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ENH: support Euler rotation rollPitchYaw/yawPitchRoll ordering

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- can be more intuitive to specify for some cases:

      rotation
      {
          type    euler;
          order   rollPitchYaw;
          angles  (0 20 45);
      }

- refactor starcd rotation to reuse Euler ZXY ordering
  (code reduction)

ENH: add -rotate-x, -rotate-y, -rotate-z for transformPoints etc

- easier to specify for simple rotations
This commit is contained in:
Mark Olesen
2022-06-01 13:38:49 +02:00
parent eba7a485ba
commit a465e4db85
26 changed files with 336 additions and 228 deletions
Download Patch File Download Diff File Expand all files Collapse all files

105
applications/utilities/mesh/manipulation/transformPoints/transformPoints.C
View File

@ -6,7 +6,7 @@
\\/ M anipulation |
-------------------------------------------------------------------------------
Copyright (C) 2011-2016 OpenFOAM Foundation
Copyright (C) 2017-2021 OpenCFD Ltd.
Copyright (C) 2017-2022 OpenCFD Ltd.
-------------------------------------------------------------------------------
License
This file is part of OpenFOAM.
@ -53,6 +53,15 @@ Usage
-rotate-angle (vector angle)
Rotate angle degrees about vector axis.
-rotate-x angle
Rotate (degrees) about x-axis.
-rotate-y angle
Rotate (degrees) about y-axis.
-rotate-z angle
Rotate (degrees) about z-axis.
or -yawPitchRoll (yawdegrees pitchdegrees rolldegrees)
or -rollPitchYaw (rolldegrees pitchdegrees yawdegrees)
@ -277,10 +286,25 @@ int main(int argc, char *argv[])
argList::addOption
(
"rotate-angle",
"(vector scalar)",
"(vector angle)",
"Rotate <angle> degrees about <vector> - eg, '((1 0 0) 45)'"
);
argList::addOption
(
"rotate-x", "deg",
"Rotate (degrees) about x-axis"
);
argList::addOption
(
"rotate-y", "deg",
"Rotate (degrees) about y-axis"
);
argList::addOption
(
"rotate-z", "deg",
"Rotate (degrees) about z-axis"
);
argList::addOption
(
"rollPitchYaw",
"vector",
@ -316,15 +340,18 @@ int main(int argc, char *argv[])
// Verify that an operation has been specified
{
const List<word> operationNames
{
({
"recentre",
"translate",
"rotate",
"rotate-angle",
"rotate-x",
"rotate-y",
"rotate-z",
"rollPitchYaw",
"yawPitchRoll",
"scale"
};
});
if (!args.count(operationNames))
{
@ -424,6 +451,12 @@ int main(int argc, char *argv[])
points -= origin;
}
// Get a rotation specification
tensor rot(Zero);
bool useRotation(false);
if (args.found("rotate"))
{
Pair<vector> n1n2
@ -433,15 +466,8 @@ int main(int argc, char *argv[])
n1n2[0].normalise();
n1n2[1].normalise();
const tensor rot(rotationTensor(n1n2[0], n1n2[1]));
Info<< "Rotating points by " << rot << endl;
points = transform(rot, points);
if (doRotateFields)
{
rotateFields(regionName, runTime, rot);
}
rot = rotationTensor(n1n2[0], n1n2[1]);
useRotation = true;
}
else if (args.found("rotate-angle"))
{
@ -457,15 +483,35 @@ int main(int argc, char *argv[])
<< " about " << axis << nl
<< " angle " << angle << nl;
const tensor rot(axisAngle::rotation(axis, angle, true));
rot = axisAngle::rotation(axis, angle, true);
useRotation = true;
}
else if (args.found("rotate-x"))
{
const scalar angle = args.get<scalar>("rotate-x");
Info<< "Rotating points by " << rot << endl;
points = transform(rot, points);
Info<< "Rotating points about x-axis: " << angle << nl;
if (doRotateFields)
{
rotateFields(regionName, runTime, rot);
}
rot = axisAngle::rotation(vector::X, angle, true);
useRotation = true;
}
else if (args.found("rotate-y"))
{
const scalar angle = args.get<scalar>("rotate-y");
Info<< "Rotating points about y-axis: " << angle << nl;
rot = axisAngle::rotation(vector::Y, angle, true);
useRotation = true;
}
else if (args.found("rotate-z"))
{
const scalar angle = args.get<scalar>("rotate-z");
Info<< "Rotating points about z-axis: " << angle << nl;
rot = axisAngle::rotation(vector::Z, angle, true);
useRotation = true;
}
else if (args.readIfPresent("rollPitchYaw", v))
{
@ -474,15 +520,8 @@ int main(int argc, char *argv[])
<< " pitch " << v.y() << nl
<< " yaw " << v.z() << nl;
const tensor rot(euler::rotation(euler::eulerOrder::XYZ, v, true));
Info<< "Rotating points by " << rot << endl;
points = transform(rot, points);
if (doRotateFields)
{
rotateFields(regionName, runTime, rot);
}
rot = euler::rotation(euler::eulerOrder::ROLL_PITCH_YAW, v, true);
useRotation = true;
}
else if (args.readIfPresent("yawPitchRoll", v))
{
@ -491,10 +530,14 @@ int main(int argc, char *argv[])
<< " pitch " << v.y() << nl
<< " roll " << v.z() << nl;
const tensor rot(euler::rotation(euler::eulerOrder::ZYX, v, true));
rot = euler::rotation(euler::eulerOrder::YAW_PITCH_ROLL, v, true);
useRotation = true;
}
if (useRotation)
{
Info<< "Rotating points by " << rot << endl;
points = transform(rot, points);
transform(points, rot, points);
if (doRotateFields)
{