rigid.C
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25 
26 #include "rigid.H"
27 #include "rigidBodyModel.H"
29 
30 // * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
31 
32 namespace Foam
33 {
34 namespace RBD
35 {
36 namespace joints
37 {
38  defineTypeNameAndDebug(rigid, 0);
39 
41  (
42  joint,
43  rigid,
44  dictionary
45  );
46 }
47 }
48 }
49 
50 
51 // * * * * * * * * * * * * * * * * Constructors * * * * * * * * * * * * * * //
52 
54 :
55  joint(model, 0)
56 {}
57 
58 
60 (
61  const rigidBodyModel& model,
62  const dictionary& dict
63 )
64 :
65  joint(model, 0)
66 {}
67 
68 
70 {
71  return autoPtr<joint>(new rigid(*this));
72 }
73 
74 
75 // * * * * * * * * * * * * * * * * Destructor * * * * * * * * * * * * * * * //
76 
78 {}
79 
80 
81 // * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * * //
82 
84 (
85  joint::XSvc& J,
86  const rigidBodyModelState& state
87 ) const
88 {
89  J.X = spatialTransform();
90  J.S = Zero;
91  J.S1 = Zero;
92  J.v = Zero;
93  J.c = Zero;
94 }
95 
96 
97 // ************************************************************************* //
Abstract base-class for all rigid-body joints.
Definition: joint.H:80
A list of keyword definitions, which are a keyword followed by any number of values (e...
Definition: dictionary.H:156
spatialVector v
The constrained joint velocity.
Definition: joint.H:137
virtual autoPtr< joint > clone() const
Clone this joint.
Definition: rigid.C:69
spatialVector S1
The joint motion sub-space (1-DoF)
Definition: joint.H:134
compactSpatialTensor S
The joint motion sub-space (3-DoF)
Definition: joint.H:131
defineTypeNameAndDebug(composite, 0)
virtual void jcalc(joint::XSvc &J, const rigidBodyModelState &state) const
Update the model state for this joint.
Definition: rigid.C:84
addToRunTimeSelectionTable(joint, composite, dictionary)
spatialVector c
The constrained joint acceleration correction.
Definition: joint.H:141
Macros for easy insertion into run-time selection tables.
Holds the motion state of rigid-body model.
rigid(const rigidBodyModel &model)
Construct for given model.
Definition: rigid.C:53
Joint state returned by jcalc.
Definition: joint.H:123
static const zero Zero
Definition: zero.H:97
virtual ~rigid()
Destructor.
Definition: rigid.C:77
joint(const rigidBodyModel &model, const label nDoF)
Construct joint setting the size of the motion sub-space.
Definition: jointI.H:28
spatialTransform X
The joint transformation.
Definition: joint.H:128
Compact representation of the Plücker spatial transformation tensor in terms of the rotation tensor E...
An auto-pointer similar to the STL auto_ptr but with automatic casting to a reference to the type and...
Definition: PtrList.H:52
Basic rigid-body model representing a system of rigid-bodies connected by 1-6 DoF joints...
Namespace for OpenFOAM.