rigidBodyMeshMotionSolver Class Reference

Rigid-body mesh motion solver for fvMesh. More...

Inheritance diagram for rigidBodyMeshMotionSolver:
Collaboration diagram for rigidBodyMeshMotionSolver:

Public Member Functions

 TypeName ("rigidBodyMotionSolver")
 Runtime type information. More...
 
 rigidBodyMeshMotionSolver (const word &name, const polyMesh &, const dictionary &dict)
 Construct from polyMesh and dictionary. More...
 
 rigidBodyMeshMotionSolver (const rigidBodyMeshMotionSolver &)=delete
 Disallow default bitwise copy construction. More...
 
 ~rigidBodyMeshMotionSolver ()
 Destructor. More...
 
virtual tmp< pointFieldcurPoints () const
 Return point location obtained from the current motion field. More...
 
virtual void solve ()
 Solve for motion. More...
 
virtual void movePoints (const pointField &)
 Update local data for geometry changes. 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...
 
virtual void distribute (const polyDistributionMap &)
 Update corresponding to the given distribution map. More...
 
virtual bool write () const
 Write motion state information for restart. More...
 
void operator= (const rigidBodyMeshMotionSolver &)=delete
 Disallow default bitwise assignment. More...
 
- Public Member Functions inherited from motionSolver
 TypeName ("motionSolver")
 Runtime type information. More...
 
 declareRunTimeSelectionTable (autoPtr, motionSolver, dictionary,(const word &name, const polyMesh &mesh, const dictionary &dict),(name, mesh, dict))
 
 motionSolver (const word &name, const polyMesh &mesh, const dictionary &, const word &type)
 Construct from polyMesh and dictionary and type. More...
 
virtual autoPtr< motionSolverclone () const
 Clone function. More...
 
virtual ~motionSolver ()
 Destructor. More...
 
const wordname () const
 Return name. More...
 
const wordkeyword () const
 Return keyword. More...
 
const polyMeshmesh () const
 Return reference to mesh. More...
 
const dictionarycoeffDict () const
 Const access to the coefficients dictionary. More...
 
virtual tmp< pointFieldnewPoints ()
 Provide new points for motion. Solves for motion. More...
 
virtual void twoDCorrectPoints (pointField &) const
 
- 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 &)
 Disallow default bitwise copy construction. More...
 
 ~rigidBodyMotion ()
 Destructor. More...
 
bool report () const
 Return the report Switch. More...
 
const rigidBodyModelStatestate () const
 Return the motion state. More...
 
rigidBodyModelStatestate ()
 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...
 
PtrList< rigidBodybodies () 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 vectorg () const
 Return the acceleration due to gravity. More...
 
vectorg ()
 Allow the acceleration due to gravity to be set. More...
 
const wordname (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 rigidBodyInertiaI (const label i) const
 Return the inertia of body i. More...
 
const spatialVectorv (const label i) const
 Return the spatial velocity of the bodies. 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 subBodymergedBody (label mergedBodyID) const
 Return the merged body for the given body ID. More...
 
label bodyID (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
 
spatialVector v (const label bodyID, const vector &p) const
 Return the velocity 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 motionSolver
static autoPtr< motionSolverNew (const word &name, 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 rigidBodyModel
PtrList< rigidBodybodies_
 List of the bodies. More...
 
PtrList< subBodymergedBodies_
 Bodies may be merged into existing bodies, the inertia of which is. More...
 
HashTable< label, wordbodyIDs_
 Lookup-table of the IDs of the bodies. More...
 
DynamicList< labellambda_
 List of indices of the parent of each body. More...
 
PtrList< jointjoints_
 Each body it attached with a joint which are held on this list. More...
 
DynamicList< spatialTransformXT_
 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< restraintrestraints_
 Motion restraints. More...
 
vector g_
 Acceleration due to gravity. More...
 
DynamicList< spatialTransformXlambda_
 Transform from the parent body to the current body. More...
 
DynamicList< spatialTransformX0_
 Transform for external forces to the bodies reference frame. More...
 
DynamicList< spatialVectorv_
 The spatial velocity of the bodies. More...
 
DynamicList< spatialVectora_
 The spatial acceleration of the bodies. More...
 
DynamicList< spatialVectorc_
 The velocity dependent spatial acceleration of the joints. More...
 
DynamicList< spatialTensorIA_
 Velocity-product acceleration. More...
 
DynamicList< spatialVectorpA_
 Articulated body bias force. More...
 
DynamicList< compactSpatialTensorS_
 Motion subspace for joints with 3 degrees of freedom. More...
 
DynamicList< spatialVectorS1_
 Motion subspace for joints with 1 degrees of freedom. More...
 
DynamicList< compactSpatialTensorU_
 Sub-expression IA.S in the forward-dynamics algorithm. More...
 
DynamicList< spatialVectorU1_
 Sub-expression IA.S1 in the forward-dynamics algorithm. More...
 
DynamicList< tensorDinv_
 Sub-expression (S^T.U)^-1 in the forward-dynamics algorithm. More...
 
DynamicList< vectoru_
 Sub-expression tau - S^T.pA in the forward-dynamics algorithm. More...
 

Detailed Description

Rigid-body mesh motion solver for fvMesh.

Applies septernion interpolation of movement as function of distance to the object surface.

Source files

Definition at line 53 of file rigidBodyMeshMotionSolver.H.

Constructor & Destructor Documentation

◆ rigidBodyMeshMotionSolver() [1/2]

◆ rigidBodyMeshMotionSolver() [2/2]

Disallow default bitwise copy construction.

◆ ~rigidBodyMeshMotionSolver()

Destructor.

Definition at line 178 of file rigidBodyMeshMotionSolver.C.

Member Function Documentation

◆ TypeName()

TypeName ( "rigidBodyMotionSolver"  )

Runtime type information.

◆ curPoints()

Foam::tmp< Foam::pointField > curPoints ( ) const
virtual

Return point location obtained from the current motion field.

Implements motionSolver.

Definition at line 185 of file rigidBodyMeshMotionSolver.C.

◆ solve()

◆ movePoints()

void movePoints ( const pointField points)
virtual

Update local data for geometry changes.

Implements motionSolver.

Definition at line 301 of file rigidBodyMeshMotionSolver.C.

◆ topoChange()

void topoChange ( const polyTopoChangeMap map)
virtual

Update local data for topology changes.

Implements motionSolver.

Definition at line 307 of file rigidBodyMeshMotionSolver.C.

◆ mapMesh()

void mapMesh ( const polyMeshMap map)
virtual

Update from another mesh using the given map.

Implements motionSolver.

Definition at line 313 of file rigidBodyMeshMotionSolver.C.

References rigidBodyMeshMotionSolver::distribute().

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◆ distribute()

void distribute ( const polyDistributionMap map)
virtual

Update corresponding to the given distribution map.

Implements motionSolver.

Definition at line 320 of file rigidBodyMeshMotionSolver.C.

Referenced by rigidBodyMeshMotionSolver::mapMesh().

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◆ write()

bool write ( ) const
virtual

Write motion state information for restart.

Reimplemented from motionSolver.

Definition at line 328 of file rigidBodyMeshMotionSolver.C.

References IOstream::ASCII, IOstream::currentVersion, dict, motionSolver::mesh(), IOobject::NO_READ, IOobject::NO_WRITE, rigidBodyMotion::state(), timeName, rigidBodyModelState::write(), and motionSolver::write().

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◆ operator=()

void operator= ( const rigidBodyMeshMotionSolver )
delete

Disallow default bitwise assignment.


The documentation for this class was generated from the following files: