septernion: Changed definition of the forward transformation for consistency with spatialTransform

inline Foam::vector Foam::septernion::transformPoint(const vector& v) const
{
    return r().transform(v - t());
}

Now there is a 1:1 correspondence between septernion and
spatialTransform and a septernion constructor from spatialTransform
provided.

Additionally "septernion::transform" has been renamed
"septernion::transformPoint" to clarify that it transforms coordinate
points rather than displacements or other relative vectors.

applications/test/quaternion/Test-quaternion.C

@@ -39,10 +39,10 @@ using namespace Foam;
 
 int main(int argc, char *argv[])
 {
-    quaternion q(vector(1, 0, 0), 0.7853981);
+    quaternion q(vector(1, 2, 3), 0.7853981);
     Info<< "q " << q << endl;
 
-    vector v(0, 1, 0);
+    vector v(0.1, 0.4, 2.1);
     Info<< "v " << v << endl;
 
     Info<< "inv(q)*q " << inv(q)*q << endl;
@@ -50,8 +50,11 @@ int main(int argc, char *argv[])
     Info<< "q*quaternion(0, v)*conjugate(q) "
         << q*quaternion(0, v)*conjugate(q) << endl;
 
+    Info<< "q.R() " << q.R() << endl;
     Info<< "q.transform(v) " << q.transform(v) << endl;
     Info<< "q.R() & v " << (q.R() & v) << endl;
+    Info<< "quaternion(q.R()).transform(v) "
+        << (quaternion(q.R()).transform(v)) << endl;
 
     Info<< "q.invTransform(v) " << q.invTransform(v) << endl;
 
@@ -60,13 +63,16 @@ int main(int argc, char *argv[])
 
     Info<< "inv(tr)*tr " << inv(tr)*tr << endl;
 
-    Info<< "tr.transform(v) " << tr.transform(v) << endl;
+    Info<< "tr.transform(v) " << tr.transformPoint(v) << endl;
 
-    Info<< "(septernion(vector(0, -1, 0))*q*septernion(vector(0, 1, 0)))"
+    vector origin(1, 2, 4);
+
+    Info<< "(septernion(-origin)*q*septernion(origin))"
         << ".transform(v) "
-        <<  (septernion(vector(0, -1, 0))
+        << (septernion(-origin)*q*septernion(origin)).transformPoint(v)
-           *q
+        <<  " "
-           *septernion(vector(0, 1, 0))).transform(v)
+        << septernion(-origin)
+          .transformPoint(q.transform(septernion(origin).transformPoint(v)))
         << endl;
 
     Info<< "Test conversion from and to Euler-angles" << endl;

src/OpenFOAM/fields/Fields/transformField/transformField.C

@@ -66,7 +66,7 @@ Foam::tmp<Foam::vectorField> Foam::transform
 }
 
 
-void Foam::transform
+void Foam::transformPoints
 (
     vectorField& rtf,
     const septernion& tr,
@@ -75,50 +75,44 @@ void Foam::transform
 {
     vector T = tr.t();
 
-    // Check if any rotation
+    // Check if any translation
-    if (mag(tr.r().R() - I) > SMALL)
+    if (mag(T) > VSMALL)
     {
-        transform(rtf, tr.r(), tf);
+        TFOR_ALL_F_OP_F_OP_S(vector, rtf, =, vector, tf, -, vector, T);
-
-        if (mag(T) > VSMALL)
-        {
-            rtf += T;
-        }
     }
     else
     {
-        if (mag(T) > VSMALL)
+        rtf = tf;
-        {
+    }
-            TFOR_ALL_F_OP_S_OP_F(vector, rtf, =, vector, T, +, vector, tf);
+
-        }
+    // Check if any rotation
-        else
+    if (mag(tr.r().R() - I) > SMALL)
-        {
+    {
-            rtf = tf;
+        transform(rtf, tr.r(), rtf);
-        }
     }
 }
 
