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src/OpenFOAM/primitives/spatialVectorAlgebra: New classes to support …

…spatial vector algebra

Based on definitions in chapter 2 of the book:
    Featherstone, R. (2008).
    Rigid body dynamics algorithms.
    Springer.

This work is sponsored by Carnegie Wave Energy Ltd
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1 parent 6057695 commit 05455d50ea9f4d59ca32868e5ffb54902f490dfc Henry Weller committed Mar 15, 2016
@@ -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
@@ -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
+
+// ************************************************************************* //
@@ -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);
+}
+
+
+// ************************************************************************* //
@@ -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)
+);
+
+
+// ************************************************************************* //
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