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https://github.com/OpenFOAM/OpenFOAM-6.git
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e809171540
SpatialTensor: Added SpatialVector cross-product and dual cross-product -> SpatialTensor operators
175 lines
4.6 KiB
C++
175 lines
4.6 KiB
C++
/*---------------------------------------------------------------------------*\
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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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//- Component labeling enumeration
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enum components { WX, WY, WZ, LX, LY, LZ };
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//- Class to represent the dual spatial vector
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class dual
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{
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const SpatialVector& v_;
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public:
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//- Construct the dual of the given SpatialVector
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inline dual(const SpatialVector& v);
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//- Return the parent SpatialVector
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inline const SpatialVector& v() const;
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};
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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>& w,
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const Vector<Cmpt>& l
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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& wx,
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const Cmpt& wy,
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const Cmpt& wz,
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const Cmpt& lx,
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const Cmpt& ly,
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const Cmpt& lz
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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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// Component access
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inline const Cmpt& wx() const;
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inline const Cmpt& wy() const;
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inline const Cmpt& wz() const;
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inline const Cmpt& lx() const;
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inline const Cmpt& ly() const;
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inline const Cmpt& lz() const;
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inline Cmpt& wx();
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inline Cmpt& wy();
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inline Cmpt& wz();
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inline Cmpt& lx();
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inline Cmpt& ly();
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inline Cmpt& lz();
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// Sub-vector access.
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//- Return the angular part of the spatial vector as a vector
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inline Vector<Cmpt> w() const;
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//- Return the linear part of the spatial vector as a vector
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inline Vector<Cmpt> l() const;
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// Member Operators
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inline void operator=(const Foam::zero);
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//- Return the dual spatial vector
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inline dual operator*() const;
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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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