55 #ifndef sixDoFRigidBodyMotion_H
56 #define sixDoFRigidBodyMotion_H
74 class sixDoFRigidBodyMotion;
75 Istream&
operator>>(Istream&, sixDoFRigidBodyMotion&);
76 Ostream&
operator<<(Ostream&,
const sixDoFRigidBodyMotion&);
104 label maxConstraintIterations_;
107 point initialCentreOfMass_;
136 inline tensor rotationTensorX(scalar deltaT)
const;
140 inline tensor rotationTensorY(scalar deltaT)
const;
144 inline tensor rotationTensorZ(scalar deltaT)
const;
147 inline void rotate(
tensor& Q,
vector& pi, scalar deltaT)
const;
150 void applyRestraints();
153 void applyConstraints(scalar deltaT);
168 inline const wordList& restraintNames()
const;
175 inline const wordList& constraintNames()
const;
179 inline label maxConstraintIterations()
const;
182 inline const point& initialCentreOfMass()
const;
185 inline const tensor& initialQ()
const;
188 inline const tensor& Q()
const;
191 inline const vector& v()
const;
194 inline const vector& a()
const;
197 inline const vector& pi()
const;
200 inline const vector& tau()
const;
206 inline point& initialCentreOfMass();
209 inline tensor& initialQ();
244 const point& initialCentreOfMass,
248 scalar aLim = VGREAT,
325 const point& pInitial,
327 const vector& deltaMoment,
337 const vector& deltaMoment,
361 inline scalar
mass()
const;
364 inline bool report()
const;
376 inline scalar&
mass();