Patch contributed by Juho Peltola, VTT

The new JohnsonJacksonSchaefferFrictionalStress model is included and
the LBend tutorial case to demonstrate the need for the changes to the
frictional stress models.

Resolves bug-report http://www.openfoam.org/mantisbt/view.php?id=2058

Resolves bug-report http://www.openfoam.org/mantisbt/view.php?id=2062

Resolves bug-report http://openfoam.org/mantisbt/view.php?id=2061

Resolves bug-report http://www.openfoam.org/mantisbt/view.php?id=2060

Now the calculation of the 2nd-invariant is more efficient and
accumulates less round-off error.

Resolves bug-report http://www.openfoam.org/mantisbt/view.php?id=2059

Now internal forces and restraints may be applied between bodies within
the articulated structure.

The joint-space dynamics is solved on the master processor only and the
resulting joint-state distributed to the slave processors on which the
body-state is then updated.  This guarantees consistency of the body
position and orientation on all processors.

rigidBodyDynamics/bodies/sphere: Added support for the centre of mass being offset from the centre of rotation

Calculate the inertia from the lengths of the sides

Particularly useful for lists of dictionaries.

Patch provided by Bruno Santos
Resolves bug-report http://www.openfoam.org/mantisbt/view.php?id=2036

See also http://www.openfoam.org/mantisbt/view.php?id=2036

Patch contributed by Bruno Santos
Resolves bug-report http://www.openfoam.org/mantisbt/view.php?id=2052

rigidBodyMeshMotion: displacementMotionSolver for the mesh-motion of multiple articulated rigid-bodies

The motion of the bodies is integrated using the rigidBodyDynamics
library with joints, restraints and external forces.

The mesh-motion is interpolated using septernion averaging.

This development is sponsored by Carnegie Wave Energy Ltd.

Using method based on
http://ntrs.nasa.gov/archive/nasa/casi.ntrs.nasa.gov/20070017872.pdf
but simplified for the case where the quaternions are similar.

Patch contributed by Bruno Santos
Resolves bug-report http://www.openfoam.org/mantisbt/view.php?id=2055

Resolves bug-report http://www.openfoam.org/mantisbt/view.php?id=2053

Patch contributed by Bruno Santos

inline Foam::vector Foam::septernion::transformPoint(const vector& v) const
{
    return r().transform(v - t());
}

Now there is a 1:1 correspondence between septernion and
spatialTransform and a septernion constructor from spatialTransform
provided.

Additionally "septernion::transform" has been renamed
"septernion::transformPoint" to clarify that it transforms coordinate
points rather than displacements or other relative vectors.