cuboidI.H
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25 
26 // * * * * * * * * * * * * * Private Member Functions * * * * * * * * * * * //
27 
28 inline Foam::symmTensor Foam::RBD::cuboid::I
29 (
30  const scalar m,
31  const vector& L
32 ) const
33 {
34  const scalar mBy12 = m/12.0;
35  const scalar mSqrLx = mBy12*sqr(L.x());
36  const scalar mSqrLy = mBy12*sqr(L.y());
37  const scalar mSqrLz = mBy12*sqr(L.z());
38 
39  return symmTensor
40  (
41  mSqrLy + mSqrLz, 0, 0,
42  mSqrLx + mSqrLz, 0,
43  mSqrLx + mSqrLy
44  );
45 }
46 
47 
48 // * * * * * * * * * * * * * * * * Constructors * * * * * * * * * * * * * * //
49 
51 (
52  const word& name,
53  const scalar m,
54  const vector& c,
55  const vector& L
56 )
57 :
58  rigidBody(name, m, c, I(m, L)),
59  L_(L)
60 {}
61 
62 
64 (
65  const word& name,
66  const dictionary& dict
67 )
68 :
70  L_(dict.lookup("L"))
71 {
72  const scalar m(dict.lookup<scalar>("mass"));
73  const vector c(dict.lookup("centreOfMass"));
74  rigidBodyInertia::operator=(rigidBodyInertia(m, c, I(m, L_)));
75 }
76 
77 
78 // * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * * //
79 
80 inline const Foam::vector& Foam::RBD::cuboid::L() const
81 {
82  return L_;
83 }
84 
85 
86 // ************************************************************************* //
cuboid(const word &name, const scalar m, const vector &c, const vector &L)
Construct from name, mass, centre of mass and lengths of the sides.
Definition: cuboidI.H:51
const vector & L() const
Return the lengths of the sides of the cuboid.
Definition: cuboidI.H:80
This class represents the linear and angular inertia of a rigid body by the mass, centre of mass and ...
const vector & c() const
Return the centre of mass of the rigid-body.
rigidBodyInertia()
Null constructor, initialises to zero.
scalar m() const
Return the mass of the rigid-body.
const Cmpt & z() const
Definition: VectorI.H:87
const Cmpt & y() const
Definition: VectorI.H:81
const Cmpt & x() const
Definition: VectorI.H:75
A list of keyword definitions, which are a keyword followed by any number of values (e....
Definition: dictionary.H:162
A class for handling words, derived from string.
Definition: word.H:62
const dimensionedScalar c
Speed of light in a vacuum.
dimensionedSymmTensor sqr(const dimensionedVector &dv)
word name(const bool)
Return a word representation of a bool.
Definition: boolIO.C:39
SymmTensor< scalar > symmTensor
SymmTensor of scalars.
Definition: symmTensor.H:48
static const Identity< scalar > I
Definition: Identity.H:93
Vector< scalar > vector
A scalar version of the templated Vector.
Definition: vector.H:49
dictionary dict