Derived class quaternionSixDOF
quaternionSixDOF provides the same functionality as the old sixDOFqODE, the only difference being the addition of run-time selectable class hieararchy (i.e. quaternionSixDOF is derived from sixDOFODE instead of being stand-alone class). Note: sixDofqODE is left for backward compatibility.
This commit is contained in:
Vuko Vukcevic
Hrvoje Jasak
parent
6436f1a496
commit
fd575d39b1
7 changed files with 1094 additions and 5 deletions
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@ -16,5 +16,6 @@ $(sixDOF)/sixDOFbodies/sixDOFbodies.C
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$(sixDOF)/sixDOFODE/sixDOFODE.C
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$(sixDOF)/sixDOFODE/newSixDOFODE.C
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$(sixDOF)/quaternionSixDOF/quaternionSixDOF.C
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LIB = $(FOAM_LIBBIN)/libODE
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678
src/ODE/sixDOF/quaternionSixDOF/quaternionSixDOF.C
Normal file
678
src/ODE/sixDOF/quaternionSixDOF/quaternionSixDOF.C
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@ -0,0 +1,678 @@
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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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quaternionSixDOF
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Description
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6-DOF solver using quaternions
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Author
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Dubravko Matijasevic, FSB Zagreb. All rights reserved.
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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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quaternionSixDOF.C
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\*---------------------------------------------------------------------------*/
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#include "quaternionSixDOF.H"
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#include "addToRunTimeSelectionTable.H"
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// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
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namespace Foam
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{
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defineTypeNameAndDebug(quaternionSixDOF, 0);
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addToRunTimeSelectionTable(sixDOFODE, quaternionSixDOF, dictionary);
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}
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// * * * * * * * * * * * * * Private Member Functions * * * * * * * * * * * //
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Foam::dimensionedVector Foam::quaternionSixDOF::A
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(
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const dimensionedVector& xR,
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const dimensionedVector& uR,
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const HamiltonRodriguezRot& rotation
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) const
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{
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// Fix the global force for global rotation constraints
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dimensionedVector fAbs = this->force();
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// Constrain translation
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constrainTranslation(fAbs.value());
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return
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(
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- (linSpringCoeffs() & xR) // spring
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- (linDampingCoeffs() & uR) // damping
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+ fAbs
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// To absolute
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+ (rotation.invR() & forceRelative())
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)/mass();
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}
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Foam::dimensionedVector Foam::quaternionSixDOF::OmegaDot
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(
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const HamiltonRodriguezRot& rotation,
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const dimensionedVector& omega
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) const
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{
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// Fix the global moment for global rotation constraints
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dimensionedVector mAbs = moment();
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// Constrain rotation
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constrainRotation(mAbs.value());
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return
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inv(momentOfInertia())
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& (
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E(omega)
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// To relative
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+ (rotation.R() & mAbs)
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+ momentRelative()
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);
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}
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Foam::dimensionedVector Foam::quaternionSixDOF::E
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(
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const dimensionedVector& omega
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) const
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{
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return (*(momentOfInertia() & omega) & omega);
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}
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void Foam::quaternionSixDOF::constrainRotation(vector& vec) const
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{
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// Constrain the vector with respect to referent or global coordinate system
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if (referentMotionConstraints_)
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{
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vector consVec(referentRotation_.R() & vec);
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if (fixedRoll_)
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{
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consVec.x() = 0;
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}
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if (fixedPitch_)