 
-Foam::tmp<Foam::vectorField> Foam::transform
+Foam::tmp<Foam::vectorField> Foam::transformPoints
 (
     const septernion& tr,
     const vectorField& tf
 )
 {
     tmp<vectorField > tranf(new vectorField(tf.size()));
-    transform(tranf.ref(), tr, tf);
+    transformPoints(tranf.ref(), tr, tf);
     return tranf;
 }
 
 
-Foam::tmp<Foam::vectorField> Foam::transform
+Foam::tmp<Foam::vectorField> Foam::transformPoints
 (
     const septernion& tr,
     const tmp<vectorField>& ttf
 )
 {
     tmp<vectorField > tranf = New(ttf);
-    transform(tranf.ref(), tr, ttf());
+    transformPoints(tranf.ref(), tr, ttf());
     ttf.clear();
     return tranf;
 }

src/OpenFOAM/fields/Fields/transformField/transformField.H

@@ -117,14 +117,14 @@ tmp<vectorField> transform(const quaternion&, const vectorField&);
 tmp<vectorField> transform(const quaternion&, const tmp<vectorField>&);
 
 
-//- Transform given vectorField with the given septernion
+//- Transform given vectorField of coordinates with the given septernion
-void transform(vectorField&, const septernion&, const vectorField&);
+void transformPoints(vectorField&, const septernion&, const vectorField&);
 
-//- Transform given vectorField with the given septernion
+//- Transform given vectorField of coordinates with the given septernion
-tmp<vectorField> transform(const septernion&, const vectorField&);
+tmp<vectorField> transformPoints(const septernion&, const vectorField&);
 
-//- Transform given tmp<vectorField> with the given septernion
+//- Transform given tmp<vectorField> of coordinates with the given septernion
-tmp<vectorField> transform(const septernion&, const tmp<vectorField>&);
+tmp<vectorField> transformPoints(const septernion&, const tmp<vectorField>&);
 
 
 // * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //

src/OpenFOAM/primitives/septernion/septernion.C

@@ -2,7 +2,7 @@
   =========                 |
   \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
    \\    /   O peration     |
-    \\  /    A nd           | Copyright (C) 2011-2013 OpenFOAM Foundation
+    \\  /    A nd           | Copyright (C) 2011-2016 OpenFOAM Foundation
      \\/     M anipulation  |
 -------------------------------------------------------------------------------
 License
@@ -66,7 +66,7 @@ Foam::septernion Foam::slerp
     const scalar t
 )
 {
-    return septernion((1.0-t)*qa.t()+t*qb.t(), slerp(qa.r(), qb.r(), t));
+    return septernion((1 - t)*qa.t() + t*qb.t(), slerp(qa.r(), qb.r(), t));
 }
 
 

src/OpenFOAM/primitives/septernion/septernion.H

@@ -2,7 +2,7 @@
   =========                 |
   \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
    \\    /   O peration     |
-    \\  /    A nd           | Copyright (C) 2011-2013 OpenFOAM Foundation
+    \\  /    A nd           | Copyright (C) 2011-2016 OpenFOAM Foundation
      \\/     M anipulation  |
 -------------------------------------------------------------------------------
 License
@@ -43,6 +43,7 @@ SourceFiles
 
 #include "vector.H"
 #include "quaternion.H"
+#include "spatialTransform.H"
 #include "word.H"
 #include "contiguous.H"
 
@@ -97,6 +98,9 @@ public:
         //- Construct a pure rotation septernion given a rotation quaternion
         inline explicit septernion(const quaternion& r);
 
+        //- Construct a general septernion from the given spatialTransform
+        inline explicit septernion(const spatialTransform& st);
+
         //- Construct from Istream
         septernion(Istream&);
 
@@ -117,11 +121,11 @@ public:
 
            // Transform
 
-               //- Transform the given vector
+               //- Transform the given coordinate point
-               inline vector transform(const vector& v) const;
+               inline vector transformPoint(const vector& v) const;
 
-               //- Inverse Transform the given vector
+               //- Inverse Transform the given coordinate point
-               inline vector invTransform(const vector& v) const;
+               inline vector invTransformPoint(const vector& v) const;
 
 
     // Member operators
@@ -153,7 +157,6 @@ public:
 //- Return the inverse of the given septernion
 inline septernion inv(const septernion& tr);
 
-
 //- Return a string representation of a septernion
 word name(const septernion&);
 

src/OpenFOAM/primitives/septernion/septernionI.H

@@ -2,7 +2,7 @@
   =========                 |
   \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
    \\    /   O peration     |
-    \\  /    A nd           | Copyright (C) 2011 OpenFOAM Foundation
+    \\  /    A nd           | Copyright (C) 2011-2016 OpenFOAM Foundation
      \\/     M anipulation  |
 -------------------------------------------------------------------------------
 License
@@ -42,10 +42,16 @@ inline Foam::septernion::septernion(const vector& t)
 
 inline Foam::septernion::septernion(const quaternion& r)
 :
-    t_(vector::zero),
+    t_(Zero),
     r_(r)
 {}
 
+inline Foam::septernion::septernion(const spatialTransform& st)
+:
+    t_(st.r()),
+    r_(st.E())
+{}
+
 
 // * * * * * * * * * * * * * * * Member Functions  * * * * * * * * * * * * * //
 
@@ -73,15 +79,15 @@ inline Foam::quaternion& Foam::septernion::r()
 }
 
 
-inline Foam::vector Foam::septernion::transform(const vector& v) const
+inline Foam::vector Foam::septernion::transformPoint(const vector& v) const
 {
-    return t() + r().transform(v);
+    return r().transform(v - t());
 }
 
 
-inline Foam::vector Foam::septernion::invTransform(const vector& v) const
+inline Foam::vector Foam::septernion::invTransformPoint(const vector& v) const
 {
-    return r().invTransform(v - t());
+    return t() + r().invTransform(v);
 }
 
 
@@ -95,7 +101,7 @@ inline void Foam::septernion::operator=(const septernion& tr)
 
 inline void Foam::septernion::operator*=(const septernion& tr)
 {
-    t_ += r().transform(tr.t());
+    t_ = tr.t() + tr.r().invTransform(t_);
     r_ *= tr.r();
 }
 
@@ -103,6 +109,7 @@ inline void Foam::septernion::operator*=(const septernion& tr)
 inline void Foam::septernion::operator=(const vector& t)
 {
     t_ = t;
+    r_ = quaternion::I;
 }
 
 inline void Foam::septernion::operator+=(const vector& t)
@@ -118,16 +125,19 @@ inline void Foam::septernion::operator-=(const vector& t)
 
 inline void Foam::septernion::operator=(const quaternion& r)
 {
+    t_ = Zero;
     r_ = r;
 }
 
 inline void Foam::septernion::operator*=(const quaternion& r)
 {
+    t_ = r.invTransform(t_);
     r_ *= r;
 }
 
 inline void Foam::septernion::operator/=(const quaternion& r)
 {
+    t_ = r.transform(t_);
     r_ /= r;
 }
 
@@ -149,7 +159,7 @@ inline void Foam::septernion::operator/=(const scalar s)
 
 inline Foam::septernion Foam::inv(const septernion& tr)
 {
-    return septernion(-tr.r().invTransform(tr.t()), conjugate(tr.r()));
+    return septernion(-tr.r().transform(tr.t()), conjugate(tr.r()));
 }
 
 
@@ -213,7 +223,7 @@ inline Foam::septernion Foam::operator*
     const quaternion& r
 )
 {
-    return septernion(tr.t(), tr.r()*r);
+    return septernion(r.invTransform(tr.t()), tr.r()*r);
 }
 
 
@@ -223,7 +233,7 @@ inline Foam::septernion Foam::operator/
     const quaternion& r
 )
 {
-    return septernion(tr.t(), tr.r()/r);
+    return septernion(r.transform(tr.t()), tr.r()/r);
 }
 
