rigidBody.C

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    \\  /    A nd           | Copyright (C) 2016-2026 OpenFOAM Foundation
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-------------------------------------------------------------------------------
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
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    for more details.
 
    You should have received a copy of the GNU General Public License
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#include "rigidBody.H"
#include "subBody.H"
#include "primitiveFields.H"
#include "addToRunTimeSelectionTable.H"
 
// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
 
namespace Foam
{
namespace RBD
{
    defineTypeNameAndDebug(rigidBody, 0);
    defineRunTimeSelectionTable(rigidBody, dictionary);
    addToRunTimeSelectionTable(rigidBody, rigidBody, dictionary);
}
}
 
 
// * * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * //
 
Foam::autoPtr<Foam::RBD::rigidBody> Foam::RBD::rigidBody::clone() const
{
    return autoPtr<rigidBody>(new rigidBody(*this));
}
 
 
// * * * * * * * * * * * * * * * * Selectors * * * * * * * * * * * * * * * * //
 
Foam::autoPtr<Foam::RBD::rigidBody> Foam::RBD::rigidBody::New
(
    const word& name,
    const scalar& m,
    const vector& c,
    const symmTensor& Ic
)
{
    return autoPtr<rigidBody>(new rigidBody(name, m, c, Ic));
}
 
 
Foam::autoPtr<Foam::RBD::rigidBody> Foam::RBD::rigidBody::New
(
    const word& name,
    const dictionary& dict
)
{
    const word bodyType(dict.lookup("type"));
 
    dictionaryConstructorTable::iterator cstrIter =
        dictionaryConstructorTablePtr_->find(bodyType);
 
    if (cstrIter == dictionaryConstructorTablePtr_->end())
    {
        FatalErrorInFunction
            << "Unknown rigidBody type "
            << bodyType << nl << nl
            << "Valid rigidBody types are : " << endl
            << dictionaryConstructorTablePtr_->sortedToc()
            << exit(FatalError);
    }
 
    return autoPtr<rigidBody>(cstrIter()(name, dict));
}
 
 
// * * * * * * * * * * * * * * * * Destructor  * * * * * * * * * * * * * * * //
 
Foam::RBD::rigidBody::~rigidBody()
{}
 
 
// * * * * * * * * * * * * * * Member Functions  * * * * * * * * * * * * * * //
 
bool Foam::RBD::rigidBody::massless() const
{
    return false;
}
 
 
void Foam::RBD::rigidBody::merge(const subBody& subBody)
{
    *this = rigidBody
    (
        name(),
        *this + transform(subBody.masterXT(), subBody.body())
    );
}
 
 
Foam::tmp<Foam::scalarField> Foam::RBD::rigidBody::sectionMu0s
(
    const direction axis,
    const scalarField& distances
) const
{
    FatalErrorInFunction
        << "Rigid body " << name() << " of type " << type()
        << " does not support the calculation of sectional moments"
        << exit(FatalError);
    return tmp<scalarField>(nullptr);
}
 
 
Foam::tmp<Foam::vectorField> Foam::RBD::rigidBody::sectionMu1s
(
    const direction axis,
    const scalarField& distances
) const
{
    sectionMu0s(axis, distances);
    return tmp<vectorField>(nullptr);
}
 
 
Foam::tmp<Foam::symmTensorField> Foam::RBD::rigidBody::sectionMu2s
(
    const direction axis,
    const scalarField& distances
) const
{
    sectionMu0s(axis, distances);
    return tmp<symmTensorField>(nullptr);
}
 
 
void Foam::RBD::rigidBody::write(Ostream& os) const
{
    writeEntry(os, "type", type());
 
    writeEntry(os, "mass", m());
 
    writeEntry(os, "centreOfMass", c());
 
    writeEntry(os, "inertia", Ic());
}
 
 
// ************************************************************************* //