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{
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consVec.y() = 0;
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}
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if (fixedYaw_)
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{
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consVec.z() = 0;
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}
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vec = referentRotation_.invR() & consVec;
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}
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else
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{
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if (fixedRoll_)
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{
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vec.x() = 0;
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}
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if (fixedPitch_)
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{
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vec.y() = 0;
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}
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if (fixedYaw_)
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{
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vec.z() = 0;
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}
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}
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}
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void Foam::quaternionSixDOF::constrainTranslation(vector& vec) const
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{
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// Constrain the vector in respect to referent or global coordinate system
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if (referentMotionConstraints_)
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{
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vector consVec(referentRotation_.R() & vec);
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if (fixedSurge_)
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{
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consVec.x() = 0;
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}
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if (fixedSway_)
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{
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consVec.y() = 0;
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}
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if (fixedHeave_)
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{
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consVec.z() = 0;
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}
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vec = referentRotation_.invR() & consVec;
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}
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else
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{
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if (fixedSurge_)
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{
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vec.x() = 0;
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}
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if (fixedSway_)
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{
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vec.y() = 0;
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}
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if (fixedHeave_)
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{
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vec.z() = 0;
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}
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}
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}
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// * * * * * * * * * * * * Protected Member Functions * * * * * * * * * * * //
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void Foam::quaternionSixDOF::setCoeffs()
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{
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// Set ODE coefficients from position and rotation
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// Linear displacement relative to spring equilibrium
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const vector& Xval = Xrel_.value();
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coeffs_[0] = Xval.x();
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coeffs_[1] = Xval.y();
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coeffs_[2] = Xval.z();
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// Linear velocity
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const vector& Uval = U_.value();
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coeffs_[3] = Uval.x();
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coeffs_[4] = Uval.y();
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coeffs_[5] = Uval.z();
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// Rotational velocity in non - inertial coordinate system
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const vector& omegaVal = omega_.value();
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coeffs_[6] = omegaVal.x();
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coeffs_[7] = omegaVal.y();
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coeffs_[8] = omegaVal.z();
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// Quaternions
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coeffs_[9] = rotation_.eInitial().e0();
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coeffs_[10] = rotation_.eInitial().e1();
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coeffs_[11] = rotation_.eInitial().e2();
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coeffs_[12] = rotation_.eInitial().e3();
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}
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// * * * * * * * * * * * * * * * * Constructors * * * * * * * * * * * * * * //
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Foam::quaternionSixDOF::quaternionSixDOF(const IOobject& io)
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:
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sixDOFODE(io),
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Xrel_(lookup("Xrel")),
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U_(lookup("U")),
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Uaverage_(U_),
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rotation_
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(
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vector(lookup("rotationVector")),
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dimensionedScalar(lookup("rotationAngle")).value()
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),
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omega_(lookup("omega")),
