Previously the coordinate system functionality was split between
coordinateSystem and coordinateRotation. The coordinateRotation stored
the rotation tensor and handled all tensor transformations.

The functionality has now been revised and consolidated into the
coordinateSystem classes. The sole purpose of coordinateRotation
is now just to provide a selectable mechanism of how to define the
rotation tensor (eg, axis-angle, euler angles, local axes) for user
input, but after providing the appropriate rotation tensor it has
no further influence on the transformations.

--

The coordinateSystem class now contains an origin and a base rotation
tensor directly and various transformation methods.

  - The origin represents the "shift" for a local coordinate system.

  - The base rotation tensor represents the "tilt" or orientation
    of the local coordinate system in general (eg, for mapping
    positions), but may require position-dependent tensors when
    transforming vectors and tensors.

For some coordinate systems (currently the cylindrical coordinate system),
the rotation tensor required for rotating a vector or tensor is
position-dependent.

The new coordinateSystem and its derivates (cartesian, cylindrical,
indirect) now provide a uniform() method to define if the rotation
tensor is position dependent/independent.

The coordinateSystem transform and invTransform methods are now
available in two-parameter forms for obtaining position-dependent
rotation tensors. Eg,

      ... = cs.transform(globalPt, someVector);

In some cases it can be useful to use query uniform() to avoid
storage of redundant values.

      if (cs.uniform())
      {
          vector xx = cs.transform(someVector);
      }
      else
      {
          List<vector> xx = cs.transform(manyPoints, someVector);
      }

Support transform/invTransform for common data types:
   (scalar, vector, sphericalTensor, symmTensor, tensor).

====================
  Breaking Changes
====================

- These changes to coordinate systems and rotations may represent
  a breaking change for existing user coding.

- Relocating the rotation tensor into coordinateSystem itself means
  that the coordinate system 'R()' method now returns the rotation
  directly instead of the coordinateRotation. The method name 'R()'
  was chosen for consistency with other low-level entities (eg,
  quaternion).

  The following changes will be needed in coding:

      Old:  tensor rot = cs.R().R();
      New:  tensor rot = cs.R();

      Old:  cs.R().transform(...);
      New:  cs.transform(...);

  Accessing the runTime selectable coordinateRotation
  has moved to the rotation() method:

      Old:  Info<< "Rotation input: " << cs.R() << nl;
      New:  Info<< "Rotation input: " << cs.rotation() << nl;

- Naming consistency changes may also cause code to break.

      Old:  transformVector()
      New:  transformPrincipal()

  The old method name transformTensor() now simply becomes transform().

====================
  New methods
====================

For operations requiring caching of the coordinate rotations, the
'R()' method can be used with multiple input points:

       tensorField rots(cs.R(somePoints));

   and later

       Foam::transformList(rots, someVectors);

The rotation() method can also be used to change the rotation tensor
via a new coordinateRotation definition (issue #879).

The new methods transformPoint/invTransformPoint provide
transformations with an origin offset using Cartesian for both local
and global points. These can be used to determine the local position
based on the origin/rotation without interpreting it as a r-theta-z
value, for example.

================
  Input format
================

- Streamline dictionary input requirements

  * The default type is cartesian.
  * The default rotation type is the commonly used axes rotation
    specification (with e1/e2/3), which is assumed if the 'rotation'
    sub-dictionary does not exist.

    Example,

    Compact specification:

        coordinateSystem
        {
            origin  (0 0 0);
            e2      (0 1 0);
            e3      (0.5 0 0.866025);
        }

    Full specification (also accepts the longer 'coordinateRotation'
    sub-dictionary name):

        coordinateSystem
        {
            type    cartesian;
            origin  (0 0 0);

            rotation
            {
                type    axes;
                e2      (0 1 0);
                e3      (0.5 0 0.866025);
            }
        }

   This simplifies the input for many cases.

- Additional rotation specification 'none' (an identity rotation):

      coordinateSystem
      {
          origin  (0 0 0);
          rotation { type none; }
      }

- Additional rotation specification 'axisAngle', which is similar
  to the -rotate-angle option for transforming points (issue #660).
  For some cases this can be more intuitive.

  For example,

      rotation
      {
          type    axisAngle;
          axis    (0 1 0);
          angle   30;
      }
  vs.
      rotation
      {
          type    axes;
          e2      (0 1 0);
          e3      (0.5 0 0.866025);
      }

- shorter names (or older longer names) for the coordinate rotation
  specification.

     euler         EulerRotation
     starcd        STARCDRotation
     axes          axesRotation

================
  Coding Style
================
- use Foam::coordSystem namespace for categories of coordinate systems
  (cartesian, cylindrical, indirect). This reduces potential name
  clashes and makes a clearer declaration. Eg,

      coordSystem::cartesian csys_;

  The older names (eg, cartesianCS, etc) remain available via typedefs.

- added coordinateRotations namespace for better organization and
  reduce potential name clashes.

- this provides internal consistency and allows direct use of the
  coordinate angle with sin(), cos() functions.
  It eliminates potential issues that could otherwise arise from
  alternative user input.

  Eg, in mixerFvMesh it would have previously been possible to specify
  the coordinate system to use degrees or radians, but these units were
  not checked when determining the tangential sweep positions.

NOTE: this may represent a breaking change if user coding has been
relying on cylindrical coordinate system in degrees.

- can now construct with READ_IF_PRESENT and use count() to determine
  if it was loaded. names() and sortedNames() for a collected overview.

- makes an easier overview of the rotation matrix coefficients
  (issue #863).

  Provided as a distinct commit for easier examination of the lines changed.

- improve handling of degenerate cases for the two-axes specification.

- the movable type is List&& or Field&&

- allows reuse for other purposes

- improved move constructors/assignments for fileName, string, etc

- instead of   dict.lookup(name) >> val;
  can use      dict.readEntry(name, val);

  for checking of input token sizes.
  This helps catch certain types of input errors:

  {

      key1 ;                // <- Missing value
      key2 1234             // <- Missing ';' terminator
      key3 val;
  }

STYLE: readIfPresent() instead of 'if found ...' in a few more places.

- the opposite problem from issue #762. Now we also test if the input
  token stream had any tokens at all.

- called by the dictionary get<> and readEntry() methods.

for correct run time reading.
Setting up twoSimpleRotors tutorial for smooth pressure
fluctuations

- simply combines (rootPath()/globalCaseName())

This fix changes how the intersections loop ignores previously
intersected faces. It now marks them by their index so that subsequent
iterations ignore them.

Before this change, after an intersection was found the start point was
advanced by a small amount to move the past the intersection. The
problem with this was if multiple boundary faces or the end point were
in close proximity to the intersection then the move forward might span
them. This could lead to intersections being missed or counted multiple
times, in some cases indefinitely.

Based on a patch contributed by Mattijs Janssens
Resolves bug report https://bugs.openfoam.org/view.php?id=1147

Merge branch 'wp3-directional-refinement' of develop.openfoam.com:/Customer-VWG/OpenFOAM-plus into wp3-directional-refinement

ENH: fieldMinMax function object - updated for case where there are no cells on a local processor, e.g. CHT

- Can now retrieve or set a column/row of a tensor.
  Either compile-time or run-time checks.

  Get
     t.col<1>();   t.col(1);
     t.row<1>();   t.row(1);

  Set
     t.col<1>(vec);   t.col(1,vec);
     t.row<1>(vec);   t.row(1,vec);

  The templated versions are compile-time checked

     t.col<3>();
     t.col<3>(vec);

  The parameter versions are run-time checked

     t.col(3);
     t.col(3,vec);

ENH: provide named access to tensor/tensor inner product as inner()

Helper function to calculate the current face area vs the area returned
from the current point locations.  Useful for ACMI-type baffles where we
scale the face areas without moving points.

- nBoundaryFaces() is often used and is identical to
  (nFaces() - nInternalFaces()).

- forward the mesh nInternalFaces() and nBoundaryFaces() to
  polyBoundaryMesh as nFaces() and start() respectively,
  for use when operating on a polyBoundaryMesh.

STYLE:

- use identity() function with starting offset when creating boundary maps.

     labelList map
     (
         identity(mesh.nBoundaryFaces(), mesh.nInternalFaces())
     );

  vs.

     labelList map(mesh.nBoundaryFaces());
     forAll(map, i)
     {
         map[i] = mesh.nInternalFaces() + i;
     }