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.
quaternion normalize(const quaternion &q)
Return the normalized (unit) quaternion of the given quaternion.
scalarField & q()
Return the current joint position and orientation.
const scalarField & q0() const
Return the current joint position and orientation.
Six degree of freedom motion for a rigid body.
dimensionedScalar cos(const dimensionedScalar &ds)
const PtrList< joint > & joints() const
Return the list of joints in the model.
Quaternion class used to perform rotations in 3D space.
bool unitQuaternions() const
Return true if any of the joints using quaternions.
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.