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ENH: quaternion: Add power and exp functions

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This commit is contained in:
laurence 2013-01-10 14:36:01 +00:00
parent 140d548fe7
commit e44ee6a4b0
3 changed files with 60 additions and 12 deletions
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2
applications/utilities/mesh/generation/cvMesh/conformalVoronoiMesh/cellShapeControl/cellShapeControlMesh/cellShapeControlMesh.C
View File

@ -2,7 +2,7 @@
========= |
\\ / F ield | OpenFOAM: The Open Source CFD Toolbox
\\ / O peration |
\\ / A nd | Copyright (C) 2012 OpenFOAM Foundation
\\ / A nd | Copyright (C) 2012-2013 OpenFOAM Foundation
\\/ M anipulation |
-------------------------------------------------------------------------------
License

59
src/OpenFOAM/primitives/quaternion/quaternion.C
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@ -2,7 +2,7 @@
========= |
\\ / F ield | OpenFOAM: The Open Source CFD Toolbox
\\ / O peration |
\\ / A nd | Copyright (C) 2011-2012 OpenFOAM Foundation
\\ / A nd | Copyright (C) 2011-2013 OpenFOAM Foundation
\\/ M anipulation |
-------------------------------------------------------------------------------
License
@ -58,21 +58,60 @@ Foam::quaternion Foam::slerp
const scalar t
)
{
// Calculate angle between the quaternions
scalar cosHalfTheta = qa & qb;
return qa*pow((inv(qa)*qb), t);
}
if (mag(cosHalfTheta) >= 1)
Foam::quaternion Foam::exp(const quaternion& q)
{
const scalar magV = mag(q.v());
if (magV == 0)
{
return qa;
return quaternion(1, vector::zero);
}
scalar halfTheta = acos(cosHalfTheta);
scalar sinHalfTheta = sqrt(1.0 - sqr(cosHalfTheta));
const scalar expW = exp(q.w());
scalar wa = sin((1 - t)*halfTheta)/sinHalfTheta;
scalar wb = sin(t*halfTheta)/sinHalfTheta;
return quaternion
(
expW*cos(magV),
expW*sin(magV)*q.v()/magV
);
}
return wa*qa + wb*qb;
Foam::quaternion Foam::pow(const quaternion& q, const label power)
{
const scalar magQ = mag(q);
const scalar magV = mag(q.v());
quaternion powq(q.v());
if (magV != 0 && magQ != 0)
{
powq /= magV;
powq *= power*acos(q.w()/magQ);
}
return pow(magQ, power)*exp(powq);
}
Foam::quaternion Foam::pow(const quaternion& q, const scalar power)
{
const scalar magQ = mag(q);
const scalar magV = mag(q.v());
quaternion powq(q.v());
if (magV != 0 && magQ != 0)
{
powq /= magV;
powq *= power*acos(q.w()/magQ);
}
return pow(magQ, power)*exp(powq);
}

11
src/OpenFOAM/primitives/quaternion/quaternion.H
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@ -2,7 +2,7 @@
========= |
\\ / F ield | OpenFOAM: The Open Source CFD Toolbox
\\ / O peration |
\\ / A nd | Copyright (C) 2011-2012 OpenFOAM Foundation
\\ / A nd | Copyright (C) 2011-2013 OpenFOAM Foundation
\\/ M anipulation |
-------------------------------------------------------------------------------
License
@ -226,6 +226,15 @@ quaternion slerp
const scalar t
);
//- Exponent of a quaternion
quaternion exp(const quaternion& q);
//- Power of a quaternion
quaternion pow(const quaternion& q, const label power);
//- Power of a quaternion
quaternion pow(const quaternion& q, const scalar power);
//- Data associated with quaternion type are contiguous
template<>
inline bool contiguous<quaternion>() {return true;}