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

   1 /*---------------------------------------------------------------------------*\
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   5     \\  /    A nd           | Copyright (C) 2011 OpenFOAM Foundation
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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
  13     the Free Software Foundation, either version 3 of the License, or
  14     (at your option) any later version.
  15
  16     OpenFOAM is distributed in the hope that it will be useful, but WITHOUT
  17     ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
  18     FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License
  19     for more details.
  20
  21     You should have received a copy of the GNU General Public License
  22     along with OpenFOAM.  If not, see <http://www.gnu.org/licenses/>.
  23
  24 \*---------------------------------------------------------------------------*/
  25
  26 #include "fixedLine.H"
  27 #include "addToRunTimeSelectionTable.H"
  28 #include "sixDoFRigidBodyMotion.H"
  29
  30 // * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
  31
  32 namespace Foam
  33 {
  34 namespace sixDoFRigidBodyMotionConstraints
  35 {
  36     defineTypeNameAndDebug(fixedLine, 0);
  37
  38     addToRunTimeSelectionTable
  39     (
  40         sixDoFRigidBodyMotionConstraint,
  41         fixedLine,
  42         dictionary
  43     );
  44 }
  45 }
  46
  47
  48 // * * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * //
  49
  50 Foam::sixDoFRigidBodyMotionConstraints::fixedLine::fixedLine
  51 (
  52     const dictionary& sDoFRBMCDict
  53 )
  54 :
  55     sixDoFRigidBodyMotionConstraint(sDoFRBMCDict),
  56     refPt_(),
  57     dir_()
  58 {
  59     read(sDoFRBMCDict);
  60 }
  61
  62
  63 // * * * * * * * * * * * * * * * * Destructors * * * * * * * * * * * * * * * //
  64
  65 Foam::sixDoFRigidBodyMotionConstraints::fixedLine::~fixedLine()
  66 {}
  67
  68
  69 // * * * * * * * * * * * * * * Member Functions  * * * * * * * * * * * * * * //
  70
  71 bool Foam::sixDoFRigidBodyMotionConstraints::fixedLine::constrain
  72 (
  73     const sixDoFRigidBodyMotion& motion,
  74     const vector& existingConstraintForce,
  75     const vector& existingConstraintMoment,
  76     scalar deltaT,
  77     vector& constraintPosition,
  78     vector& constraintForceIncrement,
  79     vector& constraintMomentIncrement
  80 ) const
  81 {
  82     point predictedPosition = motion.predictedPosition
  83     (
  84         refPt_,
  85         existingConstraintForce,
  86         existingConstraintMoment,
  87         deltaT
  88     );
  89
  90     constraintPosition = motion.currentPosition(refPt_);
  91
  92     // Info<< "current position " << constraintPosition << nl
  93     //     << "next predictedPosition " << predictedPosition
  94     //     << endl;
  95
  96     // Vector from reference point to predicted point
  97     vector rC = predictedPosition - refPt_;
  98
  99     vector error = rC - ((rC) & dir_)*dir_;
 100
 101     // Info<< "error " << error << endl;
 102
 103     constraintForceIncrement =
 104         -relaxationFactor_*error*motion.mass()/sqr(deltaT);
 105
 106     constraintMomentIncrement = vector::zero;
 107
 108     bool converged(mag(error) < tolerance_);
 109
 110     if (sixDoFRigidBodyMotionConstraint::debug)
 111     {
 112         Info<< " error " << error
 113             << " force " << constraintForceIncrement
 114             << " moment " << constraintMomentIncrement;
 115
 116         if (converged)
 117         {
 118             Info<< " converged";
 119         }
 120         else
 121         {
 122             Info<< " not converged";
 123         }
 124
 125         Info<< endl;
 126     }
 127
 128     return converged;
 129 }
 130
 131
 132 bool Foam::sixDoFRigidBodyMotionConstraints::fixedLine::read
 133 (
 134     const dictionary& sDoFRBMCDict
 135 )
 136 {
 137     sixDoFRigidBodyMotionConstraint::read(sDoFRBMCDict);
 138
 139     sDoFRBMCCoeffs_.lookup("refPoint") >> refPt_;
 140
 141     sDoFRBMCCoeffs_.lookup("direction") >> dir_;
 142
 143     scalar magDir(mag(dir_));
 144
 145     if (magDir > VSMALL)
 146     {
 147         dir_ /= magDir;
 148     }
 149     else
 150     {
 151         FatalErrorIn
 152         (
 153             "Foam::sixDoFRigidBodyMotionConstraints::fixedLine::read"
 154             "("
 155                 "const dictionary& sDoFRBMCDict"
 156             ")"
 157         )
 158             << "line direction has zero length"
 159             << abort(FatalError);
 160     }
 161
 162     return true;
 163 }
 164
 165
 166 void Foam::sixDoFRigidBodyMotionConstraints::fixedLine::write
 167 (
 168     Ostream& os
 169 ) const
 170 {
 171     os.writeKeyword("refPoint")
 172         << refPt_ << token::END_STATEMENT << nl;
 173
 174     os.writeKeyword("direction")
 175         << dir_ << token::END_STATEMENT << nl;
 176 }
 177
 178 // ************************************************************************* //