src/dynamicMesh/meshMotion/solidBodyMotion/graphVelocity/graphVelocity.C

   1 /*---------------------------------------------------------------------------*\
   2   =========                 |
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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
  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, write to the Free Software Foundation,
  23     Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
  24
  25 \*---------------------------------------------------------------------------*/
  26
  27 #include "graphVelocity.H"
  28 #include "addToRunTimeSelectionTable.H"
  29 #include "mathematicalConstants.H"
  30 #include "interpolateXY.H"
  31 #include "IFstream.H"
  32
  33 // * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
  34
  35 namespace Foam
  36 {
  37 namespace solidBodyMotionFunctions
  38 {
  39
  40 defineTypeNameAndDebug(graphVelocity, 0);
  41 addToRunTimeSelectionTable(solidBodyMotionFunction, graphVelocity, dictionary);
  42
  43 }
  44 }
  45
  46 // * * * * * * * * * * * * * Private Member Functions  * * * * * * * * * * * //
  47
  48 Foam::vector
  49 Foam::solidBodyMotionFunctions::graphVelocity::translationalVelocity() const
  50 {
  51     const scalar t = time_.value() - time_.deltaT().value()/2;
  52
  53     return vector
  54            (
  55                interpolateXY(t, surge_.x(), surge_.y()),
  56                interpolateXY(t, sway_.x(), sway_.y()),
  57                interpolateXY(t, heave_.x(), heave_.y())
  58            );
  59 }
  60
  61
  62 Foam::vector
  63 Foam::solidBodyMotionFunctions::graphVelocity::rotationalVelocity() const
  64 {
  65     const scalar t = time_.value() - time_.deltaT().value()/2;
  66
  67     scalar rollVelocity = interpolateXY(t, roll_.x(), roll_.y());
  68     scalar pitchVelocity = interpolateXY(t, pitch_.x(), pitch_.y());
  69     scalar yawVelocity = interpolateXY(t, yaw_.x(), yaw_.y());
  70
  71     if (inDegrees_)
  72     {
  73         const scalar piBy180 = mathematicalConstant::pi/180.0;
  74
  75         rollVelocity *= piBy180;
  76         pitchVelocity *= piBy180;
  77         yawVelocity *= piBy180;
  78     }
  79
  80     return vector(rollVelocity, pitchVelocity, yawVelocity);
  81 }
  82
  83
  84 Foam::septernion
  85 Foam::solidBodyMotionFunctions::graphVelocity::calcTransformation() const
  86 {
  87     // Integrate velocity to get position
  88     if(localTimeIndex_ != time_.timeIndex())
  89     {
  90         // Set old translation and rotation to the previous state
  91         translationOld_ = translation_;
  92         rotationOld_ = rotation_;
  93
  94         const scalar dt = time_.deltaT().value();
  95
  96         translation_ += translationalVelocity()*dt;
  97         rotation_ += rotationalVelocity()*dt;
  98
  99         localTimeIndex_ = time_.timeIndex();
 100     }
 101
 102     const quaternion R(rotation_.x(), rotation_.y(), rotation_.z());
 103     const septernion TR
 104         (
 105             septernion(origin_ + translation_)*R*septernion(-origin_)
 106         );
 107
 108     return TR;
 109 }
 110
 111 // * * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * //
 112
 113 Foam::solidBodyMotionFunctions::graphVelocity::graphVelocity
 114 (
 115     const dictionary& SBMFCoeffs,
 116     const Time& runTime
 117 )
 118 :
 119     solidBodyMotionFunction(SBMFCoeffs, runTime),
 120     translation_(vector::zero),
 121     rotation_(vector::zero),
 122     translationOld_(vector::zero),
 123     rotationOld_(vector::zero),
 124     localTimeIndex_(-1),
 125     surge_
 126     (
 127         "surge",
 128         "t",
 129         "eta1Dot",
 130         IFstream
 131         (
 132             time_.path()/time_.caseConstant()/
 133             word(SBMFCoeffs_.lookup("surge"))
 134         )()
 135     ),
 136     sway_
 137     (
 138         "sway",
 139         "t",
 140         "eta2Dot",
 141         IFstream
 142         (
 143             time_.path()/time_.caseConstant()/
 144             word(SBMFCoeffs_.lookup("sway"))
 145         )()
 146     ),
 147     heave_
 148     (
 149         "heave",
 150         "t",
