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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

57
src/OpenFOAM/primitives/coordinate/rotation/EulerCoordinateRotation.C
View File

@ -34,29 +34,31 @@ License
namespace Foam
{
namespace coordinateRotations
{
defineTypeName(euler);
namespace coordinateRotations
{
// Standard short name
addNamedToRunTimeSelectionTable
(
coordinateRotation,
euler,
dictionary,
euler
);
defineTypeName(euler);
// Longer name - Compat 1806
addNamedToRunTimeSelectionTable
(
coordinateRotation,
euler,
dictionary,
EulerRotation
);
}
}
// Standard short name
addNamedToRunTimeSelectionTable
(
coordinateRotation,
euler,
dictionary,
euler
);
// Longer name - Compat 1806
addNamedToRunTimeSelectionTable
(
coordinateRotation,
euler,
dictionary,
EulerRotation
);
} // End namespace coordinateRotations
} // End namespace Foam
// * * * * * * * * * * * * * Static Member Functions * * * * * * * * * * * * //
@ -68,9 +70,9 @@ Foam::tensor Foam::coordinateRotations::euler::rotation
bool degrees
)
{
scalar angle1(angles.component(vector::X)); // Rotation #1
scalar angle2(angles.component(vector::Y)); // Rotation #2
scalar angle3(angles.component(vector::Z)); // Rotation #3
scalar angle1(angles.x()); // Rotation #1
scalar angle2(angles.y()); // Rotation #2
scalar angle3(angles.z()); // Rotation #3
if (degrees)
{
@ -156,7 +158,7 @@ Foam::tensor Foam::coordinateRotations::euler::rotation
}
// Tait-Bryan angles
// Tait-Bryan angles
case eulerOrder::XZY: // X1-Z2-Y3 rotation
{
@ -228,10 +230,9 @@ Foam::tensor Foam::coordinateRotations::euler::rotation
FatalErrorInFunction
<< "Unknown euler rotation order "
<< int(order) << abort(FatalError);
break;
}
return tensor::I;
return sphericalTensor::I; // identity rotation
}
@ -321,7 +322,7 @@ void Foam::coordinateRotations::euler::clear()
Foam::tensor Foam::coordinateRotations::euler::R() const
{
return euler::rotation(angles_, degrees_);
return euler::rotation(order_, angles_, degrees_);
}

21
src/OpenFOAM/primitives/coordinate/rotation/EulerCoordinateRotation.H
View File

@ -47,19 +47,24 @@ Description
\heading Dictionary entries
\table
Property | Description | Required | Default
type | Type name: euler (or EulerRotation) | yes |
angles | The z-x-z rotation angles | yes |
degrees | Angles are in degrees | no | true
Property | Description | Reqd | Default
type | Type name: euler (or EulerRotation) | yes |
angles | Rotation angles (usually z-x-z order) | yes |
degrees | Angles are in degrees | no | true
order | Rotation order | no | zxz
\endtable
Note
The rotation order is usually z-x-z, but can also be something like
"rollPitchYaw" etc.
SourceFiles
EulerCoordinateRotation.C
\*---------------------------------------------------------------------------*/
#ifndef coordinateRotations_euler_H
#define coordinateRotations_euler_H
#ifndef Foam_coordinateRotations_euler_H
#define Foam_coordinateRotations_euler_H
#include "coordinateRotation.H"
#include "quaternion.H"
@ -139,11 +144,11 @@ public:
// Static Member Functions
//- The rotation tensor calculated for the intrinsic Euler
//- Rotation tensor calculated for the intrinsic Euler
//- angles in z-x-z order
static tensor rotation(const vector& angles, bool degrees=false);
//- The rotation tensor calculated for given angles and order
//- Rotation tensor calculated for given order and angles
static tensor rotation
(
const eulerOrder order,

