Six degree of freedom motion for a rigid body. Angular momentum stored in body fixed reference frame. Reference orientation of the body (where Q = I) must align with the cartesian axes such that the Inertia tensor is in principle component form. More...

#include <forces/sixDoFRigidBodyMotion.H>

Detailed Description

Six degree of freedom motion for a rigid body. Angular momentum stored in body fixed reference frame. Reference orientation of the body (where Q = I) must align with the cartesian axes such that the Inertia tensor is in principle component form.

Symplectic motion as per:

title = {Symplectic splitting methods for rigid body molecular dynamics}, publisher = {AIP}, year = {1997}, journal = {The Journal of Chemical Physics}, volume = {107}, number = {15}, pages = {5840-5851}, url = {http://link.aip.org/link/?JCP/107/5840/1}, doi = {10.1063/1.474310}

Can add restraints (i.e. a spring) and constraints (i.e. motion may only be on a plane).

Source files

Definition at line 83 of file sixDoFRigidBodyMotion.H.

Collaboration diagram for sixDoFRigidBodyMotion:

List of all members.

Public Member Functions
	sixDoFRigidBodyMotion ()
	Construct null.
	sixDoFRigidBodyMotion (const point &centreOfMass, const tensor &Q, const vector &v, const vector &a, const vector &pi, const vector &tau, scalar mass, const point &initialCentreOfMass, const tensor &initialQ, const diagTensor &momentOfInertia, scalar cDamp=0.0, scalar aLim=VGREAT, bool report=false)
	Construct from components.
	sixDoFRigidBodyMotion (const dictionary &dict)
	Construct from dictionary.
	sixDoFRigidBodyMotion (const sixDoFRigidBodyMotion &)
	Construct as copy.
	~sixDoFRigidBodyMotion ()
	Destructor.
void	addRestraints (const dictionary &dict)
	Add restraints to the motion, public to allow external.
void	addConstraints (const dictionary &dict)
	Add restraints to the motion, public to allow external.
void	updatePosition (scalar deltaT, scalar deltaT0)
	First leapfrog velocity adjust and motion part, required.
void	updateForce (const vector &fGlobal, const vector &tauGlobal, scalar deltaT)
	Second leapfrog velocity adjust part, required after motion and.
void	updateForce (const pointField &positions, const vectorField &forces, scalar deltaT)
	Global forces supplied at locations, calculating net force.
tmp< pointField >	currentPosition (const pointField &pInitial) const
	Transform the given initial state pointField by the current.
point	currentPosition (const point &pInitial) const
	Transform the given initial state point by the current motion.
vector	currentOrientation (const vector &vInitial) const
	Transform the given initial state direction by the current.
const tensor &	orientation () const
	Access the orientation tensor, Q.
point	predictedPosition (const point &pInitial, const vector &deltaForce, const vector &deltaMoment, scalar deltaT) const
	Predict the position of the supplied initial state point.
vector	predictedOrientation (const vector &vInitial, const vector &deltaMoment, scalar deltaT) const
	Predict the orientation of the supplied initial state.
vector	omega () const
	Return the angular velocity in the global frame.
point	currentVelocity (const point &pt) const
	Return the velocity of a position given by the current.
void	status () const
	Report the status of the motion.
const point &	centreOfMass () const
	Return const access to the centre of mass.
const diagTensor &	momentOfInertia () const
	Return access to the inertia tensor.
scalar	mass () const
	Return const access to the mass.
bool	report () const
	Return the report Switch.
point &	centreOfMass ()
	Return non-const access to the centre of mass.
diagTensor &	momentOfInertia ()
	Return non-const access to the inertia tensor.
scalar &	mass ()
	Return non-const access to the mass.
void	write (Ostream &) const
	Write.
Friends
Istream &	operator>> (Istream &, sixDoFRigidBodyMotion &)
Ostream &	operator<< (Ostream &, const sixDoFRigidBodyMotion &)

Constructor & Destructor Documentation

sixDoFRigidBodyMotion ( )

Construct null.

Definition at line 165 of file sixDoFRigidBodyMotion.C.

sixDoFRigidBodyMotion	(	const point &	centreOfMass,
		const tensor &	Q,
		const vector &	v,
		const vector &	a,
		const vector &	pi,
		const vector &	tau,
		scalar	mass,
		const point &	initialCentreOfMass,
		const tensor &	initialQ,
		const diagTensor &	momentOfInertia,
		scalar	cDamp = `0.0`,
		scalar	aLim = `VGREAT`,
		bool	report = `false`
	)

Construct from components.

