Six degree of freedom motion for a rigid body. More...

Inheritance diagram for sixDoFRigidBodyMotion:

Public Member Functions
	TypeName ("sixDoFRigidBodyMotion")
	Runtime type information. More...

	sixDoFRigidBodyMotion ()
	Construct null. More...

	sixDoFRigidBodyMotion (const dictionary &dict, const dictionary &stateDict)
	Construct from constant and state dictionaries. More...

	sixDoFRigidBodyMotion (const sixDoFRigidBodyMotion &)
	Copy constructor. More...

virtual	~sixDoFRigidBodyMotion ()
	Destructor. More...

scalar	mass () const
	Return the mass. More...

const diagTensor &	momentOfInertia () const
	Return the inertia tensor. More...

const sixDoFRigidBodyMotionState &	state () const
	Return the motion state. More...

const point &	centreOfRotation () const
	Return the current centre of rotation. More...

const point &	initialCentreOfMass () const
	Return the initial centre of mass. More...

point	centreOfMass () const
	Return the current centre of mass. More...

const tensor &	orientation () const
	Return the orientation tensor, Q. More...

vector	omega () const
	Return the angular velocity in the global frame. More...

const vector &	v () const
	Return the current velocity. More...

vector	momentArm () const

bool	report () const
	Return the report Switch. More...

void	newTime ()
	Store the motion state at the beginning of the time-step. More...

point &	centreOfRotation ()
	Return non-const access to the centre of rotation. More...

void	addRestraints (const dictionary &dict)
	Add restraints to the motion, public to allow external. More...

void	addConstraints (const dictionary &dict)
	Add restraints to the motion, public to allow external. More...

void	update (bool firstIter, const vector &fGlobal, const vector &tauGlobal, scalar deltaT, scalar deltaT0)
	Symplectic integration of velocities, orientation and position. More...

void	status () const
	Report the status of the motion. More...

point	velocity (const point &pt) const
	Return the velocity of a position. More...

point	transform (const point &initialPoints) const
	Transform the given initial state point by the current motion. More...

tmp< pointField >	transform (const pointField &initialPoints) const
	Transform the given initial state pointField by the current. More...

tmp< pointField >	transform (const pointField &initialPoints, const scalarField &scale) const
	Transform the given initial state pointField by the current. More...

void	write (Ostream &) const
	Write. More...

bool	read (const dictionary &dict)
	Read coefficients dictionary and update system parameters,. More...

Friends
class	sixDoFSolver

Detailed Description

Six degree of freedom motion for a rigid body.

Angular momentum stored in body fixed reference frame. Reference orientation of the body (where Q = I) must align with the cartesian axes such that the Inertia tensor is in principle component form. Can add restraints (e.g. a spring) and constraints (e.g. motion may only be on a plane).

The time-integrator for the motion is run-time selectable with options for symplectic (explicit), Crank-Nicolson and Newmark schemes.

Source files

Definition at line 66 of file sixDoFRigidBodyMotion.H.

Constructor & Destructor Documentation

◆ sixDoFRigidBodyMotion() [1/3]

sixDoFRigidBodyMotion ( )

Construct null.

Definition at line 80 of file sixDoFRigidBodyMotion.C.

Referenced by sixDoFRigidBodyMotion::sixDoFRigidBodyMotion().

Here is the caller graph for this function:

◆ sixDoFRigidBodyMotion() [2/3]

sixDoFRigidBodyMotion	(	const dictionary &	dict,
		const dictionary &	stateDict
	)

Construct from constant and state dictionaries.

Definition at line 101 of file sixDoFRigidBodyMotion.C.

References sixDoFRigidBodyMotion::addConstraints(), sixDoFRigidBodyMotion::addRestraints(), sixDoFRigidBodyMotionState::centreOfRotation(), Foam::diag(), dictionary::found(), Foam::I, Foam::magSqr(), R, sixDoFRigidBodyMotion::sixDoFRigidBodyMotion(), and Foam::sqr().

