Reorganization and novelties in 6DOF integrators. Viktor Pandza, Vuko Vukcevic
This commit is contained in:
Hrvoje Jasak
commit
62d5cb9cba
43 changed files with 6102 additions and 138 deletions
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@ -36,7 +36,7 @@ Description
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#include "objectRegistry.H"
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#include "foamTime.H"
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#include "ODESolver.H"
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#include "sixDOFbodies.H"
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#include "sixDOFBodies.H"
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#include "OFstream.H"
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using namespace Foam;
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@ -48,9 +48,12 @@ int main(int argc, char *argv[])
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# include "setRootCase.H"
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# include "createTime.H"
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sixDOFbodies structure(runTime);
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sixDOFBodies structure(runTime);
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OFstream of(runTime.path()/"motion.dat");
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// Write header for output file
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of << "# Time, CoG_x, CoG_y, CoG_z, omega_x, omega_y, omega_z" << endl;
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Info<< "\nStarting time loop\n" << endl;
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for (runTime++; !runTime.end(); runTime++)
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@ -73,11 +76,14 @@ int main(int argc, char *argv[])
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<< structure()[bodyI].omegaAverage().value() << nl
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<< "Current omega in time instant = "
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<< structure()[bodyI].omega().value() << nl
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<< "Average omegaAbs in time step = "
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<< structure()[bodyI].omegaAverageAbsolute().value() << nl
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<< endl;
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of << structure()[bodyI].X().value().x() << tab;
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of << structure()[bodyI].X().value().x() << tab
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<< structure()[bodyI].X().value().y() << tab
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<< structure()[bodyI].X().value().z() << tab
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<< structure()[bodyI].omega().value().x() << tab
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<< structure()[bodyI].omega().value().y() << tab
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<< structure()[bodyI].omega().value().z() << tab;
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}
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of << endl;
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@ -15,6 +15,23 @@ $(translationODE)/translationODE.C
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sixDOF = sixDOF
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$(sixDOF)/finiteRotation/finiteRotation.C
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$(sixDOF)/sixDOFqODE/sixDOFqODE.C
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$(sixDOF)/sixDOFbodies/sixDOFbodies.C
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$(sixDOF)/sixDOFODE/constraints/rotationalConstraints/rotationalConstraint/rotationalConstraint.C
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$(sixDOF)/sixDOFODE/constraints/rotationalConstraints/constantAngularAcceleration/constantAngularAcceleration.C
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$(sixDOF)/sixDOFODE/constraints/translationalConstraints/translationalConstraint/translationalConstraint.C
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$(sixDOF)/sixDOFODE/constraints/translationalConstraints/constantTranslationalAcceleration/constantTranslationalAcceleration.C
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$(sixDOF)/sixDOFODE/constraints/translationalConstraints/periodicOscillation/periodicOscillation.C
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$(sixDOF)/sixDOFODE/restraints/translationalRestraints/translationalRestraint/translationalRestraint.C
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$(sixDOF)/sixDOFODE/restraints/translationalRestraints/linearSpringDamper/linearSpringDamper.C
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$(sixDOF)/sixDOFODE/restraints/rotationalRestraints/rotationalRestraint/rotationalRestraint.C
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$(sixDOF)/sixDOFODE/restraints/rotationalRestraints/angularDamper/angularDamper.C
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$(sixDOF)/sixDOFODE/sixDOFODE.C
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$(sixDOF)/sixDOFODE/newSixDOFODE.C
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$(sixDOF)/quaternionSixDOF/quaternionSixDOF.C
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$(sixDOF)/geometricSixDOF/geometricSixDOF.C
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$(sixDOF)/sixDOFBodies/sixDOFBodies.C
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LIB = $(FOAM_LIBBIN)/libODE
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@ -53,7 +53,7 @@ class ODESolver
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protected:
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// Private data
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// Protected data
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//- Reference to ODE
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ODE& ode_;
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@ -62,6 +62,8 @@ protected:
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mutable scalarField dydx_;
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private:
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// Private Member Functions
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//- Disallow default bitwise copy construct
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@ -126,7 +128,7 @@ public:
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) const = 0;
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virtual void solve
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void solve
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(
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const scalar xStart,
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const scalar xEnd,
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@ -26,22 +26,21 @@ Class
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Author
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Dubravko Matijasevic, FSB Zagreb. All rights reserved.
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Update by Hrvoje Jasak
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Hrvoje Jasak, FSB Zagreb. All rights reserved.
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Vuko Vukcevic, FSB Zagreb. All rights reserved.
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\*---------------------------------------------------------------------------*/
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#include "objectRegistry.H"
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#include "finiteRotation.H"
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// * * * * * * * * * * * * * Private Member Functions * * * * * * * * * * * //
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// * * * * * * * * * * * * * * * Static Functions * * * * * * * * * * * * * //
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Foam::vector Foam::finiteRotation::rotVector(const tensor& rotT)
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{
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vector ur = - *( inv(I + rotT) & (I - rotT) );
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// Scaling to a unit vector. HJ, problems with round-off
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// HJ, 4/Aug/2008
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// Scaling to a unit vector. Problems with round-off. HJ, 4/Aug/2008
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if (mag(ur) > SMALL)
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{
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return ur/(mag(ur) + SMALL);
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@ -49,8 +48,7 @@ Foam::vector Foam::finiteRotation::rotVector(const tensor& rotT)
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else
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{
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// Rotation vector is undertermined at zero rotation
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// Returning arbitrary unit vector
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// HJ, 4/Mar/2015
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// Returning arbitrary unit vector. HJ, 4/Mar/2015
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return vector(0, 0, 1);
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}
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}
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@ -79,22 +77,15 @@ Foam::vector Foam::finiteRotation::eulerAngles(const tensor& rotT)
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scalar& pitchAngle = eulerAngles.y();
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scalar& yawAngle = eulerAngles.z();
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// Calculate roll angle
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rollAngle = atan2(rotT.yz(), rotT.zz());
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// Use mag to avoid negative value due to round-off
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// HJ, 24/Feb/2016
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// Bugfix: sqr. SS, 18/Apr/2016
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const scalar c2 = sqrt(sqr(rotT.xx()) + sqr(rotT.xy()));
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// Calculate pitch angle
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pitchAngle = atan2(-rotT.xz(), c2);
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pitchAngle = asin(rotT.xz());
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const scalar s1 = sin(rollAngle);
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const scalar c1 = cos(rollAngle);
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// Calculate roll angle
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const scalar cosPitch = cos(pitchAngle);
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rollAngle = asin(-rotT.yz()/cosPitch);
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// Calculate yaw angle
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yawAngle = atan2(s1*rotT.zx() - c1*rotT.yx(), c1*rotT.yy() - s1*rotT.zy());
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yawAngle = asin(-rotT.xy()/cosPitch);
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return eulerAngles;
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}
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@ -122,6 +113,14 @@ Foam::finiteRotation::finiteRotation
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{}
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Foam::finiteRotation::finiteRotation(const tensor& R)
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:
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eInitial_(R),
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rotTensor_(R),
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rotIncrementTensor_(tensor::zero)
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{}
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// * * * * * * * * * * * * * * * * Destructor * * * * * * * * * * * * * * * //
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Foam::finiteRotation::~finiteRotation()
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@ -130,12 +129,23 @@ Foam::finiteRotation::~finiteRotation()
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// * * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * //
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void Foam::finiteRotation::updateRotation(const tensor& R)
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{
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rotIncrementTensor_ = (R & rotTensor_.T());
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rotTensor_ = R;
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}
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void Foam::finiteRotation::updateRotation(const HamiltonRodriguezRot& rot)
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{
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tensor rotR = rot.R();
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updateRotation(rot.R());
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}
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rotIncrementTensor_ = (rotR & (rotTensor_.T()));
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rotTensor_ = rotR;
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void Foam::finiteRotation::updateRotationWithIncrement(const tensor& incR)
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{
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rotIncrementTensor_ = incR;
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rotTensor_ = (incR & rotTensor_);
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}
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@ -26,7 +26,8 @@ Class
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Author
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Dubravko Matijasevic, FSB Zagreb. All rights reserved.
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Updated by Hrvoje Jasak
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Hrvoje Jasak, FSB Zagreb. All rights reserved.
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Vuko Vukcevic, FSB Zagreb. All rights reserved.
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SourceFiles
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finiteRotation.C
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@ -61,20 +62,6 @@ class finiteRotation
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tensor rotIncrementTensor_;
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// Private Member Functions
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//- Calculate unit rotation vector from given rotation tensor
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static vector rotVector(const tensor& rotT);
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//- Calculate rotation angle from given rotation tensor
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static scalar rotAngle(const tensor& rotT);
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//- Calculate Euler angles (x-y-z (roll-pitch-yaw) convention) from
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// given rotation tensor. Reference: Mike Day, Insomniac Games,
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// Extracting Euler Angles from a Rotation Matrix.
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static vector eulerAngles(const tensor& rotT);
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public:
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// Constructors
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@ -89,17 +76,40 @@ public:
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const scalar& angle
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);
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//- Construct from rotation tensor
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explicit finiteRotation(const tensor& R);
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// Destructor
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~finiteRotation();
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// Static Functions
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//- Calculate unit rotation vector from given rotation tensor
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static vector rotVector(const tensor& rotT);
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//- Calculate rotation angle from given rotation tensor
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static scalar rotAngle(const tensor& rotT);
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//- Calculate Euler angles (x-y-z (roll-pitch-yaw) convention by Bryan)
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// given the rotation tensor (global-to-local transformation).
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// Reference: Nikravesh: Computer-Aided Analysis of Mechanical Systems
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static vector eulerAngles(const tensor& rotT);
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// Member Functions
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//- Update rotation
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//- Update rotation given rotation tensor
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void updateRotation(const tensor& R);
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//- Update rotation given HamiltonRodriguezRot (quaternions)
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void updateRotation(const HamiltonRodriguezRot& rot);
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//- Update rotation given increment rotation tensor
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void updateRotationWithIncrement(const tensor& incR);
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//- Return initial quaternions
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const HamiltonRodriguezRot& eInitial() const;
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646
src/ODE/sixDOF/geometricSixDOF/geometricSixDOF.C
Normal file
646
src/ODE/sixDOF/geometricSixDOF/geometricSixDOF.C
Normal file
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@ -0,0 +1,646 @@
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/*---------------------------------------------------------------------------*\
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========= |
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\\ / F ield | foam-extend: Open Source CFD
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\\ / O peration | Version: 4.0
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\\ / A nd | Web: http://www.foam-extend.org
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\\/ M anipulation | For copyright notice see file Copyright
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-------------------------------------------------------------------------------
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License
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This file is part of foam-extend.
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foam-extend is free software: you can redistribute it and/or modify it
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under the terms of the GNU General Public License as published by the
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Free Software Foundation, either version 3 of the License, or (at your
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option) any later version.
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foam-extend is distributed in the hope that it will be useful, but
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WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with foam-extend. If not, see <http://www.gnu.org/licenses/>.
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Class
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geometricSixDOF
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\*---------------------------------------------------------------------------*/
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#include "geometricSixDOF.H"
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#include "scalarSquareMatrix.H"
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#include "OutputControlDictionary.H"
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#include "addToRunTimeSelectionTable.H"
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// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
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namespace Foam
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{
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defineTypeNameAndDebug(geometricSixDOF, 0);
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addToRunTimeSelectionTable(sixDOFODE, geometricSixDOF, dictionary);
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}
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const Foam::debug::tolerancesSwitch Foam::geometricSixDOF::rotIncTensorTol_
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(
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"geometricSixDOFRotIncTensorTol",
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1e-10
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);
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const Foam::debug::tolerancesSwitch Foam::geometricSixDOF::rotIncRateTol_
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(
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"geometricSixDOFRotIncRateTol",
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1e-6
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);
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// * * * * * * * * * * * * * Private Member Functions * * * * * * * * * * * //
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Foam::dimensionedVector Foam::geometricSixDOF::A
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(
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const dimensionedVector& xR,
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const dimensionedVector& uR,
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const tensor& R,
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const scalar t
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) const
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{
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// Create a scalar square matrix representing Newton equations with
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// constraints and the corresponding source (right hand side vector).
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// Note: size of the matrix is 3 + number of constraints
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scalarField rhs(translationalConstraints().size() + 3, 0.0);
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scalarSquareMatrix M(rhs.size(), 0.0);
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// Insert mass and explicit forcing into the system. Note: translations are
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// solved in the global coordinate system and the explicit forcing contains
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// restraining forces
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const dimensionedVector explicitForcing =
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force
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(
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t,
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R.T(),
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xR.value(),
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uR.value()
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);
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const vector& efVal = explicitForcing.value();
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const scalar& m = mass().value();
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forAll(efVal, dirI)
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{
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M[dirI][dirI] = m;
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rhs[dirI] = efVal[dirI];
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}
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// Insert contributions from the constraints
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forAll(translationalConstraints(), tcI)
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{
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// Get reference to current constraint
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const translationalConstraint& curTc = translationalConstraints()[tcI];
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// Get matrix contribution from constraint
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const vector mc =
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curTc.matrixContribution
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(
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t,
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R.T(),
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xR.value(),
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uR.value()
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);
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// Get matrix index
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const label index = tcI + 3;
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// Insert contributions into the matrix
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forAll(mc, dirI)
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{
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M[dirI][index] = mc[dirI];
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M[index][dirI] = mc[dirI];
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}
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// Insert source contribution (remainder of the constraint function)
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rhs[index] = curTc.sourceContribution(t, R.T(), xR.value(), uR.value());
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}
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// Solve the matrix using LU decomposition. Note: solution is in the rhs and
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// it contains accelerations in the first three entries and corresponding
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// Lagrangian multipliers in other entries.
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scalarSquareMatrix::LUsolve(M, rhs);
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return
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dimensionedVector
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(
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"A",
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force().dimensions()/mass().dimensions(),
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vector(rhs[0], rhs[1], rhs[2])
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);
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}
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Foam::dimensionedVector Foam::geometricSixDOF::OmegaDot
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(
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const tensor& R,
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const dimensionedVector& omega,
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const scalar t
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) const
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{
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// Create a scalar square matrix representing Euler equations with
|
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// constraints and the corresponding source (right hand side vector).
|
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// Note: size of the matrix is 3 + number of constraints
|
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scalarField rhs(rotationalConstraints().size() + 3, 0.0);
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scalarSquareMatrix J(rhs.size(), 0.0);
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|
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// Get current inertial-to-local transformation
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const dimensionedTensor RT("RT", dimless, R.T());
|
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|
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// Insert moment of inertia and explicit forcing into the system
|
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const dimensionedVector explicitForcing
|
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(
|
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E(omega) // Euler part
|
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+ (
|
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RT
|
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& moment
|
||||
(
|
||||
t,
|
||||
RT.value(),
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omega.value()
|
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)
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) // External torque with restraints
|
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);
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const vector& efVal = explicitForcing.value();
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const diagTensor& I = momentOfInertia().value();
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forAll(efVal, dirI)
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{
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J[dirI][dirI] = I[dirI];
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rhs[dirI] = efVal[dirI];
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}
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// Insert contributions from the constraints
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forAll(rotationalConstraints(), rcI)
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{
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// Get reference to current constraint
|
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const rotationalConstraint& curRc = rotationalConstraints()[rcI];
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// Get matrix contribution from the constraint
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const vector mc =
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curRc.matrixContribution
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(
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t,
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RT.value(),
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omega.value()
|
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);
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// Get matrix index
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const label index = rcI + 3;
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// Insert contributions into the matrix
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forAll(mc, dirI)
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{
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J[dirI][index] = mc[dirI];
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J[index][dirI] = mc[dirI];
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}
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// Insert source contribution (remainder of the constraint function)
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rhs[index] = curRc.sourceContribution(t, RT.value(), omega.value());
|
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}
|
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|
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// Solve the matrix using LU decomposition. Note: solution is in the rhs and
|
||||
// it contains OmegaDot's in the first three entries and corresponding
|
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// Lagrangian multipliers in other entries.
|
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scalarSquareMatrix::LUsolve(J, rhs);
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return
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dimensionedVector
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(
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"OmegaDot",
|
||||
moment().dimensions()/momentOfInertia().dimensions(),
|
||||
vector(rhs[0], rhs[1], rhs[2])
|
||||
);
|
||||
}
|
||||
|
||||
|
||||
Foam::dimensionedVector Foam::geometricSixDOF::E
|
||||
(
|
||||
const dimensionedVector& omega
|
||||
) const
|
||||
{
|
||||
return (*(momentOfInertia() & omega) & omega);
|
||||
}
|
||||
|
||||
|
||||
Foam::tensor Foam::geometricSixDOF::expMap(const vector& rotInc) const
|
||||
{
|
||||
tensor R;
|
||||
|
||||
// Calculate the magnitude of the rotational increment vector
|
||||
const scalar magRotInc = mag(rotInc);
|
||||
|
||||
if (magRotInc < rotIncTensorTol_())
|
||||
{
|
||||
// No rotational increment
|
||||
R = I;
|
||||
}
|
||||
else
|
||||
{
|
||||
// Calculate rotational increment tensor using the exponential map
|
||||
|
||||
// Skew-symmetric tensor corresponding to the rotation increment
|
||||
const tensor skewRotInc(*rotInc);
|
||||
|
||||
R = I
|
||||
+ skewRotInc*sin(magRotInc)/magRotInc
|
||||
+ (skewRotInc & skewRotInc)*(1.0 - cos(magRotInc))/sqr(magRotInc);
|
||||
}
|
||||
|
||||
return R;
|
||||
}
|
||||
|
||||
|
||||
Foam::vector Foam::geometricSixDOF::dexpMap
|
||||
(
|
||||
const vector& rotInc,
|
||||
const vector& omega
|
||||
) const
|
||||
{
|
||||
vector rotIncDot;
|
||||
|
||||
// Calculate the magnitude of the rotational increment vector
|
||||
const scalar magRotInc = mag(rotInc);
|
||||
|
||||
if (magRotInc < rotIncRateTol_())
|
||||
{
|
||||
// Stabilised calculation of rotation increment to avoid small
|
||||
// denominators
|
||||
const tensor lbRotIncOmega(lieBracket(rotInc, omega));
|
||||
|
||||
rotIncDot =
|
||||
(
|
||||
I
|
||||
+ lbRotIncOmega/2.0
|
||||
+ lieBracket(rotInc, *lbRotIncOmega)/12.0
|
||||
) & omega;
|
||||
}
|
||||
else
|
||||
{
|
||||
// Calculate rate of the rotational increment vector using the
|
||||
// differential of the exponential map
|
||||
|
||||
// Skew-symmetric tensor corresponding to the rotation increment
|
||||
const tensor skewRotInc(*rotInc);
|
||||
|
||||
rotIncDot =
|
||||
(
|
||||
I
|
||||
+ 0.5*skewRotInc
|
||||
- (skewRotInc & skewRotInc)*
|
||||
(magRotInc/tan(magRotInc/2.0) - 2.0)/(2.0*sqr(magRotInc))
|
||||
) & omega;
|
||||
}
|
||||
|
||||
return rotIncDot;
|
||||
}
|
||||
|
||||
|
||||
// * * * * * * * * * * * Protected Member Functions * * * * * * * * * * * * * //
|
||||
|
||||
void Foam::geometricSixDOF::setState(const sixDOFODE& sd)
|
||||
{
|
||||
// First set the state in base class subobject
|
||||
sixDOFODE::setState(sd);
|
||||
|
||||
// Cast sixDOFODE& to geometricSixDOF&
|
||||
const geometricSixDOF& gsd = refCast<const geometricSixDOF>(sd);
|
||||
|
||||
// Set state variables for this class
|
||||
Xrel_ = gsd.Xrel_;
|
||||
U_ = gsd.U_;
|
||||
Uaverage_ = gsd.Uaverage_;
|
||||
rotation_ = gsd.rotation_;
|
||||
omega_ = gsd.omega_;
|
||||
omegaAverage_ = gsd.omegaAverage_;
|
||||
|
||||
// Copy ODE coefficients: this carries actual ODE state
|
||||
// HJ, 23/Mar/2015
|
||||
coeffs_ = gsd.coeffs_;
|
||||
}
|
||||
|
||||
|
||||
// * * * * * * * * * * * * * * * * Constructors * * * * * * * * * * * * * * //
|
||||
|
||||
Foam::geometricSixDOF::geometricSixDOF(const IOobject& io)
|
||||
:
|
||||
sixDOFODE(io),
|
||||
|
||||
Xrel_(dict().lookup("Xrel")),
|
||||
U_(dict().lookup("U")),
|
||||
Uaverage_("Uaverage", U_),
|
||||
rotation_(tensor(dict().lookup("rotationTensor"))),
|
||||
rotIncrement_
|
||||
(
|
||||
dict().lookupOrDefault<tensor>("rotationIncrementTensor", tensor::zero)
|
||||
),
|
||||
omega_(dict().lookup("omega")),
|
||||
omegaAverage_("omegaAverage", omega_),
|
||||
|
||||
coeffs_(12, 0.0)
|
||||
{
|
||||
// Set ODE coefficients from position and rotation
|
||||
|
||||
// Linear displacement relative to spring equilibrium
|
||||
const vector& Xval = Xrel_.value();
|
||||
coeffs_[0] = Xval.x();
|
||||
coeffs_[1] = Xval.y();
|
||||
coeffs_[2] = Xval.z();
|
||||
|
||||
// Linear velocity
|
||||
const vector& Uval = U_.value();
|
||||
coeffs_[3] = Uval.x();
|
||||
coeffs_[4] = Uval.y();
|
||||
coeffs_[5] = Uval.z();
|
||||
|
||||
// Rotational velocity in non - inertial coordinate system
|
||||
const vector& omegaVal = omega_.value();
|
||||
coeffs_[6] = omegaVal.x();
|
||||
coeffs_[7] = omegaVal.y();
|
||||
coeffs_[8] = omegaVal.z();
|
||||
|
||||
// Increment of the rotation vector (zero for initial condition)
|
||||
coeffs_[9] = 0;
|
||||
coeffs_[10] = 0;
|
||||
coeffs_[11] = 0;
|
||||
}
|
||||
|
||||
|
||||
Foam::geometricSixDOF::geometricSixDOF
|
||||
(
|
||||
const word& name,
|
||||
const geometricSixDOF& gsd
|
||||
)
|
||||
:
|
||||
sixDOFODE(name, gsd),
|
||||
|
||||
Xrel_(gsd.Xrel_.name(), gsd.Xrel_),
|
||||
U_(gsd.U_.name(), gsd.U_),
|
||||
Uaverage_(gsd.Uaverage_.name(), gsd.Uaverage_),
|
||||
rotation_(gsd.rotation_),
|
||||
omega_(gsd.omega_.name(), gsd.omega_),
|
||||
omegaAverage_(gsd.omegaAverage_.name(), gsd.omegaAverage_),
|
||||
|
||||
coeffs_(gsd.coeffs_)
|
||||
{}
|
||||
|
||||
|
||||
Foam::autoPtr<Foam::sixDOFODE> Foam::geometricSixDOF::clone
|
||||
(
|
||||
const word& name
|
||||
) const
|
||||
{
|
||||
// Create and return an autoPtr to the new geometricSixDOF object with a
|
||||
// new name
|
||||
return autoPtr<sixDOFODE>
|
||||
(
|
||||
new geometricSixDOF
|
||||
(
|
||||
name,
|
||||
*this
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
|
||||
// * * * * * * * * * * * * * * * * Destructor * * * * * * * * * * * * * * * //
|
||||
|
||||
Foam::geometricSixDOF::~geometricSixDOF()
|
||||
{}
|
||||
|
||||
|
||||
// * * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * //
|
||||
|
||||
const Foam::dimensionedVector& Foam::geometricSixDOF::Xrel() const
|
||||
{
|
||||
return Xrel_;
|
||||
}
|
||||
|
||||
|
||||
const Foam::dimensionedVector& Foam::geometricSixDOF::omega() const
|
||||
{
|
||||
return omega_;
|
||||
}
|
||||
|
||||
|
||||
Foam::dimensionedVector Foam::geometricSixDOF::X() const
|
||||
{
|
||||
return Xequilibrium() + Xrel_;
|
||||
}
|
||||
|
||||
|
||||
const Foam::dimensionedVector& Foam::geometricSixDOF::U() const
|
||||
{
|
||||
return U_;
|
||||
}
|
||||
|
||||
const Foam::dimensionedVector& Foam::geometricSixDOF::Uaverage() const
|
||||
{
|
||||
return Uaverage_;
|
||||
}
|
||||
|
||||
|
||||
const Foam::dimensionedVector& Foam::geometricSixDOF::omegaAverage() const
|
||||
{
|
||||
return omegaAverage_;
|
||||
}
|
||||
|
||||
|
||||
Foam::tensor Foam::geometricSixDOF::toRelative() const
|
||||
{
|
||||
return rotation_.T();
|
||||
}
|
||||
|
||||
|
||||
Foam::tensor Foam::geometricSixDOF::toAbsolute() const
|
||||
{
|
||||
return rotation_;
|
||||
}
|
||||
|
||||
|
||||
const Foam::tensor& Foam::geometricSixDOF::rotIncrementTensor() const
|
||||
{
|
||||
return rotIncrement_;
|
||||
}
|
||||
|
||||
|
||||
void Foam::geometricSixDOF::derivatives
|
||||
(
|
||||
const scalar x,
|
||||
const scalarField& y,
|
||||
scalarField& dydx
|
||||
) const
|
||||
{
|
||||
// Translation
|
||||
|
||||
// Set the derivatives for displacement
|
||||
dydx[0] = y[3];
|
||||
dydx[1] = y[4];
|
||||
dydx[2] = y[5];
|
||||
|
||||
dimensionedVector curX("curX", dimLength, vector(y[0], y[1], y[2]));
|
||||
dimensionedVector curU("curU", dimVelocity, vector(y[3], y[4], y[5]));
|
||||
|
||||
// Get rotational increment vector (u)
|
||||
const vector rotIncrementVector(y[9], y[10], y[11]);
|
||||
|
||||
// Calculate current rotation tensor obtained with exponential map
|
||||
const tensor curRot = (rotation_ & expMap(rotIncrementVector));
|
||||
|
||||
// Calculate translational acceleration using current rotation
|
||||
const vector accel = A(curX, curU, curRot, x).value();
|
||||
|
||||
// Set the derivatives for velocity
|
||||
dydx[3] = accel.x();
|
||||
dydx[4] = accel.y();
|
||||
dydx[5] = accel.z();
|
||||
|
||||
// Rotation
|
||||
|
||||
dimensionedVector curOmega
|
||||
(
|
||||
"curOmega",
|
||||
dimless/dimTime,
|
||||
vector(y[6], y[7], y[8])
|
||||
);
|
||||
|
||||
// Calculate rotational acceleration using current rotation
|
||||
const vector omegaDot = OmegaDot(curRot, curOmega, x).value();
|
||||
|
||||
dydx[6] = omegaDot.x();
|
||||
dydx[7] = omegaDot.y();
|
||||
dydx[8] = omegaDot.z();
|
||||
|
||||
// Calculate derivative of rotIncrementVector using current rotation
|
||||
// information
|
||||
const vector rotIncrementVectorDot =
|
||||
dexpMap(rotIncrementVector, curOmega.value());
|
||||
|
||||
// Set the derivatives for rotation
|
||||
dydx[9] = rotIncrementVectorDot.x();
|
||||
dydx[10] = rotIncrementVectorDot.y();
|
||||
dydx[11] = rotIncrementVectorDot.z();
|
||||
}
|
||||
|
||||
|
||||
void Foam::geometricSixDOF::update(const scalar delta)
|
||||
{
|
||||
// Translation
|
||||
|
||||
// Get displacement
|
||||
const vector Xold = Xrel_.value();
|
||||
|
||||
vector& Xval = Xrel_.value();
|
||||
Xval.x() = coeffs_[0];
|
||||
Xval.y() = coeffs_[1];
|
||||
Xval.z() = coeffs_[2];
|
||||
|
||||
// Get velocity
|
||||
vector& Uval = U_.value();
|
||||
Uval.x() = coeffs_[3];
|
||||
Uval.y() = coeffs_[4];
|
||||
Uval.z() = coeffs_[5];
|
||||
|
||||
// Stabilise translational constraints if necessary
|
||||
forAll(translationalConstraints(), tcI)
|
||||
{
|
||||
// Note: get end time for this ODE step from mesh, assuming that the top
|
||||
// level solves this ode from [t - deltaT, t], yielding solution at
|
||||
// t. Done this way to preserve the interface of ODE class.