71
src/OpenFOAM/primitives/coordinate/rotation/STARCDCoordinateRotation.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.
@ -27,36 +27,38 @@ License
\*---------------------------------------------------------------------------*/
#include "STARCDCoordinateRotation.H"
#include "unitConversion.H"
#include "EulerCoordinateRotation.H"
#include "addToRunTimeSelectionTable.H"
// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
namespace Foam
{
namespace coordinateRotations
{
defineTypeName(starcd);
namespace coordinateRotations
{
// Standard short name
addNamedToRunTimeSelectionTable
(
coordinateRotation,
starcd,
dictionary,
starcd
);
defineTypeName(starcd);
// Longer name - Compat 1806
addNamedToRunTimeSelectionTable
(
coordinateRotation,
starcd,
dictionary,
STARCDRotation
);
}
}
// Standard short name
addNamedToRunTimeSelectionTable
(
coordinateRotation,
starcd,
dictionary,
starcd
);
// Longer name - Compat 1806
addNamedToRunTimeSelectionTable
(
coordinateRotation,
starcd,
dictionary,
STARCDRotation
);
} // End namespace coordinateRotation
} // End namespace Foam
// * * * * * * * * * * * * * Static Member Functions * * * * * * * * * * * * //
@ -67,28 +69,7 @@ Foam::tensor Foam::coordinateRotations::starcd::rotation
bool degrees
)
{
scalar z = angles.component(vector::X); // 1. Rotate about Z
scalar x = angles.component(vector::Y); // 2. Rotate about X
scalar y = angles.component(vector::Z); // 3. Rotate about Y
if (degrees)
{
x *= degToRad();
y *= degToRad();
z *= degToRad();
}
const scalar cx = cos(x); const scalar sx = sin(x);
const scalar cy = cos(y); const scalar sy = sin(y);
const scalar cz = cos(z); const scalar sz = sin(z);
return
tensor
(
cy*cz - sx*sy*sz, -cx*sz, sx*cy*sz + sy*cz,
cy*sz + sx*sy*cz, cx*cz, sy*sz - sx*cy*cz,
-cx*sy, sx, cx*cy
);
return euler::rotation(euler::eulerOrder::ZXY, angles, degrees);
}

9
src/OpenFOAM/primitives/coordinate/rotation/STARCDCoordinateRotation.H
View File

@ -6,7 +6,7 @@
\\/ M anipulation |
-------------------------------------------------------------------------------
Copyright (C) 2011-2017 OpenFOAM Foundation
Copyright (C) 2017-2021 OpenCFD Ltd.
Copyright (C) 2017-2022 OpenCFD Ltd.
-------------------------------------------------------------------------------
License
This file is part of OpenFOAM.
@ -57,8 +57,8 @@ SourceFiles
\*---------------------------------------------------------------------------*/
#ifndef coordinateRotations_starcd_H
#define coordinateRotations_starcd_H
#ifndef Foam_coordinateRotations_starcd_H
#define Foam_coordinateRotations_starcd_H
#include "coordinateRotation.H"
@ -124,7 +124,7 @@ public:
// Static Member Functions
//- The rotation tensor calculated for the specified STARCD angles
//- Rotation tensor calculated for the specified STARCD angles
//- interpreted as rotate-Z, rotate-X, rotate-Y
static tensor rotation(const vector& angles, bool degrees);
@ -142,7 +142,6 @@ public:
//- Write dictionary entry
virtual void writeEntry(const word& keyword, Ostream& os) const;
};

44
src/OpenFOAM/primitives/coordinate/rotation/axesRotation.C
View File

@ -34,29 +34,31 @@ License
namespace Foam
{
namespace coordinateRotations
{
defineTypeName(axes);
namespace coordinateRotations
{
// Standard short name
addNamedToRunTimeSelectionTable
(
coordinateRotation,
axes,
dictionary,
axes
);
defineTypeName(axes);
// Longer name - Compat 1806
addNamedToRunTimeSelectionTable
(
coordinateRotation,
axes,
dictionary,
axesRotation
);
}
}
// Standard short name
addNamedToRunTimeSelectionTable
(
coordinateRotation,
axes,
dictionary,
axes
);
// Longer name - Compat 1806
addNamedToRunTimeSelectionTable
(
coordinateRotation,
axes,
dictionary,
axesRotation
);
} // End namespace coordinateRotations
} // End namespace Foam
// * * * * * * * * * * * * * Static Member Functions * * * * * * * * * * * * //

