194 lines
3.9 KiB
C
194 lines
3.9 KiB
C
/*---------------------------------------------------------------------------*\
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========= |
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\\ / F ield | OpenFOAM: The Open Source CFD Toolbox
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\\ / O peration |
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\\ / A nd | Copyright (C) 2016 OpenFOAM Foundation
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\\/ M anipulation |
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-------------------------------------------------------------------------------
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License
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This file is part of OpenFOAM.
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OpenFOAM 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
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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OpenFOAM is distributed in the hope that it will be useful, but WITHOUT
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ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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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 OpenFOAM. If not, see <http://www.gnu.org/licenses/>.
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\*---------------------------------------------------------------------------*/
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// * * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * //
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inline Foam::label Foam::RBD::rigidBodyModel::nBodies() const
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{
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return bodies_.size();
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}
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inline Foam::PtrList<Foam::RBD::rigidBody>
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Foam::RBD::rigidBodyModel::bodies() const
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{
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return bodies_;
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}
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inline const Foam::DynamicList<Foam::label>&
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Foam::RBD::rigidBodyModel::lambda() const
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{
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return lambda_;
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}
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inline const Foam::PtrList<Foam::RBD::joint>&
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Foam::RBD::rigidBodyModel::joints() const
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{
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return joints_;
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}
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inline Foam::label Foam::RBD::rigidBodyModel::nDoF() const
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{
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return nDoF_;
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}
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inline Foam::label Foam::RBD::rigidBodyModel::nw() const
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{
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return nw_;
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}
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inline const Foam::vector& Foam::RBD::rigidBodyModel::g() const
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{
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return g_;
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}
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inline Foam::vector& Foam::RBD::rigidBodyModel::g()
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{
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return g_;
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}
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inline const Foam::word& Foam::RBD::rigidBodyModel::name
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(
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const label bodyID
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) const
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{
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if (merged(bodyID))
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{
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return mergedBody(bodyID).name();
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}
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else
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{
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return bodies_[bodyID].name();
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}
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}
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inline const Foam::RBD::rigidBodyInertia&
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Foam::RBD::rigidBodyModel::I(const label i) const
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{
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return bodies_[i];
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}
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inline bool Foam::RBD::rigidBodyModel::merged(label bodyID) const
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{
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return bodyID < 0;
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}
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inline Foam::label Foam::RBD::rigidBodyModel::master(label bodyID) const
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{
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if (bodyID < 0)
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{
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return mergedBody(bodyID).masterID();
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}
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else
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{
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return bodyID;
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}
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}
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inline Foam::label
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Foam::RBD::rigidBodyModel::mergedBodyID(const label mergedBodyIndex) const
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{
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return -1 - mergedBodyIndex;
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}
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inline Foam::label
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Foam::RBD::rigidBodyModel::mergedBodyIndex(const label mergedBodyID) const
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{
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return -1 - mergedBodyID;
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}
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inline const Foam::RBD::subBody&
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Foam::RBD::rigidBodyModel::mergedBody(label mergedBodyID) const
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{
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if (!merged(mergedBodyID))
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{
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FatalErrorInFunction
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<< "Body " << mergedBodyID << " has not been merged"
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<< abort(FatalError);
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}
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return mergedBodies_[mergedBodyIndex(mergedBodyID)];
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}
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inline Foam::label Foam::RBD::rigidBodyModel::bodyID(const word& name) const
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{
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return bodyIDs_[name];
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}
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inline Foam::vector Foam::RBD::rigidBodyModel::masterPoint
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(
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const label bodyID,
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const vector& p
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) const
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{
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if (merged(bodyID))
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{
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return
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(
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mergedBody(bodyID).masterXT().inv()
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&& spatialVector(Zero, p)
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).l();
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}
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else
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{
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return p;
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}
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}
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inline Foam::spatialVector Foam::RBD::rigidBodyModel::v
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(
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const label bodyID,
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const vector& p
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) const
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{
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return
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(
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spatialTransform
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(
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X0_[master(bodyID)].E().T(),
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masterPoint(bodyID, p)
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)
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& v_[master(bodyID)]
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);
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}
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// ************************************************************************* //
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