|
||||
// VV, 10/Mar/2017.
|
||||
const scalar t = dict().time().value();
|
||||
|
||||
translationalConstraints()[tcI].stabilise(t, Xval, Uval);
|
||||
}
|
||||
|
||||
// Update (possibly constrained) displacement
|
||||
coeffs_[0] = Xval.x();
|
||||
coeffs_[1] = Xval.y();
|
||||
coeffs_[2] = Xval.z();
|
||||
|
||||
// Update (possibly constrained) velocity
|
||||
coeffs_[3] = Uval.x();
|
||||
coeffs_[4] = Uval.y();
|
||||
coeffs_[5] = Uval.z();
|
||||
|
||||
// Update average velocity
|
||||
Uaverage_.value() = (Xval - Xold)/delta;
|
||||
|
||||
|
||||
// Rotation
|
||||
|
||||
// Get angular velocity
|
||||
const vector omegaOld = omega_.value();
|
||||
|
||||
vector& omegaVal = omega_.value();
|
||||
omegaVal.x() = coeffs_[6];
|
||||
omegaVal.y() = coeffs_[7];
|
||||
omegaVal.z() = coeffs_[8];
|
||||
|
||||
// Update rotational increment tensor
|
||||
rotIncrement_ = expMap(vector(coeffs_[9], coeffs_[10], coeffs_[11]));
|
||||
|
||||
// Update rotational tensor
|
||||
rotation_ = (rotation_ & rotIncrement_);
|
||||
|
||||
// Stabilise rotational constraints if necessary
|
||||
forAll(rotationalConstraints(), rcI)
|
||||
{
|
||||
// Note: get end time for this ODE step from mesh, assuming that the top
|
||||
// level solves this ode from [t - deltaT, t], yielding solution at
|
||||
// t. Done this way to preserve the interface of ODE class.
|
||||
// VV, 10/Mar/2017.
|
||||
const scalar t = dict().time().value();
|
||||
|
||||
rotationalConstraints()[rcI].stabilise(t, omegaVal);
|
||||
}
|
||||
|
||||
// Update (possibly constrained) omega
|
||||
coeffs_[6] = omegaVal.x();
|
||||
coeffs_[7] = omegaVal.y();
|
||||
coeffs_[8] = omegaVal.z();
|
||||
|
||||
// Reset increment vector in coefficients for the next step
|
||||
coeffs_[9] = 0;
|
||||
coeffs_[10] = 0;
|
||||
coeffs_[11] = 0;
|
||||
|
||||
// Update average omega
|
||||
omegaAverage_.value() = 0.5*(omegaVal + omegaOld);
|
||||
}
|
||||
|
||||
|
||||
bool Foam::geometricSixDOF::writeData(Ostream& os) const
|
||||
{
|
||||
// First write the part related to base class subobject
|
||||
sixDOFODE::writeData(os);
|
||||
|
||||
// Write type name
|
||||
os.writeKeyword("type") << tab << type()
|
||||
<< token::END_STATEMENT << nl << nl;
|
||||
|
||||
// Write data
|
||||
os.writeKeyword("Xrel") << tab << Xrel_
|
||||
<< token::END_STATEMENT << nl;
|
||||
os.writeKeyword("U") << tab << U_ << token::END_STATEMENT << nl;
|
||||
os.writeKeyword("rotationTensor") << tab << rotation_
|
||||
<< token::END_STATEMENT << nl;
|
||||
os.writeKeyword("rotationIncrementTensor") << tab << rotIncrement_
|
||||
<< token::END_STATEMENT << nl;
|
||||
os.writeKeyword("omega") << tab << omega_
|
||||
<< token::END_STATEMENT << nl << endl;
|
||||
|
||||
return os.good();
|
||||
}
|
||||
|
||||
|
||||
// ************************************************************************* //
|
||||
319
src/ODE/sixDOF/geometricSixDOF/geometricSixDOF.H
Normal file
319
src/ODE/sixDOF/geometricSixDOF/geometricSixDOF.H
Normal file
|
|
@ -0,0 +1,319 @@
|
|||
/*---------------------------------------------------------------------------*\
|
||||
========= |
|
||||
\\ / F ield | foam-extend: Open Source CFD
|
||||
\\ / O peration | Version: 4.0
|
||||
\\ / 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
|
||||
geometricSixDOF
|
||||
|
||||
Description
|
||||
6-DOF solver using a geometric method for integration of rotations.
|
||||
|
||||
Run-time selectable constraints are handled via Lagrangian multipliers using
|
||||
the interface from translational/rotationalConstraint classes.
|
||||
|
||||
Reference (bibtex):
|
||||
|
||||
@article {terzeEtAl2016,
|
||||
Author = {Terze, Z. and M\"{u}ller, A. and Zlatar, D.},
|
||||
title = {Singularity-free time integration of rotational quaternions
|
||||
using non-redundant ordinary differential equations},
|
||||
Journal = {Multibody System Dynamics},
|
||||
Year = {2016},
|
||||
Volume = {38},
|
||||
Number = {3},
|
||||
Pages = {201--225}
|
||||
}
|
||||
|
||||
Note on convention: rotation tensor (R, or rotation_) defines
|
||||
body-to-inertial coordinate system transformation
|
||||
(local-to-global). Opposite as in quaternionSixDOF.
|
||||
|
||||
Author
|
||||
Viktor Pandza, FSB Zagreb. All rights reserved.
|
||||
Vuko Vukcevic, FSB Zagreb. All rights reserved.
|
||||
|
||||
SourceFiles
|
||||
geometricSixDOF.C
|
||||
|
||||
\*---------------------------------------------------------------------------*/
|
||||
|
||||
#ifndef geometricSixDOF_H
|
||||
#define geometricSixDOF_H
|
||||
|
||||
#include "sixDOFODE.H"
|
||||
#include "tolerancesSwitch.H"
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
namespace Foam
|
||||
{
|
||||
|
||||
/*---------------------------------------------------------------------------*\
|
||||
Class geometricSixDOF Declaration
|
||||
\*---------------------------------------------------------------------------*/
|
||||
|
||||
class geometricSixDOF
|
||||
:
|
||||
public sixDOFODE
|
||||
{
|
||||
// Private data
|
||||
|
||||
// Initial body state variables
|
||||
|
||||
//- Displacement relative to spring equilibrium
|
||||
dimensionedVector Xrel_;
|
||||
|
||||
//- Velocity of mass centroid
|
||||
dimensionedVector U_;
|
||||
|
||||
//- Average velocity of mass centroid (evaluated at midstep)
|
||||
dimensionedVector Uaverage_;
|
||||
|
||||
//- Rotation tensor
|
||||
tensor rotation_;
|
||||
|
||||
//- Rotational increment tensor
|
||||
tensor rotIncrement_;
|
||||
|
||||
//- Rotational velocity about mass centroid
|
||||
dimensionedVector omega_;
|
||||
|
||||
//- Average rotational velocity in relative coordinate system
|
||||
// (evaluated at midstep)
|
||||
dimensionedVector omegaAverage_;
|
||||
|
||||
|
||||
//- ODE coefficients
|
||||
scalarField coeffs_;
|
||||
|
||||
|
||||
// Private Member Functions
|
||||
|
||||
//- Disallow default bitwise copy construct
|
||||
geometricSixDOF(const geometricSixDOF&);
|
||||
|
||||
//- Disallow default bitwise assignment
|
||||
void operator=(const geometricSixDOF&);
|
||||
|
||||
|
||||
// Variables in relative coordinate system (solved for)
|
||||
|
||||
//- Return acceleration in relative coordinate system
|
||||
// given current values of relative displacement, velocity,
|
||||
// orientation (rotation tensor) and time
|
||||
dimensionedVector A
|
||||
(
|
||||
const dimensionedVector& xR,
|
||||
const dimensionedVector& uR,
|
||||
const tensor& R,
|
||||
const scalar t
|
||||
) const;
|
||||
|
||||
|
||||
//- Return rotational acceleration in relative coordinate system
|
||||
// given current values for relative rotational velocity,
|
||||
// orientation (rotation tensor) and time
|
||||
dimensionedVector OmegaDot
|
||||
(
|
||||
const tensor& R,
|
||||
const dimensionedVector& omega,
|
||||
const scalar t
|
||||
) const;
|
||||
|
||||
//- Return the Euler part of moment equation
|
||||
dimensionedVector E
|
||||
(
|
||||
const dimensionedVector& omega
|
||||
) const;
|
||||
|
||||
//- Exponential map used to calculate increment of the rotation
|
||||
// tensor
|
||||
tensor expMap(const vector& rotInc) const;
|
||||
|
||||
//- Differential of the expontential map used to calculate the time
|
||||
// derivative of rotation increment vector
|
||||
vector dexpMap(const vector& rotInc, const vector& omega) const;
|
||||
|
||||
|
||||
protected:
|
||||
|
||||
// Protected Member Functions
|
||||
|
||||
// Non-access control for setting state variables
|
||||
|
||||
//- Set ODE parameters from another ODE
|
||||
virtual void setState(const sixDOFODE&);
|
||||
|
||||
|
||||
public:
|
||||
|
||||
// Run-time type information
|
||||
TypeName("geometricSixDOF");
|
||||
|
||||
|
||||
// Static data members
|
||||
|
||||
//- Rotational increment tensor tolerance. Used in expMap member
|
||||
// function in case the rotation is negligibly small
|
||||
static const debug::tolerancesSwitch rotIncTensorTol_;
|
||||
|
||||
//- Rotational increment rate of change tolerance. Used in dexpMap
|
||||
// member function in case the rotation rate is negligibly small
|
||||
static const debug::tolerancesSwitch rotIncRateTol_;
|
||||
|
||||
|
||||
// Constructors
|
||||
|
||||
//- Construct from dictionary
|
||||
geometricSixDOF(const IOobject& io);
|
||||
|
||||
//- Construct geometricSixDOF object, changing name
|
||||
geometricSixDOF
|
||||
(
|
||||
const word& name,
|
||||
const geometricSixDOF& gsd
|
||||
);
|
||||
|
||||
//- Return a clone, changing the name
|
||||
virtual autoPtr<sixDOFODE> clone(const word& name) const;
|
||||
|
||||
|
||||
// Destructor
|
||||
|
||||
virtual ~geometricSixDOF();
|
||||
|
||||
|
||||
// Member Functions
|
||||
|
||||
// Virtual interface for 6DOF motion state
|
||||
|
||||
// Variables in relative coordinate system
|
||||
|
||||
//- Return displacement in translated coordinate system
|
||||
// relative to spring equilibrium
|
||||
virtual const dimensionedVector& Xrel() const;
|
||||
|
||||
//- Return rotational velocity in relative coordinate system
|
||||
virtual const dimensionedVector& omega() const;
|
||||
|
||||
|
||||
// Displacement and velocity in the absolute coordinate system
|
||||
|
||||
//- Return position of origin in absolute coordinate system
|
||||
virtual dimensionedVector X() const;
|
||||
|
||||
//- Return velocity of origin
|
||||
virtual const dimensionedVector& U() const;
|
||||
|
||||
//- Return average velocity of origin (evaluated at midstep)
|
||||
virtual const dimensionedVector& Uaverage() const;
|
||||
|
||||
|
||||
// Average motion per time-step
|
||||
|
||||
//- Return average rotational velocity in relative coordinate
|
||||
// system (evaluated at midstep)
|
||||
virtual const dimensionedVector& omegaAverage() const;
|
||||
|
||||
|
||||
// Rotations
|
||||
|
||||
//- Return rotation tensor to relative coordinate system
|
||||
virtual tensor toRelative() const;
|
||||
|
||||
//- Return rotation tensor to absolute coordinate system
|
||||
virtual tensor toAbsolute() const;
|
||||
|
||||
//- Return transformation tensor between new and previous
|
||||
// rotation
|
||||
virtual const tensor& rotIncrementTensor() const;
|
||||
|
||||
|
||||
// ODE parameters
|
||||
|
||||
//- Return number of equations
|
||||
virtual label nEqns() const
|
||||
{
|
||||
return 12;
|
||||
}
|
||||
|
||||
//- Return access to coefficients
|
||||
virtual scalarField& coeffs()
|
||||
{
|
||||
return coeffs_;
|
||||
}
|
||||
|
||||
//- Return reference to coefficients
|
||||
virtual const scalarField& coeffs() const
|
||||
{
|
||||
return coeffs_;
|
||||
}
|
||||
|
||||
//- Evaluate derivatives
|
||||
virtual void derivatives
|
||||
(
|
||||
const scalar x,
|
||||
const scalarField& y,
|
||||
scalarField& dydx
|
||||
) const;
|
||||
|
||||
//- Evaluate Jacobian
|
||||
virtual void jacobian
|
||||
(
|
||||
const scalar x,
|
||||
const scalarField& y,
|
||||
scalarField& dfdx,
|
||||
scalarSquareMatrix& dfdy
|
||||
) const
|
||||
{
|
||||
notImplemented
|
||||
(
|
||||
"geometricSixDOF::jacobian\n"
|
||||
"(\n"
|
||||
" const scalar x,\n"
|
||||
" const scalarField& y,\n"
|
||||
" scalarField& dfdx,\n"
|
||||
" scalarSquareMatrix& dfdy,\n"
|
||||
") const"
|
||||
);
|
||||
}
|
||||
|
||||
//- Update ODE after the solution, advancing by delta
|
||||
virtual void update(const scalar delta);
|
||||
|
||||
|
||||
// Write controls
|
||||
|
||||
//- WriteData member function required by regIOobject
|
||||
virtual bool writeData(Ostream&) const;
|
||||
};
|
||||
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
} // End namespace Foam
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
#endif
|
||||
|
||||
// ************************************************************************* //
|
||||
557
src/ODE/sixDOF/quaternionSixDOF/quaternionSixDOF.C
Normal file
557
src/ODE/sixDOF/quaternionSixDOF/quaternionSixDOF.C
Normal file
|
|
@ -0,0 +1,557 @@
|
|||
/*---------------------------------------------------------------------------*\
|
||||
========= |
|
||||
\\ / F ield | foam-extend: Open Source CFD
|
||||
\\ / O peration | Version: 4.0
|
||||
\\ / 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
|
||||
quaternionSixDOF
|
||||
|
||||
\*---------------------------------------------------------------------------*/
|
||||
|
||||
#include "quaternionSixDOF.H"
|
||||
#include "OutputControlDictionary.H"
|
||||
#include "addToRunTimeSelectionTable.H"
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
namespace Foam
|
||||
{
|
||||
|
||||
defineTypeNameAndDebug(quaternionSixDOF, 0);
|
||||
addToRunTimeSelectionTable(sixDOFODE, quaternionSixDOF, dictionary);
|
||||
|
||||
}
|
||||
|
||||
// * * * * * * * * * * * * * Private Member Functions * * * * * * * * * * * //
|
||||
|
||||
Foam::dimensionedVector Foam::quaternionSixDOF::A
|
||||
(
|
||||
const dimensionedVector& xR,
|
||||
const dimensionedVector& uR,
|
||||
const HamiltonRodriguezRot& rotation,
|
||||
const scalar t
|
||||
) const
|
||||
{
|
||||
// Create a scalar square matrix representing Newton equations with
|
||||
// constraints and the corresponding source (right hand side vector).
|
||||
// Note: size of the matrix is 3 + number of constraints
|
||||
scalarField rhs(translationalConstraints().size() + 3, 0.0);
|
||||
scalarSquareMatrix M(rhs.size(), 0.0);
|
||||
|
||||
// Insert mass and explicit forcing into the system. Note: translations are
|
||||
// solved in the global coordinate system and the explicit forcing contains
|
||||
// restraining forces
|
||||
const dimensionedVector explicitForcing =
|
||||
force
|
||||
(
|
||||
t,
|
||||
rotation.R(),
|
||||
xR.value(),
|
||||
uR.value()
|
||||
);
|
||||
|
||||
const vector& efVal = explicitForcing.value();
|
||||
const scalar& m = mass().value();
|
||||
|
||||
forAll(efVal, dirI)
|
||||
{
|
||||
M[dirI][dirI] = m;
|
||||
|
||||
rhs[dirI] = efVal[dirI];
|
||||
}
|
||||
|
||||
// Insert contributions from the constraints
|
||||
forAll(translationalConstraints(), tcI)
|
||||
{
|
||||
// Get reference to current constraint
|
||||
const translationalConstraint& curTc = translationalConstraints()[tcI];
|
||||
|
||||
// Get matrix contribution from constraint
|
||||
const vector mc =
|
||||
curTc.matrixContribution
|
||||
(
|
||||
t,
|
||||
rotation.R(),
|
||||
xR.value(),
|
||||
uR.value()
|
||||
);
|
||||
|
||||
// Get matrix index
|
||||
const label index = tcI + 3;
|
||||
|
||||
// Insert contributions into the matrix
|
||||
forAll(mc, dirI)
|
||||
{
|
||||
M[dirI][index] = mc[dirI];
|
||||
M[index][dirI] = mc[dirI];
|
||||
}
|
||||
|
||||
// Insert source contribution (remainder of the constraint function)
|
||||
rhs[index] =
|
||||
curTc.sourceContribution
|
||||
(
|
||||
t,
|
||||
rotation.R(),
|
||||
xR.value(),
|
||||
uR.value()
|
||||
);
|
||||
}
|
||||
|
||||
// Solve the matrix using LU decomposition. Note: solution is in the rhs and
|
||||
// it contains accelerations in the first three entries and corresponding
|
||||
// Lagrangian multipliers in other entries.
|
||||
scalarSquareMatrix::LUsolve(M, rhs);
|
||||
|
||||
return
|
||||
dimensionedVector
|
||||
(
|
||||
"A",
|
||||
force().dimensions()/mass().dimensions(),
|
||||
vector(rhs[0], rhs[1], rhs[2])
|
||||
);
|
||||
}
|
||||
|
||||
|
||||
Foam::dimensionedVector Foam::quaternionSixDOF::OmegaDot
|
||||
(
|
||||
const HamiltonRodriguezRot& rotation,
|
||||
const dimensionedVector& omega,
|
||||
const scalar t
|
||||
) const
|
||||
{
|
||||
// Create a scalar square matrix representing Euler equations with
|
||||
// constraints and the corresponding source (right hand side vector).
|
||||
// Note: size of the matrix is 3 + number of constraints
|
||||
scalarField rhs(rotationalConstraints().size() + 3, 0.0);
|
||||
scalarSquareMatrix J(rhs.size(), 0.0);
|
||||
|
||||
// Get current inertial-to-local transformation. Note: different convention
|
||||
// (R represents coordinate transformation from global to local)
|
||||
const dimensionedTensor R("R", dimless, rotation.R());
|
||||
|
||||
// Insert moment of inertia and explicit forcing into the system
|
||||
const dimensionedVector explicitForcing
|
||||
(
|
||||
E(omega) // Euler part
|
||||
+ (
|
||||
R.value()
|
||||
& moment
|
||||
(
|
||||
t,
|
||||
R.value(),
|
||||
omega.value()
|
||||
)
|
||||
) // External torque with restraints
|
||||
);
|
||||
const vector& efVal = explicitForcing.value();
|
||||
const diagTensor& I = momentOfInertia().value();
|
||||
|
||||
forAll(efVal, dirI)
|
||||
{
|
||||
J[dirI][dirI] = I[dirI];
|
||||
|
||||
rhs[dirI] = efVal[dirI];
|
||||
}
|
||||
|
||||
// Insert contributions from the constraints
|
||||
forAll(rotationalConstraints(), rcI)
|
||||
{
|
||||
// Get reference to current constraint
|
||||
const rotationalConstraint& curRc = rotationalConstraints()[rcI];
|
||||
|
||||
// Get matrix contribution from the constraint
|
||||
const vector mc =
|
||||
curRc.matrixContribution
|
||||
(
|
||||
t,
|
||||
R.value(),
|
||||
omega.value()
|
||||
);
|
||||
|
||||
// Get matrix index
|
||||
const label index = rcI + 3;
|
||||
|
||||
// Insert contributions into the matrix
|
||||
forAll(mc, dirI)
|
||||
{
|
||||
J[dirI][index] = mc[dirI];
|
||||
J[index][dirI] = mc[dirI];
|
||||
}
|
||||
|
||||
// Insert source contribution (remainder of the constraint function)
|
||||
rhs[index] = curRc.sourceContribution(t, R.value(), omega.value());
|
||||
}
|
||||
|
||||
// Solve the matrix using LU decomposition. Note: solution is in the rhs and
|
||||
// it contains OmegaDot's in the first three entries and corresponding
|
||||
// Lagrangian multipliers in other entries.