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omegaAverage_(omega_),
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omegaAverageAbsolute_(omega_),
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coeffs_(13, 0.0),
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fixedSurge_(lookup("fixedSurge")),
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fixedSway_(lookup("fixedSway")),
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fixedHeave_(lookup("fixedHeave")),
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fixedRoll_(lookup("fixedRoll")),
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fixedPitch_(lookup("fixedPitch")),
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fixedYaw_(lookup("fixedYaw")),
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referentMotionConstraints_
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(
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lookupOrDefault<Switch>
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(
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"referentMotionConstraints",
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false
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)
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),
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referentRotation_(vector(1, 0, 0), 0)
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{
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setCoeffs();
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}
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Foam::quaternionSixDOF::quaternionSixDOF
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(
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const word& name,
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const quaternionSixDOF& qsd
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)
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:
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sixDOFODE
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(
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IOobject
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(
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name,
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qsd.instance(),
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qsd.local(),
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qsd.db(),
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IOobject::NO_READ,
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IOobject::NO_WRITE
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)
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),
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Xrel_(qsd.Xrel_.name(), qsd.Xrel_),
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U_(qsd.U_.name(), qsd.U_),
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Uaverage_(qsd.Uaverage_.name(), qsd.Uaverage_),
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rotation_(qsd.rotation_),
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omega_(qsd.omega_.name(), qsd.omega_),
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omegaAverage_(qsd.omegaAverage_.name(), qsd.omegaAverage_),
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omegaAverageAbsolute_
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(
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qsd.omegaAverageAbsolute_.name(),
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qsd.omegaAverageAbsolute_
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),
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coeffs_(qsd.coeffs_),
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fixedSurge_(qsd.fixedSurge_),
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fixedSway_(qsd.fixedSway_),
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fixedHeave_(qsd.fixedHeave_),
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fixedRoll_(qsd.fixedRoll_),
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fixedPitch_(qsd.fixedPitch_),
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fixedYaw_(qsd.fixedYaw_),
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referentMotionConstraints_(qsd.referentMotionConstraints_),
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referentRotation_(qsd.referentRotation_)
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{}
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Foam::autoPtr<Foam::sixDOFODE> Foam::quaternionSixDOF::clone
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(
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const word& name
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) const
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{
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// Create and return an autoPtr to the new quaternionSixDOF object with a
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// new name
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return autoPtr<sixDOFODE>
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(
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new quaternionSixDOF
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(
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name,
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*this
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)
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);
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}
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// * * * * * * * * * * * * * * * * Destructor * * * * * * * * * * * * * * * //
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Foam::quaternionSixDOF::~quaternionSixDOF()
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{}
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// * * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * //
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const Foam::dimensionedVector& Foam::quaternionSixDOF::Xrel() const
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{
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return Xrel_;
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}
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const Foam::dimensionedVector& Foam::quaternionSixDOF::omega() const
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{
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return omega_;
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}
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Foam::dimensionedVector Foam::quaternionSixDOF::X() const
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{
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return Xequilibrium() + Xrel_;
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}
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const Foam::dimensionedVector& Foam::quaternionSixDOF::U() const
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{
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return U_;
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}
