mirror of
https://github.com/OpenFOAM/OpenFOAM-6.git
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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
This commit is contained in:
Henry Weller
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/*---------------------------------------------------------------------------*\
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========= |
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\\ / F ield | OpenFOAM: The Open Source CFD Toolbox
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\\ / O peration |
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\\ / A nd | Copyright (C) 2016 OpenFOAM Foundation
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\\/ M anipulation |
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-------------------------------------------------------------------------------
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License
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This file is part of OpenFOAM.
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OpenFOAM is free software: you can redistribute it and/or modify it
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under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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OpenFOAM is distributed in the hope that it will be useful, but WITHOUT
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ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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for more details.
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You should have received a copy of the GNU General Public License
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along with OpenFOAM. If not, see <http://www.gnu.org/licenses/>.
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Class
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Foam::SpatialVector
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Description
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Templated 3D spatial vector derived from VectorSpace used to represent the
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anglular and linear components of position, velocity and acceleration of
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rigid bodies.
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Reference:
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\verbatim
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Featherstone, R. (2008).
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Rigid body dynamics algorithms.
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Springer.
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\endverbatim
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SourceFiles
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SpatialVectorI.H
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SeeAlso
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Foam::VectorSpace
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Foam::Vector
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\*---------------------------------------------------------------------------*/
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#ifndef SpatialVector_H
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#define SpatialVector_H
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#include "Vector.H"
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// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
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namespace Foam
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{
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/*---------------------------------------------------------------------------*\
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Class SpatialVector Declaration
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\*---------------------------------------------------------------------------*/
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template<class Cmpt>
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class SpatialVector
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:
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public VectorSpace<SpatialVector<Cmpt>, Cmpt, 6>
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{
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public:
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// Constructors
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//- Construct null
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inline SpatialVector();
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//- Construct initialized to zero
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inline explicit SpatialVector(const Foam::zero);
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//- Construct given VectorSpace of the same rank
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inline SpatialVector(const typename SpatialVector::vsType&);
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//- Construct from the angular and linear vector components
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inline SpatialVector
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(
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const Vector<Cmpt>& angular,
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const Vector<Cmpt>& linear
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);
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//- Construct given 6 components
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inline SpatialVector
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(
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const Cmpt& v0,
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const Cmpt& v1,
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const Cmpt& v2,
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const Cmpt& v3,
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const Cmpt& v4,
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const Cmpt& v5
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);
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//- Construct from Istream
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inline SpatialVector(Istream&);
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// Member Functions
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//- Return the angular part of the spatial vector as a vector
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inline Vector<Cmpt> angular() const;
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//- Return the linear part of the spatial vector as a vector
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inline Vector<Cmpt> linear() const;
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// Member Operators
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inline void operator=(const Foam::zero);
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};
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// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
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} // End namespace Foam
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// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
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// Include inline implementations
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#include "SpatialVectorI.H"
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// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
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#endif
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// ************************************************************************* //
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@ -0,0 +1,117 @@
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/*---------------------------------------------------------------------------*\
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========= |
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\\ / F ield | OpenFOAM: The Open Source CFD Toolbox
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\\ / O peration |
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\\ / A nd | Copyright (C) 2016 OpenFOAM Foundation
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\\/ M anipulation |
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-------------------------------------------------------------------------------
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License
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This file is part of OpenFOAM.
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OpenFOAM is free software: you can redistribute it and/or modify it
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under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
|
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(at your option) any later version.
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|
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OpenFOAM is distributed in the hope that it will be useful, but WITHOUT
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ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
|
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FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
for more details.
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You should have received a copy of the GNU General Public License
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along with OpenFOAM. If not, see <http://www.gnu.org/licenses/>.
