rigidBodyDynamics: Simplify handling of quaternions by maintaining a unit...

rigidBodyDynamics: Simplify handling of quaternions by maintaining a unit quaternion in the joint state field 'q'

'w' is now obtained from 'v' using the relation w = sqrt(1 - |sqr(v)|)
and 'v' is stored in the joint state field 'q' and integrated in the
usual manner but corrected using quaternion transformations.

applications/test/rigidBodyDynamics/sphericalJoint/sphericalJoint.C

@@ -64,8 +64,7 @@ int main(int argc, char *argv[])
     sphericalJoint.joints()[1]
     (
         quaternion(quaternion::ZYX, vector(0.3, 0, 0)),
-        sphericalJoint.state().q(),
-        sphericalJoint.state().w()
+        sphericalJoint.state().q()
     );
 
     // Set the gravitational acceleration
@@ -90,8 +89,7 @@ int main(int argc, char *argv[])
             << t << " "
             << sphericalJoint.joints()[1]
                (
-                   sphericalJoint.state().q(),
-                   sphericalJoint.state().w()
+                   sphericalJoint.state().q()
                ).eulerAngles(quaternion::ZYX).x()
             << endl;
     }

src/rigidBodyDynamics/joints/Pa/Pa.C

@@ -85,7 +85,6 @@ void Foam::RBD::joints::Pa::jcalc
 (
     joint::XSvc& J,
     const scalarField& q,
-    const scalarField& w,
     const scalarField& qDot
 ) const
 {

src/rigidBodyDynamics/joints/Pa/Pa.H

@@ -92,7 +92,6 @@ public:
         (
             joint::XSvc& J,
             const scalarField& q,
-            const scalarField& w,
             const scalarField& qDot
         ) const;
 

src/rigidBodyDynamics/joints/Px/Px.C

@@ -84,7 +84,6 @@ void Foam::RBD::joints::Px::jcalc
 (
     joint::XSvc& J,
     const scalarField& q,
-    const scalarField& w,
     const scalarField& qDot
 ) const
 {

src/rigidBodyDynamics/joints/Px/Px.H

@@ -92,7 +92,6 @@ public:
         (
             joint::XSvc& J,
             const scalarField& q,
-            const scalarField& w,
             const scalarField& qDot
         ) const;
 };

src/rigidBodyDynamics/joints/Pxyz/Pxyz.C

@@ -88,7 +88,6 @@ void Foam::RBD::joints::Pxyz::jcalc
 (
     joint::XSvc& J,
     const scalarField& q,
-    const scalarField& w,
     const scalarField& qDot
 ) const
 {

src/rigidBodyDynamics/joints/Pxyz/Pxyz.H

@@ -92,7 +92,6 @@ public:
         (
             joint::XSvc& J,
             const scalarField& q,
-            const scalarField& w,
             const scalarField& qDot
         ) const;
 };

src/rigidBodyDynamics/joints/Py/Py.C

@@ -84,7 +84,6 @@ void Foam::RBD::joints::Py::jcalc
 (
     joint::XSvc& J,
     const scalarField& q,
-    const scalarField& w,
     const scalarField& qDot
 ) const
 {

src/rigidBodyDynamics/joints/Py/Py.H

@@ -92,7 +92,6 @@ public:
         (
             joint::XSvc& J,
             const scalarField& q,
-            const scalarField& w,
             const scalarField& qDot
         ) const;
 };

src/rigidBodyDynamics/joints/Pz/Pz.C

@@ -84,7 +84,6 @@ void Foam::RBD::joints::Pz::jcalc
 (
     joint::XSvc& J,
     const scalarField& q,
-    const scalarField& w,
     const scalarField& qDot
 ) const
 {

src/rigidBodyDynamics/joints/Pz/Pz.H

@@ -92,7 +92,6 @@ public:
         (
             joint::XSvc& J,
             const scalarField& q,
-            const scalarField& w,
             const scalarField& qDot
         ) const;
 };

src/rigidBodyDynamics/joints/Ra/Ra.C

@@ -85,7 +85,6 @@ void Foam::RBD::joints::Ra::jcalc
 (
     joint::XSvc& J,
     const scalarField& q,
-    const scalarField& w,
     const scalarField& qDot
 ) const
 {

src/rigidBodyDynamics/joints/Ra/Ra.H

@@ -92,7 +92,6 @@ public:
         (
             joint::XSvc& J,
             const scalarField& q,
-            const scalarField& w,
             const scalarField& qDot
         ) const;
 

src/rigidBodyDynamics/joints/Rs/Rs.C

@@ -94,11 +94,10 @@ void Foam::RBD::joints::Rs::jcalc
 (
     joint::XSvc& J,
     const scalarField& q,
-    const scalarField& w,
     const scalarField& qDot
 ) const
 {
-    J.X.E() = operator()(q, w).R().T();
+    J.X.E() = operator()(q).R().T();
     J.X.r() = Zero;
 
     J.S = Zero;

src/rigidBodyDynamics/joints/Rs/Rs.H

@@ -97,7 +97,6 @@ public:
         (
             joint::XSvc& J,
             const scalarField& q,
-            const scalarField& w,
             const scalarField& qDot
         ) const;
 };

src/rigidBodyDynamics/joints/Rx/Rx.C

@@ -84,7 +84,6 @@ void Foam::RBD::joints::Rx::jcalc
 (
     joint::XSvc& J,
     const scalarField& q,
-    const scalarField& w,
     const scalarField& qDot
 ) const
 {

src/rigidBodyDynamics/joints/Rx/Rx.H

@@ -92,7 +92,6 @@ public:
         (
             joint::XSvc& J,
             const scalarField& q,
-            const scalarField& w,
             const scalarField& qDot
         ) const;
 };

src/rigidBodyDynamics/joints/Rxyz/Rxyz.C

@@ -88,7 +88,6 @@ void Foam::RBD::joints::Rxyz::jcalc
 (
     joint::XSvc& J,
     const scalarField& q,
-    const scalarField& w,
     const scalarField& qDot
 ) const
 {

src/rigidBodyDynamics/joints/Rxyz/Rxyz.H

@@ -93,7 +93,6 @@ public:
         (
             joint::XSvc& J,
             const scalarField& q,
-            const scalarField& w,
             const scalarField& qDot
         ) const;
 };

src/rigidBodyDynamics/joints/Ry/Ry.C

@@ -84,7 +84,6 @@ void Foam::RBD::joints::Ry::jcalc
 (
     joint::XSvc& J,
     const scalarField& q,
-    const scalarField& w,
     const scalarField& qDot
 ) const
 {