Here is the call graph for this function:

◆ sixDoFRigidBodyMotion() [3/3]

sixDoFRigidBodyMotion ( const sixDoFRigidBodyMotion & sDoFRBM )

Copy constructor.

Definition at line 163 of file sixDoFRigidBodyMotion.C.

◆ ~sixDoFRigidBodyMotion()

~sixDoFRigidBodyMotion ( )

virtual

Destructor.

Definition at line 186 of file sixDoFRigidBodyMotion.C.

References sixDoFRigidBodyMotion::addRestraints().

Here is the call graph for this function:

Member Function Documentation

◆ TypeName()

TypeName ( "sixDoFRigidBodyMotion" )

Runtime type information.

◆ mass()

Foam::scalar mass ( ) const

inline

Return the mass.

Definition at line 208 of file sixDoFRigidBodyMotionI.H.

◆ momentOfInertia()

const Foam::diagTensor & momentOfInertia ( ) const

inline

Return the inertia tensor.

Definition at line 215 of file sixDoFRigidBodyMotionI.H.

◆ state()

const Foam::sixDoFRigidBodyMotionState & state ( ) const

inline

Return the motion state.

Definition at line 222 of file sixDoFRigidBodyMotionI.H.

◆ centreOfRotation() [1/2]

const Foam::point & centreOfRotation ( ) const

inline

Return the current centre of rotation.

Definition at line 228 of file sixDoFRigidBodyMotionI.H.

References sixDoFRigidBodyMotionState::centreOfRotation().

Referenced by sphericalAngularSpring::restrain(), linearAxialAngularSpring::restrain(), axialAngularSpring::restrain(), sixDoFRigidBodyMotion::status(), sixDoFRigidBodyMotion::transform(), sixDoFRigidBodyMotion::velocity(), and sixDoFRigidBodyState::write().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ initialCentreOfMass()

const Foam::point & initialCentreOfMass ( ) const

inline

Return the initial centre of mass.

Definition at line 235 of file sixDoFRigidBodyMotionI.H.

◆ centreOfMass()

Foam::point centreOfMass ( ) const

inline

Return the current centre of mass.

Definition at line 241 of file sixDoFRigidBodyMotionI.H.

References sixDoFRigidBodyMotion::transform().

Referenced by sixDoFRigidBodyMotion::momentArm(), sixDoFRigidBodyMotion::status(), and sixDoFRigidBodyState::write().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ orientation()

const Foam::tensor & orientation ( ) const

inline

Return the orientation tensor, Q.

globalVector = Q & bodyLocalVector bodyLocalVector = Q.T() & globalVector

Definition at line 254 of file sixDoFRigidBodyMotionI.H.

Referenced by sphericalAngularSpring::restrain(), linearAxialAngularSpring::restrain(), axialAngularSpring::restrain(), sixDoFRigidBodyMotion::status(), and sixDoFRigidBodyState::write().

Here is the caller graph for this function:

◆ omega()

Foam::vector omega ( ) const

inline

Return the angular velocity in the global frame.

Definition at line 260 of file sixDoFRigidBodyMotionI.H.

References Foam::inv(), and Foam::constant::mathematical::pi().

Referenced by sphericalAngularDamper::restrain(), sphericalAngularSpring::restrain(), linearAxialAngularSpring::restrain(), axialAngularSpring::restrain(), sixDoFRigidBodyMotion::status(), sixDoFRigidBodyMotion::velocity(), and sixDoFRigidBodyState::write().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ v()

const Foam::vector & v ( ) const

inline

Return the current velocity.

Definition at line 140 of file sixDoFRigidBodyMotionI.H.

References sixDoFRigidBodyMotionState::a(), sixDoFRigidBodyMotionState::pi(), sixDoFRigidBodyMotionState::Q(), sixDoFRigidBodyMotionState::tau(), and sixDoFRigidBodyMotionState::v().

