rigid.C

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#include "rigid.H"
#include "rigidBodyModel.H"
#include "addToRunTimeSelectionTable.H"

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

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

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


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

Foam::RBD::joints::rigid::rigid(const rigidBodyModel& model)
:
    joint(model, 0)
{}


Foam::RBD::joints::rigid::rigid
(
    const rigidBodyModel& model,
    const dictionary& dict
)
:
    joint(model, 0)
{}


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


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

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


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

void Foam::RBD::joints::rigid::jcalc
(
    joint::XSvc& J,
    const rigidBodyModelState& state
) const
{
    J.X = spatialTransform();
    J.S = Zero;
    J.S1 = Zero;
    J.v = Zero;
    J.c = Zero;
}


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