cuboidI.H

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

inline Foam::symmTensor Foam::RBD::cuboid::I
(
    const scalar m,
    const vector& L
) const
{
    const scalar mBy12 = m/12.0;
    const scalar mSqrLx = mBy12*sqr(L.x());
    const scalar mSqrLy = mBy12*sqr(L.y());
    const scalar mSqrLz = mBy12*sqr(L.z());

    return symmTensor
    (
        mSqrLy + mSqrLz, 0,               0,
                         mSqrLx + mSqrLz, 0,
                                          mSqrLx + mSqrLy
    );
}


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

inline Foam::RBD::cuboid::cuboid
(
    const word& name,
    const scalar m,
    const vector& c,
    const vector& L
)
:
    rigidBody(name, m, c, I(m, L)),
    L_(L)
{}


inline Foam::RBD::cuboid::cuboid
(
    const word& name,
    const dictionary& dict
)
:
    rigidBody(name, rigidBodyInertia()),
    L_(dict.lookup("L"))
{
    const scalar m(dict.lookup<scalar>("mass"));
    const vector c(dict.lookup("centreOfMass"));
    rigidBodyInertia::operator=(rigidBodyInertia(m, c, I(m, L_)));
}


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

inline const Foam::vector& Foam::RBD::cuboid::L() const
{
    return L_;
}


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