4
src/OpenFOAM/primitives/coordinate/rotation/axesRotation.H
View File

@ -61,8 +61,8 @@ SourceFiles
\*---------------------------------------------------------------------------*/
#ifndef coordinateRotations_axes_H
#define coordinateRotations_axes_H
#ifndef Foam_coordinateRotations_axes_H
#define Foam_coordinateRotations_axes_H
#include "coordinateRotation.H"

40
src/OpenFOAM/primitives/coordinate/rotation/axisAngleRotation.C
View File

@ -5,7 +5,7 @@
\\ / A nd | www.openfoam.com
\\/ M anipulation |
-------------------------------------------------------------------------------
Copyright (C) 2018-2021 OpenCFD Ltd.
Copyright (C) 2018-2022 OpenCFD Ltd.
-------------------------------------------------------------------------------
License
This file is part of OpenFOAM.
@ -35,17 +35,19 @@ License
namespace Foam
{
namespace coordinateRotations
{
defineTypeName(axisAngle);
addToRunTimeSelectionTable
(
coordinateRotation,
axisAngle,
dictionary
);
}
}
namespace coordinateRotations
{
defineTypeName(axisAngle);
addToRunTimeSelectionTable
(
coordinateRotation,
axisAngle,
dictionary
);
} // End namespace coordinateRotation
} // End namespace Foam
// * * * * * * * * * * * * * Private Member Functions * * * * * * * * * * * //
@ -77,6 +79,20 @@ Foam::tensor Foam::coordinateRotations::axisAngle::rotation
}
Foam::tensor Foam::coordinateRotations::axisAngle::rotation
(
const vector::components axis,
const scalar angle,
bool degrees
)
{
vector rotAxis(Zero);
rotAxis[axis] = 1;
return axisAngle::rotation(rotAxis, angle, degrees);
}
// * * * * * * * * * * * * * * * * Constructors * * * * * * * * * * * * * * //
Foam::coordinateRotations::axisAngle::axisAngle()

26
src/OpenFOAM/primitives/coordinate/rotation/axisAngleRotation.H
View File

@ -5,7 +5,7 @@
\\ / A nd | www.openfoam.com
\\/ M anipulation |
-------------------------------------------------------------------------------
Copyright (C) 2018-2021 OpenCFD Ltd.
Copyright (C) 2018-2022 OpenCFD Ltd.
-------------------------------------------------------------------------------
License
This file is part of OpenFOAM.
@ -41,23 +41,23 @@ Description
\heading Dictionary entries
\table
Property | Description | Required | Default
type | Type name: axisAngle | yes |
axis | Axis of rotation (vector) | yes |
angle | Rotation angle | yes |
degrees | The angle is in degrees | no | true
Property | Description | Reqd | Default
type | Type name: axisAngle | yes |
axis | Axis of rotation (vector) | yes |
angle | Rotation angle | yes |
degrees | The angle is in degrees | no | true
\endtable
Note
The rotation axis will be normalized internally.
The rotation axis is normalized internally.
SourceFiles
axisAngleRotation.C
\*---------------------------------------------------------------------------*/
#ifndef coordinateRotations_axisAngle_H
#define coordinateRotations_axisAngle_H
#ifndef Foam_coordinateRotations_axisAngle_H
#define Foam_coordinateRotations_axisAngle_H
#include "coordinateRotation.H"
@ -140,6 +140,14 @@ public:
bool degrees=false
);
//- Rotation tensor calculated for given axis and angle
static tensor rotation
(
const vector::components axis,
const scalar angle,
bool degrees=false
);
// Member Functions

6
src/OpenFOAM/primitives/coordinate/rotation/coordinateRotation.H
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@ -6,7 +6,7 @@
\\/ M anipulation |
-------------------------------------------------------------------------------
Copyright (C) 2011-2016 OpenFOAM Foundation
Copyright (C) 2018-2021 OpenCFD Ltd.
Copyright (C) 2018-2022 OpenCFD Ltd.
-------------------------------------------------------------------------------
License
This file is part of OpenFOAM.
@ -58,8 +58,8 @@ SourceFiles
\*---------------------------------------------------------------------------*/
#ifndef coordinateRotation_H
#define coordinateRotation_H
#ifndef Foam_coordinateRotation_H
#define Foam_coordinateRotation_H
#include "autoPtr.H"
#include "vector.H"

