rigidBodySolver.C

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    \\  /    A nd           | Copyright (C) 2016-2018 OpenFOAM Foundation
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License
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#include "rigidBodySolver.H"

// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //

namespace Foam
{
namespace RBD
{

    defineTypeNameAndDebug(rigidBodySolver, 0);
    defineRunTimeSelectionTable(rigidBodySolver, dictionary);
}
}


// * * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * //

Foam::RBD::rigidBodySolver::rigidBodySolver(rigidBodyMotion& body)
:
    model_(body)
{}


// * * * * * * * * * * * * * * * * Destructor  * * * * * * * * * * * * * * * //

Foam::RBD::rigidBodySolver::~rigidBodySolver()
{}


// * * * * * * * * * * * * * * * Member Functions  * * * * * * * * * * * * * //

void Foam::RBD::rigidBodySolver::correctQuaternionJoints()
{
    if (model_.unitQuaternions())
    {
        forAll (model_.joints(), i)
        {
            const label qi = model_.joints()[i].qIndex();

            if (model_.joints()[i].unitQuaternion())
            {
                // Calculate the change in the unit quaternion
                vector dv((q().block<vector>(qi) - q0().block<vector>(qi)));
                scalar magDv = mag(dv);

                if (magDv > small)
                {
                    // Calculate the unit quaternion corresponding to the change
                    quaternion dQuat(dv/magDv, cos(magDv), true);

                    // Transform the previous time unit quaternion
                    quaternion quat
                    (
                        normalize(model_.joints()[i].unitQuaternion(q0())*dQuat)
                    );

                    // Update the joint unit quaternion
                    model_.joints()[i].unitQuaternion(quat, q());
                }
            }
        }
    }
}


// ************************************************************************* //