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========= |
\\ / F ield | OpenFOAM: The Open Source CFD Toolbox
\\ / O peration | Website: https://openfoam.org
\\ / A nd | Copyright (C) 2018-2026 OpenFOAM Foundation
\\/ M anipulation |
-------------------------------------------------------------------------------
License
This file is part of OpenFOAM.
OpenFOAM is free software: you can redistribute it and/or modify it
under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
OpenFOAM is distributed in the hope that it will be useful, but WITHOUT
ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
for more details.
You should have received a copy of the GNU General Public License
along with OpenFOAM. If not, see <http://www.gnu.org/licenses/>.
\*---------------------------------------------------------------------------*/
#include "function.H"
#include "rigidBodyModelState.H"
#include "addToRunTimeSelectionTable.H"
// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
namespace Foam
{
namespace RBD
{
namespace joints
{
defineTypeNameAndDebug(function, 0);
addToRunTimeSelectionTable
(
joint,
function,
dictionary
);
}
}
}
// * * * * * * * * * * * * * * * * Constructors * * * * * * * * * * * * * * //
Foam::RBD::joints::function::function
(
const rigidBodyModel& model,
const dictionary& dict
)
:
joint(model, 0),
f_(Function1<scalar>::New("function", units::none, units::none, dict)),
delta_(dict.lookupOrDefault<scalar>("delta", rootSmall))
{}
Foam::autoPtr<Foam::RBD::joint> Foam::RBD::joints::function::clone() const
{
return autoPtr<joint>(new function(*this));
}
// * * * * * * * * * * * * * * * * Destructor * * * * * * * * * * * * * * * //
Foam::RBD::joints::function::~function()
{}
// * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * * //
void Foam::RBD::joints::function::jcalc
(
joint::XSvc& J,
const rigidBodyModelState& state
) const
{
const label lambda = model_.lambda()[index_];
const joint& parent = model_.joints()[lambda];
spatialVector x(Zero), v(Zero), c(Zero);
for(label i = 0; i < model_.joints()[lambda].nDoF(); ++ i)
{
const scalar q = state.q()[parent.qIndex() + i];
const scalar qDot = state.qDot()[parent.qIndex() + i];
const scalar qDdot = state.qDdot()[parent.qIndex() + i];
const scalar f = f_->value(q);
const scalar fMinusDf = f_->value(q - delta_/2);
const scalar fPlusDf = f_->value(q + delta_/2);
const scalar dfdq = (fPlusDf - fMinusDf)/delta_;
const scalar d2fdq2 = (fPlusDf - 2*f + fMinusDf)/sqr(delta_);
const spatialVector& s = parent.S()[i];
x += f*s;
v += dfdq*qDot*s;
c += (dfdq*qDdot + d2fdq2*sqr(qDot))*s;
}
const scalar magW = mag(x.w());
const tensor X(magW > vSmall ? quaternion(x.w(), magW).R() : tensor::I);
J.X = spatialTransform(X, x.l());
J.S = Zero;
J.S1 = Zero;
J.v = v;
J.c = c;
}
// ************************************************************************* //
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