|
||||
scalarSquareMatrix::LUsolve(J, rhs);
|
||||
|
||||
return
|
||||
dimensionedVector
|
||||
(
|
||||
"OmegaDot",
|
||||
moment().dimensions()/momentOfInertia().dimensions(),
|
||||
vector(rhs[0], rhs[1], rhs[2])
|
||||
);
|
||||
}
|
||||
|
||||
|
||||
Foam::dimensionedVector Foam::quaternionSixDOF::E
|
||||
(
|
||||
const dimensionedVector& omega
|
||||
) const
|
||||
{
|
||||
return (*(momentOfInertia() & omega) & omega);
|
||||
}
|
||||
|
||||
|
||||
// * * * * * * * * * * * Protected Member Functions * * * * * * * * * * * * * //
|
||||
|
||||
void Foam::quaternionSixDOF::setState(const sixDOFODE& sd)
|
||||
{
|
||||
// First set the state in base class subobject
|
||||
sixDOFODE::setState(sd);
|
||||
|
||||
// Cast sixDOFODE& to quaternionSixDOF&
|
||||
const quaternionSixDOF& qsd = refCast<const quaternionSixDOF>(sd);
|
||||
|
||||
// Set state variables for this class
|
||||
Xrel_ = qsd.Xrel_;
|
||||
U_ = qsd.U_;
|
||||
Uaverage_ = qsd.Uaverage_;
|
||||
rotation_ = qsd.rotation_;
|
||||
omega_ = qsd.omega_;
|
||||
omegaAverage_ = qsd.omegaAverage_;
|
||||
|
||||
// Copy ODE coefficients: this carries actual ODE state
|
||||
// HJ, 23/Mar/2015
|
||||
coeffs_ = qsd.coeffs_;
|
||||
}
|
||||
|
||||
|
||||
// * * * * * * * * * * * * * * * * Constructors * * * * * * * * * * * * * * //
|
||||
|
||||
Foam::quaternionSixDOF::quaternionSixDOF(const IOobject& io)
|
||||
:
|
||||
sixDOFODE(io),
|
||||
|
||||
Xrel_(dict().lookup("Xrel")),
|
||||
U_(dict().lookup("U")),
|
||||
Uaverage_("Uaverage", U_),
|
||||
rotation_
|
||||
(
|
||||
vector(dict().lookup("rotationVector")),
|
||||
dimensionedScalar(dict().lookup("rotationAngle")).value()
|
||||
),
|
||||
omega_(dict().lookup("omega")),
|
||||
omegaAverage_("omegaAverage", omega_),
|
||||
|
||||
coeffs_(13, 0.0)
|
||||
{
|
||||
// Set ODE coefficients from position and rotation
|
||||
|
||||
// Linear displacement relative to spring equilibrium
|
||||
const vector& Xval = Xrel_.value();
|
||||
coeffs_[0] = Xval.x();
|
||||
coeffs_[1] = Xval.y();
|
||||
coeffs_[2] = Xval.z();
|
||||
|
||||
// Linear velocity
|
||||
const vector& Uval = U_.value();
|
||||
coeffs_[3] = Uval.x();
|
||||
coeffs_[4] = Uval.y();
|
||||
coeffs_[5] = Uval.z();
|
||||
|
||||
// Rotational velocity in non - inertial coordinate system
|
||||
const vector& omegaVal = omega_.value();
|
||||
coeffs_[6] = omegaVal.x();
|
||||
coeffs_[7] = omegaVal.y();
|
||||
coeffs_[8] = omegaVal.z();
|
||||
|
||||
// Quaternions
|
||||
coeffs_[9] = rotation_.eInitial().e0();
|
||||
coeffs_[10] = rotation_.eInitial().e1();
|
||||
coeffs_[11] = rotation_.eInitial().e2();
|
||||
coeffs_[12] = rotation_.eInitial().e3();
|
||||
}
|
||||
|
||||
|
||||
Foam::quaternionSixDOF::quaternionSixDOF
|
||||
(
|
||||
const word& name,
|
||||
const quaternionSixDOF& qsd
|
||||
)
|
||||
:
|
||||
sixDOFODE(name, qsd),
|
||||
|
||||
Xrel_(qsd.Xrel_.name(), qsd.Xrel_),
|
||||
U_(qsd.U_.name(), qsd.U_),
|
||||
Uaverage_(qsd.Uaverage_.name(), qsd.Uaverage_),
|
||||
rotation_(qsd.rotation_),
|
||||
omega_(qsd.omega_.name(), qsd.omega_),
|
||||
omegaAverage_(qsd.omegaAverage_.name(), qsd.omegaAverage_),
|
||||
|
||||
coeffs_(qsd.coeffs_)
|
||||
{}
|
||||
|
||||
|
||||
Foam::autoPtr<Foam::sixDOFODE> Foam::quaternionSixDOF::clone
|
||||
(
|
||||
const word& name
|
||||
) const
|
||||
{
|
||||
// Create and return an autoPtr to the new quaternionSixDOF object with a
|
||||
// new name
|
||||
return autoPtr<sixDOFODE>
|
||||
(
|
||||
new quaternionSixDOF
|
||||
(
|
||||
name,
|
||||
*this
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
|
||||
// * * * * * * * * * * * * * * * * Destructor * * * * * * * * * * * * * * * //
|
||||
|
||||
Foam::quaternionSixDOF::~quaternionSixDOF()
|
||||
{}
|
||||
|
||||
|
||||
// * * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * //
|
||||
|
||||
const Foam::dimensionedVector& Foam::quaternionSixDOF::Xrel() const
|
||||
{
|
||||
return Xrel_;
|
||||
}
|
||||
|
||||
|
||||
const Foam::dimensionedVector& Foam::quaternionSixDOF::omega() const
|
||||
{
|
||||
return omega_;
|
||||
}
|
||||
|
||||
|
||||
Foam::dimensionedVector Foam::quaternionSixDOF::X() const
|
||||
{
|
||||
return Xequilibrium() + Xrel_;
|
||||
}
|
||||
|
||||
|
||||
const Foam::dimensionedVector& Foam::quaternionSixDOF::U() const
|
||||
{
|
||||
return U_;
|
||||
}
|
||||
|
||||
|
||||
const Foam::dimensionedVector& Foam::quaternionSixDOF::Uaverage() const
|
||||
{
|
||||
return Uaverage_;
|
||||
}
|
||||
|
||||
|
||||
const Foam::dimensionedVector& Foam::quaternionSixDOF::omegaAverage() const
|
||||
{
|
||||
return omegaAverage_;
|
||||
}
|
||||
|
||||
|
||||
Foam::tensor Foam::quaternionSixDOF::toRelative() const
|
||||
{
|
||||
return rotation_.eCurrent().R();
|
||||
}
|
||||
|
||||
|
||||
Foam::tensor Foam::quaternionSixDOF::toAbsolute() const
|
||||
{
|
||||
return rotation_.eCurrent().invR();
|
||||
}
|
||||
|
||||
|
||||
const Foam::tensor& Foam::quaternionSixDOF::rotIncrementTensor() const
|
||||
{
|
||||
return rotation_.rotIncrementTensor();
|
||||
}
|
||||
|
||||
|
||||
void Foam::quaternionSixDOF::derivatives
|
||||
(
|
||||
const scalar x,
|
||||
const scalarField& y,
|
||||
scalarField& dydx
|
||||
) const
|
||||
{
|
||||
// Set the derivatives for displacement
|
||||
dydx[0] = y[3];
|
||||
dydx[1] = y[4];
|
||||
dydx[2] = y[5];
|
||||
|
||||
dimensionedVector curX("curX", dimLength, vector(y[0], y[1], y[2]));
|
||||
dimensionedVector curU("curU", dimVelocity, vector(y[3], y[4], y[5]));
|
||||
const HamiltonRodriguezRot curRotation
|
||||
(
|
||||
y[9],
|
||||
y[10],
|
||||
y[11],
|
||||
y[12]
|
||||
);
|
||||
|
||||
const vector accel = A(curX, curU, curRotation, x).value();
|
||||
|
||||
dydx[3] = accel.x();
|
||||
dydx[4] = accel.y();
|
||||
dydx[5] = accel.z();
|
||||
|
||||
// Set the derivatives for rotation
|
||||
dimensionedVector curOmega
|
||||
(
|
||||
"curOmega",
|
||||
dimless/dimTime,
|
||||
vector(y[6], y[7], y[8])
|
||||
);
|
||||
|
||||
const vector omegaDot = OmegaDot(curRotation, curOmega, x).value();
|
||||
|
||||
dydx[6] = omegaDot.x();
|
||||
dydx[7] = omegaDot.y();
|
||||
dydx[8] = omegaDot.z();
|
||||
|
||||
dydx[9] = curRotation.eDot(curOmega.value(), 0);
|
||||
dydx[10] = curRotation.eDot(curOmega.value(), 1);
|
||||
dydx[11] = curRotation.eDot(curOmega.value(), 2);
|
||||
dydx[12] = curRotation.eDot(curOmega.value(), 3);
|
||||
}
|
||||
|
||||
|
||||
void Foam::quaternionSixDOF::update(const scalar delta)
|
||||
{
|
||||
// Translation
|
||||
|
||||
// Get displacement
|
||||
const vector Xold = Xrel_.value();
|
||||
|
||||
vector& Xval = Xrel_.value();
|
||||
Xval.x() = coeffs_[0];
|
||||
Xval.y() = coeffs_[1];
|
||||
Xval.z() = coeffs_[2];
|
||||
|
||||
// Get velocity
|
||||
vector& Uval = U_.value();
|
||||
Uval.x() = coeffs_[3];
|
||||
Uval.y() = coeffs_[4];
|
||||
Uval.z() = coeffs_[5];
|
||||
|
||||
// Stabilise translational constraints if necessary
|
||||
forAll(translationalConstraints(), tcI)
|
||||
{
|
||||
// Note: get end time for this ODE step from mesh, assuming that the top
|
||||
// level solves this ode from [t - deltaT, t], yielding solution at
|
||||
// t. Done this way to preserve the interface of ODE class.
|
||||
// VV, 10/Mar/2017.
|
||||
const scalar t = dict().time().value();
|
||||
|
||||
translationalConstraints()[tcI].stabilise(t, Xval, Uval);
|
||||
}
|
||||
|
||||
// Update (possibly constrained) displacement
|
||||
coeffs_[0] = Xval.x();
|
||||
coeffs_[1] = Xval.y();
|
||||
coeffs_[2] = Xval.z();
|
||||
|
||||
// Update (possibly constrained) velocity
|
||||
coeffs_[3] = Uval.x();
|
||||
coeffs_[4] = Uval.y();
|
||||
coeffs_[5] = Uval.z();
|
||||
|
||||
// Update average velocity
|
||||
Uaverage_.value() = (Xval - Xold)/delta;
|
||||
|
||||
|
||||
// Rotation
|
||||
|
||||
// Get angular velocity
|
||||
vector& omegaVal = omega_.value();
|
||||
omegaVal.x() = coeffs_[6];
|
||||
omegaVal.y() = coeffs_[7];
|
||||
omegaVal.z() = coeffs_[8];
|
||||
|
||||
|
||||
rotation_.updateRotation
|
||||
(
|
||||
HamiltonRodriguezRot
|
||||
(
|
||||
coeffs_[9],
|
||||
coeffs_[10],
|
||||
coeffs_[11],
|
||||
coeffs_[12]
|
||||
)
|
||||
);
|
||||
|
||||
// Stabilise rotational constraints if necessary
|
||||
forAll(rotationalConstraints(), rcI)
|
||||
{
|
||||
// Note: get end time for this ODE step from mesh, assuming that the top
|
||||
// level solves this ode from [t - deltaT, t], yielding solution at
|
||||
// t. Done this way to preserve the interface of ODE class.
|
||||
// VV, 10/Mar/2017.
|
||||
const scalar t = dict().time().value();
|
||||
|
||||
rotationalConstraints()[rcI].stabilise(t, omegaVal);
|
||||
}
|
||||
|
||||
// Update (possibly constrained) omega
|
||||
coeffs_[6] = omegaVal.x();
|
||||
coeffs_[7] = omegaVal.y();
|
||||
coeffs_[8] = omegaVal.z();
|
||||
|
||||
// Update average omega
|
||||
omegaAverage_.value() = rotation_.omegaAverage(delta);
|
||||
}
|
||||
|
||||
|
||||
bool Foam::quaternionSixDOF::writeData(Ostream& os) const
|
||||
{
|
||||
// First write the part related to base class subobject
|
||||
sixDOFODE::writeData(os);
|
||||
|
||||
// Write type name
|
||||
os.writeKeyword("type") << tab << type()
|
||||
<< token::END_STATEMENT << nl << nl;
|
||||
|
||||
// Write data
|
||||
os.writeKeyword("Xrel") << tab << Xrel_
|
||||
<< token::END_STATEMENT << nl;
|
||||
os.writeKeyword("U") << tab << U_ << token::END_STATEMENT << nl;
|
||||
os.writeKeyword("rotationVector") << tab << rotation_.rotVector()
|
||||
<< token::END_STATEMENT << nl;
|
||||
os.writeKeyword("rotationAngle") << tab
|
||||
<< dimensionedScalar("rotAngle", dimless, rotation_.rotAngle())
|
||||
<< token::END_STATEMENT << nl;
|
||||
os.writeKeyword("omega") << tab << omega_
|
||||
<< token::END_STATEMENT << nl << nl;
|
||||
|
||||
return os.good();
|
||||
}
|
||||
|
||||
|
||||
// ************************************************************************* //
|
||||
286
src/ODE/sixDOF/quaternionSixDOF/quaternionSixDOF.H
Normal file
286
src/ODE/sixDOF/quaternionSixDOF/quaternionSixDOF.H
Normal file
|
|
@ -0,0 +1,286 @@
|
|||
/*---------------------------------------------------------------------------*\
|
||||
========= |
|
||||
\\ / F ield | foam-extend: Open Source CFD
|
||||
\\ / O peration | Version: 4.0
|
||||
\\ / 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
|
||||
quaternionSixDOF
|
||||
|
||||
Description
|
||||
6-DOF solver using quaternions
|
||||
|
||||
Run-time selectable constraints are handled via Lagrangian multipliers using
|
||||
the interface from translationa/rotationalConstraint classes.
|
||||
|
||||
Note on convention: rotation tensor R obtained from finiteRotation
|
||||
(rotation_) defines inertial-to-body coordinate system transformation
|
||||
(global-to-local). Opposite as in geometrixSixDOF.
|
||||
|
||||
Author
|
||||
Dubravko Matijasevic, FSB Zagreb. All rights reserved.
|
||||
|
||||
Reorganization by
|
||||
Vuko Vukcevic, FSB Zagreb. All rights reserved.
|
||||
Inno Gatin, FSB Zagreb. All rights reserved.
|
||||
Hrvoje Jasak, FSB Zagreb. All rights reserved.
|
||||
|
||||
SourceFiles
|
||||
quaternionSixDOF.C
|
||||
|
||||
\*---------------------------------------------------------------------------*/
|
||||
|
||||
#ifndef quaternionSixDOF_H
|
||||
#define quaternionSixDOF_H
|
||||
|
||||
#include "sixDOFODE.H"
|
||||
#include "finiteRotation.H"
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
namespace Foam
|
||||
{
|
||||
|
||||
/*---------------------------------------------------------------------------*\
|
||||
Class quaternionSixDOF Declaration
|
||||
\*---------------------------------------------------------------------------*/
|
||||
|
||||
class quaternionSixDOF
|
||||
:
|
||||
public sixDOFODE
|
||||
{
|
||||
// Private data
|
||||
|
||||
// Body state variables
|
||||
|
||||
//- Displacement relative to spring equilibrium
|
||||
dimensionedVector Xrel_;
|
||||
|
||||
//- Velocity of mass centroid
|
||||
dimensionedVector U_;
|
||||
|
||||
//- Average velocity of mass centroid (evaluated at midstep)
|
||||
dimensionedVector Uaverage_;
|
||||
|
||||
//- Finite rotation
|
||||
finiteRotation rotation_;
|
||||
|
||||
//- Rotational velocity about mass centroid
|
||||
dimensionedVector omega_;
|
||||
|
||||
//- Average rotational velocity in relative coordinate system
|
||||
// (evaluated at midstep)
|
||||
dimensionedVector omegaAverage_;
|
||||
|
||||
|
||||
//- ODE coefficients
|
||||
scalarField coeffs_;
|
||||
|
||||
|
||||
// Private Member Functions
|
||||
|
||||
//- Disallow default bitwise copy construct
|
||||
quaternionSixDOF(const quaternionSixDOF&);
|
||||
|
||||
//- Disallow default bitwise assignment
|
||||
void operator=(const quaternionSixDOF&);
|
||||
|
||||
|
||||
// Variables in relative coordinate system (solved for)
|
||||
|
||||
//- Return acceleration in relative coordinate system
|
||||
// given current values of relative displacement and velocity
|
||||
dimensionedVector A
|
||||
(
|
||||
const dimensionedVector& xR,
|
||||
const dimensionedVector& uR,
|
||||
const HamiltonRodriguezRot& rotation,
|
||||
const scalar t
|
||||
) const;
|
||||
|
||||
|
||||
//- Return rotational acceleration in relative coordinate system
|
||||
// given current values for relative rotational velocity
|
||||
dimensionedVector OmegaDot
|
||||
(
|
||||
const HamiltonRodriguezRot& rotation,
|
||||
const dimensionedVector& omega,
|
||||
const scalar t
|
||||
) const;
|
||||
|
||||
//- Return the Euler part of moment equation
|
||||
dimensionedVector E
|
||||
(
|
||||
const dimensionedVector& omega
|
||||
) const;
|
||||
|
||||
|
||||
protected:
|
||||
|
||||
// Protected Member Functions
|
||||
|
||||
// Non-access control for setting state variables
|
||||
|
||||
//- Set ODE parameters from another ODE
|
||||
virtual void setState(const sixDOFODE&);
|
||||
|
||||
|
||||
public:
|
||||
|
||||
// Run-time type information
|
||||
TypeName("quaternionSixDOF");
|
||||
|
||||
|
||||
// Constructors
|
||||
|
||||
//- Construct from dictionary
|
||||
quaternionSixDOF(const IOobject& io);
|
||||
|
||||
//- Construct quaternionSixDOF object, changing name
|
||||
quaternionSixDOF
|
||||
(
|
||||
const word& name,
|
||||
const quaternionSixDOF& qsd
|
||||
);
|
||||
|
||||
//- Return a clone, changing the name
|
||||
virtual autoPtr<sixDOFODE> clone(const word& name) const;
|
||||
|
||||
|
||||
// Destructor
|
||||
|
||||
virtual ~quaternionSixDOF();
|
||||
|
||||
|
||||
// Member Functions
|
||||
|
||||
// Virtual interface for 6DOF motion state
|
||||
|
||||
// Variables in relative coordinate system
|
||||
|
||||
//- Return displacement in translated coordinate system
|
||||
// relative to spring equilibrium
|
||||
virtual const dimensionedVector& Xrel() const;
|
||||
|
||||
//- Return rotational velocity in relative coordinate system
|
||||
virtual const dimensionedVector& omega() const;
|
||||
|
||||
|
||||
// Displacement and velocity in the absolute coordinate system
|
||||
|
||||
//- Return position of origin in absolute coordinate system
|
||||
virtual dimensionedVector X() const;
|
||||
|
||||
//- Return velocity of origin
|
||||
virtual const dimensionedVector& U() const;
|
||||
|
||||
//- Return average velocity of origin (evaluated at midstep)
|
||||
virtual const dimensionedVector& Uaverage() const;
|
||||
|
||||
|
||||
// Average motion per time-step
|
||||
|
||||
//- Return average rotational velocity in relative coordinate
|
||||
// system (evaluated at midstep)
|
||||
virtual const dimensionedVector& omegaAverage() const;
|
||||
|
||||
|
||||
// Rotations
|
||||
|
||||
//- Return rotation tensor to relative coordinate system
|
||||
virtual tensor toRelative() const;
|
||||
|
||||
//- Return rotation tensor to absolute coordinate system
|
||||
virtual tensor toAbsolute() const;
|
||||
|
||||
//- Return transformation tensor between new and previous
|
||||
// rotation
|
||||
virtual const tensor& rotIncrementTensor() const;
|
||||
|
||||
|
||||
// ODE parameters
|
||||
|
||||
//- Return number of equations
|
||||
virtual label nEqns() const
|
||||
{
|
||||
return 13;
|
||||
}
|
||||
|
||||
//- Return access to coefficients
|
||||
virtual scalarField& coeffs()
|
||||
{
|
||||
return coeffs_;
|
||||
}
|
||||
|
||||
//- Return reference to coefficients
|
||||
virtual const scalarField& coeffs() const
|
||||
{
|
||||
return coeffs_;
|
||||
}
|
||||
|
||||
//- Evaluate derivatives
|
||||
virtual void derivatives
|
||||
(
|
||||
const scalar x,
|
||||
const scalarField& y,
|
||||
scalarField& dydx
|
||||
) const;
|
||||
|
||||
//- Evaluate Jacobian
|
||||
virtual void jacobian
|
||||
(
|
||||
const scalar x,
|
||||
const scalarField& y,
|
||||
scalarField& dfdx,
|
||||
scalarSquareMatrix& dfdy
|
||||
) const
|
||||
{
|
||||
notImplemented
|
||||
(
|
||||
"quaternionSixDOF::jacobian\n"
|
||||
"(\n"
|
||||
" const scalar x,\n"
|
||||
" const scalarField& y,\n"
|
||||
" scalarField& dfdx,\n"
|
||||
" scalarSquareMatrix& dfdy,\n"
|
||||
") const"
|
||||
);
|
||||
}
|
||||
|
||||
//- Update ODE after the solution, advancing by delta
|
||||
virtual void update(const scalar delta);
|
||||
|
||||
|
||||
// Write controls
|
||||
|
||||
//- WriteData member function required by regIOobject
|
||||
virtual bool writeData(Ostream&) const;
|
||||
};
|
||||
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
} // End namespace Foam
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
#endif
|
||||
|
||||
// ************************************************************************* //
|
||||
|
|
@ -26,7 +26,8 @@ Class
|
|||
|
||||
Author
|
||||
Dubravko Matijasevic, FSB Zagreb. All rights reserved.
|
||||
Updated by Hrvoje Jasak
|
||||
Hrvoje Jasak, FSB Zagreb. All rights reserved.
|
||||
Vuko Vukcevic, FSB Zagreb. All rights reserved.
|
||||
|
||||
Description
|
||||
Rotation defined with 4 parameters: quaternions.
|
||||
|
|
@ -66,13 +67,13 @@ class HamiltonRodriguezRot
|
|||
scalarRectangularMatrix Gt_;
|
||||
|
||||
//- Inertial to rotated coordinate system transformation
|
||||
mutable tensor R_;
|
||||
tensor R_;
|
||||
|
||||
|
||||
// Private member functions
|
||||
|
||||
//- Calculate R_ - inertial to body coord. sys. rotation
|
||||
inline void calculateR() const
|
||||
inline void calculateR()
|
||||
{
|
||||
R_.xx() = 2*(e1_*e1_ + e0_*e0_ - 0.5);
|
||||
R_.xy() = 2*(e1_*e2_ + e0_*e3_);
|
||||
|
|
@ -133,11 +134,7 @@ public:
|
|||
}
|
||||
|
||||
//- Construct from rotation vector and angle
|
||||
explicit HamiltonRodriguezRot
|
||||
(
|
||||
const vector& rVect,
|
||||
const scalar& rAngle
|
||||
)
|
||||
HamiltonRodriguezRot(const vector& rVect, const scalar& rAngle)
|
||||
:
|
||||
Gt_(4, 3),
|
||||
R_(tensor::zero)
|
||||
|
|
@ -164,6 +161,29 @@ public:
|
|||
calculateGt();
|
||||
}
|
||||
|
||||
//- Construct from rotation tensor
|
||||
explicit HamiltonRodriguezRot(const tensor& R)
|
||||
:
|
||||
Gt_(4, 3),
|
||||
R_(R)
|
||||
{
|
||||
// Calculate Hamilton - Rodriguez (Euler) parameters from rotation
|
||||
// matrix
|
||||
|
||||
// Note: sign of e0_ assumed positive
|
||||
e0_ = Foam::sqrt((tr(R) + 1.0)/4.0);
|
||||
|
||||
// Helper variable
|
||||
const scalar oneByFourEo = 1.0/(4.0*e0_);
|
||||
|
||||
e1_ = oneByFourEo*(R.zy() - R.yz());
|
||||
e2_ = oneByFourEo*(R.xz() - R.zx());
|
||||
e3_ = oneByFourEo*(R.yx() - R.xy());
|
||||
|
||||
// Calculate Gt
|
||||
calculateGt();
|
||||
}
|
||||
|
||||
|
||||
// Destructor
|
||||
|
||||
|
|
|
|||
|
|
@ -22,7 +22,7 @@ License
|
|||
along with foam-extend. If not, see <http://www.gnu.org/licenses/>.
|
||||
|
||||
Class
|
||||
sixDOFbodies
|
||||
sixDOFBodies
|
||||
|
||||
Description
|
||||
6-DOF solver for multiple bodies
|
||||
|
|
@ -33,11 +33,11 @@ Author
|
|||
\*---------------------------------------------------------------------------*/
|
||||
|
||||
#include "objectRegistry.H"
|
||||
#include "sixDOFbodies.H"
|
||||
#include "sixDOFBodies.H"
|
||||
|
||||
// * * * * * * * * * * * * * Private Member Functions * * * * * * * * * * * //
|
||||
|
||||
void Foam::sixDOFbodies::setBodies()
|
||||
void Foam::sixDOFBodies::setBodies()
|
||||
{
|
||||
// Find if duplicate name existes
|
||||
forAll (names_, bodyI)
|
||||
|
|
@ -51,8 +51,9 @@ void Foam::sixDOFbodies::setBodies()
|
|||
{
|
||||
if (names_[bodyI] == names_[otherBody])
|
||||
{
|
||||
FatalErrorIn("sixDOFbodies::setBodies()")
|
||||
<< "Duplicate names of bodies: this is not allowed"
|
||||
FatalErrorIn("sixDOFBodies::setBodies()")
|
||||
<< "Found duplicate name: " << names_[bodyI]
|
||||
<< " for bodies. This is not allowed."
|
||||
<< exit(FatalError);
|
||||
}
|
||||
}
|
||||
|
|
@ -66,7 +67,7 @@ void Foam::sixDOFbodies::setBodies()
|
|||
odes_.set
|
||||
(
|
||||
bodyI,
|
||||
new sixDOFqODE
|
||||
sixDOFODE::New
|
||||
(
|
||||
IOobject
|
||||
(
|
||||
|
|
@ -82,19 +83,18 @@ void Foam::sixDOFbodies::setBodies()
|
|||
solvers_.set
|
||||
(
|
||||
bodyI,
|
||||
ODESolver::New
|
||||
(
|
||||
lookup("solver"),
|
||||
odes_[bodyI]
|
||||
)
|
||||
ODESolver::New(lookup("solver"), odes_[bodyI])
|
||||
);
|
||||
|
||||
Info<< "Finished creating " << odes_[bodyI].type()
|
||||
<< " object for body " << names_[bodyI] << endl;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
// * * * * * * * * * * * * * * * * Constructors * * * * * * * * * * * * * * //
|
||||
|
||||
Foam::sixDOFbodies::sixDOFbodies
|
||||
Foam::sixDOFBodies::sixDOFBodies
|
||||
(
|
||||
const Time& runTime
|
||||
)
|
||||
|
|
@ -121,7 +121,7 @@ Foam::sixDOFbodies::sixDOFbodies
|
|||
|
||||
// * * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * //
|
||||
|
||||
void Foam::sixDOFbodies::solve()
|
||||
void Foam::sixDOFBodies::solve()
|
||||
{
|
||||
const scalar tol = readScalar(lookup("eps"));
|
||||
|
||||
|
|
@ -130,10 +130,19 @@ void Foam::sixDOFbodies::solve()
|
|||
Info << "Solving 6-DOF for " << names_[bodyI] << " in time"
|
||||
<< tab << "T = " << runTime_.value() << " s" << endl;
|
||||
|
||||
// Note: set external force and moment needed to initialize the state
|
||||
// of the sixDOFODE to correctly take into account multiple calls per
|
||||
// time step. Using constant force and moment throughout simulation.
|
||||
odes_[bodyI].setExternalForceAndMoment
|
||||
(
|
||||
dimensionedVector(odes_[bodyI].force()),
|
||||
dimensionedVector(odes_[bodyI].moment())
|
||||
);
|
||||
|
||||
solvers_[bodyI].solve
|
||||
(
|
||||
runTime_.value() - runTime_.deltaT().value(),
|
||||
runTime_.value(),
|
||||
runTime_.value() + runTime_.deltaT().value(),
|
||||
tol,
|
||||
runTime_.deltaT().value()
|
||||
);
|
||||
|
|
@ -141,13 +150,13 @@ void Foam::sixDOFbodies::solve()
|
|||
}
|
||||
|
||||
|
||||
const Foam::wordList& Foam::sixDOFbodies::names() const
|
||||
const Foam::wordList& Foam::sixDOFBodies::names() const
|
||||
{
|
||||
return names_;
|
||||
}
|
||||
|
||||
|
||||
const Foam::PtrList<Foam::sixDOFqODE>& Foam::sixDOFbodies::operator()() const
|
||||
const Foam::PtrList<Foam::sixDOFODE>& Foam::sixDOFBodies::operator()() const
|
||||
{
|
||||
return odes_;
|
||||
}
|
||||
|
|
@ -22,7 +22,7 @@ License
|
|||
along with foam-extend. If not, see <http://www.gnu.org/licenses/>.