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const Foam::dimensionedVector& Foam::quaternionSixDOF::Uaverage() const
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{
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return Uaverage_;
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}
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const Foam::finiteRotation& Foam::quaternionSixDOF::rotation() const
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{
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return rotation_;
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}
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Foam::vector Foam::quaternionSixDOF::rotVector() const
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{
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return rotation_.rotVector();
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}
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Foam::dimensionedScalar Foam::quaternionSixDOF::rotAngle() const
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{
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return dimensionedScalar("rotAngle", dimless, rotation_.rotAngle());
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}
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void Foam::quaternionSixDOF::setXrel(const vector& x)
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{
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Xrel_.value() = x;
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// Set X in coefficients
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coeffs_[0] = x.x();
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coeffs_[1] = x.y();
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coeffs_[2] = x.z();
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}
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void Foam::quaternionSixDOF::setU(const vector& U)
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{
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U_.value() = U;
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Uaverage_ = U_;
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// Set U in coefficients
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coeffs_[3] = U.x();
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coeffs_[4] = U.y();
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coeffs_[5] = U.z();
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}
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void Foam::quaternionSixDOF::setRotation(const HamiltonRodriguezRot& rot)
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{
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// Cannot call update rotation: simply set up coefficients
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// HJ, 23/Mar/2015
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coeffs_[9] = rot.e0();
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coeffs_[10] = rot.e1();
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coeffs_[11] = rot.e2();
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coeffs_[12] = rot.e3();
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}
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void Foam::quaternionSixDOF::setOmega(const vector& omega)
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{
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omega_.value() = omega;
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omegaAverage_ = omega_;
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omegaAverageAbsolute_ = omega_;
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// Set omega in coefficients
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coeffs_[6] = omega.x();
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coeffs_[7] = omega.y();
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coeffs_[8] = omega.z();
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}
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void Foam::quaternionSixDOF::setReferentRotation
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(
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const HamiltonRodriguezRot& rot
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)
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{
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referentRotation_ = rot;
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referentMotionConstraints_ = true;
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}
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void Foam::quaternionSixDOF::setState(const sixDOFODE& sd)
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{
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// First set the state in base class subobject
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sixDOFODE::setState(sd);
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// Cast sixDOFODE& to quaternionSixDOF&
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const quaternionSixDOF& qsd = refCast<const quaternionSixDOF>(sd);
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// Set state variables for this class
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Xrel_ = qsd.Xrel_;
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U_ = qsd.U_;
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Uaverage_ = qsd.Uaverage_;
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rotation_ = qsd.rotation_;
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omega_ = qsd.omega_;
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omegaAverage_ = qsd.omegaAverage_;
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omegaAverageAbsolute_ = qsd.omegaAverageAbsolute_;
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// Copy ODE coefficients: this carries actual ODE state
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// HJ, 23/Mar/2015
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coeffs_ = qsd.coeffs_;
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fixedSurge_ = qsd.fixedSurge_;
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fixedSway_ = qsd.fixedSway_;
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fixedHeave_ = qsd.fixedHeave_;
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fixedRoll_ = qsd.fixedRoll_;
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fixedPitch_ = qsd.fixedPitch_;
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fixedYaw_ = qsd.fixedYaw_;
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referentMotionConstraints_ = qsd.referentMotionConstraints_;
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referentRotation_ = qsd.referentRotation_;
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}
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Foam::vector Foam::quaternionSixDOF::rotVectorAverage() const
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{
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return rotation_.rotVectorAverage();
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}
