diff --git a/src/OpenFOAM/Make/files b/src/OpenFOAM/Make/files
index ebe063819e5155568e4b31d2f9aa0c3ae0167488..056517f409c892e82a8a11a630c3d55902813243 100644
--- a/src/OpenFOAM/Make/files
+++ b/src/OpenFOAM/Make/files
@@ -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
diff --git a/src/OpenFOAM/primitives/spatialVectorAlgebra/CompactSpatialTensor/CompactSpatialTensor.H b/src/OpenFOAM/primitives/spatialVectorAlgebra/CompactSpatialTensor/CompactSpatialTensor.H
new file mode 100644
index 0000000000000000000000000000000000000000..fa2b14f6c913deb1a8ea86d636224373355e6fe7
--- /dev/null
+++ b/src/OpenFOAM/primitives/spatialVectorAlgebra/CompactSpatialTensor/CompactSpatialTensor.H
@@ -0,0 +1,144 @@
+/*---------------------------------------------------------------------------*\
+ ========= |
+ \\ / 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
+
+// ************************************************************************* //
diff --git a/src/OpenFOAM/primitives/spatialVectorAlgebra/CompactSpatialTensor/CompactSpatialTensorI.H b/src/OpenFOAM/primitives/spatialVectorAlgebra/CompactSpatialTensor/CompactSpatialTensorI.H
new file mode 100644
index 0000000000000000000000000000000000000000..c01ed49c7fa8781915e986e3bf50d4121843a481
--- /dev/null
+++ b/src/OpenFOAM/primitives/spatialVectorAlgebra/CompactSpatialTensor/CompactSpatialTensorI.H
@@ -0,0 +1,106 @@
+/*---------------------------------------------------------------------------*\
+ ========= |
+ \\ / 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);
+}
+
+
+// ************************************************************************* //
diff --git a/src/OpenFOAM/primitives/spatialVectorAlgebra/CompactSpatialTensor/compactSpatialTensor/compactSpatialTensor.C b/src/OpenFOAM/primitives/spatialVectorAlgebra/CompactSpatialTensor/compactSpatialTensor/compactSpatialTensor.C
new file mode 100644
index 0000000000000000000000000000000000000000..8004cd034733f21cf4668b24cd407e5427cb8eb7
--- /dev/null
+++ b/src/OpenFOAM/primitives/spatialVectorAlgebra/CompactSpatialTensor/compactSpatialTensor/compactSpatialTensor.C
@@ -0,0 +1,84 @@
+/*---------------------------------------------------------------------------*\
+ ========= |
+ \\ / 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)
+);
+
+
+// ************************************************************************* //
diff --git a/src/OpenFOAM/primitives/spatialVectorAlgebra/CompactSpatialTensor/compactSpatialTensor/compactSpatialTensor.H b/src/OpenFOAM/primitives/spatialVectorAlgebra/CompactSpatialTensor/compactSpatialTensor/compactSpatialTensor.H
new file mode 100644
index 0000000000000000000000000000000000000000..fac906e11af245966d94010f7a46cb1a864737c9
--- /dev/null
+++ b/src/OpenFOAM/primitives/spatialVectorAlgebra/CompactSpatialTensor/compactSpatialTensor/compactSpatialTensor.H
@@ -0,0 +1,62 @@
+/*---------------------------------------------------------------------------*\
+ ========= |
+ \\ / 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
+
+// ************************************************************************* //
diff --git a/src/OpenFOAM/primitives/spatialVectorAlgebra/CompactSpatialTensorT/CompactSpatialTensorT.H b/src/OpenFOAM/primitives/spatialVectorAlgebra/CompactSpatialTensorT/CompactSpatialTensorT.H
