df1cb90dc6
'w' is now obtained from 'v' using the relation w = sqrt(1 - |sqr(v)|) and 'v' is stored in the joint state field 'q' and integrated in the usual manner but corrected using quaternion transformations.
106 lines
2.6 KiB
C
106 lines
2.6 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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#include "Ra.H"
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#include "rigidBodyModel.H"
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#include "addToRunTimeSelectionTable.H"
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// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
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namespace Foam
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{
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namespace RBD
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{
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namespace joints
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{
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defineTypeNameAndDebug(Ra, 0);
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addToRunTimeSelectionTable
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(
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joint,
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Ra,
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dictionary
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);
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}
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}
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}
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// * * * * * * * * * * * * * * * * Constructors * * * * * * * * * * * * * * //
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Foam::RBD::joints::Ra::Ra(const vector& axis)
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:
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joint(1)
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{
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S_[0] = spatialVector(axis/mag(axis), Zero);
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}
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Foam::RBD::joints::Ra::Ra(const dictionary& dict)
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:
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joint(1)
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{
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vector axis(dict.lookup("axis"));
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S_[0] = spatialVector(axis/mag(axis), Zero);
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}
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Foam::autoPtr<Foam::RBD::joint> Foam::RBD::joints::Ra::clone() const
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{
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return autoPtr<joint>(new Ra(*this));
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}
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// * * * * * * * * * * * * * * * * Destructor * * * * * * * * * * * * * * * //
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Foam::RBD::joints::Ra::~Ra()
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{}
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// * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * * //
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void Foam::RBD::joints::Ra::jcalc
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(
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joint::XSvc& J,
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const scalarField& q,
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const scalarField& qDot
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) const
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{
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J.X = Xr(S_[0].w(), q[qIndex_]);
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J.S1 = S_[0];
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J.v = S_[0]*qDot[qIndex_];
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J.c = Zero;
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}
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void Foam::RBD::joints::Ra::write(Ostream& os) const
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{
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joint::write(os);
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os.writeKeyword("axis")
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<< S_[0].w() << token::END_STATEMENT << nl;
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}
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// ************************************************************************* //
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