sphericalAngularDamper.C
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25 
26 #include "sphericalAngularDamper.H"
27 #include "rigidBodyModel.H"
29 
30 // * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
31 
32 namespace Foam
33 {
34 namespace RBD
35 {
36 namespace restraints
37 {
38  defineTypeNameAndDebug(sphericalAngularDamper, 0);
39 
41  (
42  restraint,
43  sphericalAngularDamper,
44  dictionary
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
79 {
80  vector moment = -coeff_*model_.v(model_.master(bodyID_)).w();
81 
82  if (model_.debug)
83  {
84  Info<< " moment " << moment << endl;
85  }
86 
87  // Accumulate the force for the restrained body
88  fx[bodyIndex_] += spatialVector(moment, Zero);
89 }
90 
91 
93 (
94  const dictionary& dict
95 )
96 {
97  restraint::read(dict);
98 
99  coeffs_.lookup("coeff") >> coeff_;
100 
101  return true;
102 }
103 
104 
106 (
107  Ostream& os
108 ) const
109 {
110  restraint::write(os);
111 
112  os.writeKeyword("coeff") << coeff_ << token::END_STATEMENT << nl;
113 }
114 
115 
116 // ************************************************************************* //
A list of keyword definitions, which are a keyword followed by any number of values (e...
Definition: dictionary.H:137
Base class for defining restraints for rigid-body dynamics.
virtual void write(Ostream &) const
Write.
Ostream & endl(Ostream &os)
Add newline and flush stream.
Definition: Ostream.H:253
virtual void restrain(scalarField &tau, Field< spatialVector > &fx) const
Accumulate the retraint internal joint forces into the tau field and.
Macros for easy insertion into run-time selection tables.
bool read(const char *, int32_t &)
Definition: int32IO.C:85
virtual bool read(const dictionary &dict)
Update properties from given dictionary.
A class for handling words, derived from string.
Definition: word.H:59
SpatialVector< scalar > spatialVector
SpatialVector of scalars.
Definition: spatialVector.H:47
static const zero Zero
Definition: zero.H:91
sphericalAngularDamper(const word &name, const dictionary &dict, const rigidBodyModel &model)
Construct from components.
An Ostream is an abstract base class for all output systems (streams, files, token lists...
Definition: Ostream.H:53
virtual bool read(const dictionary &dict)
Update properties from given dictionary.
static const char nl
Definition: Ostream.H:262
Ostream & writeKeyword(const keyType &)
Write the keyword followed by an appropriate indentation.
Definition: Ostream.C:54
messageStream Info
defineTypeNameAndDebug(linearAxialAngularSpring, 0)
addToRunTimeSelectionTable(restraint, linearAxialAngularSpring, dictionary)
Basic rigid-body model representing a system of rigid-bodies connected by 1-6 DoF joints...
virtual void write(Ostream &) const =0
Write.
Namespace for OpenFOAM.