29 Foam::sixDoFRigidBodyMotion::rotationTensorX(scalar
phi)
const
41 Foam::sixDoFRigidBodyMotion::rotationTensorY(scalar phi)
const
53 Foam::sixDoFRigidBodyMotion::rotationTensorZ(scalar phi)
const
64 inline void Foam::sixDoFRigidBodyMotion::rotate
73 R = rotationTensorX(0.5*deltaT*pi.x()/momentOfInertia_.xx());
77 R = rotationTensorY(0.5*deltaT*pi.y()/momentOfInertia_.yy());
81 R = rotationTensorZ(deltaT*pi.z()/momentOfInertia_.zz());
85 R = rotationTensorY(0.5*deltaT*pi.y()/momentOfInertia_.yy());
89 R = rotationTensorX(0.5*deltaT*pi.x()/momentOfInertia_.xx());
96 Foam::sixDoFRigidBodyMotion::motionState()
const
103 Foam::sixDoFRigidBodyMotion::restraints()
const
109 inline const Foam::wordList& Foam::sixDoFRigidBodyMotion::restraintNames()
const
111 return restraintNames_;
116 Foam::sixDoFRigidBodyMotion::constraints()
const
123 Foam::sixDoFRigidBodyMotion::constraintNames()
const
125 return constraintNames_;
129 inline Foam::label Foam::sixDoFRigidBodyMotion::maxConstraintIterations()
const
131 return maxConstraintIterations_;
136 Foam::sixDoFRigidBodyMotion::initialCentreOfMass()
const
138 return initialCentreOfMass_;
143 Foam::sixDoFRigidBodyMotion::initialQ()
const
149 inline const Foam::tensor& Foam::sixDoFRigidBodyMotion::Q()
const
151 return motionState_.Q();
155 inline const Foam::vector& Foam::sixDoFRigidBodyMotion::v()
const
157 return motionState_.v();
161 inline const Foam::vector& Foam::sixDoFRigidBodyMotion::a()
const
163 return motionState_.a();
169 return motionState_.pi();
173 inline const Foam::vector& Foam::sixDoFRigidBodyMotion::tau()
const
175 return motionState_.tau();
179 inline Foam::point& Foam::sixDoFRigidBodyMotion::initialCentreOfMass()
181 return initialCentreOfMass_;
185 inline Foam::tensor& Foam::sixDoFRigidBodyMotion::initialQ()
193 return motionState_.Q();
199 return motionState_.v();
205 return motionState_.a();
211 return motionState_.pi();
217 return motionState_.tau();
229 + (Q() & initialQ_.T() & (pInitial - initialCentreOfMass_)))
236 const point& pInitial
242 + (Q() & initialQ_.T() & (pInitial - initialCentreOfMass_))
252 return (Q() & initialQ_.T() & vInitial);
265 return Q() & (
inv(momentOfInertia_) &
pi());
274 return (omega() ^ (pt - centreOfMass())) + v();
280 return motionState_.centreOfMass();
287 return momentOfInertia_;
305 return motionState_.centreOfMass();
311 return momentOfInertia_;