sergio authored Dec 04, 2019 and Andrew Heather committed Dec 17, 2019

1) rPolynomial Eq of State
2) externalForce and softWall in rigidBodyDynamics

INT: Several minor bug fixes plus

- 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.

- makes for clearer code

ENH: make writeIfDifferent part of Ostream

Will Bainbridge authored Oct 20, 2017 and Andrew Heather committed Oct 20, 2017

The restraints generate either joint-local (tau) or global (fx) forces.
At the moment they all generate the latter. This change corrects three
of the four restraints so that the forces are in the gobal coordinate
system and not the local coordinate system of the body.

The problem with this is that the forward dynamics code then transforms
most of the forces back to the body local coordinate system. A better
solution would be to associate restraints which are more sensibly
defined in a local frame with the joints instead of the bodies, and
return the forces as part of the tau variable.

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

This reverts commit ae73181b.

rather than applied as a force correction

Added sixDoFRigidBodyMotionSolver using septernion interpolation for mesh-morphing

This reverts commit c5bea524.

This reverts commit b18f6cc1.

reporting.

Making sixDoFRigidBodyMotionConstraints less verbose by default, now
requires debug switch to be set.

Now storing name of restrain or constraint in list in the
sixDoFRigidBodyMotion object.  Added a write method to all constraints
and restraints.

Now storing name of restraint or constraint in wordList in the
sixDoFRigidBodyMotion object.  Added a write method to all constraints
and restraints.

restraint data to the classes themselves to allow class specific data
to be reported.

Adding report Switch to turn on reporting.

Renaming linearSphericalAngularSpring to sphericalAngularSpring and
getting a moment contribution from each axis.  Can supply a reference
orientation.

Adding fixedPlane and fixedLine constraints.

Added force to fixedPoint constraint.

Moved application of rotation matrices to function.

Implemented predictedPosition function.

Added maximum iteration check and under-relaxation variable.

Adding outline and placeholders for constraints and their solution.