new file mode 100644
index 0000000000000000000000000000000000000000..eedc3643576556aa546ae77fb76fbfed9a7a6629
--- /dev/null
+++ b/src/OpenFOAM/primitives/spatialVectorAlgebra/CompactSpatialTensorT/CompactSpatialTensorT.H
@@ -0,0 +1,176 @@
+/*---------------------------------------------------------------------------*\
+ ========= |
+ \\ / 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
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+// Include inline implementations
+#include "CompactSpatialTensorTI.H"
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+#endif
+
+// ************************************************************************* //
diff --git a/src/OpenFOAM/primitives/spatialVectorAlgebra/CompactSpatialTensorT/CompactSpatialTensorTI.H b/src/OpenFOAM/primitives/spatialVectorAlgebra/CompactSpatialTensorT/CompactSpatialTensorTI.H
new file mode 100644
index 0000000000000000000000000000000000000000..d76f077fde1d12c58fb39d59611db711983d105f
--- /dev/null
+++ b/src/OpenFOAM/primitives/spatialVectorAlgebra/CompactSpatialTensorT/CompactSpatialTensorTI.H
@@ -0,0 +1,106 @@
+/*---------------------------------------------------------------------------*\
+ ========= |
+ \\ / 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::CompactSpatialTensorT<Cmpt>::CompactSpatialTensorT()
+{}
+
+
+template<class Cmpt>
+inline Foam::CompactSpatialTensorT<Cmpt>::CompactSpatialTensorT
+(
+ const Foam::zero z
+)
+:
+ CompactSpatialTensorT::msType(z)
+{}
+
+
+template<class Cmpt>
+inline Foam::CompactSpatialTensorT<Cmpt>::CompactSpatialTensorT
+(
+ const typename CompactSpatialTensorT::msType& ms
+)
+:
+ CompactSpatialTensorT::msType(ms)
+{}
+
+
+template<class Cmpt>
+inline Foam::CompactSpatialTensorT<Cmpt>::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
+)
+{
+ 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::CompactSpatialTensorT<Cmpt>::CompactSpatialTensorT(Istream& is)
+:
+ CompactSpatialTensorT::msType(is)
+{}
+
+
+// * * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * //
+
+template<class Cmpt>
+inline void Foam::CompactSpatialTensorT<Cmpt>::operator=(const Foam::zero z)
+{
+ CompactSpatialTensorT::msType::operator=(z);
+}
+
+
+// ************************************************************************* //
diff --git a/src/OpenFOAM/primitives/spatialVectorAlgebra/SpatialTensor/SpatialTensor.H b/src/OpenFOAM/primitives/spatialVectorAlgebra/SpatialTensor/SpatialTensor.H
new file mode 100644
index 0000000000000000000000000000000000000000..e19d74094f538d1d26841b2ecb849d6d8e16c6d6
--- /dev/null
+++ b/src/OpenFOAM/primitives/spatialVectorAlgebra/SpatialTensor/SpatialTensor.H
@@ -0,0 +1,176 @@
+/*---------------------------------------------------------------------------*\
+ ========= |
+ \\ / 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::SpatialTensor
+
+Description
+ Templated 3D 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
+ SpatialTensorI.H
+
+SeeAlso
+ Foam::MatrixSpace
+ Foam::Tensor
+ Foam::SpatialVector
+
+\*---------------------------------------------------------------------------*/
+
+#ifndef SpatialTensor_H
+#define SpatialTensor_H
+
+#include "Tensor.H"
