Commit 05455d50 authored by Henry Weller's avatar Henry Weller
Browse files

src/OpenFOAM/primitives/spatialVectorAlgebra: New classes to support spatial vector algebra

Based on definitions in chapter 2 of the book:
    Featherstone, R. (2008).
    Rigid body dynamics algorithms.
    Springer.

This work is sponsored by Carnegie Wave Energy Ltd
parent 6057695f
......@@ -107,6 +107,11 @@ $(ranges)/labelRange/labelRanges.C
$(ranges)/scalarRange/scalarRange.C
$(ranges)/scalarRange/scalarRanges.C
spatialVectorAlgebra = primitives/spatialVectorAlgebra
$(spatialVectorAlgebra)/SpatialVector/spatialVector/spatialVector.C
$(spatialVectorAlgebra)/SpatialTensor/spatialTensor/spatialTensor.C
$(spatialVectorAlgebra)/CompactSpatialTensor/compactSpatialTensor/compactSpatialTensor.C
containers/HashTables/HashTable/HashTableCore.C
containers/HashTables/StaticHashTable/StaticHashTableCore.C
containers/Lists/SortableList/ParSortableListName.C
......
/*---------------------------------------------------------------------------*\
========= |
\\ / F ield | OpenFOAM: The Open Source CFD Toolbox
\\ / O peration |
\\ / A nd | Copyright (C) 2016 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::CompactSpatialTensor
Description
Templated 3D compact spatial tensor derived from MatrixSpace used to
represent transformations of spatial vectors and the angular and linear
inertia of rigid bodies.
Reference:
\verbatim
Featherstone, R. (2008).
Rigid body dynamics algorithms.
Springer.
\endverbatim
SourceFiles
CompactSpatialTensorI.H
SeeAlso
Foam::MatrixSpace
Foam::SpatialTensor
\*---------------------------------------------------------------------------*/
#ifndef CompactSpatialTensor_H
#define CompactSpatialTensor_H
#include "SpatialTensor.H"
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
namespace Foam
{
/*---------------------------------------------------------------------------*\
Class CompactSpatialTensor Declaration
\*---------------------------------------------------------------------------*/
template<class Cmpt>
class CompactSpatialTensor
:
public MatrixSpace<CompactSpatialTensor<Cmpt>, Cmpt, 6, 3>
{
public:
// Constructors
//- Construct null
inline CompactSpatialTensor();
inline explicit CompactSpatialTensor(const Foam::zero);
//- Construct given MatrixSpace of the same rank
inline CompactSpatialTensor
(
const typename CompactSpatialTensor::msType&
);
//- Construct given 18 components
inline CompactSpatialTensor
(
const Cmpt& t00, const Cmpt& t01, const Cmpt& t02,
const Cmpt& t10, const Cmpt& t11, const Cmpt& t12,
const Cmpt& t20, const Cmpt& t21, const Cmpt& t22,
const Cmpt& t30, const Cmpt& t31, const Cmpt& t32,
const Cmpt& t40, const Cmpt& t41, const Cmpt& t42,
const Cmpt& t50, const Cmpt& t51, const Cmpt& t52
);
//- Construct from Istream
inline CompactSpatialTensor(Istream&);
// Member Operators
inline void operator=(const Foam::zero);
};
template<class Cmpt>
class typeOfInnerProduct<Cmpt, CompactSpatialTensor<Cmpt>, Tensor<Cmpt>>
{
public:
typedef CompactSpatialTensor<Cmpt> type;
};
template<class Cmpt>
class typeOfInnerProduct<Cmpt, CompactSpatialTensor<Cmpt>, Vector<Cmpt>>
{
public:
typedef SpatialVector<Cmpt> type;
};
template<class Cmpt>
class typeOfInnerProduct<Cmpt, SpatialTensor<Cmpt>, CompactSpatialTensor<Cmpt>>
{
public:
typedef CompactSpatialTensor<Cmpt> type;
};
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
} // End namespace Foam
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
// Include inline implementations
#include "CompactSpatialTensorI.H"
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
#endif
// ************************************************************************* //
/*---------------------------------------------------------------------------*\
========= |
\\ / F ield | OpenFOAM: The Open Source CFD Toolbox
\\ / O peration |
\\ / A nd | Copyright (C) 2016 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/>.
