sixDoFRigidBodyState.C

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    \\  /    A nd           | Copyright (C) 2017-2022 OpenFOAM Foundation
     \\/     M anipulation  |
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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
    (at your option) any later version.
 
    OpenFOAM is distributed in the hope that it will be useful, but WITHOUT
    ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
    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/>.
 
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#include "sixDoFRigidBodyState.H"
#include "fvMeshMoversMotionSolver.H"
#include "motionSolver.H"
#include "sixDoFRigidBodyMotion.H"
#include "quaternion.H"
#include "unitConversion.H"
#include "addToRunTimeSelectionTable.H"
 
// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
 
namespace Foam
{
namespace functionObjects
{
    defineTypeNameAndDebug(sixDoFRigidBodyState, 0);
 
    addToRunTimeSelectionTable
    (
        functionObject,
        sixDoFRigidBodyState,
        dictionary
    );
}
}
 
 
// * * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * //
 
Foam::functionObjects::sixDoFRigidBodyState::sixDoFRigidBodyState
(
    const word& name,
    const Time& runTime,
    const dictionary& dict
)
:
    fvMeshFunctionObject(name, runTime, dict),
    logFiles(obr_, name)
{
    read(dict);
}
 
 
// * * * * * * * * * * * * * * * * Destructor  * * * * * * * * * * * * * * * //
 
Foam::functionObjects::sixDoFRigidBodyState::~sixDoFRigidBodyState()
{}
 
 
// * * * * * * * * * * * * * * * Member Functions  * * * * * * * * * * * * * //
 
bool Foam::functionObjects::sixDoFRigidBodyState::read(const dictionary& dict)
{
    fvMeshFunctionObject::read(dict);
 
    angleUnits_ = dict.lookupOrDefaultBackwardsCompatible<word>
    (
        {"angleUnits", "angleFormat"},
        "radians"
    );
 
    resetName(typeName);
 
    return true;
}
 
 
void Foam::functionObjects::sixDoFRigidBodyState::writeFileHeader(const label)
{
    OFstream& file = this->file();
 
    writeHeader(file, "Motion State");
    writeHeaderValue(file, "Angle Units", angleUnits_);
    writeCommented(file, "Time");
 
    file<< tab
        << "centreOfRotation" << tab
        << "centreOfMass" << tab
        << "rotation" << tab
        << "velocity" << tab
        << "omega" << endl;
}
 
 
bool Foam::functionObjects::sixDoFRigidBodyState::execute()
{
    return true;
}
 
 
const Foam::sixDoFRigidBodyMotion&
Foam::functionObjects::sixDoFRigidBodyState::motion() const
{
    const fvMeshMovers::motionSolver& mover =
        refCast<const fvMeshMovers::motionSolver>(mesh_.mover());
 
    return (refCast<const sixDoFRigidBodyMotion>(mover.motion()));
}
 
 
Foam::vector
Foam::functionObjects::sixDoFRigidBodyState::velocity() const
{
    return motion().v();
}
 
 
Foam::vector
Foam::functionObjects::sixDoFRigidBodyState::angularVelocity() const
{
    vector angularVelocity(motion().omega());
 
    if (angleUnits_ == "degrees")
    {
        angularVelocity.x() = radToDeg(angularVelocity.x());
        angularVelocity.y() = radToDeg(angularVelocity.y());
        angularVelocity.z() = radToDeg(angularVelocity.z());
    }
 
    return angularVelocity;
}
 
 
bool Foam::functionObjects::sixDoFRigidBodyState::write()
{
    logFiles::write();
 
    if (Pstream::master())
    {
        const sixDoFRigidBodyMotion& motion = this->motion();
 
        vector rotationAngle
        (
            quaternion(motion.orientation()).eulerAngles(quaternion::XYZ)
        );
 
        vector angularVelocity(motion.omega());
 
        if (angleUnits_ == "degrees")
        {
            rotationAngle.x() = radToDeg(rotationAngle.x());
            rotationAngle.y() = radToDeg(rotationAngle.y());
            rotationAngle.z() = radToDeg(rotationAngle.z());
 
            angularVelocity.x() = radToDeg(angularVelocity.x());
            angularVelocity.y() = radToDeg(angularVelocity.y());
            angularVelocity.z() = radToDeg(angularVelocity.z());
        }
 
        writeTime(file());
        file()
            << tab
            << motion.centreOfRotation()  << tab
            << motion.centreOfMass()  << tab
            << rotationAngle  << tab
            << motion.v()  << tab
            << angularVelocity << endl;
    }
 
    return true;
}
 
 
// ************************************************************************* //