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Author SHA1 Message Date
Henry Weller
4197cb075a quaternion: Added static member function to return a unit quaternion constructed from a vector 
//- Return the unit quaternion (versor) from the given vector
    //  (w = sqrt(1 - |sqr(v)|))
    static inline quaternion unit(const vector& v);
 2016-04-12 21:43:03 +01:00
Henry Weller
4a7f5ed19a applications/test/rigidBodyDynamics/sphericalJoint: Test for the quaternion-based spherical joint 2016-04-12 16:37:52 +01:00
Henry Weller
b2563a8f1b applications/test/rigidBodyDynamics/spring: Updated comment 2016-04-12 16:37:26 +01:00
Henry Weller
591cb1d11e rigidBodyDynamics/rigidBodySolvers: Added support for the integration of quaternion joints 2016-04-12 16:16:57 +01:00
Henry Weller
ab6fcff621 applications/test/rigidBodyDynamics/spring: Correct typo 2016-04-12 16:16:30 +01:00
Henry Weller
9e24a9b5e2 rigidBodyDynamics: Simplified the interface to the solvers 2016-04-12 12:57:31 +01:00
Henry Weller
5cfd0fbd47 Updated header 2016-04-12 11:36:59 +01:00
Henry Weller
c07bc87f95 rigidBodyDynamics/rigidBodySolvers: Added run-time selectable solvers to integrate the rigid-body motion 
Currently supported solvers: symplectic, Newmark, CrankNicolson

The symplectic solver should only be used if iteration over the forces
and body-motion is not required.  Newmark and CrankNicolson both require
iteration to provide 2nd-order behavior.

See applications/test/rigidBodyDynamics/spring for an example of the
application of the Newmark solver.

This development is sponsored by Carnegie Wave Energy Ltd.
 2016-04-12 11:33:20 +01:00
Henry Weller
f4baa3a864 vtkSurfaceWriter: Changed precision of points to "double" to avoid the error 
“Error when reading ascii data. Possible mismatch of datasize with
declaration.”

Patch contributed by Karl Meredith, FMGlobal
 2016-04-12 09:03:12 +01:00
Henry Weller
81eec80d5d rigidBodyDynamics/rigidBodyModelState: New class to hold the motion state of the rigid-body model 
This is a more convenient way of maintaining the state or multiple
states (for higher-order integration), storing, retrieving and passing
between processors.
 2016-04-11 19:01:16 +01:00
Henry Weller
0825c1b924 rigidBodyDynamics/restraints: Added sphericalAngularDamper, spherical angular damper restraint 2016-04-11 16:12:23 +01:00
Henry Weller
8b92402930 rigidBodyDynamics/restraints: Added linearAxialAngularSpring, linear axial angular spring restraint 
Included for backward-compatibility with the 6-DoF solver but in the
future will be re-implemented as a joint rather than body restraint and
accumulated in tau (internal forces) rather than fx (external forces).
 2016-04-11 15:14:18 +01:00
Henry Weller
ef45d5872f Updated header 2016-04-11 14:29:00 +01:00
Henry Weller
f29d184f28 rigidBodyDynamics/restraints: Added linearDamper 2016-04-11 14:28:09 +01:00
Henry Weller
1177554029 rigidBodyDynamics/restraints: Complete dictionary IO 2016-04-11 11:45:51 +01:00
Henry Weller
c019071604 rigidBodyDynamics: Added support for restraints and a linear spring with damper 
applications/test/rigidBodyDynamics/spring: Test of the linear spring with damper restraint
Damped simple harmonic motion of a weight on a spring is simulated and
the results compared with analytical solution

    Test-spring
    gnuplot spring.gnuplot
    evince spring.eps

This development is sponsored by Carnegie Wave Energy Ltd.
 2016-04-10 23:12:07 +01:00
Henry Weller
c49982fbd6 rigidBodyDynamics/bodies/subBody: Changed "parent" to "master" to avoid confusion with the parent to which this composite body is joined 2016-04-10 23:08:45 +01:00
Henry Weller
c8d5033af6 rigidBodyDynamics/joints: Added doc for namespace 2016-04-10 23:07:45 +01:00
Henry Weller
7d757a7960 applications/test/rigidBodyDynamics/pendulum: Cleanup 2016-04-10 23:07:23 +01:00
Henry Weller
292543a3a5 spatialTransform: Added the "&&" operator to transform positions 2016-04-10 23:06:35 +01:00
Henry Weller
48427f7a4e applications/test/rigidBodyDynamics/pendulum/pendulum: Corrected joint type 2016-04-08 18:03:51 +01:00
Henry Weller
b0d331aba7 rigidBodyModel: Add a few more comments 2016-04-08 17:25:17 +01:00
Henry Weller
8df5ca61d2 rigidBodyDynamics/bodies/jointBody: Special body to support elements of composite joints 2016-04-08 17:16:01 +01:00
Henry Weller
0c48b153de rigidBodyModel: Added operator<<(Ostream&, const rigidBodyModel&) 2016-04-08 17:02:02 +01:00
Henry Weller
33a97bb848 rigidBodyDynamics: Simplified the IO of bodies 2016-04-08 16:56:48 +01:00
Henry Weller
e2c9cb4563 rigidBodyDynamics: Added dictionary-based IO of the rigidBodyModel, bodies and joints 
Added support for composite joints including a specialized 6-DoF form for floating bodies.
 2016-04-08 16:35:49 +01:00
Henry Weller
b701ec9f3d rigidBodyDynamics/bodies: Complete set of clone functions to support copy construction and assignment 2016-04-07 23:04:17 +01:00
Henry Weller
6d7eb1ac4d rigidBodyModel: Provide support for copy-construction and assignment 2016-04-07 22:28:52 +01:00
Henry Weller
8ffd700ca6 rigidBodyDynamics: Added dictionary-based IO of the rigidBodyModel 2016-04-07 21:47:08 +01:00
Henry Weller
9aaf17d45d List: Remove the inherited UList::shallowCopy to avoid accidental misuse 2016-04-07 21:05:26 +01:00
Henry Weller
fda9aadb3a Specialized dotInterpolate for the efficient calculation of flux fields 
e.g. (fvc::interpolate(HbyA) & mesh.Sf()) -> fvc::flux(HbyA)

