Runtime bugfixes and minor reorganization

src/ODE/Make/files

@@ -13,7 +13,6 @@ sixDOF = sixDOF
 $(sixDOF)/finiteRotation/finiteRotation.C
 $(sixDOF)/sixDOFqODE/sixDOFqODE.C
 
-$(sixDOF)/sixDOFODE/sixDOFODEIO.C
 $(sixDOF)/sixDOFODE/sixDOFODE.C
 $(sixDOF)/sixDOFODE/newSixDOFODE.C
 $(sixDOF)/quaternionSixDOF/quaternionSixDOF.C

src/ODE/sixDOF/finiteRotation/finiteRotation.C

@@ -151,7 +151,7 @@ void Foam::finiteRotation::updateRotation(const HamiltonRodriguezRot& rot)
 }
 
 
-void Foam::finiteRotation::updateRotationGivenIncrement(const tensor& incR)
+void Foam::finiteRotation::updateRotationWithIncrement(const tensor& incR)
 {
     rotIncrementTensor_ = incR;
     rotTensor_ = (incR & rotTensor_);

src/ODE/sixDOF/finiteRotation/finiteRotation.H

@@ -108,7 +108,7 @@ public:
         void updateRotation(const HamiltonRodriguezRot& rot);
 
         //- Update rotation given increment rotation tensor
-        void updateRotationGivenIncrement(const tensor& incR);
+        void updateRotationWithIncrement(const tensor& incR);
 
         //- Return initial quaternions
         const HamiltonRodriguezRot& eInitial() const;

src/ODE/sixDOF/geometricSixDOF/geometricSixDOF.C

@@ -190,7 +190,7 @@ Foam::tensor Foam::geometricSixDOF::expMap(const vector& rotInc) const
           + (skewRotInc & skewRotInc)*(1.0 - cos(magRotInc))/sqr(magRotInc);
     }
 
-    return R;
+    return R.T();
 }
 
 
@@ -568,15 +568,11 @@ void Foam::geometricSixDOF::derivatives
     // Get rotational increment vector (u)
     const vector rotIncrementVector(y[9], y[10], y[11]);
 
-    // Calculate rotation increment tensor obtained with exponential map using
+    // Calculate current rotation tensor obtained with exponential map
-    // the increment vector
+    const tensor curRot = (expMap(rotIncrementVector) & rotation_.rotTensor());
-    const tensor rotIncrement = expMap(rotIncrementVector);
-
-    // Update rotation tensor
-    rotation_.updateRotation(rotIncrement);
 
     // Calculate translational acceleration using current rotation
-    const vector accel = A(curX, curU, rotation_.rotTensor()).value();
+    const vector accel = A(curX, curU, curRot).value();
 
     // Set the derivatives for velocity
     dydx[3] = accel.x();
@@ -593,7 +589,7 @@ void Foam::geometricSixDOF::derivatives
     );
 
     // Calculate rotational acceleration using current rotation
-    const vector omegaDot = OmegaDot(rotation_.rotTensor(), curOmega).value();
+    const vector omegaDot = OmegaDot(curRot, curOmega).value();
 
     dydx[6] = omegaDot.x();
     dydx[7] = omegaDot.y();
@@ -649,7 +645,7 @@ void Foam::geometricSixDOF::update(const scalar delta)
     omegaVal.z() = coeffs_[8];
 
     // Update rotation with final increment vector
-    rotation_.updateRotation
+    rotation_.updateRotationWithIncrement
     (
         expMap(vector(coeffs_[9], coeffs_[10], coeffs_[11]))
     );

src/ODE/sixDOF/sixDOFBodies/sixDOFBodies.C

@@ -85,6 +85,9 @@ void Foam::sixDOFBodies::setBodies()
             bodyI,
             ODESolver::New(lookup("solver"), odes_[bodyI])
         );
+
+        Info<< "Finished creating " << odes_[bodyI].type()
+            << " object for body " << names_[bodyI] << endl;
     }
 }
 

src/ODE/sixDOF/sixDOFODE/sixDOFODEIO.C

@@ -1,65 +0,0 @@
-/*---------------------------------------------------------------------------*\
-  =========                 |
-  \\      /  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
-    sixDOFODEIO
-
-Description
-    Class used to control input/output for sixDOFODEIO. Need separate classes in
-    order to be able to have run-time selection and automatic I/O.
-
-Author
-    Vuko Vukcevic, FSB Zagreb.  All rights reserved.
-
-\*---------------------------------------------------------------------------*/
-
-#include "sixDOFODEIO.H"
-#include "sixDOFODE.H"
-
-// * * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * //
-
-Foam::sixDOFODEIO::sixDOFODEIO(const IOobject& io, const sixDOFODE& sixDOF)
-:
-    IOdictionary(io),
-    sixDOF_(sixDOF)
-{
-    // Note: parameter sixDOF is incomplete here, must not call its member
-    // functions here.
-}
-
-
-// * * * * * * * * * * * * * * * * Destructor  * * * * * * * * * * * * * * * //
-
-Foam::sixDOFODEIO::~sixDOFODEIO()
-{}
-
-
-// * * * * * * * * * * * * * * * Member Functions  * * * * * * * * * * * * * //
-
-bool Foam::sixDOFODEIO::writeData(Ostream& os) const
-{
-    return sixDOF_.writeData(os);
-}
-
-
-// ************************************************************************* //

src/ODE/sixDOF/sixDOFODE/sixDOFODEIO.H

@@ -1,102 +0,0 @@
-/*---------------------------------------------------------------------------*\
-  =========                 |
-  \\      /  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
-    sixDOFODEIO
-
-Description
-    Class used to control input/output for sixDOFODEIO. Need separate classes in
-    order to be able to have run-time selection and automatic I/O.
-
-Author
-    Vuko Vukcevic, FSB Zagreb.  All rights reserved.
-
-SourceFiles
-    sixDOFODEIO.C
-
-\*---------------------------------------------------------------------------*/
-
-#ifndef sixDOFODEIO_H
-#define sixDOFODEIO_H
-
-#include "IOdictionary.H"
-
-// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
-
-namespace Foam
-{
-
-class sixDOFODE;
-
-/*---------------------------------------------------------------------------*\
-                         Class sixDOFODEIO Declaration
-\*---------------------------------------------------------------------------*/
-
-class sixDOFODEIO
-:
-    public IOdictionary
-{
-    // Private data
-
-        //- Const reference to the underlying sixDOFODE object
-        const sixDOFODE& sixDOF_;
-
-
-    // Private Member Functions
-
-        //- Disallow default bitwise copy construct
-        sixDOFODEIO(const sixDOFODEIO&);
-
-        //- Disallow default bitwise assignment
-        void operator=(const sixDOFODEIO&);
-
-
-public:
-
-    // Constructors
-
-        //- Construct from dictionary and sixDOFODE object
-        sixDOFODEIO(const IOobject& io, const sixDOFODE& sixDOF);
-
-
-    // Destructor
-
-        virtual ~sixDOFODEIO();
-
-
-        // Write control
-
-            //- writeData member function controlling output
-            virtual bool writeData(Ostream& os) const;
-};
-
-
-// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
-
-} // End namespace Foam
-
-// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
-
-#endif
-
-// ************************************************************************* //