Here is the call graph for this function:

◆ momentArm()

Foam::vector momentArm ( ) const

inline

Definition at line 247 of file sixDoFRigidBodyMotionI.H.

References sixDoFRigidBodyMotion::centreOfMass(), and sixDoFRigidBodyMotionState::centreOfRotation().

Here is the call graph for this function:

◆ report()

bool report ( ) const

inline

Return the report Switch.

Definition at line 266 of file sixDoFRigidBodyMotionI.H.

Referenced by sphericalAngularDamper::restrain(), linearDamper::restrain(), sphericalAngularSpring::restrain(), linearAxialAngularSpring::restrain(), linearSpring::restrain(), and axialAngularSpring::restrain().

Here is the caller graph for this function:

◆ newTime()

void newTime ( )

inline

Store the motion state at the beginning of the time-step.

Definition at line 272 of file sixDoFRigidBodyMotionI.H.

◆ centreOfRotation() [2/2]

Foam::point & centreOfRotation ( )

inline

Return non-const access to the centre of rotation.

Definition at line 278 of file sixDoFRigidBodyMotionI.H.

References sixDoFRigidBodyMotionState::centreOfRotation(), and sixDoFRigidBodyMotion::velocity().

Here is the call graph for this function:

◆ addRestraints()

void addRestraints ( const dictionary & dict )

Add restraints to the motion, public to allow external.

addition of restraints after construction

Definition at line 193 of file sixDoFRigidBodyMotion.C.

References sixDoFRigidBodyMotion::addConstraints(), dict, forAllConstIter(), dictionary::found(), sixDoFRigidBodyMotionRestraint::New(), and dictionary::subDict().

Referenced by sixDoFRigidBodyMotion::read(), sixDoFRigidBodyMotion::sixDoFRigidBodyMotion(), and sixDoFRigidBodyMotion::~sixDoFRigidBodyMotion().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ addConstraints()

void addConstraints ( const dictionary & dict )

Add restraints to the motion, public to allow external.

addition of restraints after construction

Definition at line 227 of file sixDoFRigidBodyMotion.C.

References pointConstraint::constraintTransformation(), dict, Foam::endl(), forAllConstIter(), dictionary::found(), Foam::Info, sixDoFRigidBodyMotionConstraint::New(), Foam::nl, dictionary::subDict(), Tensor< Cmpt >::T(), and sixDoFRigidBodyMotion::update().

Referenced by sixDoFRigidBodyMotion::addRestraints(), sixDoFRigidBodyMotion::read(), and sixDoFRigidBodyMotion::sixDoFRigidBodyMotion().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ update()

void update	(	bool	firstIter,
		const vector &	fGlobal,
		const vector &	tauGlobal,
		scalar	deltaT,
		scalar	deltaT0
	)

Symplectic integration of velocities, orientation and position.

Changes to Crank-Nicolson integration for subsequent iterations.

Definition at line 307 of file sixDoFRigidBodyMotion.C.

References UPstream::master(), Pstream::scatter(), and sixDoFRigidBodyMotion::status().

Referenced by sixDoFRigidBodyMotion::addConstraints().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ status()

void status ( ) const

Report the status of the motion.

Definition at line 329 of file sixDoFRigidBodyMotion.C.

References sixDoFRigidBodyMotion::centreOfMass(), sixDoFRigidBodyMotion::centreOfRotation(), Foam::endl(), Foam::Info, Foam::nl, sixDoFRigidBodyMotion::omega(), sixDoFRigidBodyMotion::orientation(), and sixDoFRigidBodyMotion::transform().

Referenced by sixDoFRigidBodyMotion::update().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ velocity()

Foam::point velocity ( const point & pt ) const

inline

Return the velocity of a position.

Definition at line 285 of file sixDoFRigidBodyMotionI.H.