+#include "SpatialVector.H"
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+namespace Foam
+{
+
+/*---------------------------------------------------------------------------*\
+ Class SpatialTensor Declaration
+\*---------------------------------------------------------------------------*/
+
+template<class Cmpt>
+class SpatialTensor
+:
+ public MatrixSpace<SpatialTensor<Cmpt>, Cmpt, 6, 6>
+{
+
+public:
+
+ // Member constants
+
+ //- Rank of Tensor is 2
+ static const direction rank = 2;
+
+
+ // Static data members
+
+ //- Identity matrix for square matrices
+ static const SpatialTensor I;
+
+
+ // Constructors
+
+ //- Construct null
+ inline SpatialTensor();
+
+ //- Construct initialized to zero
+ inline explicit SpatialTensor(const Foam::zero);
+
+ //- Construct given MatrixSpace of the same rank
+ inline SpatialTensor(const typename SpatialTensor::msType&);
+
+ //- Construct given 36 components
+ inline SpatialTensor
+ (
+ const Cmpt& t00, const Cmpt& t01, const Cmpt& t02,
+ const Cmpt& t03, const Cmpt& t04, const Cmpt& t05,
+
+ const Cmpt& t10, const Cmpt& t11, const Cmpt& t12,
+ const Cmpt& t13, const Cmpt& t14, const Cmpt& t15,
+
+ const Cmpt& t20, const Cmpt& t21, const Cmpt& t22,
+ const Cmpt& t23, const Cmpt& t24, const Cmpt& t25,
+
+ const Cmpt& t30, const Cmpt& t31, const Cmpt& t32,
+ const Cmpt& t33, const Cmpt& t34, const Cmpt& t35,
+
+ const Cmpt& t40, const Cmpt& t41, const Cmpt& t42,
+ const Cmpt& t43, const Cmpt& t44, const Cmpt& t45,
+
+ const Cmpt& t50, const Cmpt& t51, const Cmpt& t52,
+ const Cmpt& t53, const Cmpt& t54, const Cmpt& t55
+ );
+
+ //- Construct from Istream
+ inline SpatialTensor(Istream&);
+
+
+ // Member Operators
+
+ inline void operator=(const Foam::zero);
+};
+
+
+template<class Cmpt>
+class typeOfTranspose<Cmpt, SpatialTensor<Cmpt>>
+{
+public:
+
+ typedef SpatialTensor<Cmpt> type;
+};
+
+
+template<class Cmpt>
+class typeOfOuterProduct<Cmpt, SpatialVector<Cmpt>, SpatialVector<Cmpt>>
+{
+public:
+
+ typedef SpatialTensor<Cmpt> type;
+};
+
+
+template<class Cmpt>
+class typeOfInnerProduct<Cmpt, SpatialTensor<Cmpt>, SpatialVector<Cmpt>>
+{
+public:
+
+ typedef SpatialVector<Cmpt> type;
+};
+
+
+template<class Cmpt>
+class typeOfInnerProduct<Cmpt, SpatialTensor<Cmpt>, SpatialTensor<Cmpt>>
+{
+public:
+
+ typedef SpatialTensor<Cmpt> type;
+};
+
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+} // End namespace Foam
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+// Include inline implementations
+#include "SpatialTensorI.H"
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+#endif
+
+// ************************************************************************* //
diff --git a/src/OpenFOAM/primitives/spatialVectorAlgebra/SpatialTensor/SpatialTensorI.H b/src/OpenFOAM/primitives/spatialVectorAlgebra/SpatialTensor/SpatialTensorI.H
new file mode 100644
index 0000000000000000000000000000000000000000..2fd570e81ba6cf5e64e1f9db5afd6ce6ac58757a
--- /dev/null
+++ b/src/OpenFOAM/primitives/spatialVectorAlgebra/SpatialTensor/SpatialTensorI.H
@@ -0,0 +1,132 @@
+/*---------------------------------------------------------------------------*\
+ ========= |
+ \\ / 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::SpatialTensor<Cmpt>::SpatialTensor()