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const Foam::dimensionedVector& Foam::quaternionSixDOF::omegaAverage() const
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{
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return omegaAverage_;
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}
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const Foam::dimensionedVector&
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Foam::quaternionSixDOF::omegaAverageAbsolute() const
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{
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return omegaAverageAbsolute_;
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}
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Foam::tensor Foam::quaternionSixDOF::toRelative() const
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{
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return rotation_.eCurrent().R();
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}
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Foam::tensor Foam::quaternionSixDOF::toAbsolute() const
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{
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return rotation_.eCurrent().invR();
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}
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const Foam::tensor& Foam::quaternionSixDOF::rotIncrementTensor() const
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{
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return rotation_.rotIncrementTensor();
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}
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void Foam::quaternionSixDOF::derivatives
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(
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const scalar x,
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const scalarField& y,
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scalarField& dydx
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) const
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{
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// Set the derivatives for displacement
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dydx[0] = y[3];
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dydx[1] = y[4];
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dydx[2] = y[5];
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dimensionedVector curX("curX", dimLength, vector(y[0], y[1], y[2]));
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dimensionedVector curU("curU", dimVelocity, vector(y[3], y[4], y[5]));
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const HamiltonRodriguezRot curRotation
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(
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y[9],
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y[10],
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y[11],
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y[12]
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);
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const vector accel = A(curX, curU, curRotation).value();
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|
||||
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).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);
|
||||
|
||||
// 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)
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void Foam::quaternionSixDOF::update(const scalar delta)
|
||||
{
|
||||
// Update position
|
||||
vector Xold = Xrel_.value();
|
||||
|
||||
vector& Xval = Xrel_.value();
|
||||
|
||||
Xval.x() = coeffs_[0];
|
||||
Xval.y() = coeffs_[1];
|
||||
Xval.z() = coeffs_[2];
|
||||
|
||||
// Update velocity
|
||||
Uaverage_.value() = (Xval - Xold)/delta;
|
||||
|
||||
vector& Uval = U_.value();
|
||||
|
||||
Uval.x() = coeffs_[3];
|
||||
Uval.y() = coeffs_[4];
|
||||
Uval.z() = coeffs_[5];
|
||||
|
||||
// Constrain velocity
|
||||
constrainTranslation(Uval);
|
||||
coeffs_[3] = Uval.x();
|
||||
coeffs_[4] = Uval.y();
|
||||
coeffs_[5] = Uval.z();
|
||||
|
||||
// Update omega
|
||||
vector& omegaVal = omega_.value();
|
||||
|
||||
omegaVal.x() = coeffs_[6];
|
||||
omegaVal.y() = coeffs_[7];
|
||||
omegaVal.z() = coeffs_[8];
|
||||
|
||||
// Constrain omega
|
||||
constrainRotation(omegaVal);
|
||||
coeffs_[6] = omegaVal.x();
|
||||
coeffs_[7] = omegaVal.y();
|
||||
coeffs_[8] = omegaVal.z();
|
||||
|
||||
rotation_.updateRotation
|
||||
(
|
||||
HamiltonRodriguezRot
|
||||
(
|
||||
coeffs_[9],
|
||||
coeffs_[10],
|
||||
coeffs_[11],
|
||||
coeffs_[12]
|
||||
)
|
||||
);
|
||||
|
||||
omegaAverage_.value() = rotation_.omegaAverage(delta);
|
||||
|
||||
// Calculate and constrain omegaAverageAbsolute appropriately
|
||||
vector& omegaAverageAbsoluteValue = omegaAverageAbsolute_.value();
|
||||
omegaAverageAbsoluteValue = rotation_.omegaAverageAbsolute(delta);
|
||||
|
||||
if (fixedRoll_)
|
||||
{
|
||||
omegaAverageAbsoluteValue.x() = 0;
|
||||
}
|
||||
if (fixedPitch_)
|
||||
{
|
||||
omegaAverageAbsoluteValue.y() = 0;
|
||||
}
|
||||
if (fixedYaw_)
|
||||
{
|
||||
omegaAverageAbsoluteValue.z() = 0;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
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 << endl;
|
||||
|
||||
// Write data
|
||||
os.writeKeyword("Xrel") << tab << this->Xrel()
|
||||
<< token::END_STATEMENT << nl;
|
||||
os.writeKeyword("U") << tab << this->U() << token::END_STATEMENT << nl;
|
||||
os.writeKeyword("rotationVector") << tab << this->rotVector()
|
||||
<< token::END_STATEMENT << nl;
|
||||
os.writeKeyword("rotationAngle") << tab << this->rotAngle()
|
||||
<< token::END_STATEMENT << nl;
|
||||
os.writeKeyword("omega") << tab << this->omega()
|
||||
<< token::END_STATEMENT << nl << nl;
|
||||
|
||||
os.writeKeyword("fixedSurge") << tab << this->fixedSurge_ <<
|
||||
token::END_STATEMENT << endl;
|
||||
os.writeKeyword("fixedSway") << tab << this->fixedSway_ <<
|
||||
token::END_STATEMENT << endl;
|
||||
os.writeKeyword("fixedHeave") << tab << this->fixedHeave_ <<
|
||||
token::END_STATEMENT << endl;
|
||||
os.writeKeyword("fixedRoll") << tab << this->fixedRoll_ <<
|
||||
token::END_STATEMENT << endl;
|
||||
os.writeKeyword("fixedPitch") << tab << this->fixedPitch_ <<
|
||||
token::END_STATEMENT << endl;
|
||||
os.writeKeyword("fixedYaw") << tab << this->fixedYaw_ <<
|
||||
token::END_STATEMENT << endl;
|
||||
|
||||
return os.good();
|
||||
}
|
||||
|
||||
|
||||
// ************************************************************************* //
|
||||
351
src/ODE/sixDOF/quaternionSixDOF/quaternionSixDOF.H
Normal file
351
src/ODE/sixDOF/quaternionSixDOF/quaternionSixDOF.H
Normal file
|
|
@ -0,0 +1,351 @@
|
|||
/*---------------------------------------------------------------------------*\
|
||||
========= |
|
||||
\\ / 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
|
||||
|
||||
Author
|
||||
Dubravko Matijasevic, FSB Zagreb. All rights reserved.
|
||||
Hrvoje Jasak, FSB Zagreb. All rights reserved.
