sixDoFMotion.C

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License
    This file is part of OpenFOAM.
 
    OpenFOAM is free software: you can redistribute it and/or modify it
    under the terms of the GNU General Public License as published by
    the Free Software Foundation, either version 3 of the License, or
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#include "sixDoFMotion.H"
#include "addToRunTimeSelectionTable.H"
 
using namespace Foam::constant::mathematical;
 
// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
 
namespace Foam
{
namespace solidBodyMotionFunctions
{
    defineTypeNameAndDebug(sixDoFMotion, 0);
    addToRunTimeSelectionTable
    (
        solidBodyMotionFunction,
        sixDoFMotion,
        dictionary
    );
}
}
 
 
// * * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * //
 
Foam::solidBodyMotionFunctions::sixDoFMotion::sixDoFMotion
(
    const dictionary& SBMFCoeffs,
    const Time& runTime
)
:
    solidBodyMotionFunction(SBMFCoeffs, runTime)
{
    read(SBMFCoeffs);
}
 
 
// * * * * * * * * * * * * * * * * Destructor  * * * * * * * * * * * * * * * //
 
Foam::solidBodyMotionFunctions::sixDoFMotion::~sixDoFMotion()
{}
 
 
// * * * * * * * * * * * * * * Member Functions  * * * * * * * * * * * * * * //
 
Foam::septernion
Foam::solidBodyMotionFunctions::sixDoFMotion::transformation() const
{
    const scalar t = time_.value();
 
    const vector translation = translation_->value(t);
    const vector rotation = rotation_->value(t);
 
    const quaternion R(quaternion::XYZ, rotation);
    const septernion TR(septernion(-CofG_ - translation)*R*septernion(CofG_));
 
    DebugInFunction << "Time = " << t << " transformation: " << TR << endl;
 
    return TR;
}
 
 
bool Foam::solidBodyMotionFunctions::sixDoFMotion::read
(
    const dictionary& SBMFCoeffs
)
{
    solidBodyMotionFunction::read(SBMFCoeffs);
 
    translation_.reset
    (
        Function1<vector>::New
        (
            "translation",
            time_.userUnits(),
            dimLength,
            SBMFCoeffs_
        ).ptr()
    );
 
    rotation_.reset
    (
        Function1<vector>::New
        (
            "rotation",
            time_.userUnits(),
            unitDegrees,
            SBMFCoeffs_
        ).ptr()
    );
 
    SBMFCoeffs_.lookup("CofG") >> CofG_;
 
    return true;
}
 
 
// ************************************************************************* //