+{}
+
+
+template<class Cmpt>
+inline Foam::SpatialTensor<Cmpt>::SpatialTensor(const Foam::zero z)
+:
+ SpatialTensor::msType(z)
+{}
+
+
+template<class Cmpt>
+inline Foam::SpatialTensor<Cmpt>::SpatialTensor
+(
+ const typename SpatialTensor::msType& ms
+)
+:
+ SpatialTensor::msType(ms)
+{}
+
+
+template<class Cmpt>
+inline Foam::SpatialTensor<Cmpt>::SpatialTensor
+(
+ const Cmpt& t00, const Cmpt& t01, const Cmpt& t02,
+ const Cmpt& t03, const Cmpt& t04, const Cmpt& t05,
+
+ const Cmpt& t10, const Cmpt& t11, const Cmpt& t12,
+ const Cmpt& t13, const Cmpt& t14, const Cmpt& t15,
+
+ const Cmpt& t20, const Cmpt& t21, const Cmpt& t22,
+ const Cmpt& t23, const Cmpt& t24, const Cmpt& t25,
+
+ const Cmpt& t30, const Cmpt& t31, const Cmpt& t32,
+ const Cmpt& t33, const Cmpt& t34, const Cmpt& t35,
+
+ const Cmpt& t40, const Cmpt& t41, const Cmpt& t42,
+ const Cmpt& t43, const Cmpt& t44, const Cmpt& t45,
+
+ const Cmpt& t50, const Cmpt& t51, const Cmpt& t52,
+ const Cmpt& t53, const Cmpt& t54, const Cmpt& t55
+)
+{
+ this->v_[0] = t00;
+ this->v_[1] = t01;
+ this->v_[2] = t02;
+ this->v_[3] = t03;
+ this->v_[4] = t04;
+ this->v_[5] = t05;
+
+ this->v_[6] = t10;
+ this->v_[7] = t11;
+ this->v_[8] = t12;
+ this->v_[9] = t13;
+ this->v_[10] = t14;
+ this->v_[11] = t15;
+
+ this->v_[12] = t20;
+ this->v_[13] = t21;
+ this->v_[14] = t22;
+ this->v_[15] = t23;
+ this->v_[16] = t24;
+ this->v_[17] = t25;
+
+ this->v_[18] = t30;
+ this->v_[19] = t31;
+ this->v_[20] = t32;
+ this->v_[21] = t33;
+ this->v_[22] = t34;
+ this->v_[23] = t35;
+
+ this->v_[24] = t40;
+ this->v_[25] = t41;
+ this->v_[26] = t42;
+ this->v_[27] = t43;
+ this->v_[28] = t44;
+ this->v_[29] = t45;
+
+ this->v_[30] = t50;
+ this->v_[31] = t51;
+ this->v_[32] = t52;
+ this->v_[33] = t53;
+ this->v_[34] = t54;
+ this->v_[35] = t55;
+}
+
+
+template<class Cmpt>
+inline Foam::SpatialTensor<Cmpt>::SpatialTensor(Istream& is)
+:
+ SpatialTensor::msType(is)
+{}
+
+
+// * * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * //
+
+template<class Cmpt>
+inline void Foam::SpatialTensor<Cmpt>::operator=(const Foam::zero z)
+{
+ SpatialTensor::msType::operator=(z);
+}
+
+
+// ************************************************************************* //
diff --git a/src/OpenFOAM/primitives/spatialVectorAlgebra/SpatialTensor/spatialTensor/spatialTensor.C b/src/OpenFOAM/primitives/spatialVectorAlgebra/SpatialTensor/spatialTensor/spatialTensor.C
new file mode 100644
index 0000000000000000000000000000000000000000..191d6c34f3a6cfa68faf5cf78850195a6c68db2d
--- /dev/null
+++ b/src/OpenFOAM/primitives/spatialVectorAlgebra/SpatialTensor/spatialTensor/spatialTensor.C
@@ -0,0 +1,88 @@
+/*---------------------------------------------------------------------------*\
+ ========= |
+ \\ / 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 "spatialTensor.H"
+
+// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
+
+template<>
+const char* const Foam::spatialTensor::vsType::typeName = "spatialTensor";
+
+template<>
+const char* const Foam::spatialTensor::vsType::componentNames[] =
+{
+ "Exx", "Exy", "Exz", "Erxx", "Erxy", "Erxz",
+ "Eyx", "Eyy", "Eyz", "Eryx", "Eryy", "Eryz",
+ "Ezx", "Ezy", "Ezz", "Erzx", "Erzy", "Erzz"
+