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\*---------------------------------------------------------------------------*/
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// * * * * * * * * * * * * * * * * Constructors * * * * * * * * * * * * * * //
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template<class Cmpt>
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inline Foam::SpatialVector<Cmpt>::SpatialVector()
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{}
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template<class Cmpt>
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inline Foam::SpatialVector<Cmpt>::SpatialVector(const Foam::zero z)
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:
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SpatialVector::vsType(z)
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{}
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template<class Cmpt>
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inline Foam::SpatialVector<Cmpt>::SpatialVector
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(
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const typename SpatialVector::vsType& vs
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)
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:
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SpatialVector::vsType(vs)
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{}
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template<class Cmpt>
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inline Foam::SpatialVector<Cmpt>::SpatialVector
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(
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const Vector<Cmpt>& angular,
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const Vector<Cmpt>& linear
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)
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{
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this->v_[0] = angular.x();
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this->v_[1] = angular.y();
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this->v_[2] = angular.z();
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this->v_[3] = linear.x();
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this->v_[4] = linear.y();
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this->v_[5] = linear.z();
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}
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template<class Cmpt>
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inline Foam::SpatialVector<Cmpt>::SpatialVector
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(
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const Cmpt& v0,
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const Cmpt& v1,
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const Cmpt& v2,
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const Cmpt& v3,
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const Cmpt& v4,
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const Cmpt& v5
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)
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{
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this->v_[0] = v0;
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this->v_[1] = v1;
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this->v_[2] = v2;
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this->v_[3] = v3;
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this->v_[4] = v4;
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this->v_[5] = v5;
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}
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template<class Cmpt>
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inline Foam::SpatialVector<Cmpt>::SpatialVector(Istream& is)
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:
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SpatialVector::vsType(is)
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{}
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// * * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * //
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template<class Cmpt>
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inline Foam::Vector<Cmpt> Foam::SpatialVector<Cmpt>::angular() const
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{
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return Vector<Cmpt>(this->v_[0], this->v_[1], this->v_[2]);
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}
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template<class Cmpt>
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inline Foam::Vector<Cmpt> Foam::SpatialVector<Cmpt>::linear() const
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{
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return Vector<Cmpt>(this->v_[3], this->v_[4], this->v_[5]);
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}
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// * * * * * * * * * * * * * * * Member Operators * * * * * * * * * * * * * //
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template<class Cmpt>
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inline void Foam::SpatialVector<Cmpt>::operator=(const Foam::zero z)
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{
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SpatialVector::vsType::operator=(z);
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}
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// ************************************************************************* //
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@ -0,0 +1,79 @@
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/*---------------------------------------------------------------------------*\
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========= |
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\\ / F ield | OpenFOAM: The Open Source CFD Toolbox
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\\ / O peration |
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||||
\\ / A nd | Copyright (C) 2016 OpenFOAM Foundation
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\\/ M anipulation |
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-------------------------------------------------------------------------------
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License
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This file is part of OpenFOAM.
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OpenFOAM is free software: you can redistribute it and/or modify it
|
||||
under the terms of the GNU General Public License as published by
|
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the Free Software Foundation, either version 3 of the License, or
|
||||
(at your option) any later version.
|
||||
|
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OpenFOAM is distributed in the hope that it will be useful, but WITHOUT
|
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ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
|
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FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
for more details.
|
||||
|
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You should have received a copy of the GNU General Public License
|
||||
along with OpenFOAM. If not, see <http://www.gnu.org/licenses/>.
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Description
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SpatialVector of scalars.
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\*---------------------------------------------------------------------------*/
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#include "spatialVector.H"
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// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
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template<>
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const char* const Foam::spatialVector::vsType::typeName = "spatialVector";
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template<>
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const char* const Foam::spatialVector::vsType::componentNames[] =
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{
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"x", "y", "z"
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};
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template<>
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const Foam::spatialVector Foam::spatialVector::vsType::zero
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(
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Foam::spatialVector::uniform(0)
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);
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template<>
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const Foam::spatialVector Foam::spatialVector::vsType::one
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(
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spatialVector::uniform(1)
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);
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template<>
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const Foam::spatialVector Foam::spatialVector::vsType::max
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(
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spatialVector::uniform(VGREAT)
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);
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template<>
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const Foam::spatialVector Foam::spatialVector::vsType::min
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(
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spatialVector::uniform(-VGREAT)
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);
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template<>
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const Foam::spatialVector Foam::spatialVector::vsType::rootMax
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(
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spatialVector::uniform(ROOTVGREAT)
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);
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template<>
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const Foam::spatialVector Foam::spatialVector::vsType::rootMin
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(
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spatialVector::uniform(-ROOTVGREAT)
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);
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// ************************************************************************* //
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@ -0,0 +1,62 @@
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/*---------------------------------------------------------------------------*\
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========= |
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\\ / F ield | OpenFOAM: The Open Source CFD Toolbox
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\\ / O peration |
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||||
\\ / A nd | Copyright (C) 2016 OpenFOAM Foundation
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\\/ M anipulation |
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||||
-------------------------------------------------------------------------------
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||||
License
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This file is part of OpenFOAM.
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||||
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||||
OpenFOAM is free software: you can redistribute it and/or modify it
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||||
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/>.
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||||
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Typedef
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Foam::spatialVector
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Description
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SpatialVector of scalars.
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SourceFiles
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spatialVector.C
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\*---------------------------------------------------------------------------*/
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#ifndef spatialVector_H
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#define spatialVector_H
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#include "SpatialVector.H"
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// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
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namespace Foam
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{
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// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
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typedef SpatialVector<scalar> spatialVector;
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//- Data associated with spatialVector type are contiguous
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template<>
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inline bool contiguous<spatialVector>() {return true;}
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// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
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} // End namespace Foam
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// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
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#endif
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// ************************************************************************* //
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