dictionary & | dict | ||
| ) |
Construct from polyMesh and dictionary.
Definition at line 165 of file rigidBodyMotion_pointMeshMover.C.
References rigidBodyModel::bodyIndex(), multiRigidBody::bodyMeshes_, dict, Foam::dimless, Foam::dimTime, Foam::exit(), Foam::FatalError, FatalErrorInFunction, forAll, rigidBodyModel::name(), and Function1< Type >::New().
|
delete |
Disallow default bitwise copy construction.
| ~rigidBodyMotion | ( | ) |
Destructor.
Definition at line 241 of file rigidBodyMotion_pointMeshMover.C.
| TypeName | ( | "rigidBodyMotion" | ) |
Runtime type information.
|
virtual |
Write motion state information for restart.
Reimplemented from displacementPoints0.
Definition at line 247 of file rigidBodyMotion_pointMeshMover.C.
References IOstream::ASCII, IOstream::currentVersion, dict, Foam::name(), IOobject::NO_READ, IOobject::NO_WRITE, Foam::dimensions::time, and displacementPoints0::write().
|
delete |
Disallow default bitwise assignment.
1.9.1