ENH: support Euler rotation rollPitchYaw/yawPitchRoll ordering

- 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

applications/utilities/mesh/manipulation/transformPoints/transformPoints.C

@@ -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]));
+            rot = rotationTensor(n1n2[0], n1n2[1]);
-
+            useRotation = true;
-            Info<< "Rotating points by " << rot << endl;
-            points = transform(rot, points);
-
-            if (doRotateFields)
-            {
-                rotateFields(regionName, runTime, rot);
-            }
         }
         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;
+            Info<< "Rotating points about x-axis: " << angle << nl;
-            points = transform(rot, points);
 
-            if (doRotateFields)
+            rot = axisAngle::rotation(vector::X, angle, true);
-            {
+            useRotation = true;
-                rotateFields(regionName, runTime, rot);
+        }
-            }
+        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));
+            rot = euler::rotation(euler::eulerOrder::ROLL_PITCH_YAW, v, true);
-
+            useRotation = true;
-            Info<< "Rotating points by " << rot << endl;
-            points = transform(rot, points);
-
-            if (doRotateFields)
-            {
-                rotateFields(regionName, runTime, rot);
-            }
         }
         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)
             {

applications/utilities/surface/surfaceTransformPoints/surfaceTransformPoints.C

@@ -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.
@@ -206,10 +206,25 @@ 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",
@@ -254,16 +269,19 @@ 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",
             "read-scale",
             "write-scale"
-        };
+        });
 
         if (!args.count(operationNames))
         {
@@ -348,6 +366,12 @@ 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
@@ -357,10 +381,8 @@ int main(int argc, char *argv[])
         n1n2[0].normalise();
         n1n2[1].normalise();
 
-        const tensor rot(rotationTensor(n1n2[0], n1n2[1]));
+        rot = rotationTensor(n1n2[0], n1n2[1]);
-
+        useRotation = true;
-        Info<< "Rotating points by " << rot << endl;
-        points = transform(rot, points);
     }
     else if (args.found("rotate-angle"))
     {
@@ -376,10 +398,35 @@ 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;
+        Info<< "Rotating points about x-axis: " << angle << nl;
-        points = transform(rot, points);
+
+        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))
     {
@@ -388,10 +435,8 @@ int main(int argc, char *argv[])
             << "    pitch " << v.y() << nl
             << "    yaw   " << v.z() << nl;
 
-        const tensor rot(euler::rotation(euler::eulerOrder::XYZ, v, true));
+        rot = euler::rotation(euler::eulerOrder::ROLL_PITCH_YAW, v, true);
-
+        useRotation = true;
-        Info<< "Rotating points by " << rot << endl;
-        points = transform(rot, points);
     }
     else if (args.readIfPresent("yawPitchRoll", v))
     {
@@ -400,10 +445,14 @@ 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);
     }
 
     // Output scaling

src/OpenFOAM/primitives/coordinate/rotation/EulerCoordinateRotation.C

@@ -34,29 +34,31 @@ License
 
 namespace Foam
 {
-    namespace coordinateRotations
+namespace coordinateRotations
-    {
+{
-        defineTypeName(euler);
 
-        // Standard short name
+    defineTypeName(euler);
-        addNamedToRunTimeSelectionTable
-        (
-            coordinateRotation,
-            euler,
-            dictionary,
-            euler
-        );
 
-        // Longer name - Compat 1806
+    // Standard short name
-        addNamedToRunTimeSelectionTable
+    addNamedToRunTimeSelectionTable
-        (
+    (
-            coordinateRotation,
+        coordinateRotation,
-            euler,
+        euler,
-            dictionary,
+        dictionary,
-            EulerRotation
+        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 angle1(angles.x());  // Rotation #1
-    scalar angle2(angles.component(vector::Y)); // Rotation #2
+    scalar angle2(angles.y());  // Rotation #2
-    scalar angle3(angles.component(vector::Z)); // Rotation #3
+    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_);
 }
 
 

src/OpenFOAM/primitives/coordinate/rotation/EulerCoordinateRotation.H

@@ -47,19 +47,24 @@ Description
 
     \heading Dictionary entries
     \table
-        Property    | Description                           | Required | Default
+        Property    | Description                           | Reqd | Default
-        type        | Type name: euler (or EulerRotation)   | yes   |
+        type        | Type name: euler (or EulerRotation)   | yes  |
-        angles      | The z-x-z rotation angles             | yes   |
+        angles      | Rotation angles (usually z-x-z order) | yes  |
-        degrees     | Angles are in degrees                 | no    | true
+        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
+#ifndef Foam_coordinateRotations_euler_H
-#define 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,

src/OpenFOAM/primitives/coordinate/rotation/STARCDCoordinateRotation.C

@@ -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
+namespace coordinateRotations
-    {
+{
-        defineTypeName(starcd);
 
-        // Standard short name
+    defineTypeName(starcd);
-        addNamedToRunTimeSelectionTable
-        (
-            coordinateRotation,
-            starcd,
-            dictionary,
-            starcd
-        );
 
-        // Longer name - Compat 1806
+    // Standard short name
-        addNamedToRunTimeSelectionTable
+    addNamedToRunTimeSelectionTable
-        (
+    (
-            coordinateRotation,
+        coordinateRotation,
-            starcd,
+        starcd,
-            dictionary,
+        dictionary,
-            STARCDRotation
+        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
+    return euler::rotation(euler::eulerOrder::ZXY, angles, degrees);
-    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
-        );
 }
 
 

src/OpenFOAM/primitives/coordinate/rotation/STARCDCoordinateRotation.H

@@ -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
+#ifndef Foam_coordinateRotations_starcd_H
-#define 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;
-
 };
 
