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.
114 lines
2.8 KiB
C
114 lines
2.8 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 "Rs.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(Rs, 0);
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addToRunTimeSelectionTable
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(
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joint,
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Rs,
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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::Rs::Rs(const rigidBodyModel& model)
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:
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joint(model, 3)
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{
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S_[0] = spatialVector(1, 0, 0, 0, 0, 0);
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S_[1] = spatialVector (0, 1, 0, 0, 0, 0);
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S_[2] = spatialVector(0, 0, 1, 0, 0, 0);
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}
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Foam::RBD::joints::Rs::Rs(const rigidBodyModel& model, const dictionary& dict)
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:
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joint(model, 3)
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{
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S_[0] = spatialVector(1, 0, 0, 0, 0, 0);
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S_[1] = spatialVector (0, 1, 0, 0, 0, 0);
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S_[2] = spatialVector(0, 0, 1, 0, 0, 0);
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}
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Foam::autoPtr<Foam::RBD::joint> Foam::RBD::joints::Rs::clone() const
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{
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return autoPtr<joint>(new Rs(*this));
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}
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// * * * * * * * * * * * * * * * * Destructor * * * * * * * * * * * * * * * //
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Foam::RBD::joints::Rs::~Rs()
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{}
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// * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * * //
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Foam::label Foam::RBD::joints::Rs::nw() const
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{
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return 1;
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}
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void Foam::RBD::joints::Rs::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& w,
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const scalarField& qDot
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) const
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{
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J.X.E() = operator()(q, w).R().T();
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J.X.r() = Zero;
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J.S = Zero;
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J.S.xx() = 1;
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J.S.yy() = 1;
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J.S.zz() = 1;
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J.v = spatialVector(qDot.block<vector>(qIndex_), Zero);
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J.c = Zero;
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}
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// ************************************************************************* //
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