References sixDoFRigidBodyMotion::centreOfRotation(), sixDoFRigidBodyMotion::omega(), and sixDoFRigidBodyMotion::transform().

Referenced by sixDoFRigidBodyMotion::centreOfRotation(), and linearSpring::restrain().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ transform() [1/3]

Foam::point transform ( const point & initialPoints ) const

inline

Transform the given initial state point by the current motion.

state

Definition at line 294 of file sixDoFRigidBodyMotionI.H.

References sixDoFRigidBodyMotion::centreOfRotation(), and Tensor< Cmpt >::T().

Referenced by sixDoFRigidBodyMotion::centreOfMass(), linearSpring::restrain(), sixDoFRigidBodyMotion::status(), sixDoFRigidBodyMotion::transform(), and sixDoFRigidBodyMotion::velocity().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ transform() [2/3]

Foam::tmp< Foam::pointField > transform ( const pointField & initialPoints ) const

Transform the given initial state pointField by the current.

motion state

Definition at line 342 of file sixDoFRigidBodyMotion.C.

References sixDoFRigidBodyMotion::centreOfRotation(), Tensor< Cmpt >::T(), and sixDoFRigidBodyMotion::transform().

Here is the call graph for this function:

◆ transform() [3/3]

Foam::tmp< Foam::pointField > transform	(	const pointField &	initialPoints,
		const scalarField &	scale
	)		const

Transform the given initial state pointField by the current.

motion state scaled by the given scale

Definition at line 355 of file sixDoFRigidBodyMotion.C.

References sixDoFRigidBodyMotion::centreOfRotation(), forAll, septernion::I, septernion::invTransformPoint(), points, tmp< T >::ref(), s(), Foam::slerp(), Foam::T(), and sixDoFRigidBodyMotion::transform().

Here is the call graph for this function:

◆ write()

void write ( Ostream & os ) const

Write.

Definition at line 49 of file sixDoFRigidBodyMotionIO.C.

References token::BEGIN_BLOCK, Foam::decrIndent(), token::END_BLOCK, Foam::endl(), forAll, Foam::incrIndent(), Foam::indent(), Foam::nl, sixDoFRigidBodyMotionState::write(), and Foam::writeEntry().

Here is the call graph for this function:

◆ read()

bool read ( const dictionary & dict )

Read coefficients dictionary and update system parameters,.

constraints and restraints but not the current state

Definition at line 31 of file sixDoFRigidBodyMotionIO.C.

References sixDoFRigidBodyMotion::addConstraints(), sixDoFRigidBodyMotion::addRestraints(), dictionary::lookup(), and dictionary::lookupOrDefault().

Here is the call graph for this function:

Friends And Related Function Documentation

◆ sixDoFSolver

friend class sixDoFSolver

friend

Definition at line 68 of file sixDoFRigidBodyMotion.H.

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

src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion.H
src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion.C
src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionI.H
src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionIO.C

Public Member Functions

Friends

Detailed Description

Constructor & Destructor Documentation

◆ sixDoFRigidBodyMotion() [1/3]

◆ sixDoFRigidBodyMotion() [2/3]

◆ sixDoFRigidBodyMotion() [3/3]

◆ ~sixDoFRigidBodyMotion()

Member Function Documentation

◆ TypeName()

◆ mass()

◆ momentOfInertia()

◆ state()

◆ centreOfRotation() [1/2]

◆ initialCentreOfMass()

◆ centreOfMass()

◆ orientation()

◆ omega()

◆ v()

◆ momentArm()

◆ report()

◆ newTime()

◆ centreOfRotation() [2/2]

◆ addRestraints()

◆ addConstraints()

◆ update()

◆ status()

◆ velocity()

◆ transform() [1/3]

◆ transform() [2/3]

◆ transform() [3/3]

◆ write()

◆ read()

Friends And Related Function Documentation

◆ sixDoFSolver