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Bugfix: specified motion and 6-DOF constraints

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Conflicts:
	src/ODE/sixDOF/sixDOFqODE/sixDOFqODE.C
	src/ODE/sixDOF/sixDOFqODE/sixDOFqODE.H
This commit is contained in:
Hrvoje Jasak 2016-01-20 16:31:51 +00:00
parent a3519137f2
commit 64df538263
2 changed files with 27 additions and 34 deletions
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50
src/ODE/sixDOF/sixDOFqODE/sixDOFqODE.C
View file

@ -76,9 +76,10 @@ Foam::dimensionedVector Foam::sixDOFqODE::A
{
// Fix the global force for global rotation constraints
dimensionedVector fAbs = force();
vector& fAbsVal = fAbs.value();
// Constrain translation
constrainTranslation(fAbs.value());
// Constrain rotation
fAbsVal = constrainTranslation(fAbsVal);
return
(
@ -99,9 +100,9 @@ Foam::dimensionedVector Foam::sixDOFqODE::OmegaDot
{
// Fix the global moment for global rotation constraints
dimensionedVector mAbs = moment();
vector& mAbsVal = mAbs.value();
// Constrain rotation
constrainRotation(mAbs.value());
mAbsVal = constrainRotation(mAbsVal);
return
inv(momentOfInertia_)
@ -123,7 +124,7 @@ Foam::dimensionedVector Foam::sixDOFqODE::E
}
void Foam::sixDOFqODE::constrainRotation(vector& vec) const
Foam::vector Foam::sixDOFqODE::constrainRotation(vector& vec) const
{
vector consVec(vector::zero);
@ -164,10 +165,12 @@ void Foam::sixDOFqODE::constrainRotation(vector& vec) const
consVec.z() = 0;
}
}
return consVec;
}
void Foam::sixDOFqODE::constrainTranslation(vector& vec) const
Foam::vector Foam::sixDOFqODE::constrainTranslation(vector& vec) const
{
vector consVec(vector::zero);
@ -208,6 +211,8 @@ void Foam::sixDOFqODE::constrainTranslation(vector& vec) const
consVec.z() = 0;
}
}
return consVec;
}
@ -258,7 +263,7 @@ Foam::sixDOFqODE::sixDOFqODE(const IOobject& io)
false
)
),
referentRotation_(vector(1, 0, 0), 0)
referentRotation_(vector::zero, 0)
{
setCoeffs();
}
@ -447,20 +452,19 @@ void Foam::sixDOFqODE::derivatives
dydx[11] = curRotation.eDot(curOmega.value(), 2);
dydx[12] = curRotation.eDot(curOmega.value(), 3);
// // Add rotational constraints by setting RHS of given components to zero
// if (fixedRoll_)
// {
// dydx[10] = 0; // Roll axis (roll quaternion evolution RHS)
// }
// if (fixedPitch_)
// {
// dydx[11] = 0; // Pitch axis (pitch quaternion evolution RHS)
// }
// if (fixedYaw_)
// {
// dydx[12] = 0; // Yaw axis (yaw quaternion evolution RHS)
// }
// Add rotational constraints by setting RHS of given components to zero
if (fixedRoll_)
{
dydx[10] = 0; // Roll axis (roll quaternion evolution RHS)
}
if (fixedPitch_)
{
dydx[11] = 0; // Pitch axis (pitch quaternion evolution RHS)
}
if (fixedYaw_)
{
dydx[12] = 0; // Yaw axis (yaw quaternion evolution RHS)
}
}
@ -498,7 +502,7 @@ void Foam::sixDOFqODE::update(const scalar delta)
Uval.z() = coeffs_[5];
// Constrain velocity
constrainTranslation(Uval);
Uval = constrainTranslation(Uval);
coeffs_[3] = Uval.x();
coeffs_[4] = Uval.y();
coeffs_[5] = Uval.z();
@ -511,7 +515,7 @@ void Foam::sixDOFqODE::update(const scalar delta)
omegaVal.z() = coeffs_[8];
// Constrain omega
constrainRotation(omegaVal);
omegaVal = constrainRotation(omegaVal);
coeffs_[6] = omegaVal.x();
coeffs_[7] = omegaVal.y();
coeffs_[8] = omegaVal.z();

11
src/ODE/sixDOF/sixDOFqODE/sixDOFqODE.H
View file

@ -197,14 +197,6 @@ class sixDOFqODE
const dimensionedVector& omega
) const;
//- Constrain rotation vector in referent or global coordinate
// system
void constrainRotation(vector& vec) const;
//- Constrain translation vector in referent or global coordinate
// system
void constrainTranslation(vector& vec) const;
public:
@ -300,9 +292,6 @@ public:
// coordinate system
inline void setOmega(const vector& omega);
//- Set referent coordinate system to apply constraints
inline void setReferentRotation(const HamiltonRodriguezRot& rot);
// Average motion per time-step