+ "Erxx", "Erxy", "Erxz", "Exx", "Exy", "Exz",
+ "Eryx", "Eryy", "Eryz", "Eyx", "Eyy", "Eyz",
+ "Erzx", "Erzy", "Erzz", "Ezx", "Ezy", "Ezz"
+};
+
+template<>
+const Foam::spatialTensor Foam::spatialTensor::vsType::zero
+(
+ Foam::spatialTensor::uniform(0)
+);
+
+template<>
+const Foam::spatialTensor Foam::spatialTensor::vsType::one
+(
+ spatialTensor::uniform(1)
+);
+
+template<>
+const Foam::spatialTensor Foam::spatialTensor::vsType::max
+(
+ spatialTensor::uniform(VGREAT)
+);
+
+template<>
+const Foam::spatialTensor Foam::spatialTensor::vsType::min
+(
+ spatialTensor::uniform(-VGREAT)
+);
+
+template<>
+const Foam::spatialTensor Foam::spatialTensor::vsType::rootMax
+(
+ spatialTensor::uniform(ROOTVGREAT)
+);
+
+template<>
+const Foam::spatialTensor Foam::spatialTensor::vsType::rootMin
+(
+ spatialTensor::uniform(-ROOTVGREAT)
+);
+
+template<>
+const Foam::spatialTensor Foam::spatialTensor::I
+(
+ Foam::spatialTensor::identity()
+);
+
+
+// ************************************************************************* //
diff --git a/src/OpenFOAM/primitives/spatialVectorAlgebra/SpatialTensor/spatialTensor/spatialTensor.H b/src/OpenFOAM/primitives/spatialVectorAlgebra/SpatialTensor/spatialTensor/spatialTensor.H
new file mode 100644
index 0000000000000000000000000000000000000000..bd44cb386280565b3d7b42b0f1ba016b4108cb11
--- /dev/null
+++ b/src/OpenFOAM/primitives/spatialVectorAlgebra/SpatialTensor/spatialTensor/spatialTensor.H
@@ -0,0 +1,62 @@
+/*---------------------------------------------------------------------------*\
+ ========= |
+ \\ / 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::spatialTensor
+
+Description
+ SpatialTensor of scalars.
+
+SourceFiles
+ spatialTensor.C
+
+\*---------------------------------------------------------------------------*/
+
+#ifndef spatialTensor_H
+#define spatialTensor_H
+
+#include "SpatialTensor.H"
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+namespace Foam
+{
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+typedef SpatialTensor<scalar> spatialTensor;
+
+//- Data associated with spatialTensor type are contiguous
+template<>
+inline bool contiguous<spatialTensor>() {return true;}
+
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+} // End namespace Foam
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+#endif
+
+// ************************************************************************* //
diff --git a/src/OpenFOAM/primitives/spatialVectorAlgebra/SpatialVector/SpatialVector.H b/src/OpenFOAM/primitives/spatialVectorAlgebra/SpatialVector/SpatialVector.H
new file mode 100644
index 0000000000000000000000000000000000000000..19eb9ad1db1ecf43456752d7bd24258b6c7e502c
--- /dev/null
+++ b/src/OpenFOAM/primitives/spatialVectorAlgebra/SpatialVector/SpatialVector.H
@@ -0,0 +1,131 @@
+/*---------------------------------------------------------------------------*\
+ ========= |
+ \\ / 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::SpatialVector
+
+Description
+ Templated 3D spatial vector derived from VectorSpace used to represent the
+ anglular and linear components of position, velocity and acceleration of
+ rigid bodies.
+
+ Reference:
+ \verbatim
+ Featherstone, R. (2008).
+ Rigid body dynamics algorithms.
+ Springer.