This removes the need to create an intermediate face-vector field when
computing fluxes which is more efficient, reduces the peak storage and
improved cache coherency in addition to providing a simpler and cleaner
API.
 2016-04-06 20:20:53 +01:00
Henry Weller
d52546b3ce surfaceInterpolationScheme: Added dotInterpolate member-function 
dotInterpolate interpolates the field and "dots" the resulting
face-values with the vector field provided which removes the need to
create a temporary field for the interpolate.  This reduces the peak
storage of OpenFOAM caused by the divergence of the gradient of vector
fields, improves memory management and under some conditions decreases
run-time.

This development is based on a patch contributed by Paul Edwards, Intel.
 2016-04-06 14:23:18 +01:00
Henry Weller
d4476c3946 VectorI: Added dummy innerProduct for scalar 
to allow the construction of vtables for virtual member functions
involving the inner-products of fields for which a "NotImplemented"
specialization for scalar is provided.
 2016-04-06 14:22:33 +01:00
Henry Weller
569b915d5d Updated headers 2016-04-06 14:22:24 +01:00
Henry Weller
1ae1b9f1d8 geometricOneField: Enhanced to provide better correspondence to GeometricField 2016-04-06 14:21:04 +01:00
Henry Weller
e290c25361 src/Pstream/mpi/UPstream.C: Cast-away const-ness for backard-compatibility with OpenMPI versions < 1.7.4 
Resolves bug-report http://www.openfoam.org/mantisbt/view.php?id=2044
 2016-04-06 12:24:47 +01:00
Henry Weller
255547dd33 src/rigidBodyDynamics/bodies: Added write 2016-04-04 22:10:34 +01:00
Henry Weller
19a93cc696 applications/test/rigidBodyDynamics/pendulum: Simplified using sphere constructor and body lookup by name 2016-04-04 17:08:20 +01:00
Henry Weller
1428f11b6e rigidBodyDynamics: Added sphere body to simply construction of articulated bodies containing spheres 2016-04-04 17:07:26 +01:00
Henry Weller
947f04ac9e rigidBodyModel: Added support for body lookup by name 2016-04-04 17:06:48 +01:00
Henry Weller
09ba40bf26 Updated header 2016-04-04 13:53:51 +01:00
Henry Weller
3358c056e6 surfaceMeshConvert: Reinstated missing error messages 2016-04-04 13:53:20 +01:00
Henry Weller
1c97ed7098 src/conversion/ensight: Specify std::isnan 
Resolves bug-report http://www.openfoam.org/mantisbt/view.php?id=2041
 2016-04-04 12:51:33 +01:00
Henry Weller
736c47d4dc applications/test/rigidBodyDynamics/pendulum: Add a test for merging bodies 2016-04-04 09:26:37 +01:00
Henry Weller
94e9b05edd applications/.*/Allwmake: Updated to support "stop on 1st error" 
Patch contributed by Bruno Santos
Resolved bug-report http://www.openfoam.org/mantisbt/view.php?id=2042
 2016-04-04 09:03:40 +01:00
Henry Weller
1fbd362faa src/conversion/ensight: Specify std::isnan 
Resolves bug-report http://www.openfoam.org/mantisbt/view.php?id=2041
 2016-04-04 08:59:50 +01:00
Henry Weller
9891a0ccf9 applications/test/rigidBodyDynamics/pendulum: Very simple test/demonstration of the rigidBodyDynamics library 
Simple swinging pendulum simulation with 1-DoF.  The motion is integrated
    using a symplectic method for just over 2-periods.
 2016-04-03 22:17:10 +01:00
Henry Weller
866bdce5b9 src/Allwmake: added rigidBodyDynamics 2016-04-03 15:53:50 +01:00
Henry Weller
8a1e27d2c7 rigidBodyDynamics: New library providing support for the dynamics of n-DoF articulated bodies 
Based on the principles, algorithms, data structures and notation
presented in the book:

    Featherstone, R. (2008).
    Rigid body dynamics algorithms.
    Springer.

This development is sponsored by Carnegie Wave Energy Ltd.
 2016-04-03 15:48:59 +01:00
Henry Weller
fec34404a8 wmake/rules/linux64Clang/c++Opt: Removed temporary line 2016-04-03 14:46:45 +01:00