|
||||
|
||||
Class
|
||||
sixDOFbodies
|
||||
sixDOFBodies
|
||||
|
||||
Description
|
||||
6-DOF solver for multiple bodies
|
||||
|
|
@ -31,18 +31,17 @@ Author
|
|||
Dubravko Matijasevic, FSB Zagreb. All rights reserved.
|
||||
|
||||
SourceFiles
|
||||
sixDOFbodies.C
|
||||
sixDOFBodies.C
|
||||
|
||||
\*---------------------------------------------------------------------------*/
|
||||
|
||||
#ifndef sixDOFbodies_H
|
||||
#define sixDOFbodies_H
|
||||
#ifndef sixDOFBodies_H
|
||||
#define sixDOFBodies_H
|
||||
|
||||
#include "foamTime.H"
|
||||
#include "IOdictionary.H"
|
||||
#include "sixDOFqODE.H"
|
||||
#include "sixDOFODE.H"
|
||||
#include "ODESolver.H"
|
||||
#include "finiteRotation.H"
|
||||
#include "primitiveFields.H"
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
|
@ -51,10 +50,10 @@ namespace Foam
|
|||
{
|
||||
|
||||
/*---------------------------------------------------------------------------*\
|
||||
Class sixDOFbodies Declaration
|
||||
Class sixDOFBodies Declaration
|
||||
\*---------------------------------------------------------------------------*/
|
||||
|
||||
class sixDOFbodies
|
||||
class sixDOFBodies
|
||||
:
|
||||
public IOdictionary
|
||||
{
|
||||
|
|
@ -63,10 +62,10 @@ class sixDOFbodies
|
|||
//- Reference to time
|
||||
const Time& runTime_;
|
||||
|
||||
// Pointer list of Foam::sixDOFqODE objects
|
||||
PtrList<sixDOFqODE> odes_;
|
||||
// Pointer list of Foam::sixDOFODE objects
|
||||
PtrList<sixDOFODE> odes_;
|
||||
|
||||
// Pointer list of Foam::sixDOFqODE solvers
|
||||
// Pointer list of Foam::sixDOFODE solvers
|
||||
PtrList<ODESolver> solvers_;
|
||||
|
||||
// Name list of solved bodies
|
||||
|
|
@ -76,10 +75,10 @@ class sixDOFbodies
|
|||
// Private Member Functions
|
||||
|
||||
//- Disallow default bitwise copy construct
|
||||
sixDOFbodies(const sixDOFbodies&);
|
||||
sixDOFBodies(const sixDOFBodies&);
|
||||
|
||||
//- Disallow default bitwise assignment
|
||||
void operator=(const sixDOFbodies&);
|
||||
void operator=(const sixDOFBodies&);
|
||||
|
||||
//- Set bodies
|
||||
void setBodies();
|
||||
|
|
@ -90,12 +89,12 @@ public:
|
|||
// Constructors
|
||||
|
||||
//- Construct from Time
|
||||
sixDOFbodies(const Time& runTime);
|
||||
sixDOFBodies(const Time& runTime);
|
||||
|
||||
|
||||
// Destructor
|
||||
|
||||
virtual ~sixDOFbodies()
|
||||
virtual ~sixDOFBodies()
|
||||
{}
|
||||
|
||||
|
||||
|
|
@ -105,7 +104,7 @@ public:
|
|||
const wordList& names() const;
|
||||
|
||||
//- Return list of bodies
|
||||
const PtrList<sixDOFqODE>& operator()() const;
|
||||
const PtrList<sixDOFODE>& operator()() const;
|
||||
|
||||
//- Solve ODEs and update position
|
||||
void solve();
|
||||
|
|
@ -0,0 +1,145 @@
|
|||
/*---------------------------------------------------------------------------*\
|
||||
========= |
|
||||
\\ / F ield | foam-extend: Open Source CFD
|
||||
\\ / O peration | Version: 4.0
|
||||
\\ / 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 "constantAngularAcceleration.H"
|
||||
#include "addToRunTimeSelectionTable.H"
|
||||
|
||||
// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
|
||||
|
||||
namespace Foam
|
||||
{
|
||||
defineTypeNameAndDebug(constantAngularAcceleration, 0);
|
||||
addToRunTimeSelectionTable
|
||||
(
|
||||
rotationalConstraint,
|
||||
constantAngularAcceleration,
|
||||
word
|
||||
);
|
||||
}
|
||||
|
||||
// * * * * * * * * * * * * * * * * Constructors * * * * * * * * * * * * * * //
|
||||
|
||||
Foam::constantAngularAcceleration::constantAngularAcceleration
|
||||
(
|
||||
const word& name,
|
||||
const dictionary& dict,
|
||||
const sixDOFODE& sixDOF
|
||||
)
|
||||
:
|
||||
rotationalConstraint(name, dict, sixDOF),
|
||||
dir_(dict.lookup("constraintDirection")),
|
||||
alpha_(readScalar(dict.lookup("angularAcceleration"))),
|
||||
inGlobal_(dict.lookup("inGlobalCoordinateSystem"))
|
||||
{
|
||||
// Rescale direction
|
||||
if (mag(dir_) < SMALL)
|
||||
{
|
||||
FatalErrorIn
|
||||
(
|
||||
"Foam::constantTranslationalAcceleration::"
|
||||
"constantTranslationalAcceleration"
|
||||
"\n("
|
||||
"\n const word& name,"
|
||||
"\n const dictionary& dict"
|
||||
"\n)"
|
||||
) << "Zero direction specified. This is not allowed."
|
||||
<< exit(FatalError);
|
||||
}
|
||||
else
|
||||
{
|
||||
dir_ /= mag(dir_);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
Foam::autoPtr<Foam::rotationalConstraint>
|
||||
Foam::constantAngularAcceleration::clone() const
|
||||
{
|
||||
return autoPtr<rotationalConstraint>
|
||||
(
|
||||
new constantAngularAcceleration(*this)
|
||||
);
|
||||
}
|
||||
|
||||
|
||||
// * * * * * * * * * * * * * * * * Destructor * * * * * * * * * * * * * * * //
|
||||
|
||||
Foam::constantAngularAcceleration::~constantAngularAcceleration()
|
||||
{}
|
||||
|
||||
|
||||
// * * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * //
|
||||
|
||||
Foam::vector Foam::constantAngularAcceleration::matrixContribution
|
||||
(
|
||||
const scalar,
|
||||
const tensor& toRelative,
|
||||
const vector&
|
||||
) const
|
||||
{
|
||||
vector mc;
|
||||
|
||||
if (inGlobal_)
|
||||
{
|
||||
// Constraint is given in global (inertial) coordinate system, transform
|
||||
// it to local
|
||||
mc = toRelative & dir_;
|
||||
}
|
||||
else
|
||||
{
|
||||
// Constraint already in local (body) coordinate system
|
||||
mc = dir_;
|
||||
}
|
||||
|
||||
return mc;
|
||||
}
|
||||
|
||||
|
||||
Foam::scalar Foam::constantAngularAcceleration::sourceContribution
|
||||
(
|
||||
const scalar,
|
||||
const tensor& toRelative,
|
||||
const vector&
|
||||
) const
|
||||
{
|
||||
return alpha_;
|
||||
}
|
||||
|
||||
|
||||
void Foam::constantAngularAcceleration::write(Ostream& os) const
|
||||
{
|
||||
os.writeKeyword("type") << tab << type()
|
||||
<< token::END_STATEMENT << nl << nl;
|
||||
|
||||
os.writeKeyword("constraintDirection") << tab << dir_
|
||||
<< token::END_STATEMENT << nl;
|
||||
os.writeKeyword("angularAcceleration") << tab << alpha_
|
||||
<< token::END_STATEMENT << nl;
|
||||
os.writeKeyword("inGlobalCoordinateSystem") << tab << inGlobal_
|
||||
<< token::END_STATEMENT << endl;
|
||||
}
|
||||
|
||||
|
||||
// ************************************************************************* //
|
||||
|
|
@ -0,0 +1,143 @@
|
|||
/*---------------------------------------------------------------------------*\
|
||||
========= |
|
||||
\\ / F ield | foam-extend: Open Source CFD
|
||||
\\ / O peration | Version: 4.0
|
||||
\\ / 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::constantAngularAcceleration
|
||||
|
||||
Description
|
||||
Rotational constraint defined by constant angular acceleration:
|
||||
|
||||
g(omegaDot) = omegaDot - a = 0.
|
||||
|
||||
Author
|
||||
Viktor Pandza, FSB Zagreb. All rights reserved.
|
||||
Vuko Vukcevic, FSB Zagreb. All rights reserved.
|
||||
|
||||
SourceFiles
|
||||
constantAngularAcceleration.C
|
||||
|
||||
\*---------------------------------------------------------------------------*/
|
||||
|
||||
#ifndef constantAngularAcceleration_H
|
||||
#define constantAngularAcceleration_H
|
||||
|
||||
#include "rotationalConstraint.H"
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
namespace Foam
|
||||
{
|
||||
|
||||
/*---------------------------------------------------------------------------*\
|
||||
Class constantAngularAcceleration Declaration
|
||||
\*---------------------------------------------------------------------------*/
|
||||
|
||||
class constantAngularAcceleration
|
||||
:
|
||||
public rotationalConstraint
|
||||
{
|
||||
// Private data
|
||||
|
||||
//- Direction of the constraint (unit vector)
|
||||
vector dir_;
|
||||
|
||||
//- Constant value of angular acceleration
|
||||
const scalar alpha_;
|
||||
|
||||
//- Switch whether the constraint should be applied in local or global
|
||||
// coordinate system
|
||||
const Switch inGlobal_;
|
||||
|
||||
|
||||
public:
|
||||
|
||||
//- Runtime type information
|
||||
TypeName("constantAngularAcceleration");
|
||||
|
||||
|
||||
// Constructors
|
||||
|
||||
//- Construct from dictionary
|
||||
constantAngularAcceleration
|
||||
(
|
||||
const word& name,
|
||||
const dictionary& dict,
|
||||
const sixDOFODE& sixDOF
|
||||
);
|
||||
|
||||
//- Construct and return a clone
|
||||
virtual autoPtr<rotationalConstraint> clone() const;
|
||||
|
||||
|
||||
// Destructor
|
||||
|
||||
virtual ~constantAngularAcceleration();
|
||||
|
||||
|
||||
// Member Functions
|
||||
|
||||
// Constraint specific functions
|
||||
|
||||
//- Return matrix contribution defined by constraint, f(t)
|
||||
virtual vector matrixContribution
|
||||
(
|
||||
const scalar,
|
||||
const tensor& toRelative,
|
||||
const vector&
|
||||
) const;
|
||||
|
||||
//- Return source contribution defined by constraint, a(t)
|
||||
virtual scalar sourceContribution
|
||||
(
|
||||
const scalar,
|
||||
const tensor&,
|
||||
const vector&
|
||||
) const;
|
||||
|
||||
//- Stabilise the constraint
|
||||
virtual void stabilise
|
||||
(
|
||||
const scalar,
|
||||
vector&
|
||||
) const
|
||||
{
|
||||
// Does nothing: no need to stabilise this constraint
|
||||
}
|
||||
|
||||
|
||||
// I-O Functions
|
||||
|
||||
//- Virtual write function
|
||||
virtual void write(Ostream& os) const;
|
||||
};
|
||||
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
} // End namespace Foam
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
#endif
|
||||
|
||||
// ************************************************************************* //
|
||||
|
|
@ -0,0 +1,131 @@
|
|||
/*---------------------------------------------------------------------------*\
|
||||
========= |
|
||||
\\ / F ield | foam-extend: Open Source CFD
|
||||
\\ / O peration | Version: 4.0
|
||||
\\ / 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 "rotationalConstraint.H"
|
||||
#include "sixDOFODE.H"
|
||||
|
||||
// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
|
||||
|
||||
namespace Foam
|
||||
{
|
||||
defineTypeNameAndDebug(rotationalConstraint, 0);
|
||||
defineRunTimeSelectionTable(rotationalConstraint, word);
|
||||
}
|
||||
|
||||
// * * * * * * * * * * * * * * * * Constructors * * * * * * * * * * * * * * //
|
||||
|
||||
Foam::rotationalConstraint::rotationalConstraint
|
||||
(
|
||||
const word& name,
|
||||
const dictionary& dict,
|
||||
const sixDOFODE& sixDOF
|
||||
)
|
||||
:
|
||||
name_(name),
|
||||
sixDOF_(sixDOF)
|
||||
{}
|
||||
|
||||
|
||||
// * * * * * * * * * * * * * * * * Destructor * * * * * * * * * * * * * * * //
|
||||
|
||||
Foam::rotationalConstraint::~rotationalConstraint()
|
||||
{}
|
||||
|
||||
|
||||
// * * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * //
|
||||
|
||||
const Foam::word& Foam::rotationalConstraint::name() const
|
||||
{
|
||||
return name_;
|
||||
}
|
||||
|
||||
|
||||
const Foam::sixDOFODE& Foam::rotationalConstraint::sixDOF() const
|
||||
{
|
||||
return sixDOF_;
|
||||
}
|
||||
|
||||
|
||||
Foam::autoPtr<Foam::rotationalConstraint> Foam::rotationalConstraint::New
|
||||
(
|
||||
const word& name,
|
||||
const dictionary& dict,
|
||||
const sixDOFODE& sixDOF
|
||||
)
|
||||
{
|
||||
const word constraintType(dict.lookup("type"));
|
||||
|
||||
wordConstructorTable::iterator cstrIter =
|
||||
wordConstructorTablePtr_->find(constraintType);
|
||||
|
||||
if (cstrIter == wordConstructorTablePtr_->end())
|
||||
{
|
||||
FatalErrorIn
|
||||
(
|
||||
"rotationalConstraint::New"
|
||||
"\n("
|
||||
"\n const word& name,"
|
||||
"\n const dictionary& dict,"
|
||||
"\n)"
|
||||
) << "Unknown rotation constraint type: " << constraintType
|
||||
<< endl << endl
|
||||
<< "Valid rotation constraint types are: " << endl
|
||||
<< wordConstructorTablePtr_->sortedToc()
|
||||
<< exit(FatalError);
|
||||
}
|
||||
|
||||
return autoPtr<rotationalConstraint>
|
||||
(
|
||||
cstrIter()
|
||||
(
|
||||
name,
|
||||
dict,
|
||||
sixDOF
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
|
||||
// * * * * * * * * * * * * * * * IOstream Operators * * * * * * * * * * * * //
|
||||
|
||||
Foam::Ostream& Foam::operator<<
|
||||
(
|
||||
Ostream& os,
|
||||
const rotationalConstraint& rc
|
||||
)
|
||||
{
|
||||
os << rc.name_ << nl << token::BEGIN_BLOCK << nl;
|
||||
|
||||
rc.write(os);
|
||||
|
||||
os << token::END_BLOCK << endl;
|
||||
|
||||
os.check("Ostream& operator<<(Ostream&, const rotationalConstraint&");
|
||||
|
||||
return os;
|
||||
}
|
||||
|
||||
|
||||
// ************************************************************************* //
|
||||
|
|
@ -0,0 +1,225 @@
|
|||
/*---------------------------------------------------------------------------*\
|
||||
========= |
|
||||
\\ / F ield | foam-extend: Open Source CFD
|
||||
\\ / O peration | Version: 4.0
|
||||
\\ / 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::rotationalConstraint
|
||||
|
||||
Description
|
||||
Abstract base class containing interface for rotation constraints used
|
||||
within sixDOFODE classes.
|
||||
|
||||
The constraint is implicitly defined as:
|
||||
|
||||
g(omegaDot, t) = f(t)*omegaDot + a(t) = 0,
|
||||
|
||||
where omegaDot is angular acceleration.
|
||||
|
||||
Interface provides all the necessary data for inserting the constraint into
|
||||
the resulting linear system via Lagrangian multipliers:
|
||||
1. matrixContribution() - corresponding to f(t) (prefactor multiplying
|
||||
omegaDot), to be inserted into the matrix.
|
||||
2. sourceContribution() - corresponding to a(t), to be inserted into right
|
||||
hand side vector.
|
||||
|
||||
Notes:
|
||||
1. Constraints are usually used alongside appropriate initial
|
||||
conditions (rotational rate in a given direction),
|
||||
2. According to DAE theory, a stabilisation on orientation/angular velocity
|
||||
is necessary based on "differentiation index" used to obtain the final
|
||||
form of the constraint.
|
||||
|
||||
Author
|
||||
Viktor Pandza, FSB Zagreb. All rights reserved.
|
||||
Vuko Vukcevic, FSB Zagreb. All rights reserved.
|
||||
|
||||
SourceFiles
|
||||
rotationalConstraint.C
|
||||
|
||||
\*---------------------------------------------------------------------------*/
|
||||
|
||||
#ifndef rotationalConstraint_H
|
||||
#define rotationalConstraint_H
|
||||
|
||||
#include "typeInfo.H"
|
||||
#include "runTimeSelectionTables.H"
|
||||
#include "autoPtr.H"
|
||||
#include "dimensionedTypes.H"
|
||||
#include "dictionary.H"
|
||||
#include "Switch.H"
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
namespace Foam
|
||||
{
|
||||
|
||||
class sixDOFODE;
|
||||
|
||||
/*---------------------------------------------------------------------------*\
|
||||
Class rotationalConstraint Declaration
|
||||
\*---------------------------------------------------------------------------*/
|
||||
|
||||
class rotationalConstraint
|
||||
{
|
||||
// Private Data
|
||||
|
||||
//- Name of the constraint
|
||||
word name_;
|
||||
|
||||
//- Reference to underlying sixDOFODE
|
||||
const sixDOFODE& sixDOF_;
|
||||
|
||||
public:
|
||||
|
||||
//- Runtime type information
|
||||
TypeName("rotationalConstraint");
|
||||
|
||||
|
||||
// Declare run-time constructor selection table
|
||||
|
||||
declareRunTimeSelectionTable
|
||||
(
|
||||
autoPtr,
|
||||
rotationalConstraint,
|
||||
word,
|
||||
(
|
||||
const word& name,
|
||||
const dictionary& dict,
|
||||
const sixDOFODE& sixDOF
|
||||
),
|
||||
(name, dict, sixDOF)
|
||||
);
|
||||
|
||||
|
||||
//- Class used for the read-construction of
|
||||
// PtrLists of rotationalConstraint
|
||||
class iNew
|
||||
{
|
||||
const sixDOFODE& sixDOF_;
|
||||
|
||||
public:
|
||||
|
||||
iNew(const sixDOFODE& sixDOF)
|
||||
:
|
||||
sixDOF_(sixDOF)
|
||||
{}
|
||||
|
||||
autoPtr<rotationalConstraint> operator()(Istream& is) const
|
||||
{
|
||||
word name(is);
|
||||
dictionary dict(is);
|
||||
return rotationalConstraint::New(name, dict, sixDOF_);
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
// Constructors
|
||||
|
||||
//- Construct from dictionary
|
||||
rotationalConstraint
|
||||
(
|
||||
const word& name,
|
||||
const dictionary& dict,
|
||||
const sixDOFODE& sixDOF
|
||||
);
|
||||
|
||||
//- Construct and return a clone
|
||||
virtual autoPtr<rotationalConstraint> clone() const = 0;
|
||||
|
||||
|
||||
// Selectors
|
||||
|
||||
//- Return a reference to the selected rotationalConstraint
|
||||
static autoPtr<rotationalConstraint> New
|
||||
(
|
||||
const word& name,
|
||||
const dictionary& dict,
|
||||
const sixDOFODE& sixDOF
|
||||
);
|
||||
|
||||
|
||||
// Destructor
|
||||
|
||||
virtual ~rotationalConstraint();
|
||||
|
||||
|
||||
// Member Functions
|
||||
|
||||
// Access functions
|
||||
|
||||
//- Return name
|
||||
const word& name() const;
|
||||
|
||||
//- Return underlying sixDOFODE object
|
||||
const sixDOFODE& sixDOF() const;
|
||||
|
||||
|
||||
// Constraint specific functions
|
||||
|
||||
//- Return matrix contribution defined by constraint, f(t)
|
||||
virtual vector matrixContribution
|
||||
(
|
||||
const scalar t,
|
||||
const tensor& toRelative,
|
||||
const vector& omega
|
||||
) const = 0;
|
||||
|
||||
//- Return source contribution defined by constraint, a(t)
|
||||
virtual scalar sourceContribution
|
||||
(
|
||||
const scalar t,
|
||||
const tensor& toRelative,
|
||||
const vector& omega
|
||||
) const = 0;
|
||||
|
||||
//- Stabilise the constraint (necessary for constraints with
|
||||
// differentiation index higher than zero)
|
||||
virtual void stabilise
|
||||
(
|
||||
const scalar t,
|
||||
vector& omega
|
||||
) const = 0;
|
||||
|
||||
|
||||
// I-O Functions and Operators
|
||||
|
||||
//- Virtual write function
|
||||
virtual void write(Ostream& os) const = 0;
|
||||
|
||||
//- Ostream operator implemented in terms of write operator
|
||||
friend Ostream& operator<<
|
||||
(
|
||||
Ostream& os,
|
||||
const rotationalConstraint& rc
|
||||
);
|
||||
};
|
||||
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
} // End namespace Foam
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
#endif
|
||||
|
||||
// ************************************************************************* //
|
||||
|
|
@ -0,0 +1,130 @@
|
|||
/*---------------------------------------------------------------------------*\
|
||||
========= |
|
||||
\\ / F ield | foam-extend: Open Source CFD
|
||||
\\ / O peration | Version: 4.0
|
||||
\\ / 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 "constantTranslationalAcceleration.H"
|
||||
#include "addToRunTimeSelectionTable.H"
|
||||
|
||||
// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
|
||||
|
||||
namespace Foam
|
||||
{
|
||||
defineTypeNameAndDebug(constantTranslationalAcceleration, 0);
|
||||
addToRunTimeSelectionTable
|
||||
(
|
||||
translationalConstraint,
|
||||
constantTranslationalAcceleration,
|
||||
word
|
||||
);
|
||||
}
|
||||
|
||||
// * * * * * * * * * * * * * * * * Constructors * * * * * * * * * * * * * * //
|
||||
|
||||
Foam::constantTranslationalAcceleration::constantTranslationalAcceleration
|
||||
(
|
||||
const word& name,
|
||||
const dictionary& dict,
|
||||
const sixDOFODE& sixDOF
|
||||
)
|
||||
:
|
||||
translationalConstraint(name, dict, sixDOF),
|
||||
dir_(dict.lookup("constraintDirection")),
|
||||
a_(readScalar(dict.lookup("translationalAcceleration")))
|
||||
{
|
||||
// Rescale direction
|
||||
if (mag(dir_) < SMALL)
|
||||
{
|
||||
FatalErrorIn
|
||||
(
|
||||
"Foam::constantTranslationalAcceleration::"
|
||||
"constantTranslationalAcceleration"
|
||||
"\n("
|
||||
"\n const word& name,"
|
||||
"\n const dictionary& dict"
|
||||
"\n)"
|
||||
) << "Zero direction specified. This is not allowed."
|
||||
<< exit(FatalError);
|
||||
}
|
||||
else
|
||||
{
|
||||
dir_ /= mag(dir_);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
Foam::autoPtr<Foam::translationalConstraint>
|
||||
Foam::constantTranslationalAcceleration::clone() const
|
||||
{
|
||||
return autoPtr<translationalConstraint>
|
||||
(
|
||||
new constantTranslationalAcceleration(*this)
|
||||
);
|
||||
}
|
||||
|
||||
|
||||
// * * * * * * * * * * * * * * * * Destructor * * * * * * * * * * * * * * * //
|
||||
|
||||
Foam::constantTranslationalAcceleration::~constantTranslationalAcceleration()
|
||||
{}
|
||||
|
||||
|
||||
// * * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * //
|
||||
|
||||
Foam::vector Foam::constantTranslationalAcceleration::matrixContribution
|
||||
(
|
||||
const scalar,
|
||||
const tensor&,
|
||||
const vector&,
|
||||
const vector&
|
||||
) const
|
||||
{
|
||||
return dir_;
|
||||
}
|
||||
|
||||
|
||||
Foam::scalar Foam::constantTranslationalAcceleration::sourceContribution
|
||||
(
|
||||
const scalar,
|
||||
const tensor&,
|
||||
const vector&,
|
||||
const vector&
|
||||
) const
|
||||
{
|
||||
return a_;
|
||||
}
|
||||
|
||||
|
||||
void Foam::constantTranslationalAcceleration::write(Ostream& os) const
|
||||
{
|
||||
os.writeKeyword("type") << tab << type()
|
||||
<< token::END_STATEMENT << nl << nl;
|
||||
|
||||
os.writeKeyword("constraintDirection") << tab << dir_
|
||||
<< token::END_STATEMENT << nl;
|
||||
os.writeKeyword("translationalAcceleration") << tab << a_
|
||||
<< token::END_STATEMENT << endl;
|
||||
}
|
||||
|
||||
|
||||
// ************************************************************************* //
|
||||
|
|
@ -0,0 +1,142 @@
|
|||
/*---------------------------------------------------------------------------*\
|
||||
========= |
|
||||
\\ / F ield | foam-extend: Open Source CFD
|
||||
\\ / O peration | Version: 4.0
|
||||
\\ / 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::constantTranslationalAcceleration
|
||||
|
||||
Description
|
||||
Translational constraint defined by constant translational acceleration
|
||||
|
||||
g(vDot) = vDot - a = 0.
|
||||
|
||||
Author
|
||||
Viktor Pandza, FSB Zagreb. All rights reserved.
|
||||
Vuko Vukcevic, FSB Zagreb. All rights reserved.
