Angular damper rotational restraint

src/ODE/Make/files

@@ -25,6 +25,7 @@ $(sixDOF)/sixDOFODE/constraints/translationalConstraints/periodicOscillation/per
 $(sixDOF)/sixDOFODE/restraints/translationalRestraints/translationalRestraint/translationalRestraint.C
 $(sixDOF)/sixDOFODE/restraints/translationalRestraints/linearSpringDamper/linearSpringDamper.C
 $(sixDOF)/sixDOFODE/restraints/rotationalRestraints/rotationalRestraint/rotationalRestraint.C
+$(sixDOF)/sixDOFODE/restraints/rotationalRestraints/angularDamper/angularDamper.C
 
 $(sixDOF)/sixDOFODE/sixDOFODE.C
 $(sixDOF)/sixDOFODE/newSixDOFODE.C

src/ODE/sixDOF/sixDOFODE/restraints/rotationalRestraints/angularDamper/angularDamper.C

@@ -0,0 +1,111 @@
+/*---------------------------------------------------------------------------*\
+  =========                 |
+  \\      /  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
+)
+:
+    rotationalRestraint(name, dict),
+    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;
+}
+
+
+// ************************************************************************* //

src/ODE/sixDOF/sixDOFODE/restraints/rotationalRestraints/angularDamper/angularDamper.H

@@ -0,0 +1,118 @@
+/*---------------------------------------------------------------------------*\
+  =========                 |
+  \\      /  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
+        );
+
+        //- 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
+
+// ************************************************************************* //