sixDoFRigidBodyState.C

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License
    This file is part of OpenFOAM.

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    the Free Software Foundation, either version 3 of the License, or
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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);

    angleFormat_ = dict.lookupOrDefault<word>("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", angleFormat_);
    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 (angleFormat_ == "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 (angleFormat_ == "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;
}


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