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rigidBodyMeshMotion Class Reference

Rigid-body mesh motion solver for fvMesh. More...

Inheritance diagram for rigidBodyMeshMotion:
Collaboration diagram for rigidBodyMeshMotion:

Public Member Functions

 TypeName ("rigidBodyMotion")
 Runtime type information. More...
 
 rigidBodyMeshMotion (const polyMesh &, const dictionary &dict)
 Construct from polyMesh and dictionary. More...
 
 rigidBodyMeshMotion (const rigidBodyMeshMotion &)
 Disallow default bitwise copy construction. More...
 
 ~rigidBodyMeshMotion ()
 Destructor. More...
 
virtual tmp< pointFieldcurPoints () const
 Return point location obtained from the current motion field. More...
 
virtual void solve ()
 Solve for motion. More...
 
virtual bool write () const
 Write motion state information for restart. More...
 
void operator= (const rigidBodyMeshMotion &)=delete
 Disallow default bitwise assignment. More...
 
- Public Member Functions inherited from displacementMotionSolver
 TypeName ("displacementMotionSolver")
 Runtime type information. More...
 
 displacementMotionSolver (const polyMesh &, const dictionary &, const word &type)
 Construct from mesh and dictionary. More...
 
 displacementMotionSolver (const displacementMotionSolver &)=delete
 Disallow default bitwise copy construction. More...
 
virtual ~displacementMotionSolver ()
 Destructor. More...
 
pointVectorFieldpointDisplacement ()
 Return reference to the point motion displacement field. More...
 
const pointVectorFieldpointDisplacement () const
 Return const reference to the point motion displacement field. More...
 
void operator= (const displacementMotionSolver &)=delete
 Disallow default bitwise assignment. More...
 
- Public Member Functions inherited from points0MotionSolver
 TypeName ("points0MotionSolver")
 Runtime type information. More...
 
 points0MotionSolver (const polyMesh &, const dictionary &, const word &type)
 Construct from mesh and dictionary. More...
 
 points0MotionSolver (const points0MotionSolver &)=delete
 Disallow default bitwise copy construction. More...
 
virtual ~points0MotionSolver ()
 Destructor. More...
 
pointFieldpoints0 ()
 Return reference to the reference field. More...
 
const pointFieldpoints0 () const
 Return reference to the reference field. More...
 
virtual void movePoints (const pointField &)
 Update local data for geometry changes. More...
 
virtual void updateMesh (const mapPolyMesh &)
 Update local data for topology changes. More...
 
void operator= (const points0MotionSolver &)=delete
 Disallow default bitwise assignment. More...
 
- Public Member Functions inherited from motionSolver
 TypeName ("motionSolver")
 Runtime type information. More...
 
 declareRunTimeSelectionTable (autoPtr, motionSolver, dictionary,(const polyMesh &mesh, const dictionary &dict),(mesh, dict))
 
 motionSolver (const polyMesh &mesh, const dictionary &, const word &type)
 Construct from polyMesh and dictionary and type. More...
 
virtual autoPtr< motionSolverclone () const
 Clone function. More...
 
virtual ~motionSolver ()
 Destructor. More...
 
const polyMeshmesh () const
 Return reference to mesh. More...
 
const dictionarycoeffDict () const
 Const access to the coefficients dictionary. More...
 
virtual tmp< pointFieldnewPoints ()
 Provide new points for motion. Solves for motion. More...
 
virtual void twoDCorrectPoints (pointField &) const
 
- Public Member Functions inherited from rigidBodyMotion
 rigidBodyMotion ()
 Construct null. More...
 
 rigidBodyMotion (const dictionary &dict)
 Construct from dictionary. More...
 
 rigidBodyMotion (const dictionary &dict, const dictionary &stateDict)
 Construct from constant and state dictionaries. More...
 
 rigidBodyMotion (const rigidBodyMotion &)
 Disallow default bitwise copy construction. More...
 
