rigidBodyMotion.C
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25 
26 #include "rigidBodyMotion.H"
27 #include "rigidBodySolver.H"
28 #include "septernion.H"
29 
30 // * * * * * * * * * * * * * Private Member Functions * * * * * * * * * * * //
31 
32 void Foam::RBD::rigidBodyMotion::initialise()
33 {
34  // Calculate the initial body-state
35  forwardDynamicsCorrection(rigidBodyModelState(*this));
36  X00_ = X0_;
37 
38  // Update the body-state to correspond to the current joint-state
39  forwardDynamicsCorrection(motionState_);
40 }
41 
42 
43 // * * * * * * * * * * * * * * * * Constructors * * * * * * * * * * * * * * //
44 
46 :
48  motionState_(*this),
49  motionState0_(*this),
50  aRelax_(1.0),
51  aDamp_(1.0),
52  report_(false),
53  solver_(nullptr)
54 {}
55 
57 (
58  const dictionary& dict
59 )
60 :
62  motionState_(*this, dict),
63  motionState0_(motionState_),
64  X00_(X0_.size()),
65  aRelax_(dict.lookupOrDefault<scalar>("accelerationRelaxation", 1.0)),
66  aDamp_(dict.lookupOrDefault<scalar>("accelerationDamping", 1.0)),
67  report_(dict.lookupOrDefault<Switch>("report", false)),
68  solver_(rigidBodySolver::New(*this, dict.subDict("solver")))
69 {
70  if (dict.found("g"))
71  {
72  g() = vector(dict.lookup("g"));
73  }
74 
75  initialise();
76 }
77 
78 
80 (
81  const dictionary& dict,
82  const dictionary& stateDict
83 )
84 :
86  motionState_(*this, stateDict),
87  motionState0_(motionState_),
88  X00_(X0_.size()),
89  aRelax_(dict.lookupOrDefault<scalar>("accelerationRelaxation", 1.0)),
90  aDamp_(dict.lookupOrDefault<scalar>("accelerationDamping", 1.0)),
91  report_(dict.lookupOrDefault<Switch>("report", false)),
92  solver_(rigidBodySolver::New(*this, dict.subDict("solver")))
93 {
94  if (dict.found("g"))
95  {
96  g() = vector(dict.lookup("g"));
97  }
98 
99  initialise();
100 }
101 
102 
103 // * * * * * * * * * * * * * * * * Destructor * * * * * * * * * * * * * * * //
104 
106 {}
107 
108 
109 // * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * * //
110 
112 (
113  const label bodyId
114 ) const
115 {
116  if (merged(bodyId))
117  {
118  const subBody& mBody = mergedBody(bodyId);
119  return mBody.masterXT() & X00_[mBody.masterIndex()];
120  }
121  else
122  {
123  return X00_[bodyId];
124  }
125 }
126 
127 
129 (
130  rigidBodyModelState& state,
131  const scalarField& tau,
132  const Field<spatialVector>& fx
133 ) const
134 {
135  scalarField qDdotPrev = state.qDdot();
136  rigidBodyModel::forwardDynamics(state, tau, fx);
137  state.qDdot() = aDamp_*(aRelax_*state.qDdot() + (1 - aRelax_)*qDdotPrev);
138 }
139 
140 
142 (
143  const scalar t,
144  const scalar deltaT,
145  const scalarField& tau,
146  const Field<spatialVector>& fx
147 )
148 {
149  motionState_.t() = t;
150  motionState_.deltaT() = deltaT;
151 
152  if (motionState0_.deltaT() < small)
153  {
154  motionState0_.t() = t;
155  motionState0_.deltaT() = deltaT;
156  }
157 
158  if (Pstream::master())
159  {
160  solver_->solve(tau, fx);
161  }
162 
163  Pstream::scatter(motionState_);
164 
165  // Update the body-state to correspond to the current joint-state
166  forwardDynamicsCorrection(motionState_);
167 }
168 
169 
171 {
172  const spatialTransform CofR(X0(bodyID));
173  const spatialVector vCofR(v(bodyID, Zero));
174  const spatialVector aCofR(a(bodyID, Zero));
175 
176  Info<< "Rigid-body motion of the " << name(bodyID) << nl
177  << " Centre of rotation: " << CofR.r() << nl
178  << " Orientation: " << CofR.E() << nl
179  << " Linear velocity: " << vCofR.l() << nl
180  << " Angular velocity: " << vCofR.w() << nl
181  << " Linear acceleration: " << aCofR.l() << nl
182  << " Angular acceleration: " << aCofR.w()
183  << endl;
184 }
185 
186 
188 (
189  const label bodyID
190 ) const
191 {
192  return X0(bodyID).inv() & X00(bodyID);
193 }
194 
195 
196 // ************************************************************************* //
static void scatter(const List< commsStruct > &comms, T &Value, const int tag, const label comm)
Scatter data. Distribute without modification. Reverse of gather.
Holds the motion state of rigid-body model.
const scalarField & qDdot() const
Return access to the joint acceleration.
Basic rigid-body model representing a system of rigid-bodies connected by 1-6 DoF joints.
DynamicList< spatialTransform > X0_
Transform for external forces to the bodies reference frame.
void forwardDynamicsCorrection(const rigidBodyModelState &state) const
Correct the velocity and acceleration of the bodies in the model.
const vector & g() const
Return the acceleration due to gravity.
void forwardDynamics(rigidBodyModelState &state, const scalarField &tau, const Field< spatialVector > &fx) const
Calculate the joint acceleration qDdot from the joint state q,.
spatialTransform X00(const label bodyId) const
Return the initial transform to the global frame for the.
void status(const label bodyID) const
Report the status of the motion of the given body.
rigidBodyMotion()
Construct null.
spatialTransform transform0(const label bodyID) const
Return the transformation of bodyID relative to the initial time.
void forwardDynamics(rigidBodyModelState &state, const scalarField &tau, const Field< spatialVector > &fx) const
Calculate and optionally relax the joint acceleration qDdot from.
void solve(const scalar t, const scalar deltaT, const scalarField &tau, const Field< spatialVector > &fx)
Integrate velocities, orientation and position.
This specialised rigidBody holds the original body after it has been merged into a master.
Definition: subBody.H:53
const spatialTransform & masterXT() const
Return the transform with respect to the master body.
Definition: subBodyI.H:75
label masterIndex() const
Return the master body Id.
Definition: subBodyI.H:69
Vector< Cmpt > w() const
Return the angular part of the spatial vector as a vector.
Vector< Cmpt > l() const
Return the linear part of the spatial vector as a vector.
A simple wrapper around bool so that it can be read as a word: true/false, on/off,...
Definition: Switch.H:61
static bool master(const label communicator=0)
Am I the master process.
Definition: UPstream.H:423
A list of keyword definitions, which are a keyword followed by any number of values (e....
Definition: dictionary.H:162
Compact representation of the Plücker spatial transformation tensor in terms of the rotation tensor E...
const vector & r() const
Return the translation vector.
const tensor & E() const
Return the rotation tensor.
static const zero Zero
Definition: zero.H:97
intWM_LABEL_SIZE_t label
A label is an int32_t or int64_t as specified by the pre-processor macro WM_LABEL_SIZE.
Definition: label.H:59
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
Vector< scalar > vector
A scalar version of the templated Vector.
Definition: vector.H:49
tmp< DimensionedField< TypeR, GeoMesh > > New(const tmp< DimensionedField< TypeR, GeoMesh >> &tdf1, const word &name, const dimensionSet &dimensions)
static const char nl
Definition: Ostream.H:266
scalarList X0(nSpecie, 0.0)
dictionary dict