\*---------------------------------------------------------------------------*/
// * * * * * * * * * * * * * * * * Constructors * * * * * * * * * * * * * * //
template<class Cmpt>
inline Foam::CompactSpatialTensor<Cmpt>::CompactSpatialTensor()
{}
template<class Cmpt>
inline Foam::CompactSpatialTensor<Cmpt>::CompactSpatialTensor
(
const Foam::zero z
)
:
CompactSpatialTensor::msType(z)
{}
template<class Cmpt>
inline Foam::CompactSpatialTensor<Cmpt>::CompactSpatialTensor
(
const typename CompactSpatialTensor::msType& ms
)
:
CompactSpatialTensor::msType(ms)
{}
template<class Cmpt>
inline Foam::CompactSpatialTensor<Cmpt>::CompactSpatialTensor
(
const Cmpt& t00, const Cmpt& t01, const Cmpt& t02,
const Cmpt& t10, const Cmpt& t11, const Cmpt& t12,
const Cmpt& t20, const Cmpt& t21, const Cmpt& t22,
const Cmpt& t30, const Cmpt& t31, const Cmpt& t32,
const Cmpt& t40, const Cmpt& t41, const Cmpt& t42,
const Cmpt& t50, const Cmpt& t51, const Cmpt& t52
)
{
this->v_[0] = t00;
this->v_[1] = t01;
this->v_[2] = t02;
this->v_[6 + 0] = t10;
this->v_[6 + 1] = t11;
this->v_[6 + 2] = t12;
this->v_[12 + 0] = t20;
this->v_[12 + 1] = t21;
this->v_[12 + 2] = t22;
this->v_[18 + 0] = t30;
this->v_[18 + 1] = t31;
this->v_[18 + 2] = t32;
this->v_[24 + 0] = t40;
this->v_[24 + 1] = t41;
this->v_[24 + 2] = t42;
this->v_[30 + 0] = t50;
this->v_[30 + 1] = t51;
this->v_[30 + 2] = t52;
}
template<class Cmpt>
inline Foam::CompactSpatialTensor<Cmpt>::CompactSpatialTensor(Istream& is)
:
CompactSpatialTensor::msType(is)
{}
// * * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * //
template<class Cmpt>
inline void Foam::CompactSpatialTensor<Cmpt>::operator=(const Foam::zero z)
{
CompactSpatialTensor::msType::operator=(z);
}
// ************************************************************************* //
/*---------------------------------------------------------------------------*\
========= |
\\ / F ield | OpenFOAM: The Open Source CFD Toolbox
\\ / O peration |
\\ / A nd | Copyright (C) 2016 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/>.
\*---------------------------------------------------------------------------*/
#include "compactSpatialTensor.H"
#include "CompactSpatialTensorT.H"
// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
template<>
const char* const Foam::compactSpatialTensor::vsType::typeName =
"compactSpatialTensor";
template<>
const char* const Foam::compactSpatialTensor::vsType::componentNames[] =
{
"Exx", "Exy", "Exz",
"Eyx", "Eyy", "Eyz",
"Ezx", "Ezy", "Ezz",
"Erxx", "Erxy", "Erxz",
"Eryx", "Eryy", "Eryz",
"Erzx", "Erzy", "Erzz",
};
template<>
const Foam::compactSpatialTensor Foam::compactSpatialTensor::vsType::zero
(
Foam::compactSpatialTensor::uniform(0)
);
template<>
const Foam::compactSpatialTensor Foam::compactSpatialTensor::vsType::one
(
compactSpatialTensor::uniform(1)
);
template<>
const Foam::compactSpatialTensor Foam::compactSpatialTensor::vsType::max
(
compactSpatialTensor::uniform(VGREAT)
);
template<>
const Foam::compactSpatialTensor Foam::compactSpatialTensor::vsType::min
(
compactSpatialTensor::uniform(-VGREAT)
);
template<>
const Foam::compactSpatialTensor Foam::compactSpatialTensor::vsType::rootMax
(
compactSpatialTensor::uniform(ROOTVGREAT)
);
template<>
const Foam::compactSpatialTensor Foam::compactSpatialTensor::vsType::rootMin
(
compactSpatialTensor::uniform(-ROOTVGREAT)
);
// ************************************************************************* //
/*---------------------------------------------------------------------------*\
========= |
\\ / F ield | OpenFOAM: The Open Source CFD Toolbox
\\ / O peration |
\\ / A nd | Copyright (C) 2016 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/>.