Definition at line 184 of file sixDoFRigidBodyMotion.C.

sixDoFRigidBodyMotion ( const dictionary & dict )

Construct from dictionary.

Definition at line 224 of file sixDoFRigidBodyMotion.C.

References sixDoFRigidBodyMotion::addConstraints(), and sixDoFRigidBodyMotion::addRestraints().

sixDoFRigidBodyMotion ( const sixDoFRigidBodyMotion & sDoFRBM )

Construct as copy.

Definition at line 253 of file sixDoFRigidBodyMotion.C.

~sixDoFRigidBodyMotion ( )

Destructor.

Definition at line 275 of file sixDoFRigidBodyMotion.C.

Member Function Documentation

void addRestraints ( const dictionary & dict )

Add restraints to the motion, public to allow external.

addition of restraints after construction

Definition at line 282 of file sixDoFRigidBodyMotion.C.

References forAllConstIter, dictionary::found(), sixDoFRigidBodyMotionRestraint::New(), DLListBase::size(), and dictionary::subDict().

Referenced by sixDoFRigidBodyMotion::sixDoFRigidBodyMotion().

void addConstraints ( const dictionary & dict )

Add restraints to the motion, public to allow external.

addition of restraints after construction

Definition at line 322 of file sixDoFRigidBodyMotion.C.

References forAllConstIter, dictionary::found(), dictionary::lookup(), sixDoFRigidBodyMotionConstraint::New(), DLListBase::size(), and dictionary::subDict().

Referenced by sixDoFRigidBodyMotion::sixDoFRigidBodyMotion().

void updatePosition	(	scalar	deltaT,
		scalar	deltaT0
	)

First leapfrog velocity adjust and motion part, required.

before force calculation. Takes old timestep for variable timestep cases.

Definition at line 370 of file sixDoFRigidBodyMotion.C.

References Foam::endl(), Foam::mag(), Pstream::master(), Foam::min(), Foam::mathematicalConstant::pi(), Pstream::scatter(), and WarningIn.

Referenced by uncoupledSixDoFRigidBodyDisplacementPointPatchVectorField::updateCoeffs(), and sixDoFRigidBodyDisplacementPointPatchVectorField::updateCoeffs().

void updateForce	(	const vector &	fGlobal,
		const vector &	tauGlobal,
		scalar	deltaT
	)

Second leapfrog velocity adjust part, required after motion and.

force calculation

Definition at line 419 of file sixDoFRigidBodyMotion.C.

References Foam::endl(), Foam::mag(), Pstream::master(), Foam::min(), Foam::mathematicalConstant::pi(), Pstream::scatter(), Tensor< Cmpt >::T(), and WarningIn.

Referenced by uncoupledSixDoFRigidBodyDisplacementPointPatchVectorField::updateCoeffs(), and sixDoFRigidBodyDisplacementPointPatchVectorField::updateCoeffs().

void updateForce	(	const pointField &	positions,
		const vectorField &	forces,
		scalar	deltaT
	)

Global forces supplied at locations, calculating net force.

and moment

Definition at line 477 of file sixDoFRigidBodyMotion.C.

References forAll, Pstream::master(), Foam::sum(), and Vector< Cmpt >::zero.

Foam::tmp< Foam::pointField > currentPosition ( const pointField & pInitial ) const [inline]

Transform the given initial state pointField by the current.

motion state

Definition at line 224 of file sixDoFRigidBodyMotionI.H.

Referenced by fixedPoint::constrain(), fixedPlane::constrain(), fixedLine::constrain(), linearSpring::restrain(), uncoupledSixDoFRigidBodyDisplacementPointPatchVectorField::updateCoeffs(), and sixDoFRigidBodyDisplacementPointPatchVectorField::updateCoeffs().

Foam::point currentPosition ( const point & pInitial ) const [inline]

Transform the given initial state point by the current motion.

state

Definition at line 235 of file sixDoFRigidBodyMotionI.H.

Foam::vector currentOrientation ( const vector & vInitial ) const [inline]

Transform the given initial state direction by the current.

motion state

Definition at line 248 of file sixDoFRigidBodyMotionI.H.

const Foam::tensor & orientation ( ) const [inline]

Access the orientation tensor, Q.

globalVector = Q & bodyLocalVector bodyLocalVector = Q.T() & globalVector

Definition at line 257 of file sixDoFRigidBodyMotionI.H.

Referenced by fixedAxis::constrain(), tabulatedAxialAngularSpring::restrain(), sphericalAngularSpring::restrain(), and linearAxialAngularSpring::restrain().