|
||||
Vuko Vukcevic, 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
|
||||
|
||||
// Initial body state variables
|
||||
|
||||
//- Displacement relative to spring equilibrium
|
||||
dimensionedVector Xrel_;
|
||||
|
||||
//- Velocity of mass centroid
|
||||
dimensionedVector U_;
|
||||
|
||||
//- Average velocity of mass centroid at previous time-step
|
||||
dimensionedVector Uaverage_;
|
||||
|
||||
//- Finite rotation
|
||||
finiteRotation rotation_;
|
||||
|
||||
//- Rotational velocity about mass centroid
|
||||
dimensionedVector omega_;
|
||||
|
||||
|
||||
// Average variables that need to be stored
|
||||
|
||||
//- Average rotational velocity in relative coordinate system
|
||||
dimensionedVector omegaAverage_;
|
||||
|
||||
//- Average rotational velocity in absolute coordinate system
|
||||
dimensionedVector omegaAverageAbsolute_;
|
||||
|
||||
|
||||
//- ODE coefficients
|
||||
scalarField coeffs_;
|
||||
|
||||
|
||||
//- Motion constraints (given as fixed motion components)
|
||||
|
||||
//- Fixed surge (x-translation)
|
||||
Switch fixedSurge_;
|
||||
|
||||
//- Fixed sway (y-translation)
|
||||
Switch fixedSway_;
|
||||
|
||||
//- Fixed heave (z-translation)
|
||||
Switch fixedHeave_;
|
||||
|
||||
//- Fixed roll (rotation around x)
|
||||
Switch fixedRoll_;
|
||||
|
||||
//- Fixed pitch (rotation around y)
|
||||
Switch fixedPitch_;
|
||||
|
||||
//- Fixed yaw (rotation around z)
|
||||
Switch fixedYaw_;
|
||||
|
||||
//- Restraints in referent coordinate system
|
||||
Switch referentMotionConstraints_;
|
||||
|
||||
//- Rotation of referent coordinate system
|
||||
HamiltonRodriguezRot referentRotation_;
|
||||
|
||||
|
||||
// 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;
|
||||
|
||||
|
||||
//- Return rotational acceleration in relative coordinate system
|
||||
// given current values for relative rotational velocity
|
||||
dimensionedVector OmegaDot
|
||||
(
|
||||
const HamiltonRodriguezRot& rotation,
|
||||
const dimensionedVector& omega
|
||||
) const;
|
||||
|
||||
//- Return the Euler part of moment equation
|
||||
dimensionedVector E
|
||||
(
|
||||
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;
|
||||
|
||||
|
||||
protected:
|
||||
|
||||
// Protected Member Functions
|
||||
|
||||
//- Set ODE coefficients from position and rotation
|
||||
virtual void setCoeffs();
|
||||
|
||||
|
||||
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 rotation 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 for the previous time-step
|
||||
virtual const dimensionedVector& Uaverage() const;
|
||||
|
||||
//- Return finite rotation
|
||||
virtual const finiteRotation& rotation() const;
|
||||
|
||||
//- Return rotational vector of body
|
||||
virtual vector rotVector() const;
|
||||
|
||||
//- Return rotation angle of body
|
||||
virtual dimensionedScalar rotAngle() const;
|
||||
|
||||
|
||||
// Non-access control for setting state variables
|
||||
|
||||
//- Set position of origin
|
||||
virtual void setXrel(const vector& x);
|
||||
|
||||
//- Set velocity of origin
|
||||
virtual void setU(const vector& u);
|
||||
|
||||
//- Set rotational angle in relative coordinate system
|
||||
virtual void setRotation(const HamiltonRodriguezRot& rot);
|
||||
|
||||
//- Set rotational velocity in relative coordinate system
|
||||
virtual void setOmega(const vector& omega);
|
||||
|
||||
//- Set referent coordinate system to apply constraints
|
||||
virtual void setReferentRotation
|
||||
(
|
||||
const HamiltonRodriguezRot& rot
|
||||
);
|
||||
|
||||
//- Set ODE parameters from another ODE
|
||||
virtual void setState(const sixDOFODE&);
|
||||
|
||||
|
||||
// Average motion per time-step
|
||||
|
||||
//- Return average rotational vector of body
|
||||
virtual vector rotVectorAverage() const;
|
||||
|
||||
//- Return average rotational velocity in relative coordinate
|
||||
// system
|
||||
virtual const dimensionedVector& omegaAverage() const;
|
||||
|
||||
//- Return average rotational velocity in absolute coordinate
|
||||
// system
|
||||
virtual const dimensionedVector& omegaAverageAbsolute() 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
|
||||
|
||||
// ************************************************************************* //
|
||||
|
|
@ -22,6 +22,18 @@ 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
|
||||
|
||||
Description
|
||||
Abstract base class for six-degrees-of-freedom (6DOF) ordinary differential
|
||||
equations
|
||||
|
||||
Author
|
||||
Dubravko Matijasevic, FSB Zagreb. All rights reserved.