Typedef
Foam::compactSpatialTensor
Description
CompactSpatialTensor of scalars.
SourceFiles
CompactSpatialTensor.C
\*---------------------------------------------------------------------------*/
#ifndef compactSpatialTensor_H
#define compactSpatialTensor_H
#include "CompactSpatialTensor.H"
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
namespace Foam
{
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
typedef CompactSpatialTensor<scalar> compactSpatialTensor;
//- Data associated with compactSpatialTensor type are contiguous
template<>
inline bool contiguous<compactSpatialTensor>() {return true;}
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
} // End namespace Foam
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
#endif
// ************************************************************************* //
/*---------------------------------------------------------------------------*\
========= |
\\ / F ield | OpenFOAM: The Open Source CFD Toolbox
\\ / O peration |
\\ / A nd | Copyright (C) 2016 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::CompactSpatialTensorT
Description
Templated 3D transposed compact spatial tensor derived from MatrixSpace
used to represent transformations of spatial vectors of rigid bodies.
Reference:
\verbatim
Featherstone, R. (2008).
Rigid body dynamics algorithms.
Springer.
\endverbatim
SourceFiles
CompactSpatialTensorTI.H
SeeAlso
Foam::MatrixSpace
Foam::CompactSpatialTensor
\*---------------------------------------------------------------------------*/
#ifndef CompactSpatialTensorT_H
#define CompactSpatialTensorT_H
#include "CompactSpatialTensor.H"
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
namespace Foam
{
/*---------------------------------------------------------------------------*\
Class CompactSpatialTensor Declaration
\*---------------------------------------------------------------------------*/
template<class Cmpt>
class CompactSpatialTensorT
:
public MatrixSpace<CompactSpatialTensorT<Cmpt>, Cmpt, 3, 6>
{
public:
// Constructors
//- Construct null
inline CompactSpatialTensorT();
inline explicit CompactSpatialTensorT(const Foam::zero);
//- Construct given MatrixSpace of the same rank
inline CompactSpatialTensorT
(
const typename CompactSpatialTensorT::msType&
);
//- Construct given 18 components
inline CompactSpatialTensorT
(
const Cmpt& t00, const Cmpt& t01, const Cmpt& t02,
const Cmpt& t10, const Cmpt& t11, const Cmpt& t12,
const Cmpt& t20, const Cmpt& t21, const Cmpt& t22,
const Cmpt& t30, const Cmpt& t31, const Cmpt& t32,
const Cmpt& t40, const Cmpt& t41, const Cmpt& t42,
const Cmpt& t50, const Cmpt& t51, const Cmpt& t52
);
//- Construct from Istream
inline CompactSpatialTensorT(Istream&);
// Member Operators
inline void operator=(const Foam::zero);
};
template<class Cmpt>
class typeOfTranspose<Cmpt, CompactSpatialTensor<Cmpt>>
{
public:
typedef CompactSpatialTensorT<Cmpt> type;
};
template<class Cmpt>
class typeOfTranspose<Cmpt, CompactSpatialTensorT<Cmpt>>
{
public:
typedef CompactSpatialTensor<Cmpt> type;
};
template<class Cmpt>
class typeOfInnerProduct
<
Cmpt,
CompactSpatialTensor<Cmpt>,
CompactSpatialTensorT<Cmpt>
>
{
public:
typedef SpatialTensor<Cmpt> type;
};
template<class Cmpt>
class typeOfInnerProduct
<
Cmpt,
CompactSpatialTensorT<Cmpt>,
CompactSpatialTensor<Cmpt>
>
{
public:
typedef Tensor<Cmpt> type;
};
template<class Cmpt>
class typeOfInnerProduct
<
Cmpt,
CompactSpatialTensorT<Cmpt>,
SpatialVector<Cmpt>
>
{
public:
typedef Vector<Cmpt> type;
};
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
} // End namespace Foam