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sixDoFRigidBodyMotionState.H
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sixDoFRigidBodyMotionState.H
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/*---------------------------------------------------------------------------*\
========= |
\\ / F ield | OpenFOAM: The Open Source CFD Toolbox
\\ / O peration |
\\ / A nd | Copyright (C) 2011-2014 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/>.
Class
Foam::sixDoFRigidBodyMotionState
Description
Holds the motion state of sixDoF object. Wrapped up together
to allow rapid scatter to other processors. The processors must all
maintain exactly the same state data to avoid any drift or inconsistency.
SourceFiles
sixDoFRigidBodyMotionStateI.H
sixDoFRigidBodyMotionState.C
sixDoFRigidBodyMotionStateIO.C
\*---------------------------------------------------------------------------*/
#ifndef sixDoFRigidBodyMotionState_H
#define sixDoFRigidBodyMotionState_H
#include "vector.H"
#include "point.H"
#include "diagTensor.H"
#include "tensor.H"
#include "dictionary.H"
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
namespace Foam
{
// Forward declaration of classes
class Istream;
class Ostream;
// Forward declaration of friend functions and operators
class sixDoFRigidBodyMotionState;
Istream& operator>>(Istream&, sixDoFRigidBodyMotionState&);
Ostream& operator<<(Ostream&, const sixDoFRigidBodyMotionState&);
/*---------------------------------------------------------------------------*\
Class sixDoFRigidBodyMotionState Declaration
\*---------------------------------------------------------------------------*/
class sixDoFRigidBodyMotionState
{
// Private data
//- Current position of the centre of mass of the body
point centreOfRotation_;
//- Orientation, stored as the rotation tensor to transform
// from the body to the global reference frame, i.e.:
// globalVector = Q_ & bodyLocalVector
// bodyLocalVector = Q_.T() & globalVector
tensor Q_;
// Linear velocity of body
vector v_;
// Total linear acceleration of body
vector a_;
//- Angular momentum of body, in body local reference frame
vector pi_;
//- Total torque on body, in body local reference frame
vector tau_;
public:
// Constructors
//- Construct null
sixDoFRigidBodyMotionState();
//- Construct from dictionary
sixDoFRigidBodyMotionState(const dictionary& dict);
//- Construct as copy
sixDoFRigidBodyMotionState(const sixDoFRigidBodyMotionState&);
//- Destructor
~sixDoFRigidBodyMotionState();
// Member Functions
// Access
//- Return access to the centre of mass
inline const point& centreOfRotation() const;
//- Return access to the orientation
inline const tensor& Q() const;
//- Return access to velocity
inline const vector& v() const;
//- Return access to acceleration
inline const vector& a() const;
//- Return access to angular momentum
inline const vector& pi() const;
//- Return access to torque
inline const vector& tau() const;
// Edit
//- Return non-const access to the centre of mass
inline point& centreOfRotation();
//- Return non-const access to the orientation
inline tensor& Q();
//- Return non-const access to vector
inline vector& v();
//- Return non-const access to acceleration
inline vector& a();
//- Return non-const access to angular momentum
inline vector& pi();
//- Return non-const access to torque
inline vector& tau();
//- Write to dictionary
void write(dictionary& dict) const;
//- Write to stream
void write(Ostream&) const;
// IOstream Operators
friend Istream& operator>>(Istream&, sixDoFRigidBodyMotionState&);
friend Ostream& operator<<(Ostream&, const sixDoFRigidBodyMotionState&);
};
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
} // End namespace Foam
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
#include "sixDoFRigidBodyMotionStateI.H"
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
#endif
// ************************************************************************* //