 151         "eta3Dot",
 152         IFstream
 153         (
 154             time_.path()/time_.caseConstant()/
 155             word(SBMFCoeffs_.lookup("heave"))
 156         )()
 157     ),
 158     roll_
 159     (
 160         "roll",
 161         "t",
 162         "eta4Dot",
 163         IFstream
 164         (
 165             time_.path()/time_.caseConstant()/
 166             word(SBMFCoeffs_.lookup("roll"))
 167         )()
 168     ),
 169     pitch_
 170     (
 171         "pitch",
 172         "t",
 173         "eta5Dot",
 174         IFstream
 175         (
 176             time_.path()/time_.caseConstant()/
 177             word(SBMFCoeffs_.lookup("pitch"))
 178         )()
 179     ),
 180     yaw_
 181     (
 182         "yaw",
 183         "t",
 184         "eta6Dot",
 185         IFstream
 186         (
 187             time_.path()/time_.caseConstant()/
 188             word(SBMFCoeffs_.lookup("yaw"))
 189         )()
 190     )
 191 {
 192     read(SBMFCoeffs);
 193 }
 194
 195 // * * * * * * * * * * * * * * * Member Functions  * * * * * * * * * * * * * //
 196
 197 Foam::septernion
 198 Foam::solidBodyMotionFunctions::graphVelocity::transformation() const
 199 {
 200    const septernion TR = calcTransformation();
 201
 202    Info<< "solidBodyMotionFunctions::graphVelocity::transformation(): "
 203    << "Time = " << time_.value() << " transformation: " << TR << endl;
 204
 205    return TR;
 206 }
 207
 208
 209 Foam::septernion
 210 Foam::solidBodyMotionFunctions::graphVelocity::velocity() const
 211 {
 212     const scalar dt = time_.deltaT().value();
 213
 214     const septernion TR = calcTransformation();
 215
 216     const quaternion ROld(rotationOld_.x(), rotationOld_.y(), rotationOld_.z());
 217     const septernion TROld
 218         (
 219             septernion(origin_ + translationOld_)*ROld*septernion(-origin_)
 220         );
 221
 222     return septernion
 223     (
 224         (TR.t() - TROld.t())/dt,
 225         (TR.r()/TROld.r())/dt
 226     );
 227 }
 228
 229
 230 bool Foam::solidBodyMotionFunctions::graphVelocity::read
 231 (
 232     const dictionary& SBMFCoeffs
 233 )
 234 {
 235     solidBodyMotionFunction::read(SBMFCoeffs);
 236
 237     SBMFCoeffs_.lookup("origin") >> origin_;
 238     SBMFCoeffs_.lookup("inDegrees") >> inDegrees_;
 239
 240     word surge = SBMFCoeffs_.lookup("surge");
 241     word sway = SBMFCoeffs_.lookup("sway");
 242     word heave = SBMFCoeffs_.lookup("heave");
 243     word roll = SBMFCoeffs_.lookup("roll");
 244     word pitch = SBMFCoeffs_.lookup("pitch");
 245     word yaw = SBMFCoeffs_.lookup("yaw");
 246
 247     surge_ = graph
 248     (
 249         "surge",
 250         "t",
 251         "eta1Dot",
 252         IFstream
 253         (
 254             time_.path()/time_.caseConstant()/
 255             surge
 256         )()
 257     );
 258     sway_ = graph
 259     (
 260         "sway",
 261         "t",
 262         "eta2Dot",
 263         IFstream
 264         (
 265             time_.path()/time_.caseConstant()/
 266             sway
 267         )()
 268     );
 269     heave_ = graph
 270     (
 271         "heave",
 272         "t",
 273         "eta3Dot",
 274         IFstream
 275         (
 276             time_.path()/time_.caseConstant()/
 277             heave
 278         )()
 279     );
 280     roll_ = graph
 281     (
 282         "roll",
 283         "t",
 284         "eta4Dot",
 285         IFstream
 286         (
 287             time_.path()/time_.caseConstant()/
 288             roll
 289         )()
 290     );
 291     pitch_ = graph
 292     (
 293         "pitch",
 294         "t",
 295         "eta5Dot",
 296         IFstream
 297         (
 298             time_.path()/time_.caseConstant()/
 299             pitch
 300         )()
 301     );
 302     yaw_ = graph
 303     (
 304         "yaw",
 305         "t",
 306         "eta6Dot",
 307         IFstream
 308         (
 309             time_.path()/time_.caseConstant()/
 310             yaw
 311         )()
 312     );
 313
 314     return true;
 315 }
 316
 317 // ************************************************************************* //