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Bugfix: New way of handling constraints in 6-DOF

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Conflicts:
	src/ODE/sixDOF/sixDOFqODE/sixDOFqODE.H
This commit is contained in:
Hrvoje Jasak 2016-01-25 13:11:19 +00:00
parent 64df538263
commit efd87cca73
2 changed files with 20 additions and 14 deletions
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23
src/ODE/sixDOF/sixDOFqODE/sixDOFqODE.C
View file

@ -76,10 +76,9 @@ Foam::dimensionedVector Foam::sixDOFqODE::A
{ {
// Fix the global force for global rotation constraints // Fix the global force for global rotation constraints
dimensionedVector fAbs = force(); dimensionedVector fAbs = force();
vector& fAbsVal = fAbs.value();
// Constrain rotation // Constrain translation
fAbsVal = constrainTranslation(fAbsVal); constrainTranslation(fAbs.value());
return return
( (
@ -100,9 +99,9 @@ Foam::dimensionedVector Foam::sixDOFqODE::OmegaDot
{ {
// Fix the global moment for global rotation constraints // Fix the global moment for global rotation constraints
dimensionedVector mAbs = moment(); dimensionedVector mAbs = moment();
vector& mAbsVal = mAbs.value();
mAbsVal = constrainRotation(mAbsVal); // Constrain rotation
constrainRotation(mAbs.value());
return return
inv(momentOfInertia_) inv(momentOfInertia_)
@ -124,7 +123,7 @@ Foam::dimensionedVector Foam::sixDOFqODE::E
} }
Foam::vector Foam::sixDOFqODE::constrainRotation(vector& vec) const void Foam::sixDOFqODE::constrainRotation(vector& vec) const
{ {
vector consVec(vector::zero); vector consVec(vector::zero);
@ -165,12 +164,10 @@ Foam::vector Foam::sixDOFqODE::constrainRotation(vector& vec) const
consVec.z() = 0; consVec.z() = 0;
} }
} }
return consVec;
} }
Foam::vector Foam::sixDOFqODE::constrainTranslation(vector& vec) const void Foam::sixDOFqODE::constrainTranslation(vector& vec) const
{ {
vector consVec(vector::zero); vector consVec(vector::zero);
@ -211,8 +208,6 @@ Foam::vector Foam::sixDOFqODE::constrainTranslation(vector& vec) const
consVec.z() = 0; consVec.z() = 0;
} }
} }
return consVec;
} }
@ -263,7 +258,7 @@ Foam::sixDOFqODE::sixDOFqODE(const IOobject& io)
false false
) )
), ),
referentRotation_(vector::zero, 0) referentRotation_(vector(1, 0, 0), 0)
{ {
setCoeffs(); setCoeffs();
} }
@ -502,7 +497,7 @@ void Foam::sixDOFqODE::update(const scalar delta)
Uval.z() = coeffs_[5]; Uval.z() = coeffs_[5];
// Constrain velocity // Constrain velocity
Uval = constrainTranslation(Uval); constrainTranslation(Uval);
coeffs_[3] = Uval.x(); coeffs_[3] = Uval.x();
coeffs_[4] = Uval.y(); coeffs_[4] = Uval.y();
coeffs_[5] = Uval.z(); coeffs_[5] = Uval.z();
@ -515,7 +510,7 @@ void Foam::sixDOFqODE::update(const scalar delta)
omegaVal.z() = coeffs_[8]; omegaVal.z() = coeffs_[8];
// Constrain omega // Constrain omega
omegaVal = constrainRotation(omegaVal); constrainRotation(omegaVal);
coeffs_[6] = omegaVal.x(); coeffs_[6] = omegaVal.x();
coeffs_[7] = omegaVal.y(); coeffs_[7] = omegaVal.y();
coeffs_[8] = omegaVal.z(); coeffs_[8] = omegaVal.z();

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

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