|
||||
|
||||
SourceFiles
|
||||
constantTranslationalAcceleration.C
|
||||
|
||||
\*---------------------------------------------------------------------------*/
|
||||
|
||||
#ifndef constantTranslationalAcceleration_H
|
||||
#define constantTranslationalAcceleration_H
|
||||
|
||||
#include "translationalConstraint.H"
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
namespace Foam
|
||||
{
|
||||
|
||||
/*---------------------------------------------------------------------------*\
|
||||
Class constantTranslationalAcceleration Declaration
|
||||
\*---------------------------------------------------------------------------*/
|
||||
|
||||
class constantTranslationalAcceleration
|
||||
:
|
||||
public translationalConstraint
|
||||
{
|
||||
// Private data
|
||||
|
||||
//- Direction of the constraint (unit vector)
|
||||
vector dir_;
|
||||
|
||||
//- Constant value of the translational acceleration
|
||||
const scalar a_;
|
||||
|
||||
|
||||
public:
|
||||
|
||||
//- Runtime type information
|
||||
TypeName("constantTranslationalAcceleration");
|
||||
|
||||
|
||||
// Constructors
|
||||
|
||||
//- Construct from dictionary
|
||||
constantTranslationalAcceleration
|
||||
(
|
||||
const word& name,
|
||||
const dictionary& dict,
|
||||
const sixDOFODE& sixDOF
|
||||
);
|
||||
|
||||
//- Construct and return a clone
|
||||
virtual autoPtr<translationalConstraint> clone() const;
|
||||
|
||||
|
||||
// Destructor
|
||||
|
||||
virtual ~constantTranslationalAcceleration();
|
||||
|
||||
|
||||
// Member Functions
|
||||
|
||||
// Constraint specific functions
|
||||
|
||||
//- Return matrix contribution defined by constraint, f(t)
|
||||
virtual vector matrixContribution
|
||||
(
|
||||
const scalar,
|
||||
const tensor&,
|
||||
const vector&,
|
||||
const vector&
|
||||
) const;
|
||||
|
||||
//- Return source contribution defined by constraint, a(t)
|
||||
virtual scalar sourceContribution
|
||||
(
|
||||
const scalar,
|
||||
const tensor&,
|
||||
const vector&,
|
||||
const vector&
|
||||
) const;
|
||||
|
||||
//- Stabilise the constraint
|
||||
virtual void stabilise
|
||||
(
|
||||
const scalar,
|
||||
vector&,
|
||||
vector&
|
||||
) const
|
||||
{
|
||||
// Does nothing: no need to stabilise this constraint
|
||||
};
|
||||
|
||||
|
||||
// I-O Functions
|
||||
|
||||
//- Virtual write function
|
||||
virtual void write(Ostream& os) const;
|
||||
};
|
||||
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
} // End namespace Foam
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
#endif
|
||||
|
||||
// ************************************************************************* //
|
||||
|
|
@ -0,0 +1,163 @@
|
|||
/*---------------------------------------------------------------------------*\
|
||||
========= |
|
||||
\\ / F ield | foam-extend: Open Source CFD
|
||||
\\ / O peration | Version: 4.0
|
||||
\\ / 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 "periodicOscillation.H"
|
||||
#include "addToRunTimeSelectionTable.H"
|
||||
#include "mathematicalConstants.H"
|
||||
|
||||
// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
|
||||
|
||||
namespace Foam
|
||||
{
|
||||
defineTypeNameAndDebug(periodicOscillation, 0);
|
||||
addToRunTimeSelectionTable
|
||||
(
|
||||
translationalConstraint,
|
||||
periodicOscillation,
|
||||
word
|
||||
);
|
||||
}
|
||||
|
||||
// * * * * * * * * * * * * * * * * Constructors * * * * * * * * * * * * * * //
|
||||
|
||||
Foam::periodicOscillation::periodicOscillation
|
||||
(
|
||||
const word& name,
|
||||
const dictionary& dict,
|
||||
const sixDOFODE& sixDOF
|
||||
)
|
||||
:
|
||||
translationalConstraint(name, dict, sixDOF),
|
||||
dir_(dict.lookup("direction")),
|
||||
a_(readScalar(dict.lookup("motionAmplitude"))),
|
||||
period_(readScalar(dict.lookup("period"))),
|
||||
omega_(mathematicalConstant::twoPi/period_),
|
||||
phi_(readScalar(dict.lookup("phaseShift"))*mathematicalConstant::pi/180.0)
|
||||
{
|
||||
// Rescale direction
|
||||
if (mag(dir_) < SMALL)
|
||||
{
|
||||
FatalErrorIn
|
||||
(
|
||||
"Foam::periodicOscillation::periodicOscillation"
|
||||
"\n("
|
||||
"\n const word& name,"
|
||||
"\n const dictionary& dict"
|
||||
"\n)"
|
||||
) << "Zero direction specified. This is not allowed."
|
||||
<< exit(FatalError);
|
||||
}
|
||||
else
|
||||
{
|
||||
dir_ /= mag(dir_);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
Foam::autoPtr<Foam::translationalConstraint>
|
||||
Foam::periodicOscillation::clone() const
|
||||
{
|
||||
return autoPtr<translationalConstraint>
|
||||
(
|
||||
new periodicOscillation(*this)
|
||||
);
|
||||
}
|
||||
|
||||
|
||||
// * * * * * * * * * * * * * * * * Destructor * * * * * * * * * * * * * * * //
|
||||
|
||||
Foam::periodicOscillation::~periodicOscillation()
|
||||
{}
|
||||
|
||||
|
||||
// * * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * //
|
||||
|
||||
Foam::vector Foam::periodicOscillation::matrixContribution
|
||||
(
|
||||
const scalar,
|
||||
const tensor&,
|
||||
const vector&,
|
||||
const vector&
|
||||
) const
|
||||
{
|
||||
return dir_;
|
||||
}
|
||||
|
||||
|
||||
Foam::scalar Foam::periodicOscillation::sourceContribution
|
||||
(
|
||||
const scalar t,
|
||||
const tensor&,
|
||||
const vector&,
|
||||
const vector&
|
||||
) const
|
||||
{
|
||||
return -a_*sqr(omega_)*(sin(omega_*t + phi_));
|
||||
}
|
||||
|
||||
|
||||
void Foam::periodicOscillation::stabilise
|
||||
(
|
||||
const scalar t,
|
||||
vector& x,
|
||||
vector& u
|
||||
) const
|
||||
{
|
||||
// Set the displacement according to periodic oscillation
|
||||
|
||||
// First subtract calculated displacement...
|
||||
x -= (x & dir_)*dir_;
|
||||
|
||||
// ... then add the correct displacement
|
||||
x += dir_*sin(omega_*t + phi_);
|
||||
|
||||
|
||||
// Set the velocity according to periodic oscillation
|
||||
|
||||
// First subract calculated velocity...
|
||||
u -= (u & dir_)*dir_;
|
||||
|
||||
// ... then add the correct velocity
|
||||
u += dir_*cos(omega_*t + phi_);
|
||||
}
|
||||
|
||||
|
||||
void Foam::periodicOscillation::write(Ostream& os) const
|
||||
{
|
||||
os.writeKeyword("type") << tab << type()
|
||||
<< token::END_STATEMENT << nl << nl;
|
||||
|
||||
os.writeKeyword("direction") << tab << dir_
|
||||
<< token::END_STATEMENT << nl;
|
||||
os.writeKeyword("motionAmplitude") << tab << a_
|
||||
<< token::END_STATEMENT << nl;
|
||||
os.writeKeyword("period") << tab << period_
|
||||
<< token::END_STATEMENT << nl;
|
||||
os.writeKeyword("phaseShift") << tab
|
||||
<< phi_*180.0/mathematicalConstant::pi << token::END_STATEMENT << endl;
|
||||
}
|
||||
|
||||
|
||||
// ************************************************************************* //
|
||||
|
|
@ -0,0 +1,156 @@
|
|||
/*---------------------------------------------------------------------------*\
|
||||
========= |
|
||||
\\ / F ield | foam-extend: Open Source CFD
|
||||
\\ / O peration | Version: 4.0
|
||||
\\ / 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::periodicOscillation
|
||||
|
||||
Description
|
||||
Periodic translational motion given by:
|
||||
|
||||
g(vDot, t) = vDot + a*omega^2*sin(omega*t + phi) = 0,
|
||||
|
||||
where a is the amplitude of oscillation, omega radial frequency and phi is
|
||||
the phase shift.
|
||||
|
||||
Note: since this constraint is basically algebraic (dependent on
|
||||
displacement), the differentiation index is two so the stabilisation on
|
||||
displacement and velocity is necessary.
|
||||
|
||||
Author
|
||||
Viktor Pandza, FSB Zagreb. All rights reserved.
|
||||
Vuko Vukcevic, FSB Zagreb. All rights reserved.
|
||||
|
||||
SourceFiles
|
||||
periodicOscillation.C
|
||||
|
||||
\*---------------------------------------------------------------------------*/
|
||||
|
||||
#ifndef periodicOscillation_H
|
||||
#define periodicOscillation_H
|
||||
|
||||
#include "translationalConstraint.H"
|
||||
#include "OFstream.H"
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
namespace Foam
|
||||
{
|
||||
|
||||
/*---------------------------------------------------------------------------*\
|
||||
Class periodicOscillation Declaration
|
||||
\*---------------------------------------------------------------------------*/
|
||||
|
||||
class periodicOscillation
|
||||
:
|
||||
public translationalConstraint
|
||||
{
|
||||
// Private data
|
||||
|
||||
//- Direction
|
||||
vector dir_;
|
||||
|
||||
//- Amplitude of the motion
|
||||
const scalar a_;
|
||||
|
||||
//- Period of the motion
|
||||
const scalar period_;
|
||||
|
||||
//- Radian frequency of the motion
|
||||
const scalar omega_;
|
||||
|
||||
//- Phase shift (in degrees)
|
||||
const scalar phi_;
|
||||
|
||||
|
||||
public:
|
||||
|
||||
//- Runtime type information
|
||||
TypeName("periodicOscillation");
|
||||
|
||||
|
||||
// Constructors
|
||||
|
||||
//- Construct from dictionary
|
||||
periodicOscillation
|
||||
(
|
||||
const word& name,
|
||||
const dictionary& dict,
|
||||
const sixDOFODE& sixDOF
|
||||
);
|
||||
|
||||
//- Construct and return a clone
|
||||
virtual autoPtr<translationalConstraint> clone() const;
|
||||
|
||||
|
||||
// Destructor
|
||||
|
||||
virtual ~periodicOscillation();
|
||||
|
||||
|
||||
// Member Functions
|
||||
|
||||
// Constraint specific functions
|
||||
|
||||
//- Return matrix contribution defined by constraint, f(t)
|
||||
virtual vector matrixContribution
|
||||
(
|
||||
const scalar,
|
||||
const tensor&,
|
||||
const vector&,
|
||||
const vector&
|
||||
) const;
|
||||
|
||||
//- Return source contribution defined by constraint, a(t)
|
||||
virtual scalar sourceContribution
|
||||
(
|
||||
const scalar t,
|
||||
const tensor&,
|
||||
const vector&,
|
||||
const vector&
|
||||
) const;
|
||||
|
||||
//- Stabilise the constraint
|
||||
virtual void stabilise
|
||||
(
|
||||
const scalar t,
|
||||
vector& x,
|
||||
vector& u
|
||||
) const;
|
||||
|
||||
|
||||
// I-O Functions
|
||||
|
||||
//- Virtual write function
|
||||
virtual void write(Ostream& os) const;
|
||||
};
|
||||
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
} // End namespace Foam
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
#endif
|
||||
|
||||
// ************************************************************************* //
|
||||
|
|
@ -0,0 +1,131 @@
|
|||
/*---------------------------------------------------------------------------*\
|
||||
========= |
|
||||
\\ / F ield | foam-extend: Open Source CFD
|
||||
\\ / O peration | Version: 4.0
|
||||
\\ / 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 "translationalConstraint.H"
|
||||
#include "sixDOFODE.H"
|
||||
|
||||
// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
|
||||
|
||||
namespace Foam
|
||||
{
|
||||
defineTypeNameAndDebug(translationalConstraint, 0);
|
||||
defineRunTimeSelectionTable(translationalConstraint, word);
|
||||
}
|
||||
|
||||
// * * * * * * * * * * * * * * * * Constructors * * * * * * * * * * * * * * //
|
||||
|
||||
Foam::translationalConstraint::translationalConstraint
|
||||
(
|
||||
const word& name,
|
||||
const dictionary& dict,
|
||||
const sixDOFODE& sixDOF
|
||||
)
|
||||
:
|
||||
name_(name),
|
||||
sixDOF_(sixDOF)
|
||||
{}
|
||||
|
||||
|
||||
// * * * * * * * * * * * * * * * * Destructor * * * * * * * * * * * * * * * //
|
||||
|
||||
Foam::translationalConstraint::~translationalConstraint()
|
||||
{}
|
||||
|
||||
|
||||
// * * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * //
|
||||
|
||||
const Foam::word& Foam::translationalConstraint::name() const
|
||||
{
|
||||
return name_;
|
||||
}
|
||||
|
||||
|
||||
const Foam::sixDOFODE& Foam::translationalConstraint::sixDOF() const
|
||||
{
|
||||
return sixDOF_;
|
||||
}
|
||||
|
||||
|
||||
Foam::autoPtr<Foam::translationalConstraint> Foam::translationalConstraint::New
|
||||
(
|
||||
const word& name,
|
||||
const dictionary& dict,
|
||||
const sixDOFODE& sixDOF
|
||||
)
|
||||
{
|
||||
const word constraintType(dict.lookup("type"));
|
||||
|
||||
wordConstructorTable::iterator cstrIter =
|
||||
wordConstructorTablePtr_->find(constraintType);
|
||||
|
||||
if (cstrIter == wordConstructorTablePtr_->end())
|
||||
{
|
||||
FatalErrorIn
|
||||
(
|
||||
"translationalConstraint::New"
|
||||
"\n("
|
||||
"\n const word& name,"
|
||||
"\n const dictionary& dict,"
|
||||
"\n)"
|
||||
) << "Unknown translation constraint type: " << constraintType
|
||||
<< endl << endl
|
||||
<< "Valid translation constraint types are: " << endl
|
||||
<< wordConstructorTablePtr_->sortedToc()
|
||||
<< exit(FatalError);
|
||||
}
|
||||
|
||||
return autoPtr<translationalConstraint>
|
||||
(
|
||||
cstrIter()
|
||||
(
|
||||
name,
|
||||
dict,
|
||||
sixDOF
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
|
||||
// * * * * * * * * * * * * * * * IOstream Operators * * * * * * * * * * * * //
|
||||
|
||||
Foam::Ostream& Foam::operator<<
|
||||
(
|
||||
Ostream& os,
|
||||
const translationalConstraint& tc
|
||||
)
|
||||
{
|
||||
os << tc.name_ << nl << token::BEGIN_BLOCK << nl;
|
||||
|
||||
tc.write(os);
|
||||
|
||||
os << token::END_BLOCK << endl;
|
||||
|
||||
os.check("Ostream& operator<<(Ostream&, const translationalConstraint&");
|
||||
|
||||
return os;
|
||||
}
|
||||
|
||||
|
||||
// ************************************************************************* //
|
||||
|
|
@ -0,0 +1,228 @@
|
|||
/*---------------------------------------------------------------------------*\
|
||||
========= |
|
||||
\\ / F ield | foam-extend: Open Source CFD
|
||||
\\ / O peration | Version: 4.0
|
||||
\\ / 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::translationalConstraint
|
||||
|
||||
Description
|
||||
Abstract base class containing interface for translational constraints used
|
||||
within sixDOFODE classes.
|
||||
|
||||
The constraint is implicitly defined as:
|
||||
|
||||
g(vDot, t) = f(t)*vDot + a(t) = 0,
|
||||
|
||||
where vDot is translational acceleration.
|
||||
|
||||
Interface provides all the necessary data for inserting the constraint into
|
||||
the resulting linear system via Lagrangian multipliers:
|
||||
1. matrixContribution() - corresponding to f(t) (prefactor multiplying
|
||||
vDot), to be inserted into the matrix.
|
||||
2. sourceContribution() - corresponding to a(t), to be inserted into right
|
||||
hand side vector.
|
||||
|
||||
Notes:
|
||||
1. Constraints are usually used alongside appropriate initial
|
||||
conditions (velocity in a given direction),
|
||||
2. According to DAE theory, a stabilisation on displacement/velocity is
|
||||
necessary based on "differentiation index" used to obtain the final form
|
||||
of the constraint.
|
||||
|
||||
Author
|
||||
Viktor Pandza, FSB Zagreb. All rights reserved.
|
||||
Vuko Vukcevic, FSB Zagreb. All rights reserved.
|
||||
|
||||
SourceFiles
|
||||
translationalConstraint.C
|
||||
|
||||
\*---------------------------------------------------------------------------*/
|
||||
|
||||
#ifndef translationalConstraint_H
|
||||
#define translationalConstraint_H
|
||||
|
||||
#include "typeInfo.H"
|
||||
#include "runTimeSelectionTables.H"
|
||||
#include "autoPtr.H"
|
||||
#include "dimensionedTypes.H"
|
||||
#include "dictionary.H"
|
||||
#include "Switch.H"
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
namespace Foam
|
||||
{
|
||||
|
||||
class sixDOFODE;
|
||||
|
||||
/*---------------------------------------------------------------------------*\
|
||||
Class translationalConstraint Declaration
|
||||
\*---------------------------------------------------------------------------*/
|
||||
|
||||
class translationalConstraint
|
||||
{
|
||||
// Private Data
|
||||
|
||||
//- Name of the constraint
|
||||
word name_;
|
||||
|
||||
//- Reference to underlying sixDOFODE
|
||||
const sixDOFODE& sixDOF_;
|
||||
|
||||
public:
|
||||
|
||||
//- Runtime type information
|
||||
TypeName("translationalConstraint");
|
||||
|
||||
|
||||
// Declare run-time constructor selection table
|
||||
|
||||
declareRunTimeSelectionTable
|
||||
(
|
||||
autoPtr,
|
||||
translationalConstraint,
|
||||
word,
|
||||
(
|
||||
const word& name,
|
||||
const dictionary& dict,
|
||||
const sixDOFODE& sixDOF
|
||||
),
|
||||
(name, dict, sixDOF)
|
||||
);
|
||||
|
||||
|
||||
//- Class used for the read-construction of
|
||||
// PtrLists of translationalConstraint
|
||||
class iNew
|
||||
{
|
||||
const sixDOFODE& sixDOF_;
|
||||
|
||||
public:
|
||||
|
||||
iNew(const sixDOFODE& sixDOF)
|
||||
:
|
||||
sixDOF_(sixDOF)
|
||||
{}
|
||||
|
||||
autoPtr<translationalConstraint> operator()(Istream& is) const
|
||||
{
|
||||
word name(is);
|
||||
dictionary dict(is);
|
||||
return translationalConstraint::New(name, dict, sixDOF_);
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
// Constructors
|
||||
|
||||
//- Construct from dictionary
|
||||
translationalConstraint
|
||||
(
|
||||
const word& name,
|
||||
const dictionary& dict,
|
||||
const sixDOFODE& sixDOF
|
||||
);
|
||||
|
||||
//- Construct and return a clone
|
||||
virtual autoPtr<translationalConstraint> clone() const = 0;
|
||||
|
||||
|
||||
// Selectors
|
||||
|
||||
//- Return a reference to the selected translationalConstraint
|
||||
static autoPtr<translationalConstraint> New
|
||||
(
|
||||
const word& name,
|
||||
const dictionary& dict,
|
||||
const sixDOFODE& sixDOF
|
||||
);
|
||||
|
||||
|
||||
// Destructor
|
||||
|
||||
virtual ~translationalConstraint();
|
||||
|
||||
|
||||
// Member Functions
|
||||
|
||||
// Access functions
|
||||
|
||||
//- Return name
|
||||
const word& name() const;
|
||||
|
||||
//- Return underlying sixDOFODE object
|
||||
const sixDOFODE& sixDOF() const;
|
||||
|
||||
|
||||
// Constraint specific functions
|
||||
|
||||
//- Return matrix contribution defined by constraint, f(t)
|
||||
virtual vector matrixContribution
|
||||
(
|
||||
const scalar t,
|
||||
const tensor& toRelative,
|
||||
const vector& x,
|
||||
const vector& u
|
||||
) const = 0;
|
||||
|
||||
//- Return source contribution defined by constraint, a(t)
|
||||
virtual scalar sourceContribution
|
||||
(
|
||||
const scalar t,
|
||||
const tensor& toRelative,
|
||||
const vector& x,
|
||||
const vector& u
|
||||
) const = 0;
|
||||
|
||||
//- Stabilise the constraint (necessary for constraints with
|
||||
// differentiation index higher than zero)
|
||||
virtual void stabilise
|
||||
(
|
||||
const scalar t,
|
||||
vector& x,
|
||||
vector& u
|
||||
) const = 0;
|
||||
|
||||
|
||||
// I-O Functions and Operators
|
||||
|
||||
//- Virtual write function
|
||||
virtual void write(Ostream& os) const = 0;
|
||||
|
||||
//- Ostream operator implemented in terms of write operator
|
||||
friend Ostream& operator<<
|
||||
(
|
||||
Ostream& os,
|
||||
const translationalConstraint& tc
|
||||
);
|
||||
};
|
||||
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
} // End namespace Foam
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
#endif
|
||||
|
||||
// ************************************************************************* //
|
||||
10
src/ODE/sixDOF/sixDOFODE/constraintsAndRestraints.H
Normal file
10
src/ODE/sixDOF/sixDOFODE/constraintsAndRestraints.H
Normal file
|
|
@ -0,0 +1,10 @@
|
|||
#ifndef constraintsAndRestraints_H
|
||||
#define constraintsAndRestraints_H
|
||||
|
||||
#include "translationalConstraint.H"
|
||||
#include "rotationalConstraint.H"
|
||||
|
||||
#include "translationalRestraint.H"
|
||||
#include "rotationalRestraint.H"
|
||||
|
||||
#endif
|
||||
76
src/ODE/sixDOF/sixDOFODE/newSixDOFODE.C
Normal file
76
src/ODE/sixDOF/sixDOFODE/newSixDOFODE.C
Normal file
|
|
@ -0,0 +1,76 @@
|
|||
/*---------------------------------------------------------------------------*\
|
||||
========= |
|
||||
\\ / F ield | OpenFOAM: The Open Source CFD Toolbox
|
||||
\\ / O peration |
|
||||
\\ / A nd | Copyright held by original author
|
||||
\\/ M anipulation |
|
||||
-------------------------------------------------------------------------------
|
||||
License
|
||||
This file is part of OpenFOAM.
|
||||
|
||||
OpenFOAM 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 2 of the License, or (at your
|
||||
option) any later version.
|
||||
|
||||
OpenFOAM 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 OpenFOAM; if not, write to the Free Software Foundation,
|
||||
Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
|
||||
|
||||
Class
|
||||
sixDOFODE
|
||||
|
||||
\*---------------------------------------------------------------------------*/
|
||||
|
||||
#include "error.H"
|
||||
#include "objectRegistry.H"
|
||||
#include "sixDOFODE.H"
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
Foam::autoPtr<Foam::sixDOFODE> Foam::sixDOFODE::New(const IOobject& io)
|
||||
{
|
||||
word sixDOFODETypeName;
|
||||
|
||||
// Get object registry
|
||||
const objectRegistry& database = io.db();
|
||||
|
||||
// Check whether the dictionary is in the database
|
||||
if (database.foundObject<IOdictionary>(io.name()))
|
||||
{
|
||||
sixDOFODETypeName =
|
||||
word
|
||||
(
|
||||
database.lookupObject<IOdictionary>(io.name()).lookup("type")
|
||||
);
|
||||
}
|
||||
else
|
||||
{
|
||||
sixDOFODETypeName = word(IOdictionary(io).lookup("type"));
|
||||
}
|
||||
|
||||
dictionaryConstructorTable::iterator cstrIter =
|
||||
dictionaryConstructorTablePtr_->find(sixDOFODETypeName);
|
||||
|
||||
if (cstrIter == dictionaryConstructorTablePtr_->end())
|
||||
{
|
||||
FatalErrorIn
|
||||
(
|
||||
"sixDOFODE::New(const IOobject& io)"
|
||||
) << "Unknown sixDOFODE " << sixDOFODETypeName
|
||||
<< endl << endl
|
||||
<< "Valid sixDOFODE types are:" << endl
|
||||
<< dictionaryConstructorTablePtr_->toc()
|
||||
<< exit(FatalError);
|
||||
}
|
||||
|
||||
return autoPtr<sixDOFODE>(cstrIter()(io));
|
||||
}
|
||||
|
||||
|
||||
// ************************************************************************* //
|
||||
|
|
@ -0,0 +1,112 @@
|
|||
/*---------------------------------------------------------------------------*\
|
||||
========= |
|
||||
\\ / F ield | foam-extend: Open Source CFD
|
||||
\\ / O peration | Version: 4.0
|
||||
\\ / 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 "angularDamper.H"
|
||||
#include "addToRunTimeSelectionTable.H"
|
||||
|
||||
// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
|
||||
|
||||
namespace Foam
|
||||
{
|
||||
defineTypeNameAndDebug(angularDamper, 0);
|
||||
addToRunTimeSelectionTable
|
||||
(
|
||||
rotationalRestraint,
|
||||
angularDamper,
|
||||
word
|
||||
);
|
||||
}
|
||||
|
||||
// * * * * * * * * * * * * * * * * Constructors * * * * * * * * * * * * * * //
|
||||
|
||||
Foam::angularDamper::angularDamper
|
||||
(
|
||||
const word& name,
|
||||
const dictionary& dict,
|
||||
const sixDOFODE& sixDOF
|
||||
)
|
||||
:
|
||||
rotationalRestraint(name, dict, sixDOF),
|
||||
angDampingCoeffs_(dict.lookup("angularDamping")),
|
||||
inGlobal_(dict.lookup("inGlobalCoordinateSystem"))
|
||||
{}
|
||||
|
||||
|
||||
Foam::autoPtr<Foam::rotationalRestraint>
|
||||
Foam::angularDamper::clone() const
|
||||
{
|
||||
return autoPtr<rotationalRestraint>
|
||||
(
|
||||
new angularDamper(*this)
|
||||
);
|
||||
}
|
||||
|
||||
|
||||
// * * * * * * * * * * * * * * * * Destructor * * * * * * * * * * * * * * * //
|
||||
|
||||
Foam::angularDamper::~angularDamper()
|
||||
{}
|
||||
|
||||
|
||||
// * * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * //
|
||||
|
||||
Foam::vector Foam::angularDamper::restrainingMoment
|
||||
(
|
||||
const scalar,
|
||||
const tensor& toRelative,
|
||||
const vector& omega
|
||||
) const
|
||||
{
|
||||
vector rm;
|
||||
|
||||
if (inGlobal_)
|
||||
{
|
||||
// Restraint given in global (inertial) coordinate system, transform it
|
||||
// to local
|
||||
rm = (toRelative & angDampingCoeffs_) & omega;
|
||||
}
|
||||
else
|
||||
{
|
||||
// Restraint already in local (body) coordinate system
|
||||
rm = angDampingCoeffs_ & omega;
|
||||
}
|
||||
|
||||
return -rm;
|
||||
}
|
||||
|
||||
|
||||
void Foam::angularDamper::write(Ostream& os) const
|
||||
{
|
||||
os.writeKeyword("type") << tab << type()
|
||||
<< token::END_STATEMENT << nl << nl;
|
||||
|
||||
os.writeKeyword("angularDamping") << tab << angDampingCoeffs_
|
||||
<< token::END_STATEMENT << nl;
|
||||
os.writeKeyword("inGlobalCoordinateSystem") << tab << inGlobal_
|
||||
<< token::END_STATEMENT << endl;
|
||||
}
|
||||
|
||||
|
||||
// ************************************************************************* //
|
||||
|
|
@ -0,0 +1,119 @@
|
|||
/*---------------------------------------------------------------------------*\
|
||||
========= |
|
||||
\\ / F ield | foam-extend: Open Source CFD
|
||||
\\ / O peration | Version: 4.0
|
||||
\\ / 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::angularDamper
|
||||
|
||||
Description
|
||||
Rotational restraint corresponding to angular damper defined by angular
|
||||
damping coefficients.
