sphericalAngularDamper.H

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License
    This file is part of OpenFOAM.

    OpenFOAM is free software: you can redistribute it and/or modify it
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Class
    Foam::RBD::restraints::sphericalAngularDamper

Description
    Spherical angular damper restraint.
    Operates in the local frame of the body.

SourceFiles
    sphericalAngularDamper.C

\*---------------------------------------------------------------------------*/

#ifndef sphericalAngularDamper_H
#define sphericalAngularDamper_H

#include "rigidBodyRestraint.H"

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

namespace Foam
{
namespace RBD
{
namespace restraints
{

/*---------------------------------------------------------------------------*\
                   Class sphericalAngularDamper Declaration
\*---------------------------------------------------------------------------*/

class sphericalAngularDamper
:
    public restraint
{
    // Private Data

        //- Damping coefficient [Nms/rad]
        scalar coeff_;


public:

    //- Runtime type information
    TypeName("sphericalAngularDamper");


    // Constructors

        //- Construct from components
        sphericalAngularDamper
        (
            const word& name,
            const dictionary& dict,
            const rigidBodyModel& model
        );

        //- Construct and return a clone
        virtual autoPtr<restraint> clone() const
        {
            return autoPtr<restraint>
            (
                new sphericalAngularDamper(*this)
            );
        }


    //- Destructor
    virtual ~sphericalAngularDamper();


    // Member Functions

        //- Accumulate the retraint internal joint forces into the tau field and
        //  external forces into the fx field
        virtual void restrain
        (
            scalarField& tau,
            Field<spatialVector>& fx,
            const rigidBodyModelState& state
        ) const;

        //- Update properties from given dictionary
        virtual bool read(const dictionary& dict);

        //- Write
        virtual void write(Ostream&) const;
};


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

} // End namespace restraints
} // End namespace RBD
} // End namespace Foam

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

#endif

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