rigidBodyRestraint.H

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/*---------------------------------------------------------------------------*\
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-------------------------------------------------------------------------------
    Copyright (C) 2016 OpenFOAM Foundation
-------------------------------------------------------------------------------
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.
 
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    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/>.
 
Namespace
    Foam::RBD::restraints
 
Description
    Namespace for rigid-body dynamics restraints
 
Class
    Foam::RBD::restraint
 
Description
    Base class for defining restraints for rigid-body dynamics
 
SourceFiles
    rigidBodyRestraint.C
    rigidBodyRestraintNew.C
 
\*---------------------------------------------------------------------------*/
 
#ifndef RBD_rigidBodyRestraint_H
#define RBD_rigidBodyRestraint_H
 
#include "dictionary.H"
#include "autoPtr.H"
#include "spatialVector.H"
#include "point.H"
#include "scalarField.H"
#include "runTimeSelectionTables.H"
#include "rigidBodyModelState.H"
 
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
 
namespace Foam
{
namespace RBD
{
 
// Forward declaration of classes
class rigidBodyModel;
 
/*---------------------------------------------------------------------------*\
                          Class restraint Declaration
\*---------------------------------------------------------------------------*/
 
class restraint
{
 
protected:
 
    // Protected data
 
        //- Name of the restraint
        word name_;
 
        //- ID of the body the restraint is applied to
        label bodyID_;
 
        //- Index of the body the force is applied to
        label bodyIndex_;
 
        //- Restraint model specific coefficient dictionary
        dictionary coeffs_;
 
        //- Reference to the model
        const rigidBodyModel& model_;
 
        //- Transform the given point on the restrained body to the global frame
        inline point bodyPoint(const point& p) const;
 
        //- Transform the velocity of the given point on the restrained body
        //  to the global frame
        inline spatialVector bodyPointVelocity(const point& p) const;
 
 
public:
 
    //- Runtime type information
    TypeName("restraint");
 
 
    // Declare run-time constructor selection table
 
        declareRunTimeSelectionTable
        (
            autoPtr,
            restraint,
            dictionary,
            (
                const word& name,
                const dictionary& dict,
                const rigidBodyModel& model
            ),
            (name, dict, model)
        );
 
 
    // Constructors
 
        //- Construct from the dict dictionary and Time
        restraint
        (
            const word& name,
            const dictionary& dict,
            const rigidBodyModel& model
        );
 
        //- Construct and return a clone
        virtual autoPtr<restraint> clone() const = 0;
 
 
    // Selectors
 
        //- Select constructed from the dict dictionary and Time
        static autoPtr<restraint> New
        (
            const word& name,
            const dictionary& dict,
            const rigidBodyModel& model
        );
 
 
    //- Destructor
    virtual ~restraint();
 
 
    // Member Functions
 
        //- Return the name
        const word& name() const
        {
            return name_;
        }
 
        label bodyID() const
        {
            return bodyID_;
        }
 
        //- Accumulate the restraint internal joint forces into the tau field and
        //  external forces into the fx field
        virtual void restrain
        (
            scalarField& tau,
            Field<spatialVector>& fx,
            const rigidBodyModelState& state
        ) const = 0;
 
        //- Update properties from given dictionary
        virtual bool read(const dictionary& dict);
 
        //- Return access to coeffs
        const dictionary& coeffDict() const;
 
        //- Write
        virtual void write(Ostream&) const = 0;
};
 
 
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
 
} // End namespace RBD
} // End namespace Foam
 
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
 
#include "rigidBodyRestraintI.H"
 
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
 
#endif
 
// ************************************************************************* //