Rz.C

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License
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    under the terms of the GNU General Public License as published by
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#include "Rz.H"
#include "rigidBodyModelState.H"
#include "addToRunTimeSelectionTable.H"

// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //

namespace Foam
{
namespace RBD
{
namespace joints
{
    defineTypeNameAndDebug(Rz, 0);

    addToRunTimeSelectionTable
    (
        joint,
        Rz,
        dictionary
    );
}
}
}


// * * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * //

Foam::RBD::joints::Rz::Rz(const rigidBodyModel& model)
:
    joint(model, 1)
{
    S_[0] = spatialVector(0, 0, 1, 0, 0, 0);
}


Foam::RBD::joints::Rz::Rz(const rigidBodyModel& model, const dictionary& dict)
:
    joint(model, 1)
{
    S_[0] = spatialVector(0, 0, 1, 0, 0, 0);
}


Foam::autoPtr<Foam::RBD::joint> Foam::RBD::joints::Rz::clone() const
{
    return autoPtr<joint>(new Rz(*this));
}


// * * * * * * * * * * * * * * * * Destructor  * * * * * * * * * * * * * * * //

Foam::RBD::joints::Rz::~Rz()
{}


// * * * * * * * * * * * * * * Member Functions  * * * * * * * * * * * * * * //

void Foam::RBD::joints::Rz::jcalc
(
    joint::XSvc& J,
    const rigidBodyModelState& state
) const
{
    J.X = Xrz(state.q()[qIndex_]);
    J.S1 = S_[0];
    J.v = Zero;
    J.v.wz() = state.qDot()[qIndex_];
    J.c = Zero;
}


// ************************************************************************* //