8a1e27d2c7
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.
112 lines
2.9 KiB
C++
112 lines
2.9 KiB
C++
/*---------------------------------------------------------------------------*\
|
|
========= |
|
|
\\ / 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/>.
|
|
|
|
Class
|
|
Foam::RBD::joints::Ryxz
|
|
|
|
Description
|
|
Spherical joint for rotation about the x/y/z-axes using Euler-angles
|
|
in the order y, x, z.
|
|
|
|
Reference:
|
|
\verbatim
|
|
Featherstone, R. (2008).
|
|
Rigid body dynamics algorithms.
|
|
Springer.
|
|
Chapter 4.
|
|
\endverbatim
|
|
|
|
SourceFiles
|
|
Ryxz.C
|
|
|
|
\*---------------------------------------------------------------------------*/
|
|
|
|
#ifndef RBD_joints_Ryxz_H
|
|
#define RBD_joints_Ryxz_H
|
|
|
|
#include "joint.H"
|
|
|
|
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
|
|
|
namespace Foam
|
|
{
|
|
namespace RBD
|
|
{
|
|
namespace joints
|
|
{
|
|
|
|
/*---------------------------------------------------------------------------*\
|
|
Class Ryxz Declaration
|
|
\*---------------------------------------------------------------------------*/
|
|
|
|
class Ryxz
|
|
:
|
|
public joint
|
|
{
|
|
|
|
public:
|
|
|
|
//- Runtime type information
|
|
TypeName("Ryxz");
|
|
|
|
|
|
// Constructors
|
|
|
|
//- Construct for given model
|
|
Ryxz(const rigidBodyModel& model);
|
|
|
|
//- Construct for given model from dictionary
|
|
Ryxz(const rigidBodyModel&, const dictionary& dict);
|
|
|
|
//- Clone this joint
|
|
virtual autoPtr<joint> clone() const;
|
|
|
|
|
|
//- Destructor
|
|
virtual ~Ryxz();
|
|
|
|
|
|
// Member Functions
|
|
|
|
//- Update the model state for this joint
|
|
virtual void jcalc
|
|
(
|
|
joint::XSvc& J,
|
|
const scalarField& q,
|
|
const scalarField& w,
|
|
const scalarField& qDot
|
|
) const;
|
|
};
|
|
|
|
|
|
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
|
|
|
} // End namespace joints
|
|
} // End namespace RBD
|
|
} // End namespace Foam
|
|
|
|
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
|
|
|
#endif
|
|
|
|
// ************************************************************************* //
|