 
@@ -235,7 +245,7 @@ inline Foam::septernion Foam::operator*
 {
     return septernion
     (
-        tr1.t() + tr1.r().transform(tr2.t()),
+        tr2.r().invTransform(tr1.t()) + tr2.t(),
         tr1.r().transform(tr2.r())
     );
 }

src/OpenFOAM/primitives/spatialVectorAlgebra/spatialTransform/spatialTransform.H

@@ -178,6 +178,10 @@ public:
         //  X.v = (E . vw, E . (vl - r^vw))
         inline spatialVector operator&(const spatialVector& v) const;
 
+        //- Transform position p
+        //  X:p = E . (pl - r)
+        inline vector transformPoint(const vector& p) const;
+
         //- Transform position p
         //  X:p = (E . pw, E . (vl - r))
         inline spatialVector operator&&(const spatialVector& v) const;

src/OpenFOAM/primitives/spatialVectorAlgebra/spatialTransform/spatialTransformI.H

@@ -128,7 +128,7 @@ inline Foam::spatialTransform::operator spatialTensor() const
 inline void Foam::spatialTransform::operator&=(const spatialTransform& X)
 {
     E_ &= X.E_;
-    r_ = X.r_ + (r_ & X.E_.T());
+    r_ = X.r_ + (r_ & X.E_);
 }
 
 
@@ -167,6 +167,15 @@ inline Foam::spatialVector Foam::spatialTransform::operator&&
 }
 
 
+inline Foam::vector Foam::spatialTransform::transformPoint
+(
+    const vector& p
+) const
+{
+    return E_ & (p - r_);
+}
+
+
 inline Foam::spatialTransform::transpose::operator spatialTensor() const
 {
     return spatialTensor

src/dynamicFvMesh/solidBodyMotionFvMesh/multiSolidBodyMotionFvMesh.C

@@ -2,7 +2,7 @@
   =========                 |
   \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
    \\    /   O peration     |
-    \\  /    A nd           | Copyright (C) 2011-2015 OpenFOAM Foundation
+    \\  /    A nd           | Copyright (C) 2011-2016 OpenFOAM Foundation
      \\/     M anipulation  |
 -------------------------------------------------------------------------------
 License
@@ -185,7 +185,7 @@ bool Foam::multiSolidBodyMotionFvMesh::update()
         const labelList& zonePoints = pointIDs_[i];
 
         UIndirectList<point>(transformedPts, zonePoints) =
-            transform
+            transformPoints
             (
                 SBMFs_[i].transformation(),
                 pointField(transformedPts, zonePoints)

src/dynamicFvMesh/solidBodyMotionFvMesh/pointPatchFields/derived/solidBodyMotionDisplacement/solidBodyMotionDisplacementPointPatchVectorField.C

@@ -2,7 +2,7 @@
   =========                 |
   \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
    \\    /   O peration     |
-    \\  /    A nd           | Copyright (C) 2013 OpenFOAM Foundation
+    \\  /    A nd           | Copyright (C) 2013-2016 OpenFOAM Foundation
      \\/     M anipulation  |
 -------------------------------------------------------------------------------
 License
@@ -63,7 +63,7 @@ solidBodyMotionDisplacementPointPatchVectorField
         // Determine current local points and offset
         fixedValuePointPatchVectorField::operator==
         (
-            transform(SBMFPtr_().transformation(), localPoints0())
+            transformPoints(SBMFPtr_().transformation(), localPoints0())
            -localPoints0()
         );
     }
@@ -86,7 +86,7 @@ solidBodyMotionDisplacementPointPatchVectorField
 
     fixedValuePointPatchVectorField::operator==
     (
-        transform(SBMFPtr_().transformation(), localPoints0())
+        transformPoints(SBMFPtr_().transformation(), localPoints0())
        -localPoints0()
     );
 }
@@ -117,7 +117,7 @@ solidBodyMotionDisplacementPointPatchVectorField
 
     fixedValuePointPatchVectorField::operator==
     (
-        transform(SBMFPtr_().transformation(), localPoints0())
+        transformPoints(SBMFPtr_().transformation(), localPoints0())
        -localPoints0()
     );
 }
@@ -160,7 +160,7 @@ void solidBodyMotionDisplacementPointPatchVectorField::updateCoeffs()
     // Determine current local points and offset
     fixedValuePointPatchVectorField::operator==
     (
-        transform(SBMFPtr_().transformation(), localPoints0())
+        transformPoints(SBMFPtr_().transformation(), localPoints0())
        -localPoints0()
     );
 

src/dynamicFvMesh/solidBodyMotionFvMesh/solidBodyMotionFunctions/SDA/SDA.C

@@ -91,9 +91,9 @@ Foam::septernion Foam::solidBodyMotionFunctions::SDA::transformation() const
         heaveA_*(sin(wr*time + phh) - sin(phh))
     );
     quaternion R(quaternion::XYZ, vector(rollA*sin(wr*time + phr), 0, 0));
-    septernion TR(septernion(CofG_ + T)*R*septernion(-CofG_));
+    septernion TR(septernion(-CofG_ - T)*R*septernion(CofG_));
 
-    InfoInFunction << "Time = " << time << " transformation: " << TR << endl;
+    DebugInFunction << "Time = " << time << " transformation: " << TR << endl;
 
     return TR;
 }

src/dynamicFvMesh/solidBodyMotionFvMesh/solidBodyMotionFunctions/axisRotationMotion/axisRotationMotion.C

@@ -83,9 +83,9 @@ Foam::solidBodyMotionFunctions::axisRotationMotion::transformation() const
 
     scalar magOmega = mag(omega);
     quaternion R(omega/magOmega, magOmega);
-    septernion TR(septernion(origin_)*R*septernion(-origin_));
+    septernion TR(septernion(-origin_)*R*septernion(origin_));
 
-    InfoInFunction << "Time = " << t << " transformation: " << TR << endl;
+    DebugInFunction << "Time = " << t << " transformation: " << TR << endl;
 
     return TR;
 }

src/dynamicFvMesh/solidBodyMotionFvMesh/solidBodyMotionFunctions/linearMotion/linearMotion.C

@@ -74,9 +74,9 @@ Foam::solidBodyMotionFunctions::linearMotion::transformation() const
     const vector displacement = velocity_*t;
 
     quaternion R(1);
-    septernion TR(septernion(displacement)*R);
+    septernion TR(septernion(-displacement)*R);
 
-    InfoInFunction << "Time = " << t << " transformation: " << TR << endl;
+    DebugInFunction << "Time = " << t << " transformation: " << TR << endl;
 
     return TR;
 }

src/dynamicFvMesh/solidBodyMotionFvMesh/solidBodyMotionFunctions/multiMotion/multiMotion.C

@@ -77,7 +77,7 @@ Foam::solidBodyMotionFunctions::multiMotion::transformation() const
         TR *= SBMFs_[i].transformation();
     }
 
-    InfoInFunction << "Time = " << t << " transformation: " << TR << endl;
+    DebugInFunction << "Time = " << t << " transformation: " << TR << endl;
 
     return TR;
 }

src/dynamicFvMesh/solidBodyMotionFvMesh/solidBodyMotionFunctions/oscillatingLinearMotion/oscillatingLinearMotion.C

@@ -74,9 +74,9 @@ Foam::solidBodyMotionFunctions::oscillatingLinearMotion::transformation() const
     const vector displacement = amplitude_*sin(omega_*t);
 
     quaternion R(1);
-    septernion TR(septernion(displacement)*R);
+    septernion TR(septernion(-displacement)*R);
 
-    InfoInFunction << "Time = " << t << " transformation: " << TR << endl;
+    DebugInFunction << "Time = " << t << " transformation: " << TR << endl;
 
     return TR;
 }

src/dynamicFvMesh/solidBodyMotionFvMesh/solidBodyMotionFunctions/oscillatingRotatingMotion/oscillatingRotatingMotion.C