Foam::point predictedPosition	(	const point &	pInitial,
		const vector &	deltaForce,
		const vector &	deltaMoment,
		scalar	deltaT
	)		const

Predict the position of the supplied initial state point.

after deltaT given the current motion state and the additional supplied force and moment

Definition at line 502 of file sixDoFRigidBodyMotion.C.

References Foam::mathematicalConstant::pi(), and Tensor< Cmpt >::T().

Referenced by fixedPoint::constrain(), fixedPlane::constrain(), and fixedLine::constrain().

Foam::vector predictedOrientation	(	const vector &	vInitial,
		const vector &	deltaMoment,
		scalar	deltaT
	)		const

Predict the orientation of the supplied initial state.

vector after deltaT given the current motion state and the additional supplied moment

Definition at line 528 of file sixDoFRigidBodyMotion.C.

References Foam::mathematicalConstant::pi(), and Tensor< Cmpt >::T().

Referenced by fixedOrientation::constrain(), and fixedAxis::constrain().

Foam::vector omega ( ) const [inline]

Return the angular velocity in the global frame.

Definition at line 263 of file sixDoFRigidBodyMotionI.H.

References Foam::inv(), and Foam::mathematicalConstant::pi().

Referenced by tabulatedAxialAngularSpring::restrain(), sphericalAngularSpring::restrain(), and linearAxialAngularSpring::restrain().

Foam::point currentVelocity ( const point & pt ) const [inline]

Return the velocity of a position given by the current.

motion state

Definition at line 270 of file sixDoFRigidBodyMotionI.H.

Referenced by linearSpring::restrain().

void status ( ) const

Report the status of the motion.

Definition at line 544 of file sixDoFRigidBodyMotion.C.

References Foam::endl(), Foam::Info, and Foam::nl.

const Foam::point & centreOfMass ( ) const [inline]

Return const access to the centre of mass.

Definition at line 278 of file sixDoFRigidBodyMotionI.H.

Referenced by fixedOrientation::constrain(), fixedAxis::constrain(), tabulatedAxialAngularSpring::restrain(), sphericalAngularSpring::restrain(), linearAxialAngularSpring::restrain(), and sixDoFRigidBodyDisplacementPointPatchVectorField::updateCoeffs().

const Foam::diagTensor & momentOfInertia ( ) const [inline]

Return access to the inertia tensor.

Definition at line 285 of file sixDoFRigidBodyMotionI.H.

Referenced by fixedOrientation::constrain(), and fixedAxis::constrain().

Foam::scalar mass ( ) const [inline]

Return const access to the mass.

Definition at line 291 of file sixDoFRigidBodyMotionI.H.

Referenced by fixedPoint::constrain(), fixedPlane::constrain(), fixedLine::constrain(), uncoupledSixDoFRigidBodyDisplacementPointPatchVectorField::updateCoeffs(), and sixDoFRigidBodyDisplacementPointPatchVectorField::updateCoeffs().

bool report ( ) const [inline]

Return the report Switch.

Definition at line 297 of file sixDoFRigidBodyMotionI.H.

Referenced by tabulatedAxialAngularSpring::restrain(), sphericalAngularSpring::restrain(), linearSpring::restrain(), and linearAxialAngularSpring::restrain().

Foam::point & centreOfMass ( ) [inline]

Return non-const access to the centre of mass.

Definition at line 303 of file sixDoFRigidBodyMotionI.H.

Foam::diagTensor & momentOfInertia ( ) [inline]

Return non-const access to the inertia tensor.

Definition at line 309 of file sixDoFRigidBodyMotionI.H.

Foam::scalar & mass ( ) [inline]

Return non-const access to the mass.

Definition at line 315 of file sixDoFRigidBodyMotionI.H.

void write ( Ostream & os ) const

Write.

Definition at line 31 of file sixDoFRigidBodyMotionIO.C.

References token::BEGIN_BLOCK, Foam::decrIndent(), PtrList< T >::empty(), token::END_BLOCK, token::END_STATEMENT, Foam::endl(), forAll, Foam::incrIndent(), Foam::indent(), Foam::nl, sixDoFRigidBodyMotionState::write(), and Ostream::writeKeyword().

Referenced by sixDoFRigidBodyDisplacementPointPatchVectorField::write().

Friends And Related Function Documentation

Istream& operator>>	(	Istream &	,
		sixDoFRigidBodyMotion &
	)		`[friend]`

Ostream& operator<<	(	Ostream &	,
		const sixDoFRigidBodyMotion &
	)		`[friend]`

The documentation for this class was generated from the following files:

src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion.H
src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion.C
src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionI.H
src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionIO.C

sixDoFRigidBodyMotion Class Reference

Detailed Description

Public Member Functions

Friends

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation