songtianlun/openfoam
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

src/OpenFOAM/primitives/spatialVectorAlgebra: New classes to support spatial vector algebra

Browse Source 
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
This commit is contained in:
Henry Weller 2016-03-15 18:14:03 +00:00
parent ffa9d235ea
commit 662f123ad8
15 changed files with 1530 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
src/OpenFOAM/Make/files
View File

@ -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

144
src/OpenFOAM/primitives/spatialVectorAlgebra/CompactSpatialTensor/CompactSpatialTensor.H Normal file
View File

@ -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
// ************************************************************************* //

106
src/OpenFOAM/primitives/spatialVectorAlgebra/CompactSpatialTensor/CompactSpatialTensorI.H Normal file
View File

@ -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);
}
// ************************************************************************* //

84
src/OpenFOAM/primitives/spatialVectorAlgebra/CompactSpatialTensor/compactSpatialTensor/compactSpatialTensor.C Normal file
View File

@ -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)
);
// ************************************************************************* //

62
src/OpenFOAM/primitives/spatialVectorAlgebra/CompactSpatialTensor/compactSpatialTensor/compactSpatialTensor.H Normal file
View File

@ -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
// ************************************************************************* //

176
src/OpenFOAM/primitives/spatialVectorAlgebra/CompactSpatialTensorT/CompactSpatialTensorT.H Normal file
View File

@ -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
// ************************************************************************* //

106
src/OpenFOAM/primitives/spatialVectorAlgebra/CompactSpatialTensorT/CompactSpatialTensorTI.H Normal file
View File

@ -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);
}
// ************************************************************************* //

176
src/OpenFOAM/primitives/spatialVectorAlgebra/SpatialTensor/SpatialTensor.H Normal file
View File

@ -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
// ************************************************************************* //

132
src/OpenFOAM/primitives/spatialVectorAlgebra/SpatialTensor/SpatialTensorI.H Normal file
View File

@ -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);
}
// ************************************************************************* //

88
src/OpenFOAM/primitives/spatialVectorAlgebra/SpatialTensor/spatialTensor/spatialTensor.C Normal file
View File

@ -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()
);
// ************************************************************************* //

62
src/OpenFOAM/primitives/spatialVectorAlgebra/SpatialTensor/spatialTensor/spatialTensor.H Normal file
View File

@ -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
// ************************************************************************* //

131
src/OpenFOAM/primitives/spatialVectorAlgebra/SpatialVector/SpatialVector.H Normal file
View File

@ -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
// ************************************************************************* //

117
src/OpenFOAM/primitives/spatialVectorAlgebra/SpatialVector/SpatialVectorI.H Normal file
View File

@ -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);
}
// ************************************************************************* //

79
src/OpenFOAM/primitives/spatialVectorAlgebra/SpatialVector/spatialVector/spatialVector.C Normal file
View File

@ -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)
);
// ************************************************************************* //

62
src/OpenFOAM/primitives/spatialVectorAlgebra/SpatialVector/spatialVector/spatialVector.H Normal file
View File

@ -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
// ************************************************************************* //