@@ -82,9 +82,9 @@ transformation() const
     eulerAngles *= pi/180.0;
 
     quaternion R(quaternion::XYZ, eulerAngles);
-    septernion TR(septernion(origin_)*R*septernion(-origin_));
+    septernion TR(septernion(-origin_)*R*septernion(origin_));
 
-    InfoInFunction << "Time = " << t << " transformation: " << TR << endl;
+    DebugInFunction << "Time = " << t << " transformation: " << TR << endl;
 
     return TR;
 }

src/dynamicFvMesh/solidBodyMotionFvMesh/solidBodyMotionFunctions/rotatingMotion/rotatingMotion.C

@@ -78,9 +78,9 @@ Foam::solidBodyMotionFunctions::rotatingMotion::transformation() const
     scalar angle = omega_->integrate(0, t);
 
     quaternion R(axis_, angle);
-    septernion TR(septernion(origin_)*R*septernion(-origin_));
+    septernion TR(septernion(-origin_)*R*septernion(origin_));
 
-    InfoInFunction << "Time = " << t << " transformation: " << TR << endl;
+    DebugInFunction << "Time = " << t << " transformation: " << TR << endl;
 
     return TR;
 }

src/dynamicFvMesh/solidBodyMotionFvMesh/solidBodyMotionFunctions/solidBodyMotionFunction/solidBodyMotionFunction.C

@@ -2,7 +2,7 @@
   =========                 |
   \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
    \\    /   O peration     |
-    \\  /    A nd           | Copyright (C) 2011-2013 OpenFOAM Foundation
+    \\  /    A nd           | Copyright (C) 2011-2016 OpenFOAM Foundation
      \\/     M anipulation  |
 -------------------------------------------------------------------------------
 License
@@ -29,9 +29,8 @@ License
 
 namespace Foam
 {
-defineTypeNameAndDebug(solidBodyMotionFunction, 0);
+    defineTypeNameAndDebug(solidBodyMotionFunction, 0);
-
+    defineRunTimeSelectionTable(solidBodyMotionFunction, dictionary);
-defineRunTimeSelectionTable(solidBodyMotionFunction, dictionary);
 }
 
 

src/dynamicFvMesh/solidBodyMotionFvMesh/solidBodyMotionFunctions/tabulated6DoFMotion/tabulated6DoFMotion.C

@@ -105,9 +105,9 @@ Foam::solidBodyMotionFunctions::tabulated6DoFMotion::transformation() const
     TRV[1] *= pi/180.0;
 
     quaternion R(quaternion::XYZ, TRV[1]);
-    septernion TR(septernion(CofG_ + TRV[0])*R*septernion(-CofG_));
+    septernion TR(septernion(-CofG_ + -TRV[0])*R*septernion(CofG_));
 
-    InfoInFunction << "Time = " << t << " transformation: " << TR << endl;
+    DebugInFunction << "Time = " << t << " transformation: " << TR << endl;
 
     return TR;
 }

src/dynamicFvMesh/solidBodyMotionFvMesh/solidBodyMotionFvMesh.C

@@ -2,7 +2,7 @@
   =========                 |
   \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
    \\    /   O peration     |
-    \\  /    A nd           | Copyright (C) 2011-2015 OpenFOAM Foundation
+    \\  /    A nd           | Copyright (C) 2011-2016 OpenFOAM Foundation
      \\/     M anipulation  |
 -------------------------------------------------------------------------------
 License
@@ -193,7 +193,7 @@ bool Foam::solidBodyMotionFvMesh::update()
     {
         fvMesh::movePoints
         (
-            transform
+            transformPoints
             (
                 SBMFPtr_().transformation(),
                 undisplacedPoints_
@@ -205,7 +205,7 @@ bool Foam::solidBodyMotionFvMesh::update()
         pointField transformedPts(undisplacedPoints_);
 
         UIndirectList<point>(transformedPts, pointIDs_) =
-            transform
+            transformPoints
             (
                 SBMFPtr_().transformation(),
                 pointField(transformedPts, pointIDs_)