 ~rigidBodyMotion ()
 Destructor. More...
 
bool report () const
 Return the report Switch. More...
 
const rigidBodyModelStatestate () const
 Return the motion state. More...
 
rigidBodyModelStatestate ()
 Return the motion state for modification. More...
 
spatialTransform X00 (const label bodyId) const
 Return the initial transform to the global frame for the. More...
 
void newTime ()
 Store the motion state at the beginning of the time-step. More...
 
void forwardDynamics (rigidBodyModelState &state, const scalarField &tau, const Field< spatialVector > &fx) const
 Calculate and optionally relax the joint acceleration qDdot from. More...
 
void solve (const scalar t, const scalar deltaT, const scalarField &tau, const Field< spatialVector > &fx)
 Integrate velocities, orientation and position. More...
 
void status (const label bodyID) const
 Report the status of the motion of the given body. More...
 
tmp< pointFieldtransformPoints (const label bodyID, const pointField &initialPoints) const
 Transform the given initial pointField of the specified body. More...
 
tmp< pointFieldtransformPoints (const label bodyID, const scalarField &weight, const pointField &initialPoints) const
 Transform the given initial pointField of the specified body. More...
 
tmp< pointFieldtransformPoints (const labelList &bodyIDs, const List< const scalarField *> &weights, const pointField &initialPoints) const
 Transform the given initial pointField of the specified body. More...
 
virtual void write (Ostream &) const
 Write. More...
 
bool read (const dictionary &dict)
 Read coefficients dictionary and update system parameters,. More...
 
void operator= (const rigidBodyMotion &)=delete
 Disallow default bitwise assignment. More...
 
- Public Member Functions inherited from rigidBodyModel
 TypeName ("rigidBodyModel")
 Runtime type information. More...
 
 rigidBodyModel ()
 Null-constructor which adds the single root-body at the origin. More...
 
 rigidBodyModel (const dictionary &dict)
 Construct from dictionary. More...
 
virtual ~rigidBodyModel ()
 Destructor. More...
 
label nBodies () const
 Return the number of bodies in the model (bodies().size()) More...
 
PtrList< rigidBodybodies () const
 Return the list of the bodies in the model. More...
 
const DynamicList< label > & lambda () const
 List of indices of the parent of each body. More...
 
const PtrList< joint > & joints () const
 Return the list of joints in the model. More...
 
label nDoF () const
 Return the number of degrees of freedom of the model. More...
 
bool unitQuaternions () const
 Return true if any of the joints using quaternions. More...
 
const vectorg () const
 Return the acceleration due to gravity. More...
 
vectorg ()
 Allow the acceleration due to gravity to be set. More...
 
const wordname (const label bodyID) const
 Return the name of body with the given ID. More...
 
wordList movingBodyNames () const
 Return the names of the moving bodies. More...
 
const rigidBodyInertiaI (const label i) const
 Return the inertia of body i. More...
 
const spatialVectorv (const label i) const
 Return the spatial velocity of the bodies. More...
 
virtual label join (const label parentID, const spatialTransform &XT, autoPtr< joint > jointPtr, autoPtr< rigidBody > bodyPtr)
 Join the given body to the parent with ID parentID via the given. More...
 
label join (const label parentID, const spatialTransform &XT, autoPtr< joints::composite > cJoint, autoPtr< rigidBody > bodyPtr)
 Join the given body to the parent with ID parentID via the given. More...
 
label merge (const label parentID, const spatialTransform &X, autoPtr< rigidBody > bodyPtr)
 Merge the given body with transform X into the parent with ID. More...
 
bool merged (label bodyID) const
 Return true if the body with given ID has been merged with a parent. More...
 
label master (label bodyID) const
 Return the ID of the master body for a sub-body otherwise. More...
 
label mergedBodyIndex (const label mergedBodyID) const
 Return the index of the merged body in the mergedBody list. More...
 
label mergedBodyID (const label mergedBodyIndex) const
 Return the merged body ID for the given merged body index. More...
 
const subBodymergedBody (label mergedBodyID) const
 Return the merged body for the given body ID. More...
 
label bodyID (const word &name) const
 Return the ID of the body with the given name. More...
 
spatialTransform X0 (const label bodyId) const
 Return the current transform to the global frame for the given body. More...
 
vector masterPoint (const label bodyID, const vector &p) const
 
spatialVector v (const label bodyID, const vector &p) const
 Return the velocity of the given point on the given body. More...
 
void applyRestraints (scalarField &tau, Field< spatialVector > &fx, const rigidBodyModelState &state) const
 Apply the restraints and accumulate the internal joint forces. More...
 
void forwardDynamics (rigidBodyModelState &state, const scalarField &tau, const Field< spatialVector > &fx) const
 Calculate the joint acceleration qDdot from the joint state q,. More...
 
void forwardDynamicsCorrection (const rigidBodyModelState &state) const
 Correct the velocity and acceleration of the bodies in the model. More...
 
bool read (const dictionary &dict)
 Read coefficients dictionary and update system parameters,. More...
 

