src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedOrientation/fixedOrientation.C

   1 /*---------------------------------------------------------------------------*\
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   7 -------------------------------------------------------------------------------
   8 License
   9     This file is part of OpenFOAM.
  10
  11     OpenFOAM is free software; you can redistribute it and/or modify it
  12     under the terms of the GNU General Public License as published by the
  13     Free Software Foundation; either version 2 of the License, or (at your
  14     option) any later version.
  15
  16     OpenFOAM is distributed in the hope that it will be useful, but WITHOUT
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  18     FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License
  19     for more details.
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  23     Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
  24
  25 \*---------------------------------------------------------------------------*/
  26
  27 #include "fixedOrientation.H"
  28 #include "addToRunTimeSelectionTable.H"
  29 #include "sixDoFRigidBodyMotion.H"
  30
  31 // * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
  32
  33 namespace Foam
  34 {
  35 namespace sixDoFRigidBodyMotionConstraints
  36 {
  37     defineTypeNameAndDebug(fixedOrientation, 0);
  38     addToRunTimeSelectionTable
  39     (
  40         sixDoFRigidBodyMotionConstraint,
  41         fixedOrientation,
  42         dictionary
  43     );
  44 };
  45 };
  46
  47
  48 // * * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * //
  49
  50 Foam::sixDoFRigidBodyMotionConstraints::fixedOrientation::fixedOrientation
  51 (
  52     const dictionary& sDoFRBMCDict
  53 )
  54 :
  55     sixDoFRigidBodyMotionConstraint(sDoFRBMCDict)
  56 {
  57     read(sDoFRBMCDict);
  58 }
  59
  60
  61 // * * * * * * * * * * * * * * * * Destructors * * * * * * * * * * * * * * * //
  62
  63 Foam::sixDoFRigidBodyMotionConstraints::fixedOrientation::~fixedOrientation()
  64 {}
  65
  66
  67 // * * * * * * * * * * * * * * Member Functions  * * * * * * * * * * * * * * //
  68
  69 bool Foam::sixDoFRigidBodyMotionConstraints::fixedOrientation::constrain
  70 (
  71     const sixDoFRigidBodyMotion& motion,
  72     const vector& existingConstraintForce,
  73     const vector& existingConstraintMoment,
  74     scalar deltaT,
  75     vector& constraintPosition,
  76     vector& constraintForceIncrement,
  77     vector& constraintMomentIncrement
  78 ) const
  79 {
  80     constraintMomentIncrement = vector::zero;
  81
  82     scalar maxTheta = -SMALL;
  83
  84     for (direction cmpt=0; cmpt<vector::nComponents; cmpt++)
  85     {
  86         vector axis = vector::zero;
  87
  88         axis[cmpt] = 1;
  89
  90         vector refDir = vector::zero;
  91
  92         refDir[(cmpt + 1) % 3] = 1;
  93
  94         vector predictedDir = motion.predictedOrientation
  95         (
  96             refDir,
  97             existingConstraintMoment,
  98             deltaT
  99         );
 100
 101         // Removing any axis component from predictedDir
 102         predictedDir -= (axis & predictedDir)*axis;
 103
 104         scalar theta = GREAT;
 105
 106         scalar magPredictedDir = mag(predictedDir);
 107
 108         if (magPredictedDir > VSMALL)
 109         {
 110             predictedDir /= magPredictedDir;
 111
 112             theta = acos(min(predictedDir & refDir, 1.0));
 113
 114             // Recalculating axis to give correct sign to angle
 115             axis = (refDir ^ predictedDir);
 116
 117             scalar magAxis = mag(axis);
 118
 119             if (magAxis > VSMALL)
 120             {
 121                 axis /= magAxis;
 122             }
 123             else
 124             {
 125                 axis = vector::zero;
 126             }
 127         }
 128
 129         if (theta > maxTheta)
 130         {
 131             maxTheta = theta;
 132         }
 133
 134         constraintMomentIncrement +=
 135            -relaxationFactor_
 136            *theta*axis
 137            *motion.momentOfInertia()[cmpt]/sqr(deltaT);
 138     }
 139
 140     constraintPosition = motion.centreOfMass();
 141
 142     constraintForceIncrement = vector::zero;
 143
 144     bool converged(mag(maxTheta) < tolerance_);
 145
 146     if (sixDoFRigidBodyMotionConstraint::debug)
 147     {
 148         Info<< " max angle " << maxTheta
 149             << " force " << constraintForceIncrement
 150             << " moment " << constraintMomentIncrement;
 151
 152         if (converged)
 153         {
 154             Info<< " converged";
 155         }
 156         else
 157         {
 158             Info<< " not converged";
 159         }
 160
 161         Info<< endl;
 162     }
 163
 164     return converged;
 165 }
 166
 167
 168 bool Foam::sixDoFRigidBodyMotionConstraints::fixedOrientation::read
 169 (
 170     const dictionary& sDoFRBMCDict
 171 )
 172 {
 173     sixDoFRigidBodyMotionConstraint::read(sDoFRBMCDict);
 174
 175     return true;
 176 }
 177
 178
 179 void Foam::sixDoFRigidBodyMotionConstraints::fixedOrientation::write
 180 (
 181     Ostream& os
 182 ) const
 183 {
 184 }
 185
 186 // ************************************************************************* //