|
||||
Hrvoje Jasak, FSB Zagreb. All rights reserved.
|
||||
Vuko Vukcevic, FSB Zagreb. All rights reserved.
|
||||
|
||||
\*---------------------------------------------------------------------------*/
|
||||
|
||||
#include "error.H"
|
||||
|
|
|
|||
|
|
@ -209,7 +209,25 @@ void Foam::sixDOFODE::relaxAcceleration
|
|||
}
|
||||
|
||||
|
||||
// * * * * * * * * * * * * * * * Friend Operators * * * * * * * * * * * * * //
|
||||
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_;
|
||||
linSpringCoeffs_ = sd.linSpringCoeffs_;
|
||||
linDampingCoeffs_ = sd.linDampingCoeffs_;
|
||||
|
||||
force_ = sd.force_;
|
||||
moment_ = sd.moment_;
|
||||
forceRelative_ = sd.forceRelative_;
|
||||
momentRelative_ = sd.momentRelative_;
|
||||
}
|
||||
|
||||
|
||||
bool Foam::sixDOFODE::writeData(Ostream& os) const
|
||||
{
|
||||
|
|
|
|||
|
|
@ -182,7 +182,6 @@ public:
|
|||
//- Return autoPtr to the selected sixDOFODE
|
||||
static autoPtr<sixDOFODE> New(const IOobject& io);
|
||||
|
||||
|
||||
// Destructor
|
||||
|
||||
virtual ~sixDOFODE();
|
||||
|
|
@ -210,6 +209,12 @@ public:
|
|||
//- 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
|
||||
|
||||
|
|
@ -304,6 +309,9 @@ public:
|
|||
const HamiltonRodriguezRot& rot
|
||||
) = 0;
|
||||
|
||||
//- Set ODE parameters from another ODE
|
||||
virtual void setState(const sixDOFODE&);
|
||||
|
||||
|
||||
// Average motion per time-step
|
||||
|
||||
|
|
@ -332,9 +340,6 @@ public:
|
|||
// rotation
|
||||
virtual const tensor& rotIncrementTensor() const = 0;
|
||||
|
||||
//- Set ODE parameters from another ODE
|
||||
virtual void setState(const sixDOFODE&) = 0;
|
||||
|
||||
|
||||
// ODE parameters
|
||||
|
||||
|
|
|
|||
|
|
@ -21,6 +21,18 @@ License
|
|||
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
|
||||
|
||||
Author
|
||||
Dubravko Matijasevic, FSB Zagreb. All rights reserved.
|
||||
Hrvoje Jasak, FSB Zagreb. All rights reserved.
|
||||
Vuko Vukcevic, FSB Zagreb. All rights reserved.
|
||||
|
||||
\*---------------------------------------------------------------------------*/
|
||||
|
||||
// * * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * //
|
||||
|
|
@ -61,6 +73,18 @@ Foam::dimensionedVector& Foam::sixDOFODE::Xequilibrium()
|
|||
}
|
||||
|
||||
|
||||
const Foam::dimensionedDiagTensor& Foam::sixDOFODE::linSpringCoeffs() const
|
||||
{
|
||||
return linSpringCoeffs_;
|
||||
}
|
||||
|
||||
|
||||
const Foam::dimensionedDiagTensor& Foam::sixDOFODE::linDampingCoeffs() const
|
||||
{
|
||||
return linDampingCoeffs_;
|
||||
}
|
||||
|
||||
|
||||
const Foam::dimensionedVector& Foam::sixDOFODE::force() const
|
||||
{
|
||||
return force_;
|
||||
|
|
|
|||
Reference in a new issue