Solid body motion bug fixes. Author: Hrvoje Jasak. Merge: Hrvoje Jasak.

src/ODE/sixDOF/finiteRotation/finiteRotation.C

@@ -82,7 +82,9 @@ Foam::vector Foam::finiteRotation::eulerAngles(const tensor& rotT)
     // Calculate roll angle
     rollAngle = atan2(rotT.yz(), rotT.zz());
 
-    const scalar c2 = sqrt(rotT.xx() + rotT.xy());
+    // Use mag to avoid negative value due to round-off
+    // HJ, 24/Feb/2016
+    const scalar c2 = sqrt(Foam::max(0, rotT.xx() + rotT.xy()));
 
     // Calculate pitch angle
     pitchAngle = atan2(-rotT.xz(), c2);

src/ODE/sixDOF/sixDOFqODE/sixDOFqODE.C

@@ -145,23 +145,21 @@ void Foam::sixDOFqODE::constrainRotation(vector& vec) const
             consVec.z() = 0;
         }
 
-        consVec = referentRotation_.invR() & consVec;
+        vec = referentRotation_.invR() & consVec;
     }
     else
     {
-        consVec = vec;
-
         if (fixedRoll_)
         {
-            consVec.x() = 0;
+            vec.x() = 0;
         }
         if (fixedPitch_)
         {
-            consVec.y() = 0;
+            vec.y() = 0;
         }
         if (fixedYaw_)
         {
-            consVec.z() = 0;
+            vec.z() = 0;
         }
     }
 }
@@ -189,23 +187,21 @@ void Foam::sixDOFqODE::constrainTranslation(vector& vec) const
             consVec.z() = 0;
         }
 
-        consVec = referentRotation_.invR() & consVec;
+        vec = referentRotation_.invR() & consVec;
     }
     else
     {
-        consVec = vec;
-
         if (fixedSurge_)
         {
-            consVec.x() = 0;
+            vec.x() = 0;
         }
         if (fixedSway_)
         {
-            consVec.y() = 0;
+            vec.y() = 0;
         }
         if (fixedHeave_)
         {
-            consVec.z() = 0;
+            vec.z() = 0;
         }
     }
 }
@@ -447,20 +443,19 @@ void Foam::sixDOFqODE::derivatives
     dydx[11] = curRotation.eDot(curOmega.value(), 2);
     dydx[12] = curRotation.eDot(curOmega.value(), 3);
 
-
-//    // Add rotational constraints by setting RHS of given components to zero
-//    if (fixedRoll_)
-//    {
-//        dydx[10] = 0; // Roll axis (roll quaternion evolution RHS)
-//    }
-//    if (fixedPitch_)
-//    {
-//        dydx[11] = 0; // Pitch axis (pitch quaternion evolution RHS)
-//    }
-//    if (fixedYaw_)
-//    {
-//        dydx[12] = 0; // Yaw axis (yaw quaternion evolution RHS)
-//    }
+    // Add rotational constraints by setting RHS of given components to zero
+    if (fixedRoll_)
+    {
+        dydx[10] = 0; // Roll axis (roll quaternion evolution RHS)
+    }
+    if (fixedPitch_)
+    {
+        dydx[11] = 0; // Pitch axis (pitch quaternion evolution RHS)
+    }
+    if (fixedYaw_)
+    {
+        dydx[12] = 0; // Yaw axis (yaw quaternion evolution RHS)
+    }
 }
 
 

src/dynamicMesh/meshMotion/solidBodyMotion/Make/files

@@ -1,6 +1,7 @@
 solidBodyMotionFunction/solidBodyMotionFunction.C
 solidBodyMotionFunction/newSolidBodyMotionFunction.C
 
+noMotion/noMotion.C
 translation/translation.C
 graphMotion/graphMotion.C
 

src/dynamicMesh/meshMotion/solidBodyMotion/noMotion/noMotion.C

@@ -0,0 +1,91 @@
+/*---------------------------------------------------------------------------*\
+  =========                 |
+  \\      /  F ield         | foam-extend: Open Source CFD
+   \\    /   O peration     | Version:     3.2
+    \\  /    A nd           | Web:         http://www.foam-extend.org
+     \\/     M anipulation  | For copyright notice see file Copyright
+-------------------------------------------------------------------------------
+License
+    This file is part of foam-extend.
+
+    foam-extend is free software: you can redistribute it and/or modify it
+    under the terms of the GNU General Public License as published by the
+    Free Software Foundation, either version 3 of the License, or (at your
+    option) any later version.
+
+    foam-extend is distributed in the hope that it will be useful, but
+    WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+    General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with foam-extend.  If not, see <http://www.gnu.org/licenses/>.
+
+\*---------------------------------------------------------------------------*/
+
+#include "noMotion.H"
+#include "addToRunTimeSelectionTable.H"
+#include "mathematicalConstants.H"
+
+// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
+
+namespace Foam
+{
+namespace solidBodyMotionFunctions
+{
+    defineTypeNameAndDebug(noMotion, 0);
+    addToRunTimeSelectionTable
+    (
+        solidBodyMotionFunction,
+        noMotion,
+        dictionary
+    );
+};
+};
+
+
+// * * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * //
+
+Foam::solidBodyMotionFunctions::noMotion::noMotion
+(
+    const dictionary& SBMFCoeffs,
+    const Time& runTime
+)
+:
+    solidBodyMotionFunction(SBMFCoeffs, runTime)
+{}
+
+
+// * * * * * * * * * * * * * * * * Destructors * * * * * * * * * * * * * * * //
+
+Foam::solidBodyMotionFunctions::noMotion::~noMotion()
+{}
+
+
+// * * * * * * * * * * * * * * Member Functions  * * * * * * * * * * * * * * //
+
+Foam::septernion
+Foam::solidBodyMotionFunctions::noMotion::transformation() const
+{
+    return septernion(vector::zero, quaternion::I);
+}
+
+
+Foam::septernion
+Foam::solidBodyMotionFunctions::noMotion::velocity() const
+{
+    return septernion(vector::zero, quaternion::I)/time_.deltaT().value();
+}
+
+
+bool Foam::solidBodyMotionFunctions::noMotion::read
+(
+    const dictionary& SBMFCoeffs
+)
+{
+    solidBodyMotionFunction::read(SBMFCoeffs);
+    return true;
+}
+
+
+// ************************************************************************* //

src/dynamicMesh/meshMotion/solidBodyMotion/noMotion/noMotion.H

@@ -0,0 +1,107 @@
+/*---------------------------------------------------------------------------*\
+  =========                 |
+  \\      /  F ield         | foam-extend: Open Source CFD
+   \\    /   O peration     | Version:     3.2
+    \\  /    A nd           | Web:         http://www.foam-extend.org
+     \\/     M anipulation  | For copyright notice see file Copyright
+-------------------------------------------------------------------------------
+License
+    This file is part of foam-extend.
+
+    foam-extend is free software: you can redistribute it and/or modify it
+    under the terms of the GNU General Public License as published by the
+    Free Software Foundation, either version 3 of the License, or (at your
+    option) any later version.
+
+    foam-extend is distributed in the hope that it will be useful, but
+    WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+    General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with foam-extend.  If not, see <http://www.gnu.org/licenses/>.
+
+Class
+    Foam::solidBodyMotionFunctions::noMotion
+
+Description
+    No motion
+
+SourceFiles
+    noMotion.C
+
+\*---------------------------------------------------------------------------*/
+
+#ifndef noMotion_H
+#define noMotion_H
+
+#include "solidBodyMotionFunction.H"
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+namespace Foam
+{
+namespace solidBodyMotionFunctions
+{
+
+/*---------------------------------------------------------------------------*\
+                          Class noMotion Declaration
+\*---------------------------------------------------------------------------*/
+
+class noMotion
+:
+    public solidBodyMotionFunction
+{
+    // Private Member Functions
+
+        //- Disallow copy construct
+        noMotion(const noMotion&);
+
+        //- Disallow default bitwise assignment
+        void operator=(const noMotion&);
+
+
+public:
+
+    //- Runtime type information
+    TypeName("noMotion");
+
+
+    // Constructors
+
+        //- Construct from components
+        noMotion
+        (
+            const dictionary& SBMFCoeffs,
+            const Time& runTime
+        );
+
+
+    // Destructor
+
+        virtual ~noMotion();
+
+
+    // Member Functions
+
+        //- Return the solid-body motion transformation septernion
+        virtual septernion transformation() const;
+
+        //- Return the solid-body motion velocity
+        virtual septernion velocity() const;
+
+        //- Update properties from given dictionary
+        virtual bool read(const dictionary& SBMFCoeffs);
+};
+
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+} // End namespace solidBodyMotionFunctions
+} // End namespace Foam
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+#endif
+
+// ************************************************************************* //