+ \endverbatim
+
+SourceFiles
+ SpatialVectorI.H
+
+SeeAlso
+ Foam::VectorSpace
+ Foam::Vector
+
+\*---------------------------------------------------------------------------*/
+
+#ifndef SpatialVector_H
+#define SpatialVector_H
+
+#include "Vector.H"
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+namespace Foam
+{
+
+/*---------------------------------------------------------------------------*\
+ Class SpatialVector Declaration
+\*---------------------------------------------------------------------------*/
+
+template<class Cmpt>
+class SpatialVector
+:
+ public VectorSpace<SpatialVector<Cmpt>, Cmpt, 6>
+{
+
+public:
+
+ // Constructors
+
+ //- Construct null
+ inline SpatialVector();
+
+ //- Construct initialized to zero
+ inline explicit SpatialVector(const Foam::zero);
+
+ //- Construct given VectorSpace of the same rank
+ inline SpatialVector(const typename SpatialVector::vsType&);
+
+ //- Construct from the angular and linear vector components
+ inline SpatialVector
+ (
+ const Vector<Cmpt>& angular,
+ const Vector<Cmpt>& linear
+ );
+
+ //- Construct given 6 components
+ inline SpatialVector
+ (
+ const Cmpt& v0,
+ const Cmpt& v1,
+ const Cmpt& v2,
+ const Cmpt& v3,
+ const Cmpt& v4,
+ const Cmpt& v5
+ );
+
+ //- Construct from Istream
+ inline SpatialVector(Istream&);
+
+
+ // Member Functions
+
+ //- Return the angular part of the spatial vector as a vector
+ inline Vector<Cmpt> angular() const;
+
+ //- Return the linear part of the spatial vector as a vector
+ inline Vector<Cmpt> linear() const;
+
+
+ // Member Operators
+
+ inline void operator=(const Foam::zero);
+};
+
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+} // End namespace Foam
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+// Include inline implementations
+#include "SpatialVectorI.H"
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+#endif
+
+// ************************************************************************* //
diff --git a/src/OpenFOAM/primitives/spatialVectorAlgebra/SpatialVector/SpatialVectorI.H b/src/OpenFOAM/primitives/spatialVectorAlgebra/SpatialVector/SpatialVectorI.H
new file mode 100644
index 0000000000000000000000000000000000000000..af14d753012583c72720675e1996808215a1a1fa
--- /dev/null
+++ b/src/OpenFOAM/primitives/spatialVectorAlgebra/SpatialVector/SpatialVectorI.H
@@ -0,0 +1,117 @@
+/*---------------------------------------------------------------------------*\
+ ========= |
+ \\ / 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::SpatialVector<Cmpt>::SpatialVector()
+{}
+
+
+template<class Cmpt>
+inline Foam::SpatialVector<Cmpt>::SpatialVector(const Foam::zero z)
+:
+ SpatialVector::vsType(z)
+{}
+
+
+template<class Cmpt>
+inline Foam::SpatialVector<Cmpt>::SpatialVector
+(
+ const typename SpatialVector::vsType& vs
+)
+:
+ SpatialVector::vsType(vs)
+{}
+
+
+template<class Cmpt>
+inline Foam::SpatialVector<Cmpt>::SpatialVector
+(
+ const Vector<Cmpt>& angular,
+ const Vector<Cmpt>& linear
+)
+{
+ this->v_[0] = angular.x();
+ this->v_[1] = angular.y();
+ this->v_[2] = angular.z();
+ this->v_[3] = linear.x();
+ this->v_[4] = linear.y();
+ this->v_[5] = linear.z();
+}
+
+
+template<class Cmpt>
+inline Foam::SpatialVector<Cmpt>::SpatialVector
+(
+ const Cmpt& v0,
+ const Cmpt& v1,
+ const Cmpt& v2,
+ const Cmpt& v3,
+ const Cmpt& v4,
+ const Cmpt& v5
+)
+{
+ this->v_[0] = v0;
+ this->v_[1] = v1;
+ this->v_[2] = v2;
+ this->v_[3] = v3;
+ this->v_[4] = v4;
+ this->v_[5] = v5;
+}
+
+
+template<class Cmpt>
+inline Foam::SpatialVector<Cmpt>::SpatialVector(Istream& is)
+:
+ SpatialVector::vsType(is)
+{}
+
+
+// * * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * //
+
+template<class Cmpt>
+inline Foam::Vector<Cmpt> Foam::SpatialVector<Cmpt>::angular() const