Additional Inherited Members

- Static Public Member Functions inherited from motionSolver
static autoPtr< motionSolverNew (const polyMesh &, const dictionary &)
 Select constructed from polyMesh and dictionary. More...
 
- Protected Member Functions inherited from rigidBodyModel
virtual label join_ (const label parentID, const spatialTransform &XT, autoPtr< joint > jointPtr, autoPtr< rigidBody > bodyPtr)
 Join the given body to the parent with ID parentID via the given. More...
 
- Protected Attributes inherited from displacementMotionSolver
pointVectorField pointDisplacement_
 Point motion field. More...
 
- Protected Attributes inherited from points0MotionSolver
pointIOField points0_
 Starting points. More...
 
- Protected Attributes inherited from rigidBodyModel
PtrList< rigidBodybodies_
 List of the bodies. More...
 
PtrList< subBodymergedBodies_
 Bodies may be merged into existing bodies, the inertia of which is. More...
 
HashTable< label, wordbodyIDs_
 Lookup-table of the IDs of the bodies. More...
 
DynamicList< labellambda_
 List of indices of the parent of each body. More...
 
PtrList< jointjoints_
 Each body it attached with a joint which are held on this list. More...
 
DynamicList< spatialTransformXT_
 Transform from the parent body frame to the joint frame. More...
 
label nDoF_
 The number of degrees of freedom of the model. More...
 
bool unitQuaternions_
 True if any of the joints using quaternions. More...
 
PtrList< restraintrestraints_
 Motion restraints. More...
 
vector g_
 Acceleration due to gravity. More...
 
DynamicList< spatialTransformXlambda_
 Transform from the parent body to the current body. More...
 
DynamicList< spatialTransformX0_
 Transform for external forces to the bodies reference frame. More...
 
DynamicList< spatialVectorv_
 The spatial velocity of the bodies. More...
 
DynamicList< spatialVectora_
 The spatial acceleration of the bodies. More...
 
DynamicList< spatialVectorc_
 The velocity dependent spatial acceleration of the joints. More...
 
DynamicList< spatialTensorIA_
 Velocity-product acceleration. More...
 
DynamicList< spatialVectorpA_
 Articulated body bias force. More...
 
DynamicList< compactSpatialTensorS_
 Motion subspace for joints with 3 degrees of freedom. More...
 
DynamicList< spatialVectorS1_
 Motion subspace for joints with 1 degrees of freedom. More...
 
DynamicList< compactSpatialTensorU_
 Sub-expression IA.S in the forward-dynamics algorithm. More...
 
DynamicList< spatialVectorU1_
 Sub-expression IA.S1 in the forward-dynamics algorithm. More...
 
DynamicList< tensorDinv_
 Sub-expression (S^T.U)^-1 in the forward-dynamics algorithm. More...
 
DynamicList< vectoru_
 Sub-expression tau - S^T.pA in the forward-dynamics algorithm. More...
 

Detailed Description

Rigid-body mesh motion solver for fvMesh.

Applies septernion interpolation of movement as function of distance to the object surface.

Source files

Definition at line 53 of file rigidBodyMeshMotion.H.

Constructor & Destructor Documentation

◆ rigidBodyMeshMotion() [1/2]

◆ rigidBodyMeshMotion() [2/2]

Disallow default bitwise copy construction.

◆ ~rigidBodyMeshMotion()

Destructor.

Definition at line 213 of file rigidBodyMeshMotion.C.

Member Function Documentation

◆ TypeName()

TypeName ( "rigidBodyMotion"  )

Runtime type information.

◆ curPoints()

Foam::tmp< Foam::pointField > curPoints ( ) const
virtual

Return point location obtained from the current motion field.

Implements motionSolver.

Definition at line 220 of file rigidBodyMeshMotion.C.

References displacementMotionSolver::pointDisplacement_, points0MotionSolver::points0(), and GeometricField< Type, PatchField, GeoMesh >::primitiveField().

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◆ solve()

◆ write()

bool write ( ) const
virtual

Write motion state information for restart.

Reimplemented from motionSolver.

Definition at line 340 of file rigidBodyMeshMotion.C.

References IOstream::ASCII, IOstream::currentVersion, dict, motionSolver::mesh(), IOobject::NO_READ, IOobject::NO_WRITE, rigidBodyMotion::state(), timeName, rigidBodyModelState::write(), and motionSolver::write().

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◆ operator=()

void operator= ( const rigidBodyMeshMotion )
delete

Disallow default bitwise assignment.


The documentation for this class was generated from the following files: