From 57b835967cb9877127dbda08ef3b4df04dc10a6b Mon Sep 17 00:00:00 2001 From: Vuko Vukcevic Date: Wed, 1 Mar 2017 10:58:59 +0100 Subject: [PATCH] Restructured sixDOFODE interface Removed implementation specific data and left only essential interface for coupling with CFD solver. --- .../solvers/basic/sixDOFSolver/sixDOFSolver.C | 12 +- .../sixDOF/finiteRotation/finiteRotation.C | 7 +- .../sixDOF/geometricSixDOF/geometricSixDOF.C | 173 +++++------------- .../sixDOF/geometricSixDOF/geometricSixDOF.H | 59 ++---- .../quaternionSixDOF/quaternionSixDOF.C | 108 +---------- .../quaternionSixDOF/quaternionSixDOF.H | 51 +----- src/ODE/sixDOF/sixDOFODE/sixDOFODE.C | 4 +- src/ODE/sixDOF/sixDOFODE/sixDOFODE.H | 60 ++---- 8 files changed, 97 insertions(+), 377 deletions(-) diff --git a/applications/solvers/basic/sixDOFSolver/sixDOFSolver.C b/applications/solvers/basic/sixDOFSolver/sixDOFSolver.C index e543f3c2a..f098e0ed4 100644 --- a/applications/solvers/basic/sixDOFSolver/sixDOFSolver.C +++ b/applications/solvers/basic/sixDOFSolver/sixDOFSolver.C @@ -51,6 +51,9 @@ int main(int argc, char *argv[]) sixDOFBodies structure(runTime); OFstream of(runTime.path()/"motion.dat"); + // Write header for output file + of << "# Time, CoG_x, CoG_y, CoG_z, omega_x, omega_y, omega_z" << endl; + Info<< "\nStarting time loop\n" << endl; for (runTime++; !runTime.end(); runTime++) @@ -73,11 +76,14 @@ int main(int argc, char *argv[]) << structure()[bodyI].omegaAverage().value() << nl << "Current omega in time instant = " << structure()[bodyI].omega().value() << nl - << "Average omegaAbs in time step = " - << structure()[bodyI].omegaAverageAbsolute().value() << nl << endl; - of << structure()[bodyI].X().value().x() << tab; + of << structure()[bodyI].X().value().x() << tab + << structure()[bodyI].X().value().y() << tab + << structure()[bodyI].X().value().z() << tab + << structure()[bodyI].omega().value().x() << tab + << structure()[bodyI].omega().value().y() << tab + << structure()[bodyI].omega().value().z() << tab; } of << endl; diff --git a/src/ODE/sixDOF/finiteRotation/finiteRotation.C b/src/ODE/sixDOF/finiteRotation/finiteRotation.C index df12bdb4c..aa407d91f 100644 --- a/src/ODE/sixDOF/finiteRotation/finiteRotation.C +++ b/src/ODE/sixDOF/finiteRotation/finiteRotation.C @@ -40,9 +40,7 @@ Foam::vector Foam::finiteRotation::rotVector(const tensor& rotT) { vector ur = - *( inv(I + rotT) & (I - rotT) ); - // Scaling to a unit vector. HJ, problems with round-off - // HJ, 4/Aug/2008 - + // Scaling to a unit vector. Problems with round-off. HJ, 4/Aug/2008 if (mag(ur) > SMALL) { return ur/(mag(ur) + SMALL); @@ -50,8 +48,7 @@ Foam::vector Foam::finiteRotation::rotVector(const tensor& rotT) else { // Rotation vector is undertermined at zero rotation - // Returning arbitrary unit vector - // HJ, 4/Mar/2015 + // Returning arbitrary unit vector. HJ, 4/Mar/2015 return vector(0, 0, 1); } } diff --git a/src/ODE/sixDOF/geometricSixDOF/geometricSixDOF.C b/src/ODE/sixDOF/geometricSixDOF/geometricSixDOF.C index 507c1d69b..f70ad4908 100644 --- a/src/ODE/sixDOF/geometricSixDOF/geometricSixDOF.C +++ b/src/ODE/sixDOF/geometricSixDOF/geometricSixDOF.C @@ -170,7 +170,7 @@ Foam::tensor Foam::geometricSixDOF::expMap(const vector& rotInc) const { tensor R; - // Calculate the magnitude of the rotation increment vector + // Calculate the magnitude of the rotational increment vector const scalar magRotInc = mag(rotInc); if (magRotInc < rotIncTensorTol_) @@ -202,7 +202,7 @@ Foam::vector Foam::geometricSixDOF::dexpMap { vector rotIncDot; - // Calculate the magnitude of the rotation increment vector + // Calculate the magnitude of the rotational increment vector const scalar magRotInc = mag(rotInc); if (magRotInc < rotIncRateTol_) @@ -241,11 +241,14 @@ Foam::geometricSixDOF::geometricSixDOF(const IOobject& io) Xrel_(dict().lookup("Xrel")), U_(dict().lookup("U")), - Uaverage_(U_), + Uaverage_("Uaverage", U_), rotation_(tensor(dict().lookup("rotationTensor"))), + rotIncrement_ + ( + dict().lookupOrDefault("rotationIncrementTensor", tensor::zero) + ), omega_(dict().lookup("omega")), - omegaAverage_(omega_), - omegaAverageAbsolute_(omega_), + omegaAverage_("omegaAverage", omega_), nEqns_(), coeffs_(), @@ -326,11 +329,6 @@ Foam::geometricSixDOF::geometricSixDOF rotation_(gsd.rotation_), omega_(gsd.omega_.name(), gsd.omega_), omegaAverage_(gsd.omegaAverage_.name(), gsd.omegaAverage_), - omegaAverageAbsolute_ - ( - gsd.omegaAverageAbsolute_.name(), - gsd.omegaAverageAbsolute_ - ), nEqns_(gsd.nEqns_), coeffs_(gsd.coeffs_), @@ -401,80 +399,6 @@ const Foam::dimensionedVector& Foam::geometricSixDOF::Uaverage() const } -const Foam::finiteRotation& Foam::geometricSixDOF::rotation() const -{ - return rotation_; -} - - -Foam::vector Foam::geometricSixDOF::rotVector() const -{ - return rotation_.rotVector(); -} - - -Foam::dimensionedScalar Foam::geometricSixDOF::rotAngle() const -{ - return dimensionedScalar("rotAngle", dimless, rotation_.rotAngle()); -} - - -void Foam::geometricSixDOF::setXrel(const vector& x) -{ - Xrel_.value() = x; - - // Set X in coefficients - coeffs_[0] = x.x(); - coeffs_[1] = x.y(); - coeffs_[2] = x.z(); -} - - -void Foam::geometricSixDOF::setU(const vector& U) -{ - U_.value() = U; - Uaverage_ = U_; - - // Set U in coefficients - coeffs_[3] = U.x(); - coeffs_[4] = U.y(); - coeffs_[5] = U.z(); -} - - -void Foam::geometricSixDOF::setRotation(const HamiltonRodriguezRot& rot) -{ - // Set increment rotation vector to zero - coeffs_[9] = 0; - coeffs_[10] = 0; - coeffs_[11] = 0; -} - - -void Foam::geometricSixDOF::setOmega(const vector& omega) -{ - omega_.value() = omega; - omegaAverage_ = omega_; - omegaAverageAbsolute_ = omega_; - - // Set omega in coefficients - coeffs_[6] = omega.x(); - coeffs_[7] = omega.y(); - coeffs_[8] = omega.z(); -} - - -void Foam::geometricSixDOF::setReferentRotation -( - const HamiltonRodriguezRot& rot -) -{ - referentRotation_ = rot; - - referentMotionConstraints_ = true; -} - - void Foam::geometricSixDOF::setState(const sixDOFODE& sd) { // First set the state in base class subobject @@ -490,7 +414,6 @@ void Foam::geometricSixDOF::setState(const sixDOFODE& sd) rotation_ = gsd.rotation_; omega_ = gsd.omega_; omegaAverage_ = gsd.omegaAverage_; - omegaAverageAbsolute_ = gsd.omegaAverageAbsolute_; // Copy ODE coefficients: this carries actual ODE state // HJ, 23/Mar/2015 @@ -507,44 +430,27 @@ void Foam::geometricSixDOF::setState(const sixDOFODE& sd) } -Foam::vector Foam::geometricSixDOF::rotVectorAverage() const -{ - return rotation_.rotVectorAverage(); -} - - const Foam::dimensionedVector& Foam::geometricSixDOF::omegaAverage() const { return omegaAverage_; } -const Foam::dimensionedVector& -Foam::geometricSixDOF::omegaAverageAbsolute() const -{ - return omegaAverageAbsolute_; -} - - Foam::tensor Foam::geometricSixDOF::toRelative() const { - // Note: using rotation tensor directly since we are integrating rotational - // increment vector - return rotation_.rotTensor(); + return rotation_; } Foam::tensor Foam::geometricSixDOF::toAbsolute() const { - // Note: using rotation tensor directly since we are integrating rotational - // increment vector - return rotation_.rotTensor().T(); + return rotation_.T(); } const Foam::tensor& Foam::geometricSixDOF::rotIncrementTensor() const { - return rotation_.rotIncrementTensor(); + return rotIncrement_; } @@ -569,7 +475,7 @@ void Foam::geometricSixDOF::derivatives const vector rotIncrementVector(y[9], y[10], y[11]); // Calculate current rotation tensor obtained with exponential map - const tensor curRot = (expMap(rotIncrementVector) & rotation_.rotTensor()); + const tensor curRot = (expMap(rotIncrementVector) & rotation_); // Calculate translational acceleration using current rotation const vector accel = A(curX, curU, curRot).value(); @@ -612,7 +518,7 @@ void Foam::geometricSixDOF::update(const scalar delta) // Translation // Update displacement - vector Xold = Xrel_.value(); + const vector Xold = Xrel_.value(); vector& Xval = Xrel_.value(); @@ -638,27 +544,28 @@ void Foam::geometricSixDOF::update(const scalar delta) // Rotation // Update omega + const vector omegaOld = omega_.value(); + vector& omegaVal = omega_.value(); omegaVal.x() = coeffs_[6]; omegaVal.y() = coeffs_[7]; omegaVal.z() = coeffs_[8]; - // Update rotation with final increment vector - rotation_.updateRotationWithIncrement - ( - expMap(vector(coeffs_[9], coeffs_[10], coeffs_[11])) - ); + // Update rotational increment tensor + rotIncrement_ = expMap(vector(coeffs_[9], coeffs_[10], coeffs_[11])); + + // Update rotational tensor + rotation_ = (rotIncrement_ & rotation_); // Reset increment vector in coefficients for the next step coeffs_[9] = 0; coeffs_[10] = 0; coeffs_[11] = 0; - omegaAverage_.value() = rotation_.omegaAverage(delta); - - // Calculate omegaAverageAbsolute - omegaAverageAbsolute_.value() = rotation_.omegaAverageAbsolute(delta); + // Consider calculating average omega using rotational tensor and rotational + // increment tensors + omegaAverage_.value() = 0.5*(omegaVal + omegaOld); } @@ -671,26 +578,28 @@ bool Foam::geometricSixDOF::writeData(Ostream& os) const os.writeKeyword("type") << tab << type() << token::END_STATEMENT << endl; // Write data - os.writeKeyword("Xrel") << tab << this->Xrel() + os.writeKeyword("Xrel") << tab << Xrel_ << token::END_STATEMENT << nl; - os.writeKeyword("U") << tab << this->U() << token::END_STATEMENT << nl; - os.writeKeyword("rotationTensor") << tab << this->toRelative() + os.writeKeyword("U") << tab << U_ << token::END_STATEMENT << nl; + os.writeKeyword("rotationTensor") << tab << rotation_ << token::END_STATEMENT << nl; - os.writeKeyword("omega") << tab << this->omega() + os.writeKeyword("rotationIncrementTensor") << tab << rotIncrement_ + << token::END_STATEMENT << nl; + os.writeKeyword("omega") << tab << omega_ << token::END_STATEMENT << nl << nl; - os.writeKeyword("fixedSurge") << tab << this->fixedSurge_ << - token::END_STATEMENT << endl; - os.writeKeyword("fixedSway") << tab << this->fixedSway_ << - token::END_STATEMENT << endl; - os.writeKeyword("fixedHeave") << tab << this->fixedHeave_ << - token::END_STATEMENT << endl; - os.writeKeyword("fixedRoll") << tab << this->fixedRoll_ << - token::END_STATEMENT << endl; - os.writeKeyword("fixedPitch") << tab << this->fixedPitch_ << - token::END_STATEMENT << endl; - os.writeKeyword("fixedYaw") << tab << this->fixedYaw_ << - token::END_STATEMENT << endl; + os.writeKeyword("fixedSurge") << tab << fixedSurge_ << + token::END_STATEMENT << nl; + os.writeKeyword("fixedSway") << tab << fixedSway_ << + token::END_STATEMENT << nl; + os.writeKeyword("fixedHeave") << tab << fixedHeave_ << + token::END_STATEMENT << nl; + os.writeKeyword("fixedRoll") << tab << fixedRoll_ << + token::END_STATEMENT << nl; + os.writeKeyword("fixedPitch") << tab << fixedPitch_ << + token::END_STATEMENT << nl; + os.writeKeyword("fixedYaw") << tab << fixedYaw_ << + token::END_STATEMENT << nl << endl; return os.good(); } diff --git a/src/ODE/sixDOF/geometricSixDOF/geometricSixDOF.H b/src/ODE/sixDOF/geometricSixDOF/geometricSixDOF.H index 18777f38a..64a26e9e5 100644 --- a/src/ODE/sixDOF/geometricSixDOF/geometricSixDOF.H +++ b/src/ODE/sixDOF/geometricSixDOF/geometricSixDOF.H @@ -79,24 +79,22 @@ class geometricSixDOF //- Velocity of mass centroid dimensionedVector U_; - //- Average velocity of mass centroid at previous time-step + //- Average velocity of mass centroid (evaluated at midstep) dimensionedVector Uaverage_; - //- Finite rotation. Note: changed during solution process - mutable finiteRotation rotation_; + //- Rotation tensor + tensor rotation_; + + //- Rotational increment tensor + tensor rotIncrement_; //- Rotational velocity about mass centroid dimensionedVector omega_; - - // Average variables that need to be stored - //- Average rotational velocity in relative coordinate system + // (evaluated at midstep) dimensionedVector omegaAverage_; - //- Average rotational velocity in absolute coordinate system - dimensionedVector omegaAverageAbsolute_; - // ODE controls @@ -107,7 +105,7 @@ class geometricSixDOF scalarField coeffs_; - //- Motion constraints (given as fixed motion components) + // Motion constraints (given as fixed motion components) //- Fixed surge (x-translation) Switch fixedSurge_; @@ -236,7 +234,7 @@ public: virtual const dimensionedVector& omega() const; - // Displacement and rotation in the absolute coordinate system + // Displacement and velocity in the absolute coordinate system //- Return position of origin in absolute coordinate system virtual dimensionedVector X() const; @@ -244,56 +242,22 @@ public: //- Return velocity of origin virtual const dimensionedVector& U() const; - //- Return average velocity of origin for the previous time-step + //- Return average velocity of origin (evaluated at midstep) virtual const dimensionedVector& Uaverage() const; - //- Return finite rotation - virtual const finiteRotation& rotation() const; - - //- Return rotational vector of body - virtual vector rotVector() const; - - //- Return rotation angle of body - virtual dimensionedScalar rotAngle() const; - // Non-access control for setting state variables - //- Set position of origin - virtual void setXrel(const vector& x); - - //- Set velocity of origin - virtual void setU(const vector& u); - - //- Set rotational angle in relative coordinate system - virtual void setRotation(const HamiltonRodriguezRot& rot); - - //- Set rotational velocity in relative coordinate system - virtual void setOmega(const vector& omega); - - //- Set referent coordinate system to apply constraints - virtual void setReferentRotation - ( - const HamiltonRodriguezRot& rot - ); - //- Set ODE parameters from another ODE virtual void setState(const sixDOFODE&); // Average motion per time-step - //- Return average rotational vector of body - virtual vector rotVectorAverage() const; - //- Return average rotational velocity in relative coordinate - // system + // system (evaluated at midstep) virtual const dimensionedVector& omegaAverage() const; - //- Return average rotational velocity in absolute coordinate - // system - virtual const dimensionedVector& omegaAverageAbsolute() const; - // Rotations @@ -360,6 +324,7 @@ public: //- Update ODE after the solution, advancing by delta virtual void update(const scalar delta); + // Write controls //- WriteData member function required by regIOobject diff --git a/src/ODE/sixDOF/quaternionSixDOF/quaternionSixDOF.C b/src/ODE/sixDOF/quaternionSixDOF/quaternionSixDOF.C index f414f7aea..45143c562 100644 --- a/src/ODE/sixDOF/quaternionSixDOF/quaternionSixDOF.C +++ b/src/ODE/sixDOF/quaternionSixDOF/quaternionSixDOF.C @@ -198,15 +198,15 @@ Foam::quaternionSixDOF::quaternionSixDOF(const IOobject& io) Xrel_(dict().lookup("Xrel")), U_(dict().lookup("U")), - Uaverage_(U_), + Uaverage_("Uaverage", U_), rotation_ ( vector(dict().lookup("rotationVector")), dimensionedScalar(dict().lookup("rotationAngle")).value() ), omega_(dict().lookup("omega")), - omegaAverage_(omega_), - omegaAverageAbsolute_(omega_), + omegaAverage_("omegaAverage", omega_), + omegaAverageAbsolute_("omegaAverageAbsolute", omega_), coeffs_(13, 0.0), @@ -347,89 +347,13 @@ const Foam::dimensionedVector& Foam::quaternionSixDOF::U() const return U_; } + const Foam::dimensionedVector& Foam::quaternionSixDOF::Uaverage() const { return Uaverage_; } -const Foam::finiteRotation& Foam::quaternionSixDOF::rotation() const -{ - return rotation_; -} - - -Foam::vector Foam::quaternionSixDOF::rotVector() const -{ - return rotation_.rotVector(); -} - - -Foam::dimensionedScalar Foam::quaternionSixDOF::rotAngle() const -{ - return dimensionedScalar("rotAngle", dimless, rotation_.rotAngle()); -} - - -void Foam::quaternionSixDOF::setXrel(const vector& x) -{ - Xrel_.value() = x; - - // Set X in coefficients - coeffs_[0] = x.x(); - coeffs_[1] = x.y(); - coeffs_[2] = x.z(); -} - - -void Foam::quaternionSixDOF::setU(const vector& U) -{ - U_.value() = U; - Uaverage_ = U_; - - // Set U in coefficients - coeffs_[3] = U.x(); - coeffs_[4] = U.y(); - coeffs_[5] = U.z(); -} - - -void Foam::quaternionSixDOF::setRotation(const HamiltonRodriguezRot& rot) -{ - // Cannot call update rotation: simply set up coefficients - // HJ, 23/Mar/2015 - - coeffs_[9] = rot.e0(); - coeffs_[10] = rot.e1(); - coeffs_[11] = rot.e2(); - coeffs_[12] = rot.e3(); -} - - -void Foam::quaternionSixDOF::setOmega(const vector& omega) -{ - omega_.value() = omega; - omegaAverage_ = omega_; - omegaAverageAbsolute_ = omega_; - - // Set omega in coefficients - coeffs_[6] = omega.x(); - coeffs_[7] = omega.y(); - coeffs_[8] = omega.z(); -} - - -void Foam::quaternionSixDOF::setReferentRotation -( - const HamiltonRodriguezRot& rot -) -{ - referentRotation_ = rot; - - referentMotionConstraints_ = true; -} - - void Foam::quaternionSixDOF::setState(const sixDOFODE& sd) { // First set the state in base class subobject @@ -462,25 +386,12 @@ void Foam::quaternionSixDOF::setState(const sixDOFODE& sd) } -Foam::vector Foam::quaternionSixDOF::rotVectorAverage() const -{ - return rotation_.rotVectorAverage(); -} - - const Foam::dimensionedVector& Foam::quaternionSixDOF::omegaAverage() const { return omegaAverage_; } -const Foam::dimensionedVector& -Foam::quaternionSixDOF::omegaAverageAbsolute() const -{ - return omegaAverageAbsolute_; -} - - Foam::tensor Foam::quaternionSixDOF::toRelative() const { return rotation_.eCurrent().R(); @@ -642,14 +553,15 @@ bool Foam::quaternionSixDOF::writeData(Ostream& os) const os.writeKeyword("type") << tab << type() << token::END_STATEMENT << endl; // Write data - os.writeKeyword("Xrel") << tab << this->Xrel() + os.writeKeyword("Xrel") << tab << Xrel_ << token::END_STATEMENT << nl; - os.writeKeyword("U") << tab << this->U() << token::END_STATEMENT << nl; - os.writeKeyword("rotationVector") << tab << this->rotVector() + os.writeKeyword("U") << tab << U_ << token::END_STATEMENT << nl; + os.writeKeyword("rotationVector") << tab << rotation_.rotVector() << token::END_STATEMENT << nl; - os.writeKeyword("rotationAngle") << tab << this->rotAngle() + os.writeKeyword("rotationAngle") << tab + << dimensionedScalar("rotAngle", dimless, rotation_.rotAngle()) << token::END_STATEMENT << nl; - os.writeKeyword("omega") << tab << this->omega() + os.writeKeyword("omega") << tab << omega_ << token::END_STATEMENT << nl << nl; os.writeKeyword("fixedSurge") << tab << fixedSurge_ << diff --git a/src/ODE/sixDOF/quaternionSixDOF/quaternionSixDOF.H b/src/ODE/sixDOF/quaternionSixDOF/quaternionSixDOF.H index 648b49921..9eed2941b 100644 --- a/src/ODE/sixDOF/quaternionSixDOF/quaternionSixDOF.H +++ b/src/ODE/sixDOF/quaternionSixDOF/quaternionSixDOF.H @@ -58,7 +58,7 @@ class quaternionSixDOF { // Private data - // Initial body state variables + // Body state variables //- Displacement relative to spring equilibrium dimensionedVector Xrel_; @@ -66,7 +66,7 @@ class quaternionSixDOF //- Velocity of mass centroid dimensionedVector U_; - //- Average velocity of mass centroid at previous time-step + //- Average velocity of mass centroid (evaluated at midstep) dimensionedVector Uaverage_; //- Finite rotation @@ -75,10 +75,8 @@ class quaternionSixDOF //- Rotational velocity about mass centroid dimensionedVector omega_; - - // Average variables that need to be stored - //- Average rotational velocity in relative coordinate system + // (evaluated at midstep) dimensionedVector omegaAverage_; //- Average rotational velocity in absolute coordinate system @@ -89,7 +87,7 @@ class quaternionSixDOF scalarField coeffs_; - //- Motion constraints (given as fixed motion components) + // Motion constraints (given as fixed motion components) //- Fixed surge (x-translation) Switch fixedSurge_; @@ -201,7 +199,7 @@ public: virtual const dimensionedVector& omega() const; - // Displacement and rotation in the absolute coordinate system + // Displacement and velocity in the absolute coordinate system //- Return position of origin in absolute coordinate system virtual dimensionedVector X() const; @@ -209,56 +207,22 @@ public: //- Return velocity of origin virtual const dimensionedVector& U() const; - //- Return average velocity of origin for the previous time-step + //- Return average velocity of origin (evaluated at midstep) virtual const dimensionedVector& Uaverage() const; - //- Return finite rotation - virtual const finiteRotation& rotation() const; - - //- Return rotational vector of body - virtual vector rotVector() const; - - //- Return rotation angle of body - virtual dimensionedScalar rotAngle() const; - // Non-access control for setting state variables - //- Set position of origin - virtual void setXrel(const vector& x); - - //- Set velocity of origin - virtual void setU(const vector& u); - - //- Set rotational angle in relative coordinate system - virtual void setRotation(const HamiltonRodriguezRot& rot); - - //- Set rotational velocity in relative coordinate system - virtual void setOmega(const vector& omega); - - //- Set referent coordinate system to apply constraints - virtual void setReferentRotation - ( - const HamiltonRodriguezRot& rot - ); - //- Set ODE parameters from another ODE virtual void setState(const sixDOFODE&); // Average motion per time-step - //- Return average rotational vector of body - virtual vector rotVectorAverage() const; - //- Return average rotational velocity in relative coordinate - // system + // system (evaluated at midstep) virtual const dimensionedVector& omegaAverage() const; - //- Return average rotational velocity in absolute coordinate - // system - virtual const dimensionedVector& omegaAverageAbsolute() const; - // Rotations @@ -325,6 +289,7 @@ public: //- Update ODE after the solution, advancing by delta virtual void update(const scalar delta); + // Write controls //- WriteData member function required by regIOobject diff --git a/src/ODE/sixDOF/sixDOFODE/sixDOFODE.C b/src/ODE/sixDOF/sixDOFODE/sixDOFODE.C index 02c734c53..e0c70b045 100644 --- a/src/ODE/sixDOF/sixDOFODE/sixDOFODE.C +++ b/src/ODE/sixDOF/sixDOFODE/sixDOFODE.C @@ -48,7 +48,7 @@ defineRunTimeSelectionTable(sixDOFODE, dictionary); } -// * * * * * * * * * * * * Protected Member Functions * * * * * * * * * * * // +// * * * * * * * * * * * * Private Member Functions * * * * * * * * * * * * * // void Foam::sixDOFODE::aitkensRelaxation ( @@ -173,7 +173,7 @@ void Foam::sixDOFODE::relaxAcceleration { if (mag(minRelFactor - maxRelFactor) < SMALL) { - // Fixed relaxation + // Fixed relaxation relaxFactorT_ = minRelFactor; relaxFactorR_ = minRelFactor; } diff --git a/src/ODE/sixDOF/sixDOFODE/sixDOFODE.H b/src/ODE/sixDOF/sixDOFODE/sixDOFODE.H index c9a233793..70ab14f38 100644 --- a/src/ODE/sixDOF/sixDOFODE/sixDOFODE.H +++ b/src/ODE/sixDOF/sixDOFODE/sixDOFODE.H @@ -135,19 +135,19 @@ class sixDOFODE // Private Member Functions - //- Disallow default bitwise copy construct - sixDOFODE(const sixDOFODE&); + // Copy control - //- Disallow default bitwise assignment - void operator=(const sixDOFODE&); + //- Disallow default bitwise copy construct + sixDOFODE(const sixDOFODE&); + + //- Disallow default bitwise assignment + void operator=(const sixDOFODE&); -protected: + // Aitkens relaxation helper function - // Protected Member Functions - - //- Update Aitkens relaxation parameters - void aitkensRelaxation(const scalar min, const scalar max); + //- Update Aitkens relaxation parameters + void aitkensRelaxation(const scalar min, const scalar max); public: @@ -182,6 +182,7 @@ public: //- Return autoPtr to the selected sixDOFODE static autoPtr New(const IOobject& io); + // Destructor virtual ~sixDOFODE(); @@ -271,7 +272,7 @@ public: virtual const dimensionedVector& omega() const = 0; - // Displacement and rotation in the absolute coordinate system + // Displacement and velocity in the absolute coordinate system //- Return position of origin in absolute coordinate system virtual dimensionedVector X() const = 0; @@ -279,57 +280,22 @@ public: //- Return velocity of origin virtual const dimensionedVector& U() const = 0; - //- Return average velocity of origin for the previous time-step + //- Return average velocity of origin (evaluated at midstep) virtual const dimensionedVector& Uaverage() const = 0; - //- Return finite rotation - virtual const finiteRotation& rotation() const = 0; - - //- Return rotational vector of body - virtual vector rotVector() const = 0; - - //- Return rotation angle of body - virtual dimensionedScalar rotAngle() const = 0; - // Non-access control for setting state variables - //- Set position of origin - virtual void setXrel(const vector& x) = 0; - - //- Set velocity of origin - virtual void setU(const vector& u) = 0; - - //- Set rotational angle in relative coordinate system - virtual void setRotation(const HamiltonRodriguezRot& rot) = 0; - - //- Set rotational velocity in relative coordinate system - virtual void setOmega(const vector& omega) = 0; - - //- Set referent coordinate system to apply constraints - virtual void setReferentRotation - ( - const HamiltonRodriguezRot& rot - ) = 0; - //- Set ODE parameters from another ODE virtual void setState(const sixDOFODE&); // Average motion per time-step - //- Return average rotational vector of body - virtual vector rotVectorAverage() const = 0; - //- Return average rotational velocity in relative coordinate - // system + // system (evaluated at midstep) virtual const dimensionedVector& omegaAverage() const = 0; - //- Return average rotational velocity in absolute coordinate - // system - virtual const dimensionedVector& - omegaAverageAbsolute() const = 0; - // Rotations