+{
+ return Vector<Cmpt>(this->v_[0], this->v_[1], this->v_[2]);
+}
+
+template<class Cmpt>
+inline Foam::Vector<Cmpt> Foam::SpatialVector<Cmpt>::linear() const
+{
+ return Vector<Cmpt>(this->v_[3], this->v_[4], this->v_[5]);
+}
+
+
+// * * * * * * * * * * * * * * * Member Operators * * * * * * * * * * * * * //
+
+template<class Cmpt>
+inline void Foam::SpatialVector<Cmpt>::operator=(const Foam::zero z)
+{
+ SpatialVector::vsType::operator=(z);
+}
+
+
+// ************************************************************************* //
diff --git a/src/OpenFOAM/primitives/spatialVectorAlgebra/SpatialVector/spatialVector/spatialVector.C b/src/OpenFOAM/primitives/spatialVectorAlgebra/SpatialVector/spatialVector/spatialVector.C
new file mode 100644
index 0000000000000000000000000000000000000000..08d1d28b98327956ea221e604d5c9ebb5cad685a
--- /dev/null
+++ b/src/OpenFOAM/primitives/spatialVectorAlgebra/SpatialVector/spatialVector/spatialVector.C
@@ -0,0 +1,79 @@
+/*---------------------------------------------------------------------------*\
+ ========= |
+ \\ / 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/>.
+
+Description
+ SpatialVector of scalars.
+
+\*---------------------------------------------------------------------------*/
+
+#include "spatialVector.H"
+
+// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
+
+template<>
+const char* const Foam::spatialVector::vsType::typeName = "spatialVector";
+
+template<>
+const char* const Foam::spatialVector::vsType::componentNames[] =
+{
+ "x", "y", "z"
+};
+
+template<>
+const Foam::spatialVector Foam::spatialVector::vsType::zero
+(
+ Foam::spatialVector::uniform(0)
+);
+
+template<>
+const Foam::spatialVector Foam::spatialVector::vsType::one
+(
+ spatialVector::uniform(1)
+);
+
+template<>
+const Foam::spatialVector Foam::spatialVector::vsType::max
+(
+ spatialVector::uniform(VGREAT)
+);
+
+template<>
+const Foam::spatialVector Foam::spatialVector::vsType::min
+(
+ spatialVector::uniform(-VGREAT)
+);
+
+template<>
+const Foam::spatialVector Foam::spatialVector::vsType::rootMax
+(
+ spatialVector::uniform(ROOTVGREAT)
+);
+
+template<>
+const Foam::spatialVector Foam::spatialVector::vsType::rootMin
+(
+ spatialVector::uniform(-ROOTVGREAT)
+);
+
+
+// ************************************************************************* //
diff --git a/src/OpenFOAM/primitives/spatialVectorAlgebra/SpatialVector/spatialVector/spatialVector.H b/src/OpenFOAM/primitives/spatialVectorAlgebra/SpatialVector/spatialVector/spatialVector.H
new file mode 100644
index 0000000000000000000000000000000000000000..8e6ae153801a110faee6b3ac12b91813ad4d8723
--- /dev/null
+++ b/src/OpenFOAM/primitives/spatialVectorAlgebra/SpatialVector/spatialVector/spatialVector.H
@@ -0,0 +1,62 @@
+/*---------------------------------------------------------------------------*\
+ ========= |
+ \\ / 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::spatialVector
+
+Description
+ SpatialVector of scalars.
+
+SourceFiles
+ spatialVector.C
+
+\*---------------------------------------------------------------------------*/
+
+#ifndef spatialVector_H
+#define spatialVector_H
+
+#include "SpatialVector.H"
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+namespace Foam
+{
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+typedef SpatialVector<scalar> spatialVector;
+
+//- Data associated with spatialVector type are contiguous
+template<>
+inline bool contiguous<spatialVector>() {return true;}
+
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+} // End namespace Foam
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+#endif
+
+// ************************************************************************* //