linearDamper.C
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25 
26 #include "linearDamper.H"
27 #include "rigidBodyModel.H"
29 
30 // * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
31 
32 namespace Foam
33 {
34 namespace RBD
35 {
36 namespace restraints
37 {
39 
41  (
42  restraint,
45  );
46 }
47 }
48 }
49 
50 
51 // * * * * * * * * * * * * * * * * Constructors * * * * * * * * * * * * * * //
52 
54 (
55  const word& name,
56  const dictionary& dict,
57  const rigidBodyModel& model
58 )
59 :
60  restraint(name, dict, model)
61 {
62  read(dict);
63 }
64 
65 
66 // * * * * * * * * * * * * * * * * Destructor * * * * * * * * * * * * * * * //
67 
69 {}
70 
71 
72 // * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * * //
73 
75 (
76  scalarField& tau,
78  const rigidBodyModelState& state
79 ) const
80 {
81  vector force = -coeff_*model_.v(masterBodyIndex_).l();
82 
83  if (model_.debug)
84  {
85  Info<< " force " << force << endl;
86  }
87 
88  // Accumulate the force for the restrained body
89  fx[masterBodyIndex_] +=
90  model_.X0(masterBodyIndex_).T()
91  & spatialVector(Zero, force);
92 }
93 
94 
96 (
97  const dictionary& dict
98 )
99 {
101 
102  coeffs_.lookup("coeff") >> coeff_;
103 
104  return true;
105 }
106 
107 
109 (
110  Ostream& os
111 ) const
112 {
113  restraint::write(os);
114 
115  writeEntry(os, "coeff", coeff_);
116 }
117 
118 
119 // ************************************************************************* //
Macros for easy insertion into run-time selection tables.
tmp< Field< Type > > T() const
Return the field transpose (only defined for second rank tensors)
Definition: Field.C:539
An Ostream is an abstract base class for all output systems (streams, files, token lists,...
Definition: Ostream.H:57
Base class for defining restraints for rigid-body dynamics.
virtual bool read(const dictionary &dict)
Update properties from given dictionary.
virtual void write(Ostream &) const =0
Write.
Linear damper restraint. Operates in the local frame of the body.
Definition: linearDamper.H:55
virtual void write(Ostream &) const
Write.
Definition: linearDamper.C:109
virtual ~linearDamper()
Destructor.
Definition: linearDamper.C:68
virtual bool read(const dictionary &dict)
Update properties from given dictionary.
Definition: linearDamper.C:96
virtual void restrain(scalarField &tau, Field< spatialVector > &fx, const rigidBodyModelState &state) const
Accumulate the retraint internal joint forces into the tau field and.
Definition: linearDamper.C:75
linearDamper(const word &name, const dictionary &dict, const rigidBodyModel &model)
Construct from components.
Definition: linearDamper.C:54
Holds the motion state of rigid-body model.
Basic rigid-body model representing a system of rigid-bodies connected by 1-6 DoF joints.
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
addToRunTimeSelectionTable(restraint, externalForce, dictionary)
defineTypeNameAndDebug(externalForce, 0)
Namespace for OpenFOAM.
static const zero Zero
Definition: zero.H:97
Ostream & endl(Ostream &os)
Add newline and flush stream.
Definition: Ostream.H:257
word name(const bool)
Return a word representation of a bool.
Definition: boolIO.C:39
messageStream Info
void writeEntry(Ostream &os, const HashTable< T, Key, Hash > &ht)
Definition: HashTableIO.C:96
SpatialVector< scalar > spatialVector
SpatialVector of scalars.
Definition: spatialVector.H:47
dictionary dict