/*--------------------------------*- C++ -*----------------------------------*\
  =========                 |
  \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
   \\    /   O peration     | Website:  https://openfoam.org
    \\  /    A nd           | Version:  dev
     \\/     M anipulation  |
\*---------------------------------------------------------------------------*/
FoamFile
{
    version     2.0;
    format      ascii;
    class       dictionary;
    object      motionProperties;
}
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //

dynamicFvMesh   dynamicMotionSolverFvMesh;

motionSolverLibs    ("libsixDoFRigidBodyMotion.so");

motionSolver        sixDoFRigidBodyMotion;

sixDoFRigidBodyMotionCoeffs
{
    patches         (floatingObject);
    innerDistance   0.05;
    outerDistance   0.35;

    centreOfMass    (0.5 0.45 0.35);

    // Cuboid dimensions
    Lx              0.3;
    Ly              0.2;
    Lz              0.5;

    // Density of the solid
    rhoSolid        500;

    // Cuboid mass
    mass            #calc "$rhoSolid*$Lx*$Ly*$Lz";

    // Cuboid moment of inertia about the centre of mass
    momentOfInertia #codeStream
    {
        codeInclude
        #{
            #include "diagTensor.H"
        #};

        code
        #{
            scalar sqrLx = sqr($Lx);
            scalar sqrLy = sqr($Ly);
            scalar sqrLz = sqr($Lz);
            os  <<
                $mass
               *diagTensor(sqrLy + sqrLz, sqrLx + sqrLz, sqrLx + sqrLy)/12.0;
        #};
    };

    report          on;
    accelerationRelaxation 0.7;
    // accelerationDamping 0;

    solver
    {
        type Newmark;
    }

    constraints
    {
        // fixedPoint
        // {
        //     sixDoFRigidBodyMotionConstraint point;
        //     centreOfRotation (0.5 0.45 0.1);
        // }

        fixedLine
        {
            sixDoFRigidBodyMotionConstraint line;
            centreOfRotation (0.5 0.45 0.1);
            direction (0 1 0);
        }

        fixedAxis
        {
            sixDoFRigidBodyMotionConstraint axis;
            axis (0 1 0);
        }
    }
}


// ************************************************************************* //