 

src/OpenFOAM/primitives/coordinate/rotation/axesRotation.C

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

src/OpenFOAM/primitives/coordinate/rotation/axesRotation.H

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

src/OpenFOAM/primitives/coordinate/rotation/axisAngleRotation.C

@@ -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
+namespace coordinateRotations
-    {
+{
-        defineTypeName(axisAngle);
+
-        addToRunTimeSelectionTable
+    defineTypeName(axisAngle);
-        (
+    addToRunTimeSelectionTable
-            coordinateRotation,
+    (
-            axisAngle,
+        coordinateRotation,
-            dictionary
+        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()

src/OpenFOAM/primitives/coordinate/rotation/axisAngleRotation.H

@@ -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
+        Property    | Description                           | Reqd | Default
-        type        | Type name: axisAngle                  | yes   |
+        type        | Type name: axisAngle                  | yes  |
-        axis        | Axis of rotation (vector)             | yes   |
+        axis        | Axis of rotation (vector)             | yes  |
-        angle       | Rotation angle                        | yes   |
+        angle       | Rotation angle                        | yes  |
-        degrees     | The angle is in degrees               | no    | true
+        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
+#ifndef Foam_coordinateRotations_axisAngle_H
-#define 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
 

src/OpenFOAM/primitives/coordinate/rotation/coordinateRotation.H

@@ -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
+#ifndef Foam_coordinateRotation_H
-#define coordinateRotation_H
+#define Foam_coordinateRotation_H
 
 #include "autoPtr.H"
 #include "vector.H"

src/OpenFOAM/primitives/coordinate/rotation/cylindricalRotation.C

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

src/OpenFOAM/primitives/coordinate/rotation/cylindricalRotation.H

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

src/OpenFOAM/primitives/coordinate/rotation/identityRotation.C

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

src/OpenFOAM/primitives/coordinate/rotation/identityRotation.H

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

src/OpenFOAM/primitives/coordinate/rotation/specifiedRotation.C

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

src/OpenFOAM/primitives/coordinate/rotation/specifiedRotation.H

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

src/OpenFOAM/primitives/coordinate/systems/coordinateSystem.H

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

tutorials/basic/overPotentialFoam/cylinder/cylinderAndBackground/Allrun.pre

@@ -10,7 +10,7 @@ runApplication blockMesh
 runApplication mergeMeshes . ../cylinderMesh -overwrite
 
 ## Make it a bit smaller to keep it laminar
-#runApplication transformPoints -scale '(0.001 0.001 0.001)'
+#runApplication transformPoints -scale 0.001
 
 # Select cellSets for the different zones
 runApplication topoSet

tutorials/compressible/overRhoSimpleFoam/hotCylinder/cylinderAndBackground/Allrun.pre

@@ -10,7 +10,7 @@ runApplication blockMesh
 runApplication mergeMeshes . ../cylinderMesh -overwrite
 
 ## Make it a bit smaller to keep it laminar
-#runApplication transformPoints -scale '(0.001 0.001 0.001)'
+#runApplication transformPoints -scale 0.001
 
 # Select cellSets for the different zones
 runApplication topoSet

tutorials/compressible/rhoPimpleFoam/RAS/aerofoilNACA0012/Allrun

@@ -13,7 +13,7 @@ restore0Dir
 
 runApplication blockMesh
 
-runApplication transformPoints -scale "(1 0 1)"
+runApplication transformPoints -scale '(1 0 1)'
 
 runApplication extrudeMesh
 

tutorials/compressible/rhoSimpleFoam/aerofoilNACA0012/Allrun.pre

@@ -13,7 +13,7 @@ restore0Dir
 
 runApplication blockMesh
 
-runApplication transformPoints -scale "(1 0 1)"
+runApplication transformPoints -scale '(1 0 1)'
 
 runApplication extrudeMesh
 

tutorials/incompressible/overPimpleDyMFoam/cylinder/cylinderAndBackground/Allrun.pre

@@ -10,7 +10,7 @@ runApplication blockMesh
 runApplication mergeMeshes . ../cylinderMesh -overwrite
 
 ## Make it a bit smaller to keep it laminar
-#runApplication transformPoints -scale '(0.001 0.001 0.001)'
+#runApplication transformPoints -scale 0.001
 
 # Select cellSets for the different zones
 runApplication topoSet

tutorials/mesh/snappyHexMesh/iglooWithFridgesDirectionalRefinement/system/snappyHexMeshDict

@@ -60,9 +60,9 @@ geometry
                 {
                     type    cartesian;
                     origin  (2 2 0);
-                    coordinateRotation
+                    rotation
                     {
-                        type    axesRotation;
+                        type    axes;
                         e1      (1 0 0);
                         e3      (0 0 1);
                     }

tutorials/multiphase/interFoam/RAS/electrostaticDeposition/Allrun.pre

@@ -13,7 +13,7 @@ restore0Dir
 
 runApplication setFields
 
-runApplication transformPoints -rollPitchYaw "(0 -90 0)"
+runApplication transformPoints -rotate-y -90
 
 runApplication checkMesh -allGeometry -allTopology
 

tutorials/preProcessing/decompositionConstraints/geometric/Allrun

@@ -9,7 +9,7 @@ mkdir -p constant/triSurface
 runApplication surfaceTransformPoints \
     -translate '(0 0 5)' \
     -origin '(0 0 5)' \
-    -rotate-angle '((1 0 0) 45)' \
+    -rotate-x 45 \
     "$FOAM_TUTORIALS"/resources/geometry/blob.stl.gz \
     constant/triSurface/blob.obj