rigidBodyDynamics/restraints: Complete dictionary IO

applications/test/rigidBodyDynamics/spring/spring.C

@@ -33,6 +33,7 @@ Description
 #include "masslessBody.H"
 #include "sphere.H"
 #include "joints.H"
+#include "rigidBodyRestraint.H"
 #include "IFstream.H"
 #include "OFstream.H"
 

src/rigidBodyDynamics/restraints/linearSpring/linearSpring.C

@@ -78,22 +78,19 @@ Foam::RBD::restraints::linearSpring::~linearSpring()
 
 Foam::spatialVector Foam::RBD::restraints::linearSpring::restrain() const
 {
-    spatialVector attachmentPt
-    (
-        model_.X0(bodyIndex_).inv() && spatialVector(Zero, refAttachmentPt_)
-    );
+    point attachmentPt = bodyPoint(refAttachmentPt_);
 
     // Current axis of the spring
-    vector r = attachmentPt.l() - anchor_;
+    vector r = attachmentPt - anchor_;
     scalar magR = mag(r);
     r /= (magR + VSMALL);
 
-    // Velocity of the end of the spring
-    vector v = model_.v(bodyIndex_, refAttachmentPt_).l();
+    // Velocity of the attached end of the spring
+    vector v = bodyPointVelocity(refAttachmentPt_).l();
 
     // Force and moment including optional damping
     vector force = (-stiffness_*(magR - restLength_) - damping_*(r & v))*r;
-    vector moment = (attachmentPt.l() - model_.X0(bodyIndex_).r()) ^ force;
+    vector moment = (attachmentPt - model_.X0(bodyIndex_).r()) ^ force;
 
     if (model_.debug)
     {

src/rigidBodyDynamics/restraints/linearSpring/linearSpring.H

@@ -32,11 +32,10 @@ SourceFiles
 
 \*---------------------------------------------------------------------------*/
 
-#ifndef linearSpring_H
-#define linearSpring_H
+#ifndef RBD_restraints_linearSpring_H
+#define RBD_restraints_linearSpring_H
 
 #include "rigidBodyRestraint.H"
-#include "point.H"
 
 // * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
 

src/rigidBodyDynamics/restraints/restraint/rigidBodyRestraint.C

@@ -77,7 +77,10 @@ bool Foam::RBD::restraint::read(const dictionary& dict)
 
 void Foam::RBD::restraint::write(Ostream& os) const
 {
-    os.writeKeyword("type") << type() << token::END_STATEMENT << nl;
+    os.writeKeyword("type")
+        << type() << token::END_STATEMENT << nl;
+    os.writeKeyword("body")
+        << model_.name(bodyIndex_) << token::END_STATEMENT << nl;
 }
 
 

src/rigidBodyDynamics/restraints/restraint/rigidBodyRestraint.H

@@ -39,12 +39,13 @@ SourceFiles
 
 \*---------------------------------------------------------------------------*/
 
-#ifndef RBD_restraint_H
-#define RBD_restraint_H
+#ifndef RBD_rigidBodyRestraint_H
+#define RBD_rigidBodyRestraint_H
 
 #include "dictionary.H"
 #include "autoPtr.H"
 #include "spatialVector.H"
+#include "point.H"
 #include "runTimeSelectionTables.H"
 
 // * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
@@ -80,6 +81,13 @@ protected:
         //- Reference to the model
         const rigidBodyModel& model_;
 
+        //- Transform the given point on the restrained body to the global frame
+        inline point bodyPoint(const point& p) const;
+
+        //- Transform the velocity of the given point on the restrained body
+        //  to the global frame
+        inline spatialVector bodyPointVelocity(const point& p) const;
+
 
 public:
 
@@ -166,6 +174,10 @@ public:
 
 // * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
 
+#include "rigidBodyRestraintI.H"
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
 #endif
 
 // ************************************************************************* //

src/rigidBodyDynamics/restraints/restraint/rigidBodyRestraintI.H

@@ -0,0 +1,48 @@
+/*---------------------------------------------------------------------------*\
+  =========                 |
+  \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
+   \\    /   O peration     |
+    \\  /    A nd           | Copyright (C) 2016 OpenFOAM Foundation
+     \\/     M anipulation  |
+-------------------------------------------------------------------------------
+License
+    This file is part of OpenFOAM.
+
+    OpenFOAM 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.
+
+    OpenFOAM 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 OpenFOAM.  If not, see <http://www.gnu.org/licenses/>.
+
+\*---------------------------------------------------------------------------*/
+
+#include "rigidBodyModel.H"
+
+// * * * * * * * * * * * * * * * Member Functions  * * * * * * * * * * * * * //
+
+inline Foam::point Foam::RBD::restraint::bodyPoint
+(
+    const point& p
+) const
+{
+    return (model_.X0(bodyIndex_).inv() && spatialVector(Zero, p)).l();
+}
+
+
+inline Foam::spatialVector Foam::RBD::restraint::bodyPointVelocity
+(
+    const point& p
+) const
+{
+    return model_.v(bodyIndex_, p);
+}
+
+
+// ************************************************************************* //

src/rigidBodyDynamics/rigidBodyModel/forwardDynamics.C

@@ -24,6 +24,7 @@ License
 \*---------------------------------------------------------------------------*/
 
 #include "rigidBodyModel.H"
+#include "rigidBodyRestraint.H"
 
 // * * * * * * * * * * * * * * Member Functions  * * * * * * * * * * * * * * //
 

src/rigidBodyDynamics/rigidBodyModel/rigidBodyModel.C

@@ -28,6 +28,7 @@ License
 #include "compositeBody.H"
 #include "jointBody.H"
 #include "nullJoint.H"
+#include "rigidBodyRestraint.H"
 
 // * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
 

src/rigidBodyDynamics/rigidBodyModel/rigidBodyModel.H

@@ -53,7 +53,6 @@ SourceFiles
 #include "subBody.H"
 #include "joint.H"
 #include "compositeJoint.H"
-#include "rigidBodyRestraint.H"
 #include "PtrList.H"
 #include "HashTable.H"
 
@@ -64,6 +63,7 @@ namespace RBD
 
 // Forward declaration of friend functions and operators
 class rigidBodyModel;
+class restraint;
 
 Ostream& operator<<(Ostream&, const rigidBodyModel&);
 
@@ -255,6 +255,9 @@ public:
         //  after model construction
         inline vector& g();
 
+        //- Return the name of body with the given ID
+        inline const word& name(const label bodyID) const;
+
         //- Return the inertia of body i
         inline const rigidBodyInertia& I(const label i) const;
 

src/rigidBodyDynamics/rigidBodyModel/rigidBodyModelI.H

@@ -38,6 +38,13 @@ Foam::RBD::rigidBodyModel::bodies() const
 }
 
 
+inline const Foam::DynamicList<Foam::label>&
+Foam::RBD::rigidBodyModel::lambda() const
+{
+    return lambda_;
+}
+
+
 inline const Foam::PtrList<Foam::RBD::joint>&
 Foam::RBD::rigidBodyModel::joints() const
 {
@@ -69,10 +76,19 @@ inline Foam::vector& Foam::RBD::rigidBodyModel::g()
 }
 
 
-inline const Foam::DynamicList<Foam::label>&
-Foam::RBD::rigidBodyModel::lambda() const
+inline const Foam::word& Foam::RBD::rigidBodyModel::name
+(
+    const label bodyID
+) const
 {
-    return lambda_;
+    if (merged(bodyID))
+    {
+        return mergedBody(bodyID).name();
+    }
+    else
+    {
+        return bodies_[bodyID].name();
+    }
 }