|
||||
|
||||
Author
|
||||
Vuko Vukcevic, FSB Zagreb. All rights reserved.
|
||||
|
||||
SourceFiles
|
||||
angularDamper.C
|
||||
|
||||
\*---------------------------------------------------------------------------*/
|
||||
|
||||
#ifndef angularDamper_H
|
||||
#define angularDamper_H
|
||||
|
||||
#include "rotationalRestraint.H"
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
namespace Foam
|
||||
{
|
||||
|
||||
/*---------------------------------------------------------------------------*\
|
||||
Class angularDamper Declaration
|
||||
\*---------------------------------------------------------------------------*/
|
||||
|
||||
class angularDamper
|
||||
:
|
||||
public rotationalRestraint
|
||||
{
|
||||
// Private Data
|
||||
|
||||
//- Angular damping coefficients
|
||||
diagTensor angDampingCoeffs_;
|
||||
|
||||
//- Whether the damper is applied in global or local c. s.
|
||||
Switch inGlobal_;
|
||||
|
||||
|
||||
public:
|
||||
|
||||
//- Runtime type information
|
||||
TypeName("angularDamper");
|
||||
|
||||
|
||||
// Constructors
|
||||
|
||||
//- Construct from dictionary
|
||||
angularDamper
|
||||
(
|
||||
const word& name,
|
||||
const dictionary& dict,
|
||||
const sixDOFODE& sixDOF
|
||||
);
|
||||
|
||||
//- Construct and return a clone
|
||||
virtual autoPtr<rotationalRestraint> clone() const;
|
||||
|
||||
|
||||
// Destructor
|
||||
|
||||
virtual ~angularDamper();
|
||||
|
||||
|
||||
// Member Functions
|
||||
|
||||
// Restraint specific functions
|
||||
|
||||
//- Return restraining moment (in the global coordinate system)
|
||||
virtual vector restrainingMoment
|
||||
(
|
||||
const scalar t,
|
||||
const tensor& toRelative,
|
||||
const vector& omega
|
||||
) const;
|
||||
|
||||
|
||||
// I-O Functions and Operators
|
||||
|
||||
//- Virtual write function
|
||||
virtual void write(Ostream& os) const;
|
||||
};
|
||||
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
} // End namespace Foam
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
#endif
|
||||
|
||||
// ************************************************************************* //
|
||||
|
|
@ -0,0 +1,131 @@
|
|||
/*---------------------------------------------------------------------------*\
|
||||
========= |
|
||||
\\ / F ield | foam-extend: Open Source CFD
|
||||
\\ / O peration | Version: 4.0
|
||||
\\ / 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 "rotationalRestraint.H"
|
||||
#include "sixDOFODE.H"
|
||||
|
||||
// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
|
||||
|
||||
namespace Foam
|
||||
{
|
||||
defineTypeNameAndDebug(rotationalRestraint, 0);
|
||||
defineRunTimeSelectionTable(rotationalRestraint, word);
|
||||
}
|
||||
|
||||
// * * * * * * * * * * * * * * * * Constructors * * * * * * * * * * * * * * //
|
||||
|
||||
Foam::rotationalRestraint::rotationalRestraint
|
||||
(
|
||||
const word& name,
|
||||
const dictionary& dict,
|
||||
const sixDOFODE& sixDOF
|
||||
)
|
||||
:
|
||||
name_(name),
|
||||
sixDOF_(sixDOF)
|
||||
{}
|
||||
|
||||
|
||||
// * * * * * * * * * * * * * * * * Destructor * * * * * * * * * * * * * * * //
|
||||
|
||||
Foam::rotationalRestraint::~rotationalRestraint()
|
||||
{}
|
||||
|
||||
|
||||
// * * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * //
|
||||
|
||||
const Foam::word& Foam::rotationalRestraint::name() const
|
||||
{
|
||||
return name_;
|
||||
}
|
||||
|
||||
|
||||
const Foam::sixDOFODE& Foam::rotationalRestraint::sixDOF() const
|
||||
{
|
||||
return sixDOF_;
|
||||
}
|
||||
|
||||
|
||||
Foam::autoPtr<Foam::rotationalRestraint> Foam::rotationalRestraint::New
|
||||
(
|
||||
const word& name,
|
||||
const dictionary& dict,
|
||||
const sixDOFODE& sixDOF
|
||||
)
|
||||
{
|
||||
const word restraintType(dict.lookup("type"));
|
||||
|
||||
wordConstructorTable::iterator cstrIter =
|
||||
wordConstructorTablePtr_->find(restraintType);
|
||||
|
||||
if (cstrIter == wordConstructorTablePtr_->end())
|
||||
{
|
||||
FatalErrorIn
|
||||
(
|
||||
"rotationalRestraint::New"
|
||||
"\n("
|
||||
"\n const word& name,"
|
||||
"\n const dictionary& dict"
|
||||
"\n)"
|
||||
) << "Unknown translation restraint type: " << restraintType
|
||||
<< endl << endl
|
||||
<< "Valid translation restraint types are: " << endl
|
||||
<< wordConstructorTablePtr_->sortedToc()
|
||||
<< exit(FatalError);
|
||||
}
|
||||
|
||||
return autoPtr<rotationalRestraint>
|
||||
(
|
||||
cstrIter()
|
||||
(
|
||||
name,
|
||||
dict,
|
||||
sixDOF
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
|
||||
// * * * * * * * * * * * * * * * IOstream Operators * * * * * * * * * * * * //
|
||||
|
||||
Foam::Ostream& Foam::operator<<
|
||||
(
|
||||
Ostream& os,
|
||||
const rotationalRestraint& rr
|
||||
)
|
||||
{
|
||||
os << rr.name_ << nl << token::BEGIN_BLOCK << nl;
|
||||
|
||||
rr.write(os);
|
||||
|
||||
os << token::END_BLOCK << endl;
|
||||
|
||||
os.check("Ostream& operator<<(Ostream&, const rotationalRestraint&");
|
||||
|
||||
return os;
|
||||
}
|
||||
|
||||
|
||||
// ************************************************************************* //
|
||||
|
|
@ -0,0 +1,191 @@
|
|||
/*---------------------------------------------------------------------------*\
|
||||
========= |
|
||||
\\ / F ield | foam-extend: Open Source CFD
|
||||
\\ / O peration | Version: 4.0
|
||||
\\ / 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::rotationalRestraint
|
||||
|
||||
Description
|
||||
Abstract base class containing interface for rotational restraints used
|
||||
within sixDOFODE classes.
|
||||
|
||||
Interface provides restraining moment to the rotational equations of
|
||||
motion via moment() member function.
|
||||
|
||||
Author
|
||||
Vuko Vukcevic, FSB Zagreb. All rights reserved.
|
||||
|
||||
SourceFiles
|
||||
rotationalRestraint.C
|
||||
|
||||
\*---------------------------------------------------------------------------*/
|
||||
|
||||
#ifndef rotationalRestraint_H
|
||||
#define rotationalRestraint_H
|
||||
|
||||
#include "typeInfo.H"
|
||||
#include "runTimeSelectionTables.H"
|
||||
#include "autoPtr.H"
|
||||
#include "dimensionedTypes.H"
|
||||
#include "dictionary.H"
|
||||
#include "Switch.H"
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
namespace Foam
|
||||
{
|
||||
|
||||
class sixDOFODE;
|
||||
|
||||
/*---------------------------------------------------------------------------*\
|
||||
Class rotationalRestraint Declaration
|
||||
\*---------------------------------------------------------------------------*/
|
||||
|
||||
class rotationalRestraint
|
||||
{
|
||||
// Private Data
|
||||
|
||||
//- Name of the restraint
|
||||
word name_;
|
||||
|
||||
//- Reference to underlying sixDOFODE
|
||||
const sixDOFODE& sixDOF_;
|
||||
|
||||
public:
|
||||
|
||||
//- Runtime type information
|
||||
TypeName("rotationalRestraint");
|
||||
|
||||
|
||||
// Declare run-time constructor selection table
|
||||
|
||||
declareRunTimeSelectionTable
|
||||
(
|
||||
autoPtr,
|
||||
rotationalRestraint,
|
||||
word,
|
||||
(
|
||||
const word& name,
|
||||
const dictionary& dict,
|
||||
const sixDOFODE& sixDOF
|
||||
),
|
||||
(name, dict, sixDOF)
|
||||
);
|
||||
|
||||
|
||||
//- Class used for the read-construction of
|
||||
// PtrLists of rotationalRestraint
|
||||
class iNew
|
||||
{
|
||||
const sixDOFODE& sixDOF_;
|
||||
|
||||
public:
|
||||
|
||||
iNew(const sixDOFODE& sixDOF)
|
||||
:
|
||||
sixDOF_(sixDOF)
|
||||
{}
|
||||
|
||||
autoPtr<rotationalRestraint> operator()(Istream& is) const
|
||||
{
|
||||
word name(is);
|
||||
dictionary dict(is);
|
||||
return rotationalRestraint::New(name, dict, sixDOF_);
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
// Constructors
|
||||
|
||||
//- Construct from dictionary
|
||||
rotationalRestraint
|
||||
(
|
||||
const word& name,
|
||||
const dictionary& dict,
|
||||
const sixDOFODE& sixDOF
|
||||
);
|
||||
|
||||
//- Construct and return a clone
|
||||
virtual autoPtr<rotationalRestraint> clone() const = 0;
|
||||
|
||||
|
||||
// Selectors
|
||||
|
||||
//- Return a reference to the selected rotationalRestraint
|
||||
static autoPtr<rotationalRestraint> New
|
||||
(
|
||||
const word& name,
|
||||
const dictionary& dict,
|
||||
const sixDOFODE& sixDOF
|
||||
);
|
||||
|
||||
|
||||
// Destructor
|
||||
|
||||
virtual ~rotationalRestraint();
|
||||
|
||||
|
||||
// Member Functions
|
||||
|
||||
// Access functions
|
||||
|
||||
//- Return name
|
||||
const word& name() const;
|
||||
|
||||
//- Return underlying sixDOFODE object
|
||||
const sixDOFODE& sixDOF() const;
|
||||
|
||||
|
||||
// Restraint specific functions
|
||||
|
||||
//- Return restraining moment (in the local coordinate system)
|
||||
virtual vector restrainingMoment
|
||||
(
|
||||
const scalar t,
|
||||
const tensor& toRelative,
|
||||
const vector& omega
|
||||
) const = 0;
|
||||
|
||||
|
||||
// I-O Functions and Operators
|
||||
|
||||
//- Virtual write function
|
||||
virtual void write(Ostream& os) const = 0;
|
||||
|
||||
//- Ostream operator implemented in terms of write operator
|
||||
friend Ostream& operator<<
|
||||
(
|
||||
Ostream& os,
|
||||
const rotationalRestraint& rr
|
||||
);
|
||||
};
|
||||
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
} // End namespace Foam
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
#endif
|
||||
|
||||
// ************************************************************************* //
|
||||
|
|
@ -0,0 +1,99 @@
|
|||
/*---------------------------------------------------------------------------*\
|
||||
========= |
|
||||
\\ / F ield | foam-extend: Open Source CFD
|
||||
\\ / O peration | Version: 4.0
|
||||
\\ / 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 "linearSpringDamper.H"
|
||||
#include "addToRunTimeSelectionTable.H"
|
||||
|
||||
// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
|
||||
|
||||
namespace Foam
|
||||
{
|
||||
defineTypeNameAndDebug(linearSpringDamper, 0);
|
||||
addToRunTimeSelectionTable
|
||||
(
|
||||
translationalRestraint,
|
||||
linearSpringDamper,
|
||||
word
|
||||
);
|
||||
}
|
||||
|
||||
// * * * * * * * * * * * * * * * * Constructors * * * * * * * * * * * * * * //
|
||||
|
||||
Foam::linearSpringDamper::linearSpringDamper
|
||||
(
|
||||
const word& name,
|
||||
const dictionary& dict,
|
||||
const sixDOFODE& sixDOF
|
||||
)
|
||||
:
|
||||
translationalRestraint(name, dict, sixDOF),
|
||||
linSpringCoeffs_(dict.lookup("linearSpring")),
|
||||
linDampingCoeffs_(dict.lookup("linearDamping"))
|
||||
{}
|
||||
|
||||
|
||||
Foam::autoPtr<Foam::translationalRestraint>
|
||||
Foam::linearSpringDamper::clone() const
|
||||
{
|
||||
return autoPtr<translationalRestraint>
|
||||
(
|
||||
new linearSpringDamper(*this)
|
||||
);
|
||||
}
|
||||
|
||||
|
||||
// * * * * * * * * * * * * * * * * Destructor * * * * * * * * * * * * * * * //
|
||||
|
||||
Foam::linearSpringDamper::~linearSpringDamper()
|
||||
{}
|
||||
|
||||
|
||||
// * * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * //
|
||||
|
||||
Foam::vector Foam::linearSpringDamper::restrainingForce
|
||||
(
|
||||
const scalar,
|
||||
const tensor&,
|
||||
const vector& x,
|
||||
const vector& u
|
||||
) const
|
||||
{
|
||||
return - (linSpringCoeffs_ & x) - (linDampingCoeffs_ & u);
|
||||
}
|
||||
|
||||
|
||||
void Foam::linearSpringDamper::write(Ostream& os) const
|
||||
{
|
||||
os.writeKeyword("type") << tab << type()
|
||||
<< token::END_STATEMENT << nl << nl;
|
||||
|
||||
os.writeKeyword("linearSpring") << tab << linSpringCoeffs_
|
||||
<< token::END_STATEMENT << nl;
|
||||
os.writeKeyword("linearDamping") << tab << linDampingCoeffs_
|
||||
<< token::END_STATEMENT << endl;
|
||||
}
|
||||
|
||||
|
||||
// ************************************************************************* //
|
||||
|
|
@ -0,0 +1,120 @@
|
|||
/*---------------------------------------------------------------------------*\
|
||||
========= |
|
||||
\\ / F ield | foam-extend: Open Source CFD
|
||||
\\ / O peration | Version: 4.0
|
||||
\\ / 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::linearSpringDamper
|
||||
|
||||
Description
|
||||
Translational restraint corresponding to linear spring and linear damper
|
||||
defined by linear spring coefficients and linear damping coefficients.
|
||||
|
||||
Author
|
||||
Vuko Vukcevic, FSB Zagreb. All rights reserved.
|
||||
|
||||
SourceFiles
|
||||
linearSpringDamper.C
|
||||
|
||||
\*---------------------------------------------------------------------------*/
|
||||
|
||||
#ifndef linearSpringDamper_H
|
||||
#define linearSpringDamper_H
|
||||
|
||||
#include "translationalRestraint.H"
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
namespace Foam
|
||||
{
|
||||
|
||||
/*---------------------------------------------------------------------------*\
|
||||
Class linearSpringDamper Declaration
|
||||
\*---------------------------------------------------------------------------*/
|
||||
|
||||
class linearSpringDamper
|
||||
:
|
||||
public translationalRestraint
|
||||
{
|
||||
// Private Data
|
||||
|
||||
//- Linear spring coefficients
|
||||
diagTensor linSpringCoeffs_;
|
||||
|
||||
//- Linear damping coefficients
|
||||
diagTensor linDampingCoeffs_;
|
||||
|
||||
|
||||
public:
|
||||
|
||||
//- Runtime type information
|
||||
TypeName("linearSpringDamper");
|
||||
|
||||
|
||||
// Constructors
|
||||
|
||||
//- Construct from dictionary
|
||||
linearSpringDamper
|
||||
(
|
||||
const word& name,
|
||||
const dictionary& dict,
|
||||
const sixDOFODE& sixDOF
|
||||
);
|
||||
|
||||
//- Construct and return a clone
|
||||
virtual autoPtr<translationalRestraint> clone() const;
|
||||
|
||||
|
||||
// Destructor
|
||||
|
||||
virtual ~linearSpringDamper();
|
||||
|
||||
|
||||
// Member Functions
|
||||
|
||||
// Restraint specific functions
|
||||
|
||||
//- Return restraining force (in the global coordinate system)
|
||||
virtual vector restrainingForce
|
||||
(
|
||||
const scalar t,
|
||||
const tensor& toRelative,
|
||||
const vector& x,
|
||||
const vector& u
|
||||
) const;
|
||||
|
||||
|
||||
// I-O Functions and Operators
|
||||
|
||||
//- Virtual write function
|
||||
virtual void write(Ostream& os) const;
|
||||
};
|
||||
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
} // End namespace Foam
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
#endif
|
||||
|
||||
// ************************************************************************* //
|
||||
|
|
@ -0,0 +1,131 @@
|
|||
/*---------------------------------------------------------------------------*\
|
||||
========= |
|
||||
\\ / F ield | foam-extend: Open Source CFD
|
||||
\\ / O peration | Version: 4.0
|
||||
\\ / 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 "translationalRestraint.H"
|
||||
#include "sixDOFODE.H"
|
||||
|
||||
// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
|
||||
|
||||
namespace Foam
|
||||
{
|
||||
defineTypeNameAndDebug(translationalRestraint, 0);
|
||||
defineRunTimeSelectionTable(translationalRestraint, word);
|
||||
}
|
||||
|
||||
// * * * * * * * * * * * * * * * * Constructors * * * * * * * * * * * * * * //
|
||||
|
||||
Foam::translationalRestraint::translationalRestraint
|
||||
(
|
||||
const word& name,
|
||||
const dictionary& dict,
|
||||
const sixDOFODE& sixDOF
|
||||
)
|
||||
:
|
||||
name_(name),
|
||||
sixDOF_(sixDOF)
|
||||
{}
|
||||
|
||||
|
||||
// * * * * * * * * * * * * * * * * Destructor * * * * * * * * * * * * * * * //
|
||||
|
||||
Foam::translationalRestraint::~translationalRestraint()
|
||||
{}
|
||||
|
||||
|
||||
// * * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * //
|
||||
|
||||
const Foam::word& Foam::translationalRestraint::name() const
|
||||
{
|
||||
return name_;
|
||||
}
|
||||
|
||||
|
||||
const Foam::sixDOFODE& Foam::translationalRestraint::sixDOF() const
|
||||
{
|
||||
return sixDOF_;
|
||||
}
|
||||
|
||||
|
||||
Foam::autoPtr<Foam::translationalRestraint> Foam::translationalRestraint::New
|
||||
(
|
||||
const word& name,
|
||||
const dictionary& dict,
|
||||
const sixDOFODE& sixDOF
|
||||
)
|
||||
{
|
||||
const word restraintType(dict.lookup("type"));
|
||||
|
||||
wordConstructorTable::iterator cstrIter =
|
||||
wordConstructorTablePtr_->find(restraintType);
|
||||
|
||||
if (cstrIter == wordConstructorTablePtr_->end())
|
||||
{
|
||||
FatalErrorIn
|
||||
(
|
||||
"translationalRestraint::New"
|
||||
"\n("
|
||||
"\n const word& name,"
|
||||
"\n const dictionary& dict"
|
||||
"\n)"
|
||||
) << "Unknown translation restraint type: " << restraintType
|
||||
<< endl << endl
|
||||
<< "Valid translation restraint types are: " << endl
|
||||
<< wordConstructorTablePtr_->sortedToc()
|
||||
<< exit(FatalError);
|
||||
}
|
||||
|
||||
return autoPtr<translationalRestraint>
|
||||
(
|
||||
cstrIter()
|
||||
(
|
||||
name,
|
||||
dict,
|
||||
sixDOF
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
|
||||
// * * * * * * * * * * * * * * * IOstream Operators * * * * * * * * * * * * //
|
||||
|
||||
Foam::Ostream& Foam::operator<<
|
||||
(
|
||||
Ostream& os,
|
||||
const translationalRestraint& tr
|
||||
)
|
||||
{
|
||||
os << tr.name_ << nl << token::BEGIN_BLOCK << nl;
|
||||
|
||||
tr.write(os);
|
||||
|
||||
os << token::END_BLOCK << endl;
|
||||
|
||||
os.check("Ostream& operator<<(Ostream&, const translationalRestraint&");
|
||||
|
||||
return os;
|
||||
}
|
||||
|
||||
|
||||
// ************************************************************************* //
|
||||
|
|
@ -0,0 +1,192 @@
|
|||
/*---------------------------------------------------------------------------*\
|
||||
========= |
|
||||
\\ / F ield | foam-extend: Open Source CFD
|
||||
\\ / O peration | Version: 4.0
|
||||
\\ / 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::translationalRestraint
|
||||
|
||||
Description
|
||||
Abstract base class containing interface for translational restraints used
|
||||
within sixDOFODE classes.
|
||||
|
||||
Interface provides restraining forces to the translational equations of
|
||||
motion via force() member function.
|
||||
|
||||
Author
|
||||
Vuko Vukcevic, FSB Zagreb. All rights reserved.
|
||||
|
||||
SourceFiles
|
||||
translationalRestraint.C
|
||||
|
||||
\*---------------------------------------------------------------------------*/
|
||||
|
||||
#ifndef translationalRestraint_H
|
||||
#define translationalRestraint_H
|
||||
|
||||
#include "typeInfo.H"
|
||||
#include "runTimeSelectionTables.H"
|
||||
#include "autoPtr.H"
|
||||
#include "dimensionedTypes.H"
|
||||
#include "dictionary.H"
|
||||
#include "Switch.H"
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
namespace Foam
|
||||
{
|
||||
|
||||
class sixDOFODE;
|
||||
|
||||
/*---------------------------------------------------------------------------*\
|
||||
Class translationalRestraint Declaration
|
||||
\*---------------------------------------------------------------------------*/
|
||||
|
||||
class translationalRestraint
|
||||
{
|
||||
// Private Data
|
||||
|
||||
//- Name of the restraint
|
||||
word name_;
|
||||
|
||||
//- Reference to underlying sixDOFODE
|
||||
const sixDOFODE& sixDOF_;
|
||||
|
||||
public:
|
||||
|
||||
//- Runtime type information
|
||||
TypeName("translationalRestraint");
|
||||
|
||||
|
||||
// Declare run-time constructor selection table
|
||||
|
||||
declareRunTimeSelectionTable
|
||||
(
|
||||
autoPtr,
|
||||
translationalRestraint,
|
||||
word,
|
||||
(
|
||||
const word& name,
|
||||
const dictionary& dict,
|
||||
const sixDOFODE& sixDOF
|
||||
),
|
||||
(name, dict, sixDOF)
|
||||
);
|
||||
|
||||
|
||||
//- Class used for the read-construction of
|
||||
// PtrLists of translationalRestraint
|
||||
class iNew
|
||||
{
|
||||
const sixDOFODE& sixDOF_;
|
||||
|
||||
public:
|
||||
|
||||
iNew(const sixDOFODE& sixDOF)
|
||||
:
|
||||
sixDOF_(sixDOF)
|
||||
{}
|
||||
|
||||
autoPtr<translationalRestraint> operator()(Istream& is) const
|
||||
{
|
||||
word name(is);
|
||||
dictionary dict(is);
|
||||
return translationalRestraint::New(name, dict, sixDOF_);
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
// Constructors
|
||||
|
||||
//- Construct from dictionary
|
||||
translationalRestraint
|
||||
(
|
||||
const word& name,
|
||||
const dictionary& dict,
|
||||
const sixDOFODE& sixDOF
|
||||
);
|
||||
|
||||
//- Construct and return a clone
|
||||
virtual autoPtr<translationalRestraint> clone() const = 0;
|
||||
|
||||
|
||||
// Selectors
|
||||
|
||||
//- Return a reference to the selected translationalRestraint
|
||||
static autoPtr<translationalRestraint> New
|
||||
(
|
||||
const word& name,
|
||||
const dictionary& dict,
|
||||
const sixDOFODE& sixDOF
|
||||
);
|
||||
|
||||
|
||||
// Destructor
|
||||
|
||||
virtual ~translationalRestraint();
|
||||
|
||||
|
||||
// Member Functions
|
||||
|
||||
// Access functions
|
||||
|
||||
//- Return name
|
||||
const word& name() const;
|
||||
|
||||
//- Return underlying sixDOFODE object
|
||||
const sixDOFODE& sixDOF() const;
|
||||
|
||||
|
||||
// Restraint specific functions
|
||||
|
||||
//- Return restraining force (in the global coordinate system)
|
||||
virtual vector restrainingForce
|
||||
(
|
||||
const scalar t,
|
||||
const tensor& toRelative,
|
||||
const vector& x,
|
||||
const vector& u
|
||||
) const = 0;
|
||||
|
||||
|
||||
// I-O Functions and Operators
|
||||
|
||||
//- Virtual write function
|
||||
virtual void write(Ostream& os) const = 0;
|
||||
|
||||
//- Ostream operator implemented in terms of write operator
|
||||
friend Ostream& operator<<
|
||||
(
|
||||
Ostream& os,
|
||||
const translationalRestraint& tr
|
||||
);
|
||||
};
|
||||
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
} // End namespace Foam
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
#endif
|
||||
|
||||
// ************************************************************************* //
|
||||
543
src/ODE/sixDOF/sixDOFODE/sixDOFODE.C
Normal file
543
src/ODE/sixDOF/sixDOFODE/sixDOFODE.C
Normal file
|
|
@ -0,0 +1,543 @@
|
|||
/*---------------------------------------------------------------------------*\
|
||||
========= |
|
||||
\\ / F ield | foam-extend: Open Source CFD
|
||||
\\ / O peration | Version: 4.0
|
||||
\\ / 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
|
||||
sixDOFODE
|
||||
|
||||
\*---------------------------------------------------------------------------*/
|
||||
|
||||
#include "objectRegistry.H"
|
||||
#include "sixDOFODE.H"
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
namespace Foam
|
||||
{
|
||||
|
||||
defineTypeNameAndDebug(sixDOFODE, 0);
|
||||
defineRunTimeSelectionTable(sixDOFODE, dictionary);
|
||||
|
||||
}
|
||||
|
||||
// * * * * * * * * * * * * Private Member Functions * * * * * * * * * * * * * //
|
||||
|
||||
void Foam::sixDOFODE::updateRelaxFactors()
|
||||
{
|
||||
// Calculate translational relax factor
|
||||
const scalar saveOldRelFacT = oldRelaxFactorT_;
|
||||
oldRelaxFactorT_ = relaxFactorT_;
|
||||
|
||||
if(magSqr(A_[0] - An_[1] - A_[1] - An_[2]) > SMALL)
|
||||
{
|
||||
relaxFactorT_ = saveOldRelFacT + (saveOldRelFacT - 1)*
|
||||
(
|
||||
(A_[1] - An_[2])
|
||||
& (A_[0] - An_[1] - A_[1] - An_[2])
|
||||
)/
|
||||
magSqr(A_[0] - An_[1] - A_[1] - An_[2]);
|
||||
}
|
||||
else
|
||||
{
|
||||
relaxFactorT_ = minRelaxFactor_;
|
||||
}
|
||||
|
||||
// Bound the relaxation factor for stability
|
||||
if (relaxFactorT_ > maxRelaxFactor_)
|
||||
{
|
||||
relaxFactorT_ = maxRelaxFactor_;
|
||||
}
|
||||
else if (relaxFactorT_ < minRelaxFactor_)
|
||||
{
|
||||
relaxFactorT_ = minRelaxFactor_;
|
||||
}
|
||||
|
||||
// Calculate rotational relax factor
|
||||
const scalar saveOldRelFacR = oldRelaxFactorR_;
|
||||
oldRelaxFactorR_ = relaxFactorR_;
|
||||
|
||||
if
|
||||
(
|
||||
magSqr(OmegaDot_[0] - OmegaDotn_[1] - OmegaDot_[1] - OmegaDotn_[2])
|
||||
> SMALL
|
||||
)
|
||||
{
|
||||
relaxFactorR_ = saveOldRelFacR
|
||||
+ (saveOldRelFacR - 1)*
|
||||
(
|
||||
(OmegaDot_[1] - OmegaDotn_[2])
|
||||
& (OmegaDot_[0] - OmegaDotn_[1] - OmegaDot_[1] - OmegaDotn_[2])
|
||||
)/
|
||||
magSqr(OmegaDot_[0] - OmegaDotn_[1] - OmegaDot_[1] - OmegaDotn_[2]);
|
||||
}
|
||||
else
|
||||
{
|
||||
relaxFactorR_ = minRelaxFactor_;
|
||||
}
|
||||
|
||||
// Bound the relaxation factor for stability
|
||||
if (relaxFactorR_ > maxRelaxFactor_)
|
||||
{
|
||||
relaxFactorR_ = maxRelaxFactor_;
|
||||
}
|
||||
else if (relaxFactorR_ < minRelaxFactor_)
|
||||
{
|
||||
relaxFactorR_ = minRelaxFactor_;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void Foam::sixDOFODE::relaxAcceleration()
|
||||
{
|
||||
if (mag(minRelaxFactor_ - maxRelaxFactor_) < SMALL)
|
||||
{
|
||||
// Fixed relaxation
|
||||
relaxFactorT_ = minRelaxFactor_;
|
||||
relaxFactorR_ = minRelaxFactor_;
|
||||
}
|
||||
else
|
||||
{
|
||||
// Use Aitkens relaxation
|
||||
|
||||
// Update Aitkens relaxation factor
|
||||
updateRelaxFactors();
|
||||
|
||||
// Update non relaxed accelerations
|
||||
An_[1] = An_[2];
|
||||
An_[2] = (force_/mass_).value();
|
||||
OmegaDotn_[1] = OmegaDotn_[2];
|
||||
OmegaDotn_[2] = (inv(momentOfInertia_) & moment_).value();
|
||||
}
|
||||
|
||||
const vector Aold = A_[2];
|
||||
const vector OmegaDotold = OmegaDot_[2];
|
||||
|
||||
force_.value() =
|
||||
Aold*mass_.value()
|
||||
+ relaxFactorT_*(force_.value() - Aold*mass_.value());
|
||||
|
||||
moment_.value() =
|
||||
(momentOfInertia_.value() & OmegaDotold)
|
||||
+ relaxFactorR_*
|
||||
(
|
||||
moment_.value()
|
||||
- (momentOfInertia_.value() & OmegaDotold)
|
||||
);
|
||||
|
||||
// Update relaxed old accelerations
|
||||
A_[0] = A_[1];
|
||||
A_[1] = A_[2];
|
||||
A_[2] = (force_/mass_).value();
|
||||
OmegaDot_[0] = OmegaDot_[1];
|
||||
OmegaDot_[1] = OmegaDot_[2];
|
||||
OmegaDot_[2] = (inv(momentOfInertia_) & moment_).value();
|
||||
}
|
||||
|
||||
|
||||
void Foam::sixDOFODE::initState()
|
||||
{
|
||||
// Get time index
|
||||
const label timeIndex = dict().time().timeIndex();
|
||||
|
||||
if (curTimeIndex_ < timeIndex)
|
||||
{
|
||||
// First call in this time index, store data
|
||||
oldStatePtr_ = this->clone(dict().name() + "_0");
|
||||
|
||||
Info<< "First 6DOF solution within a time step, storing old data..."
|
||||
<< endl;
|
||||
}
|
||||
else
|
||||
{
|
||||
// Multiple calls in this time index, reset this data
|
||||
this->setState(oldStatePtr_());
|
||||
|
||||
Info<< "Repeated 6DOF solution within a time step, restoring data..."
|
||||
<< endl;
|
||||
}
|
||||
|
||||
// Update local time index
|
||||
curTimeIndex_ = timeIndex;
|
||||
}
|
||||
|
||||
|
||||
// * * * * * * * * * * * Protected Member Functions * * * * * * * * * * * * * //
|
||||
|
||||
void Foam::sixDOFODE::setState(const sixDOFODE& sd)
|
||||
{
|
||||
// Set state does not copy AList_, AOld_, relaxFactor_ and relaxFactorOld_.
|
||||
// In case of multiple updates, overwriting Aitkens relaxation parameters
|
||||
// would invalidate the underrelaxation. IG, 5/May/2016
|
||||
mass_ = sd.mass_;
|
||||
momentOfInertia_ = sd.momentOfInertia_;
|
||||
|
||||
Xequilibrium_ = sd.Xequilibrium_;
|
||||
|
||||
force_ = sd.force_;
|
||||
moment_ = sd.moment_;
|
||||
|
||||
|
||||
// Copy constraints
|
||||
|
||||
// Translational constraints
|
||||
translationalConstraints_.setSize(sd.translationalConstraints_.size());
|
||||
forAll(sd.translationalConstraints_, trI)
|
||||
{
|
||||
translationalConstraints_.set
|
||||
(
|
||||
trI,
|
||||
sd.translationalConstraints_[trI].clone()
|
||||
);
|
||||
}
|
||||
|
||||
// Rotational constraints
|
||||
rotationalConstraints_.setSize(sd.rotationalConstraints_.size());
|
||||
forAll(sd.rotationalConstraints_, rrI)
|
||||
{
|
||||
rotationalConstraints_.set
|
||||
(
|
||||
rrI,
|
||||
sd.rotationalConstraints_[rrI].clone()
|
||||
);
|
||||
}
|
||||
|
||||
|
||||
// Copy restraints
|
||||
|
||||
// Translational restraints
|
||||
translationalRestraints_.setSize(sd.translationalRestraints_.size());
|
||||
forAll(sd.translationalRestraints_, trI)
|
||||
{
|
||||
translationalRestraints_.set
|
||||
(
|
||||
trI,
|
||||
sd.translationalRestraints_[trI].clone()
|
||||
);
|
||||
}
|
||||
|
||||
// Rotational restraints
|
||||
rotationalRestraints_.setSize(sd.rotationalRestraints_.size());
|
||||
forAll(sd.rotationalRestraints_, rrI)
|
||||
{
|
||||
rotationalRestraints_.set
|
||||
(
|
||||
rrI,
|
||||
sd.rotationalRestraints_[rrI].clone()
|
||||
);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
Foam::dimensionedVector Foam::sixDOFODE::force
|
||||
(
|
||||
const scalar t,
|
||||
const tensor& toRelative,
|
||||
const vector& x,
|
||||
const vector& u
|
||||
) const
|
||||
{
|
||||
// Get ODE step fraction
|
||||
const scalar alpha = odeStepFraction(t);
|
||||
|
||||
// Calculate restraining force
|
||||
dimensionedVector rForce("zero", dimForce, vector::zero);
|
||||
|
||||
forAll(translationalRestraints_, trI)
|
||||
{
|
||||
rForce.value() += translationalRestraints_[trI].restrainingForce
|
||||
(
|
||||
t, // Time
|
||||
toRelative, // Transformation tensor
|
||||
x, // Position in the global c.s.
|
||||
u // Velocity in the global c.s.
|
||||
);
|
||||
}
|
||||
|
||||
// Return linearly interpolated external force with restraining force
|
||||
return (alpha*oldStatePtr_->force() + (1 - alpha)*force()) + rForce;
|
||||
}
|
||||
|
||||
|
||||
Foam::dimensionedVector Foam::sixDOFODE::moment
|
||||
(
|
||||
const scalar t,
|
||||
const tensor& toRelative,
|
||||
const vector& omega
|
||||
) const
|
||||
{
|
||||
// Get ODE step fraction
|
||||
const scalar alpha = odeStepFraction(t);
|
||||
|
||||
// Calculate restraining moment
|
||||
dimensionedVector rMoment("zero", dimForce*dimLength, vector::zero);
|
||||
|
||||
forAll(rotationalRestraints_, rrI)
|
||||
{
|
||||
rMoment.value() += rotationalRestraints_[rrI].restrainingMoment
|
||||
(
|
||||
t, // Time
|
||||
toRelative, // Transformation tensor
|
||||
omega // Angular velocity in local c.s.
|
||||
);
|
||||
}
|
||||
|
||||
// Return linearly interpolated external moment with restraining moment
|
||||
return (alpha*oldStatePtr_->moment() + (1 - alpha)*moment() + rMoment);
|
||||
}
|
||||
|
||||
|
||||
// * * * * * * * * * * * * * * * * Constructors * * * * * * * * * * * * * * //
|
||||
|
||||
Foam::sixDOFODE::sixDOFODE(const IOobject& io)
|
||||
:
|
||||
ODE(),
|
||||
dict_(io, *this),
|
||||
|
||||
mass_(dict_.lookup("mass")),
|
||||
momentOfInertia_(dict_.lookup("momentOfInertia")),
|
||||
|
||||
Xequilibrium_(dict_.lookup("equilibriumPosition")),
|
||||
|
||||
aitkensRelaxation_
|
||||
(
|
||||
dict_.lookupOrDefault<Switch>("useAitkensRelaxation", false)
|
||||
),
|
||||
minRelaxFactor_(dict_.lookupOrDefault<scalar>("minRelaxFactor", 0.1)),
|
||||
maxRelaxFactor_(dict_.lookupOrDefault<scalar>("maxRelaxFactor", 0.5)),
|
||||
|
||||
relaxFactorT_(1.0),
|
||||
relaxFactorR_(1.0),
|
||||
oldRelaxFactorT_(1.0),
|
||||
oldRelaxFactorR_(1.0),
|
||||
|
||||
A_(3, vector::zero),
|
||||
OmegaDot_(3, vector::zero),
|
||||
An_(3, vector::zero),
|
||||
OmegaDotn_(3, vector::zero),
|
||||
|
||||
force_(dict_.lookup("force")),
|
||||
moment_(dict_.lookup("moment")),
|
||||
|
||||
curTimeIndex_(-1),
|
||||
oldStatePtr_(),
|
||||
|
||||
translationalConstraints_(),
|
||||
rotationalConstraints_(),
|
||||
|
||||
translationalRestraints_(),
|
||||
rotationalRestraints_()
|
||||
{
|
||||
// Sanity checks
|
||||
if (mass_.value() < SMALL)
|
||||
{
|
||||
FatalIOErrorIn
|
||||
(
|
||||
"sixDOFODE::sixDOFODE(const IOobject& io)",
|
||||
dict_
|
||||
) << "Zero or negative mass detected: " << mass_.value()
|
||||
<< nl << "Please check " << dict_.name() << "dictionary."
|
||||
<< exit(FatalIOError);
|
||||
}
|
||||
|
||||
if (cmptMin(momentOfInertia_.value()) < SMALL)
|
||||
{
|
||||
FatalIOErrorIn
|
||||
(
|
||||
"sixDOFODE::sixDOFODE(const IOobject& io)",
|
||||
dict_
|
||||
) << "Zero or negative moment of inertia detected: "
|
||||
<< momentOfInertia_.value()
|
||||
<< nl << "Please check " << dict_.name() << "dictionary."
|
||||
<< exit(FatalIOError);
|
||||
}
|
||||
|
||||
if
|
||||
(
|
||||
(minRelaxFactor_ < SMALL)
|
||||
|| (maxRelaxFactor_ > 1.0)
|
||||
|| ((maxRelaxFactor_ - minRelaxFactor_) < 0)
|
||||
)
|
||||
{
|
||||
FatalIOErrorIn
|
||||
(
|
||||
"sixDOFODE::sixDOFODE(const IOobject& io)",
|
||||
dict_
|
||||
) << "Invalid minRelaxFactor and maxRelaxFactor specified."
|
||||
<< nl << "Please use values within 0 and 1."
|
||||
<< exit(FatalIOError);
|
||||
}
|
||||
|
||||
// Read and construct constraints and restraints
|
||||
|
||||
// Read translation constraints if they are present
|
||||
if (dict().found("translationalConstraints"))
|
||||
{
|
||||
PtrList<translationalConstraint> tcList
|
||||
(
|
||||
dict().lookup("translationalConstraints"),
|
||||
translationalConstraint::iNew(*this)
|
||||
);
|
||||
translationalConstraints_.transfer(tcList);
|
||||
}
|
||||
|
||||
// Read rotation constraints if they are present
|
||||
if (dict().found("rotationalConstraints"))
|
||||
{
|
||||
PtrList<rotationalConstraint> rcList
|
||||
(
|
||||
dict().lookup("rotationalConstraints"),
|
||||
rotationalConstraint::iNew(*this)
|
||||
);
|
||||
rotationalConstraints_.transfer(rcList);
|
||||
}
|
||||
|
||||
// Read translation restraints if they are present
|
||||
if (dict().found("translationalRestraints"))
|
||||
{
|
||||
PtrList<translationalRestraint> tcList
|
||||
(
|
||||
dict().lookup("translationalRestraints"),
|
||||
translationalRestraint::iNew(*this)
|
||||
);
|
||||
translationalRestraints_.transfer(tcList);
|
||||
}
|
||||
|
||||
// Read rotation restraints if they are present
|
||||
if (dict().found("rotationalRestraints"))
|
||||
{
|
||||
PtrList<rotationalRestraint> rcList
|
||||
(
|
||||
dict().lookup("rotationalRestraints"),
|
||||
rotationalRestraint::iNew(*this)
|
||||
);
|
||||
rotationalRestraints_.transfer(rcList);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
Foam::sixDOFODE::sixDOFODE(const word& name, const sixDOFODE& sd)
|
||||
:
|
||||
ODE(),
|
||||
dict_(sd.dict_),
|
||||
|
||||
mass_(sd.mass_),
|
||||
momentOfInertia_(sd.momentOfInertia_),
|
||||
|
||||
Xequilibrium_(sd.Xequilibrium_),
|
||||
|
||||
aitkensRelaxation_(sd.aitkensRelaxation_),
|
||||
minRelaxFactor_(sd.minRelaxFactor_),
|
||||
maxRelaxFactor_(sd.maxRelaxFactor_),
|
||||
|
||||
relaxFactorT_(1.0),
|
||||
relaxFactorR_(1.0),
|
||||
oldRelaxFactorT_(1.0),
|
||||
oldRelaxFactorR_(1.0),
|
||||
|
||||
A_(3, vector::zero),
|
||||
OmegaDot_(3, vector::zero),
|
||||
An_(3, vector::zero),
|
||||
OmegaDotn_(3, vector::zero),
|
||||
|
||||
force_(sd.force_),
|
||||
moment_(sd.moment_),
|
||||
|
||||
curTimeIndex_(sd.curTimeIndex_),
|
||||
oldStatePtr_(),
|
||||
|
||||
translationalConstraints_(sd.translationalConstraints_),
|
||||
rotationalConstraints_(sd.rotationalConstraints_),
|
||||
|
||||
translationalRestraints_(sd.translationalRestraints_),
|
||||
rotationalRestraints_(sd.rotationalRestraints_)
|
||||
{}
|
||||
|
||||
|
||||
// * * * * * * * * * * * * * * * * Destructor * * * * * * * * * * * * * * * //
|
||||
|
||||
Foam::sixDOFODE::~sixDOFODE()
|
||||
{}
|
||||
|
||||
|
||||
// * * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * //
|
||||
|
||||
const Foam::OutputControlDictionary<Foam::sixDOFODE>&
|
||||
Foam::sixDOFODE::dict() const
|
||||
{
|
||||
return dict_;
|
||||
}
|
||||
|
||||
|
||||
bool Foam::sixDOFODE::writeData(Ostream& os) const
|
||||
{
|
||||
os.writeKeyword("mass") << tab << mass_ << token::END_STATEMENT << nl;
|
||||
os.writeKeyword("momentOfInertia") << tab << momentOfInertia_
|
||||
<< token::END_STATEMENT << nl << nl;
|
||||
|
||||
os.writeKeyword("equilibriumPosition") << tab << Xequilibrium_
|
||||
<< token::END_STATEMENT << nl;
|
||||
|
||||
os.writeKeyword("useAitkensRelaxation") << tab << aitkensRelaxation_
|
||||
<< token::END_STATEMENT << nl;
|
||||
os.writeKeyword("minRelaxFactor") << tab << minRelaxFactor_
|
||||
<< token::END_STATEMENT << nl;
|
||||
os.writeKeyword("maxRelaxFactor") << tab << maxRelaxFactor_
|
||||
<< token::END_STATEMENT << nl << nl;
|
||||
|
||||
os.writeKeyword("force") << tab << force_
|
||||
<< token::END_STATEMENT << nl;
|
||||
os.writeKeyword("moment") << tab << moment_
|
||||
<< token::END_STATEMENT << nl << nl;
|
||||
|
||||
if (!translationalConstraints_.empty())
|
||||
{
|
||||
os.writeKeyword("translationalConstraints")
|
||||
<< translationalConstraints_
|
||||
<< token::END_STATEMENT << nl << endl;
|
||||
}
|
||||
|
||||
if (!rotationalConstraints_.empty())
|
||||
{
|
||||
os.writeKeyword("rotationalConstraints")
|
||||
<< rotationalConstraints_
|
||||
<< token::END_STATEMENT << endl;
|
||||
}
|
||||
|
||||
if (!translationalRestraints_.empty())
|
||||
{
|
||||
os.writeKeyword("translationalRestraints")
|
||||
<< translationalRestraints_
|
||||
<< token::END_STATEMENT << nl << endl;
|
||||
}
|
||||
|
||||
if (!rotationalRestraints_.empty())
|
||||
{
|
||||
os.writeKeyword("rotationalRestraints")
|
||||
<< rotationalRestraints_
|
||||
<< token::END_STATEMENT << endl;
|
||||
}
|
||||
|
||||
return os.good();
|
||||
}
|
||||
|
||||
|
||||
// ************************************************************************* //
|
||||
444
src/ODE/sixDOF/sixDOFODE/sixDOFODE.H
Normal file
444
src/ODE/sixDOF/sixDOFODE/sixDOFODE.H
Normal file
|
|
@ -0,0 +1,444 @@
|
|||
/*---------------------------------------------------------------------------*\
|
||||
========= |
|
||||
\\ / F ield | foam-extend: Open Source CFD
|
||||
\\ / O peration | Version: 4.0
|
||||
\\ / 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
|
||||
sixDOFODE
|
||||
|
||||
Description
|
||||
Abstract base class for six-degrees-of-freedom (6DOF) ordinary differential
|
||||
equations with necessary interface for two-way coupling with CFD solvers.
|
||||
|
||||
Holds list of translational and rotational constraints and restraings to be
|
||||
used in derived classes.
|
||||
|
||||
Author
|
||||
Dubravko Matijasevic, FSB Zagreb. All rights reserved.
|
||||
|
||||
Reorganisation by
|
||||
Vuko Vukcevic, FSB Zagreb. All rights reserved.
|
||||
Inno Gatin, FSB Zagreb. All rights reserved.
|
||||
Hrvoje Jasak, FSB Zagreb. All rights reserved.
|
||||
|
||||
SourceFiles
|
||||
sixDOFODEI.H
|
||||
sixDOFODE.C
|
||||
newSixDOFODE.C
|
||||
|
||||
\*---------------------------------------------------------------------------*/
|
||||
|
||||
#ifndef sixDOFODE_H
|
||||
#define sixDOFODE_H
|
||||
|
||||
#include "ODE.H"
|
||||
#include "dimensionedTypes.H"
|
||||
#include "autoPtr.H"
|
||||
#include "OutputControlDictionary.H"
|
||||
#include "runTimeSelectionTables.H"
|
||||
#include "Switch.H"
|
||||
#include "foamTime.H"
|
||||
#include "constraintsAndRestraints.H"
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
namespace Foam
|
||||
{
|
||||
|
||||
/*---------------------------------------------------------------------------*\
|
||||
Class sixDOFODE Declaration
|
||||
\*---------------------------------------------------------------------------*/
|
||||
|
||||
class sixDOFODE
|
||||
:
|
||||
public ODE
|
||||
{
|
||||
// Private data
|
||||
|
||||
//- Dictionary object controlling I/O for sixDOFODE
|
||||
const OutputControlDictionary<sixDOFODE> dict_;
|
||||
|
||||
|
||||
// Body data
|
||||
|
||||
//- Mass
|
||||
dimensionedScalar mass_;
|
||||
|
||||
//- Rotational moment of inertia around centre of mass
|
||||
// in body (relative) coordinates - aligned with main axes
|
||||
dimensionedDiagTensor momentOfInertia_;
|
||||
|
||||
|
||||
// Equilibrium position
|
||||
|
||||
//- Spring equilibrium position for translation
|
||||
dimensionedVector Xequilibrium_;
|
||||
|
||||
|
||||
// Aitkens relaxation data members
|
||||
|
||||
//- Switch to control whether to use Aitkens relaxation
|
||||
Switch aitkensRelaxation_;
|
||||
|
||||
//- Minimum acceleration relaxation factor (default 0.1)
|
||||
const scalar minRelaxFactor_;
|
||||
|
||||
//- Maximum acceleration relaxation factor (default 0.5)
|
||||
const scalar maxRelaxFactor_;
|
||||
|
||||
//- Translational relaxation factor
|
||||
scalar relaxFactorT_;
|
||||
|
||||
//- Rotational relaxation factor
|
||||
scalar relaxFactorR_;
|
||||
|
||||
//- Old translational relaxation factor
|
||||
scalar oldRelaxFactorT_;
|
||||
|
||||
//- Old rotational relaxation factor
|
||||
scalar oldRelaxFactorR_;
|
||||
|
||||
//- Accelerations from previous iterations
|
||||
// A_[2] is the old value, A_[1] old old, A_[0] old old old
|
||||
List<vector> A_;
|
||||
List<vector> OmegaDot_;
|
||||
|
||||
//- Previos iteration non relaxed accelerations
|
||||
List<vector> An_;
|
||||
List<vector> OmegaDotn_;
|
||||
|
||||
|
||||
// External forces and moments
|
||||
|
||||
//- Force driving the motion in global (inertial) coord. sys.
|
||||
dimensionedVector force_;
|
||||
|
||||
//- Moment driving the motion in global (inertial) coord. sys.
|
||||
dimensionedVector moment_;
|
||||
|
||||
|
||||
// Private data used to control multiple ODE updates per time step
|
||||
// Note: Before solving the ODE from the top level, we will store the
|
||||
// previous state if this is the first update in a given time step. The
|
||||
// state will be kept as the pointer to sixDOFODE, which is not optimal
|
||||
// because we are keeping track of some unnecessary data. We could use
|
||||
// more elegant and efficient code design. VV, 1/Mar/2017.
|
||||
|
||||
//- Local time index
|
||||
label curTimeIndex_;
|
||||
|
||||
//- Pointer to the sixDOFODE object carrying old state
|
||||
autoPtr<sixDOFODE> oldStatePtr_;
|
||||
|
||||
|
||||
// Motion constraints
|
||||
|
||||
//- List of translational constraints
|
||||
PtrList<translationalConstraint> translationalConstraints_;
|
||||
|
||||
//- List of rotational constraints
|
||||
PtrList<rotationalConstraint> rotationalConstraints_;
|
||||
|
||||
|
||||
// Motion restraints
|
||||
|
||||
//- List of translational restraints
|
||||
PtrList<translationalRestraint> translationalRestraints_;
|
||||
|
||||
//- List of rotational restraints
|
||||
PtrList<rotationalRestraint> rotationalRestraints_;
|
||||
|
||||
|
||||
// Private Member Functions
|
||||
|
||||
// Copy control
|
||||
|
||||
//- Disallow default bitwise copy construct
|
||||
sixDOFODE(const sixDOFODE&);
|
||||
|
||||
//- Disallow default bitwise assignment
|
||||
void operator=(const sixDOFODE&);
|
||||
|
||||
|
||||
// Aitkens relaxation helper function
|
||||
|
||||
//- Update Aitkens relaxation parameters
|
||||
void updateRelaxFactors();
|
||||
|
||||
//- Relax the force (acceleration) using Aitkens or fixed relaxation
|
||||
void relaxAcceleration();
|
||||
|
||||
|
||||
// Helper function for controlling multiple ODE solver calls per
|
||||
// time-step
|
||||
|
||||
//- Initialise ODE before setting external forces/moments and
|
||||
// solving
|
||||
void initState();
|
||||
|
||||
//- Calculate current ODE step fraction given time from ODE
|
||||
inline scalar odeStepFraction(const scalar odeTime) const;
|
||||
|
||||
|
||||
protected:
|
||||
|
||||
// Protected Member Functions
|
||||
|
||||
// Non-access control for setting state variables
|
||||
|
||||
//- Set ODE parameters from another ODE
|
||||
virtual void setState(const sixDOFODE&);
|
||||
|
||||
|
||||
// Get external force and moment (used during the solution process)
|
||||
|
||||
//- Return external force with restraints for given ODE state
|
||||
dimensionedVector force
|
||||
(
|
||||
const scalar t,
|
||||
const tensor& toRelative,
|
||||
const vector& x,
|
||||
const vector& u
|
||||
) const;
|
||||
|
||||
//- Return external moment with restraints given ODE state
|
||||
dimensionedVector moment
|
||||
(
|
||||
const scalar t,
|
||||
const tensor& toRelative,
|
||||
const vector& omega
|
||||
) const;
|
||||
|
||||
|
||||
public:
|
||||
|
||||
//- Run-time type information
|
||||
TypeName("sixDOFODE");
|
||||
|
||||
|
||||
// Declare run-time constructor selection table
|
||||
|
||||
declareRunTimeSelectionTable
|
||||
(
|
||||
autoPtr,
|
||||
sixDOFODE,
|
||||
dictionary,
|
||||
(const IOobject& io),
|
||||
(io)
|
||||
);
|
||||
|
||||
|
||||
// Constructors
|
||||
|
||||
//- Construct from dictionary
|
||||
sixDOFODE(const IOobject& io);
|
||||
|
||||
//- Copy construct given new name
|
||||
sixDOFODE(const word& name, const sixDOFODE& sd);
|
||||
|
||||
//- Return a clone, changing the name
|
||||
virtual autoPtr<sixDOFODE> clone(const word& name) const = 0;
|
||||
|
||||
|
||||
// Selectors
|
||||
|
||||
//- Return autoPtr to the selected sixDOFODE
|
||||
static autoPtr<sixDOFODE> New(const IOobject& io);
|
||||
|
||||
|
||||
// Destructor
|
||||
|
||||
virtual ~sixDOFODE();
|
||||
|
||||
|
||||
// Member Functions
|
||||
|
||||
// Access to common data
|
||||
|
||||
//- Return write controlled dictionary
|
||||
const OutputControlDictionary<sixDOFODE>& dict() const;
|
||||
|
||||
//- Return mass
|
||||
inline const dimensionedScalar& mass() const;
|
||||
|
||||
//- Return access to mass
|
||||
inline dimensionedScalar& mass();
|
||||
|
||||
//- Return moment of inertia
|
||||
inline const dimensionedDiagTensor& momentOfInertia() const;
|
||||
|
||||
//- Return access to moment of inertia
|
||||
inline dimensionedDiagTensor& momentOfInertia();
|
||||
|
||||
//- Return equilibrium position of origin
|
||||
inline const dimensionedVector& Xequilibrium() const;
|
||||
|
||||
//- Return access to equilibrium position of origin
|
||||
inline dimensionedVector& Xequilibrium();
|
||||
|
||||
//- Return linear spring coefficient
|
||||
inline const dimensionedDiagTensor& linSpringCoeffs() const;
|
||||
|
||||
//- Return linear damping coefficient
|
||||
inline const dimensionedDiagTensor& linDampingCoeffs() const;
|
||||
|
||||
|
||||
// Access to forces and moments
|
||||
|
||||
//- Return force in global (inertial) coord. sys.
|
||||
inline const dimensionedVector& force() const;
|
||||
|
||||
//- Return moment in global (inertial) coord. sys.
|
||||
inline const dimensionedVector& moment() const;
|
||||
|
||||
//- Set external force and moment
|
||||
inline void setExternalForceAndMoment
|
||||
(
|
||||
const dimensionedVector& externalForce,
|
||||
const dimensionedVector& externalMoment
|
||||
);
|
||||
|
||||
//- Initialize force and moment for the first time step
|
||||
inline void initExternalForceAndMoment
|
||||
(
|
||||
const dimensionedVector& externalForce,
|
||||
const dimensionedVector& externalMoment
|
||||
);
|
||||
|
||||
|
||||
// Access to motion constraints
|
||||
|
||||
//- Return const reference to translational constraints
|
||||
inline const PtrList<translationalConstraint>&
|
||||
translationalConstraints() const;
|
||||
|
||||
//- Return const reference to rotational constraints
|
||||
inline const PtrList<rotationalConstraint>&
|
||||
rotationalConstraints() const;
|
||||
|
||||
|
||||
// Access to motion restraints
|
||||
|
||||
//- Return const reference to translational restraints
|
||||
inline const PtrList<translationalRestraint>&
|
||||
translationalRestraints() const;
|
||||
|
||||
//- Return const reference to rotational restraints
|
||||
inline const PtrList<rotationalRestraint>&
|
||||
rotationalRestraints() const;
|
||||
|
||||
|
||||
// Virtual interface for 6DOF motion state
|
||||
|
||||
// Variables in relative coordinate system
|
||||
|
||||
//- Return displacement in translated coordinate system
|
||||
// relative to spring equilibrium
|
||||
virtual const dimensionedVector& Xrel() const = 0;
|
||||
|
||||
//- Return rotational velocity in relative coordinate system
|
||||
virtual const dimensionedVector& omega() const = 0;
|
||||
|
||||
|
||||
// Displacement and velocity in the absolute coordinate system
|
||||
|
||||
//- Return position of origin in absolute coordinate system
|
||||
virtual dimensionedVector X() const = 0;
|
||||
|
||||
//- Return velocity of origin
|
||||
virtual const dimensionedVector& U() const = 0;
|
||||
|
||||
//- Return average velocity of origin (evaluated at midstep)
|
||||
virtual const dimensionedVector& Uaverage() const = 0;
|
||||
|
||||
|
||||
// Average motion per time-step
|
||||
|
||||
//- Return average rotational velocity in relative coordinate
|
||||
// system (evaluated at midstep)
|
||||
virtual const dimensionedVector& omegaAverage() const = 0;
|
||||
|
||||
|
||||
// Rotations
|
||||
|
||||
//- Return rotation tensor to relative coordinate system
|
||||
virtual tensor toRelative() const = 0;
|
||||
|
||||
//- Return rotation tensor to absolute coordinate system
|
||||
virtual tensor toAbsolute() const = 0;
|
||||
|
||||
//- Return transformation tensor between new and previous
|
||||
// rotation
|
||||
virtual const tensor& rotIncrementTensor() const = 0;
|
||||
|
||||
|
||||
// ODE parameters
|
||||
|
||||
//- Return number of equations
|
||||
virtual label nEqns() const = 0;
|
||||
|
||||
//- Return access to coefficients
|
||||
virtual scalarField& coeffs() = 0;
|
||||
|
||||
//- Return reference to coefficients
|
||||
virtual const scalarField& coeffs() const = 0;
|
||||
|
||||
//- Evaluate derivatives
|
||||
virtual void derivatives
|
||||
(
|
||||
const scalar x,
|
||||
const scalarField& y,
|
||||
scalarField& dydx
|
||||
) const = 0;
|
||||
|
||||
//- Evaluate Jacobian
|
||||
virtual void jacobian
|
||||
(
|
||||
const scalar x,
|
||||
const scalarField& y,
|
||||
scalarField& dfdx,
|
||||
scalarSquareMatrix& dfdy
|
||||
) const = 0;
|
||||
|
||||
//- Update ODE after the solution, advancing by delta
|
||||
virtual void update(const scalar delta) = 0;
|
||||
|
||||
|
||||
// Write control
|
||||
|
||||
//- writeData member function required by regIOobject
|
||||
virtual bool writeData(Ostream&) const;
|
||||
};
|
||||
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
} // End namespace Foam
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
#include "sixDOFODEI.H"
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
#endif
|
||||
|
||||
// ************************************************************************* //
|
||||
159
src/ODE/sixDOF/sixDOFODE/sixDOFODEI.H
Normal file
159
src/ODE/sixDOF/sixDOFODE/sixDOFODEI.H
Normal file
|
|
@ -0,0 +1,159 @@
|
|||
/*---------------------------------------------------------------------------*\
|
||||
========= |
|
||||
\\ / F ield | foam-extend: Open Source CFD
|
||||
\\ / O peration | Version: 4.0
|
||||
\\ / 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
|
||||
sixDOFODE
|
||||
|
||||
\*---------------------------------------------------------------------------*/
|
||||
|
||||
// * * * * * * * * * * * * Private Member Functions * * * * * * * * * * * * * //
|
||||
|
||||
Foam::scalar Foam::sixDOFODE::odeStepFraction(const scalar odeTime) const
|
||||
{
|
||||
// Get current global time. Note: assuming that the ODESolver for a given
|
||||
// time step is integrating from t - deltaT to t.
|
||||
const scalar globalTime = dict().time().value();
|
||||
const scalar globalDeltaT = dict().time().deltaT().value();
|
||||
|
||||
// Calculate current ODE step time step size
|
||||
const scalar odeDeltaT = globalDeltaT - (globalTime - odeTime);
|
||||
|
||||
// Calculate and return ODE step size fraction
|
||||
return odeDeltaT/globalDeltaT;
|
||||
}
|
||||
|
||||
|
||||
// * * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * //
|
||||
|
||||
const Foam::dimensionedScalar& Foam::sixDOFODE::mass() const
|
||||
{
|
||||
return mass_;
|
||||
}
|
||||
|
||||
|
||||
Foam::dimensionedScalar& Foam::sixDOFODE::mass()
|
||||
{
|
||||
return mass_;
|
||||
}
|
||||
|
||||
|
||||
const Foam::dimensionedDiagTensor& Foam::sixDOFODE::momentOfInertia() const
|
||||
{
|
||||
return momentOfInertia_;
|
||||
}
|
||||
|
||||
|
||||
Foam::dimensionedDiagTensor& Foam::sixDOFODE::momentOfInertia()
|
||||
{
|
||||
return momentOfInertia_;
|
||||
}
|
||||
|
||||
|
||||
const Foam::dimensionedVector& Foam::sixDOFODE::Xequilibrium() const
|
||||
{
|
||||
return Xequilibrium_;
|
||||
}
|
||||
|
||||
|
||||
Foam::dimensionedVector& Foam::sixDOFODE::Xequilibrium()
|
||||
{
|
||||
return Xequilibrium_;
|
||||
}
|
||||
|
||||
|
||||
const Foam::dimensionedVector& Foam::sixDOFODE::force() const
|
||||
{
|
||||
return force_;
|
||||
}
|
||||
|
||||
|
||||
const Foam::dimensionedVector& Foam::sixDOFODE::moment() const
|
||||
{
|
||||
return moment_;
|
||||
}
|
||||
|
||||
|
||||
void Foam::sixDOFODE::setExternalForceAndMoment
|
||||
(
|
||||
const dimensionedVector& externalForce,
|
||||
const dimensionedVector& externalMoment
|
||||
)
|
||||
{
|
||||
// Initialise the state before setting external forces and moments
|
||||
initState();
|
||||
|
||||
// Set forces and moments
|
||||
force_ = externalForce;
|
||||
moment_ = externalMoment;
|
||||
|
||||
// Relax acceleration if the Aitkens relaxation is turned on
|
||||
if (aitkensRelaxation_)
|
||||
{
|
||||
relaxAcceleration();
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void Foam::sixDOFODE::initExternalForceAndMoment
|
||||
(
|
||||
const dimensionedVector& externalForce,
|
||||
const dimensionedVector& externalMoment
|
||||
)
|
||||
{
|
||||
// Initialise force and moment only for the first time step
|
||||
if (curTimeIndex_ == -1)
|
||||
{
|
||||
force_ = externalForce;
|
||||
moment_ = externalMoment;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
const Foam::PtrList<Foam::translationalConstraint>&
|
||||
Foam::sixDOFODE::translationalConstraints() const
|
||||
{
|
||||
return translationalConstraints_;
|
||||
}
|
||||
|
||||
|
||||
const Foam::PtrList<Foam::rotationalConstraint>&
|
||||
Foam::sixDOFODE::rotationalConstraints() const
|
||||
{
|
||||
return rotationalConstraints_;
|
||||
}
|
||||
|
||||
|
||||
const Foam::PtrList<Foam::translationalRestraint>&
|
||||
Foam::sixDOFODE::translationalRestraints() const
|
||||
{
|
||||
return translationalRestraints_;
|
||||
}
|
||||
|
||||
|
||||
const Foam::PtrList<Foam::rotationalRestraint>&
|
||||
Foam::sixDOFODE::rotationalRestraints() const
|
||||
{
|
||||
return rotationalRestraints_;
|
||||
}
|
||||
|
||||
// ************************************************************************* //
|
||||
|
|
@ -64,7 +64,7 @@ protected:
|
|||
|
||||
// Protected data
|
||||
|
||||
//- Solid bodi motion coefficients dictionary
|
||||
//- Solid body motion coefficients dictionary
|
||||
dictionary SBMFCoeffs_;
|
||||
|
||||
//- Time
|
||||
|
|
|
|||
|
|
@ -0,0 +1,75 @@
|
|||
/*---------------------------------------------------------------------------*\
|
||||
========= |
|
||||
\\ / F ield | foam-extend: Open Source CFD
|
||||
\\ / O peration | Version: 4.0
|
||||
\\ / 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
|
||||
OutputControlDictionary
|
||||
|
||||
Description
|
||||
Host template class used to control input/output for a given type. Used to
|
||||
enable a combination of run-time selection using the TypeName macro (see
|
||||
typeInfo.H) and automatic read/write provided by regIOobject part of the
|
||||
IOdictionary.
|
||||
|
||||
For example of usage, see $FOAM_SRC/ODE/sixDOFODE/sixDOFODE.H
|
||||
|
||||
Author
|
||||
Vuko Vukcevic, Wikki Ltd. All rights reserved.
|
||||
|
||||
\*---------------------------------------------------------------------------*/
|
||||
|
||||
#include "OutputControlDictionary.H"
|
||||
|
||||
// * * * * * * * * * * * * * * * * Constructors * * * * * * * * * * * * * * //
|
||||
|
||||
template <class PolicyType>
|
||||
Foam::OutputControlDictionary<PolicyType>::OutputControlDictionary
|
||||
(
|
||||
const IOobject& io,
|
||||
const PolicyType& pt
|
||||
)
|
||||
:
|
||||
IOdictionary(io),
|
||||
pt_(pt)
|
||||
{
|
||||
// Note: parameter pt may be incomplete here, must not call its member
|
||||
// functions inside the constructor body.
|
||||
}
|
||||
|
||||
|
||||
// * * * * * * * * * * * * * * * * Destructor * * * * * * * * * * * * * * * //
|
||||
|
||||
template <class PolicyType>
|
||||
Foam::OutputControlDictionary<PolicyType>::~OutputControlDictionary()
|
||||
{}
|
||||
|
||||
|
||||
// * * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * //
|
||||
|
||||
template <class PolicyType>
|
||||
bool Foam::OutputControlDictionary<PolicyType>::writeData(Ostream& os) const
|
||||
{
|
||||
return pt_.writeData(os);
|
||||
}
|
||||
|
||||
|
||||
// ************************************************************************* //
|
||||
|
|
@ -0,0 +1,103 @@
|
|||
/*---------------------------------------------------------------------------*\
|
||||
========= |
|
||||
\\ / F ield | foam-extend: Open Source CFD
|
||||
\\ / O peration | Version: 4.0
|
||||
\\ / 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
|
||||
OutputControlDictionary
|
||||
|
||||
Description
|
||||
Host template class used to control input/output for a given type. Used to
|
||||
enable a combination of run-time selection using the TypeName macro (see
|
||||
typeInfo.H) and automatic read/write provided by regIOobject part of the
|
||||
IOdictionary.
|
||||
|
||||
For example of usage, see $FOAM_SRC/ODE/sixDOFODE/sixDOFODE.H
|
||||
|
||||
Author
|
||||
Vuko Vukcevic, Wikki Ltd. All rights reserved.
|
||||
|
||||
SourceFiles
|
||||
OutputControlDictionary.C
|
||||
|
||||
\*---------------------------------------------------------------------------*/
|
||||
|
||||
#ifndef OutputControlDictionary_H
|
||||
#define OutputControlDictionary_H
|
||||
|
||||
#include "IOdictionary.H"
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
namespace Foam
|
||||
{
|
||||
|
||||
/*---------------------------------------------------------------------------*\
|
||||
Class OutputControlDictionary Declaration
|
||||
\*---------------------------------------------------------------------------*/
|
||||
|
||||
template <class PolicyType>
|
||||
class OutputControlDictionary
|
||||
:
|
||||
public IOdictionary
|
||||
{
|
||||
// Private data
|
||||
|
||||
//- Const reference to the policy class
|
||||
const PolicyType& pt_;
|
||||
|
||||
|
||||
public:
|
||||
|
||||
// Constructors
|
||||
|
||||
//- Construct from IOobject and policy
|
||||
OutputControlDictionary(const IOobject& io, const PolicyType& pt);
|
||||
|
||||
|
||||
// Destructor
|
||||
|
||||
virtual ~OutputControlDictionary();
|
||||
|
||||
|
||||
// Write control
|
||||
|
||||
//- writeData member function controlling output. Calls
|
||||
// PolicyType::writeData(Ostream& os) member function
|
||||
virtual bool writeData(Ostream& os) const;
|
||||
};
|
||||
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
} // End namespace Foam
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
#ifdef NoRepository
|
||||
# include "OutputControlDictionary.C"
|
||||
#endif
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
#endif
|
||||
|
||||
// ************************************************************************* //
|
||||
|
|
@ -112,7 +112,7 @@ public:
|
|||
Matrix(const label n, const label m, const Type&);
|
||||
|
||||
//- Copy constructor.
|
||||
Matrix(const Matrix<Form, Type>&);
|
||||
Matrix(const Matrix<Form, Type>&);
|
||||
|
||||
//- Construct from Istream.
|
||||
Matrix(Istream&);
|
||||
|
|
|
|||
|
|
@ -925,6 +925,18 @@ operator&&(const Tensor<Cmpt>& t1, const SymmTensor<Cmpt>& st2)
|
|||
}
|
||||
|
||||
|
||||
//- Return skew-symmetric tensor calculated with Lie bracket operator given two
|
||||
// vectors
|
||||
template <class Cmpt>
|
||||
inline Tensor<Cmpt> lieBracket(const Vector<Cmpt>& v1, const Vector<Cmpt>& v2)
|
||||
{
|
||||
const Tensor<Cmpt> skewV1(*v1);
|
||||
const Tensor<Cmpt> skewV2(*v2);
|
||||
|
||||
return (skewV1 & skewV2) - (skewV2 & skewV1);
|
||||
}
|
||||
|
||||
|
||||
template<class Cmpt>
|
||||
class typeOfSum<SymmTensor<Cmpt>, Tensor<Cmpt> >
|
||||
{
|
||||
|
|
|
|||
|
|
@ -14,12 +14,17 @@ FoamFile
|
|||
}
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
// Mass properties and inputs common to all sixDOFODE's
|
||||
mass m [1 0 0 0 0 0 0] 1;
|
||||
momentOfInertia J [1 2 0 0 0 0 0] (1 1 1);
|
||||
|
||||
equilibriumPosition Xeq [0 1 0 0 0 0 0] (0 0 0);
|
||||
linearSpring k [1 0 -2 0 0 0 0] (1 1 1);
|
||||
linearDamping d [1 0 -1 0 0 0 0] (0 0 0);
|
||||
|
||||
force f [1 1 -2 0 0 0 0] (0 0 0);
|
||||
moment m [1 2 -2 0 0 0 0] (0 0 0);
|
||||
|
||||
// Specific input for certain sixDOFODE (here quaternionSixDOF)
|
||||
type quaternionSixDOF;
|
||||
|
||||
// Xabs = Xeq + Xrel
|
||||
Xrel Xrel [0 1 0 0 0 0 0] (0 0 0);
|
||||
|
|
@ -28,21 +33,7 @@ Uold Uold [0 1 -1 0 0 0 0] (1 0 0);
|
|||
rotationVector (0 0 1);
|
||||
|
||||
rotationAngle rotationAngle [0 0 0 0 0 0 0] 0;
|
||||
omega rotUrel [0 0 -1 0 0 0 0] (0.5773502692 0.5773502692 0.5773502692);
|
||||
|
||||
force f [1 1 -2 0 0 0 0] (0 0 0);
|
||||
moment m [1 2 -2 0 0 0 0] (0 0 0);
|
||||
|
||||
forceRelative fRel [1 1 -2 0 0 0 0] (0 0 0);
|
||||
momentRelative mRel [1 2 -2 0 0 0 0] (-0.5773502692 -0.5773502692 -0.5773502692);
|
||||
|
||||
// Motion constraints
|
||||
fixedSurge no;
|
||||
fixedSway no;
|
||||
fixedHeave no;
|
||||
fixedRoll no;
|
||||
fixedPitch no;
|
||||
fixedYaw no;
|
||||
omega rotUrel [0 0 -1 0 0 0 0] (0.5773502692 0.5773502692 0.5773502692);
|
||||
|
||||
|
||||
// ************************************************************************* //
|
||||
|
|
|
|||
|
|
@ -14,12 +14,17 @@ FoamFile
|
|||
}
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
// Mass properties and inputs common to all sixDOFODE's
|
||||
mass m [1 0 0 0 0 0 0] 1;
|
||||
momentOfInertia J [1 2 0 0 0 0 0] (1 1 1);
|
||||
|
||||
equilibriumPosition Xeq [0 1 0 0 0 0 0] (-1 0 0);
|
||||
linearSpring k [1 0 -2 0 0 0 0] (1 1 1);
|
||||
linearDamping d [1 0 -1 0 0 0 0] (0 0 0);
|
||||
|
||||
force f [1 1 -2 0 0 0 0] (0 0 0);
|
||||
moment m [1 2 -2 0 0 0 0] (0 0 0);
|
||||
|
||||
// Specific input for certain sixDOFODE (here quaternionSixDOF)
|
||||
type quaternionSixDOF;
|
||||
|
||||
// Xabs = Xeq + Xrel
|
||||
Xrel Xrel [0 1 0 0 0 0 0] (0 0 0);
|
||||
|
|
@ -29,19 +34,5 @@ rotationVector (0 0 1);
|
|||
rotationAngle rA [0 0 0 0 0 0 0] 0;
|
||||
omega rotU [0 0 -1 0 0 0 0] (0 -1 0);
|
||||
|
||||
force f [1 1 -2 0 0 0 0] (0 0 0);
|
||||
moment m [1 2 -2 0 0 0 0] (0 0 0);
|
||||
|
||||
forceRelative fRel [1 1 -2 0 0 0 0] (0 0 0);
|
||||
momentRelative mRel [1 2 -2 0 0 0 0] (0 0 10);
|
||||
|
||||
// Motion constraints
|
||||
fixedSurge no;
|
||||
fixedSway no;
|
||||
fixedHeave no;
|
||||
fixedRoll no;
|
||||
fixedPitch no;
|
||||
fixedYaw no;
|
||||
|
||||
|
||||
// ************************************************************************* //
|
||||
|
|
|
|||
|
|
@ -14,12 +14,17 @@ FoamFile
|
|||
}
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
// Mass properties and inputs common to all sixDOFODE's
|
||||
mass m [1 0 0 0 0 0 0] 1;
|
||||
momentOfInertia J [1 2 0 0 0 0 0] (1 1 1);
|
||||
|
||||
equilibriumPosition Xeq [0 1 0 0 0 0 0] (2 0 0);
|
||||
linearSpring k [1 0 -2 0 0 0 0] (1 0 0);
|
||||
linearDamping d [1 0 -1 0 0 0 0] (1 0 0);
|
||||
|
||||
force f [1 1 -2 0 0 0 0] (0 0 0);
|
||||
moment m [1 2 -2 0 0 0 0] (0 0 0);
|
||||
|
||||
// Specific input for certain sixDOFODE (here quaternionSixDOF)
|
||||
type quaternionSixDOF;
|
||||
|
||||
// Xabs = Xeq + Xrel
|
||||
Xrel Xrel [0 1 0 0 0 0 0] (-2 0 0);
|
||||
|
|
@ -29,20 +34,5 @@ rotationVector (0 0 1);
|
|||
rotationAngle rotA [0 0 0 0 0 0 0] 0;
|
||||
omega rotU [0 0 -1 0 0 0 0] (0 0 0);
|
||||
|
||||
force f [1 1 -2 0 0 0 0] (0 0 0);
|
||||
moment m [1 2 -2 0 0 0 0] (0 0 0);
|
||||
|
||||
forceRelative fRel [1 1 -2 0 0 0 0] (0 0 0);
|
||||
momentRelative mRel [1 2 -2 0 0 0 0] (0 0 0);
|
||||
|
||||
|
||||
// Motion constraints
|
||||
fixedSurge no;
|
||||
fixedSway no;
|
||||
fixedHeave no;
|
||||
fixedRoll no;
|
||||
fixedPitch no;
|
||||
fixedYaw no;
|
||||
|
||||
|
||||
// ************************************************************************* //
|
||||
|
|
|
|||
Reference in a new issue