24
src/OpenFOAM/primitives/coordinate/rotation/cylindricalRotation.C
View File

@ -32,17 +32,19 @@ License
namespace Foam
{
namespace coordinateRotations
{
defineTypeName(cylindrical);
addToRunTimeSelectionTable
(
coordinateRotation,
cylindrical,
dictionary
);
}
}
namespace coordinateRotations
{
defineTypeName(cylindrical);
addToRunTimeSelectionTable
(
coordinateRotation,
cylindrical,
dictionary
);
} // End namespace coordinateRotations
} // End namespace Foam
// * * * * * * * * * * * * * Static Member Functions * * * * * * * * * * * * //

12
src/OpenFOAM/primitives/coordinate/rotation/cylindricalRotation.H
View File

@ -34,10 +34,10 @@ Description
\heading Dictionary entries
\table
Property | Description | Required | Default
type | Type name: cylindrical | yes |
axis | The z-axis | yes |
e3 | Alias for 'axis' | no |
Property | Description | Reqd | Default
type | Type name: cylindrical | yes |
axis | The z-axis | yes |
e3 | Alias for 'axis' | no |
\endtable
SourceFiles
@ -45,8 +45,8 @@ SourceFiles
\*---------------------------------------------------------------------------*/
#ifndef coordinateRotations_cylindrical_H
#define coordinateRotations_cylindrical_H
#ifndef Foam_coordinateRotations_cylindrical_H
#define Foam_coordinateRotations_cylindrical_H
#include "axesRotation.H"

24
src/OpenFOAM/primitives/coordinate/rotation/identityRotation.C
View File

@ -33,17 +33,19 @@ License
namespace Foam
{
namespace coordinateRotations
{
defineTypeName(identity);
addToRunTimeSelectionTable
(
coordinateRotation,
identity,
dictionary
);
}
}
namespace coordinateRotations
{
defineTypeName(identity);
addToRunTimeSelectionTable
(
coordinateRotation,
identity,
dictionary
);
} // End namespace coordinateRotations
} // End namespace Foam
// * * * * * * * * * * * * * * * * Constructors * * * * * * * * * * * * * * //

8
src/OpenFOAM/primitives/coordinate/rotation/identityRotation.H
View File

@ -38,8 +38,8 @@ Description
\heading Dictionary entries
\table
Property | Description | Required | Default
type | Type name: none | yes |
Property | Description | Reqd | Default
type | Type name: none | yes |
\endtable
SourceFiles
@ -47,8 +47,8 @@ SourceFiles
\*---------------------------------------------------------------------------*/
#ifndef coordinateRotations_identity_H
#define coordinateRotations_identity_H
#ifndef Foam_coordinateRotations_identity_H
#define Foam_coordinateRotations_identity_H
#include "coordinateRotation.H"

4
src/OpenFOAM/primitives/coordinate/rotation/specifiedRotation.C
View File

@ -39,8 +39,8 @@ namespace coordinateRotations
defineTypeName(specified);
//FUTURE addToRunTimeSelectionTable(coordinateRotation, specified, dictionary);
}
}
} // End namespace coordinateRotations
} // End namespace Foam
// * * * * * * * * * * * * * * * * Constructors * * * * * * * * * * * * * * //

4
src/OpenFOAM/primitives/coordinate/rotation/specifiedRotation.H
View File

@ -43,8 +43,8 @@ SourceFiles
\*---------------------------------------------------------------------------*/
#ifndef coordinateRotations_specified_H
#define coordinateRotations_specified_H
#ifndef Foam_coordinateRotations_specified_H
#define Foam_coordinateRotations_specified_H
#include "coordinateRotation.H"

4
src/OpenFOAM/primitives/coordinate/systems/coordinateSystem.H
View File

@ -97,8 +97,8 @@ SourceFiles
\*---------------------------------------------------------------------------*/
#ifndef coordinateSystem_H
#define coordinateSystem_H
#ifndef Foam_coordinateSystem_H
#define Foam_coordinateSystem_H
#include "vector.H"
#include "point.H"