69 scalar magDv =
mag(dv);
rigidBodyMotion & model_
The rigid-body model.
#define forAll(list, i)
Loop across all elements in list.
intWM_LABEL_SIZE_t label
A label is an int32_t or int64_t as specified by the pre-processor macro WM_LABEL_SIZE.
const scalarField & q0() const
Return the current joint position and orientation.
bool unitQuaternions() const
Return true if any of the joints using quaternions.
quaternion normalize(const quaternion &q)
Return the normalized (unit) quaternion of the given quaternion.
const PtrList< joint > & joints() const
Return the list of joints in the model.
scalarField & q()
Return the current joint position and orientation.
Six degree of freedom motion for a rigid body.
dimensionedScalar cos(const dimensionedScalar &ds)
Quaternion class used to perform rotations in 3D space.
defineTypeNameAndDebug(cuboid, 0)
Creates a single block of cells from point coordinates, numbers of cells in each direction and an exp...
rigidBodySolver(rigidBodyMotion &body)
defineRunTimeSelectionTable(rigidBody, dictionary)
virtual ~rigidBodySolver()
Destructor.
dimensioned< scalar > mag(const dimensioned< Type > &)
void correctQuaternionJoints()
Correct the quaternion joints based on the current change in q.