ENH: quaternion ROLL_PITCH_YAW and YAW_PITCH_ROLL aliases/lookups

COMP: define labelSphericalTensor::I

- remove spurious 'labelI' global constant (labelSphericalTensor::I)

STYLE: replace use of deprecated Tensor vectorComponent

STYLE: avoid bit-wise assignment of bool (VectorSpace compare ops)

applications/test/DiagTensor/Test-DiagTensor.C

@@ -5,7 +5,7 @@
     \\  /    A nd           | www.openfoam.com
      \\/     M anipulation  |
 -------------------------------------------------------------------------------
-    Copyright (C) 2020 OpenCFD Ltd.
+    Copyright (C) 2020-2022 OpenCFD Ltd.
 -------------------------------------------------------------------------------
 License
     This file is part of OpenFOAM.
@@ -61,13 +61,8 @@ unsigned nFail_ = 0;
 // Do ++nFail_ if values of two objects are not equal within a given tolerance.
 // The function is converted from PEP-485.
 template<class Type>
-typename std::enable_if
+typename std::enable_if<pTraits<Type>::rank == 0, void>::type
-<
+cmp
-    std::is_same<floatScalar, Type>::value ||
-    std::is_same<doubleScalar, Type>::value ||
-    std::is_same<complex, Type>::value,
-    void
->::type cmp
 (
     const word& msg,
     const Type& x,
@@ -99,13 +94,8 @@ typename std::enable_if
 // Do ++nFail_ if two components are not equal within a given tolerance.
 // The function is converted from PEP-485
 template<class Type>
-typename std::enable_if
+typename std::enable_if<pTraits<Type>::rank != 0, void>::type
-<
+cmp
-    !std::is_same<floatScalar, Type>::value &&
-    !std::is_same<doubleScalar, Type>::value &&
-    !std::is_same<complex, Type>::value,
-    void
->::type cmp
 (
     const word& msg,
     const Type& x,
@@ -118,7 +108,7 @@ typename std::enable_if
 
     unsigned nFail = 0;
 
-    for (label i = 0; i < pTraits<Type>::nComponents; ++i)
+    for (direction i = 0; i < pTraits<Type>::nComponents; ++i)
     {
         if (max(absTol, relTol*max(mag(x[i]), mag(y[i]))) < mag(x[i] - y[i]))
         {

applications/test/SphericalTensor/Test-SphericalTensor.C

@@ -5,7 +5,7 @@
     \\  /    A nd           | www.openfoam.com
      \\/     M anipulation  |
 -------------------------------------------------------------------------------
-    Copyright (C) 2020 OpenCFD Ltd.
+    Copyright (C) 2020-2022 OpenCFD Ltd.
 -------------------------------------------------------------------------------
 License
     This file is part of OpenFOAM.
@@ -61,13 +61,8 @@ unsigned nFail_ = 0;
 // Do ++nFail_ if values of two objects are not equal within a given tolerance.
 // The function is converted from PEP-485.
 template<class Type>
-typename std::enable_if
+typename std::enable_if<pTraits<Type>::rank == 0, void>::type
-<
+cmp
-    std::is_same<floatScalar, Type>::value ||
-    std::is_same<doubleScalar, Type>::value ||
-    std::is_same<complex, Type>::value,
-    void
->::type cmp
 (
     const word& msg,
     const Type& x,
@@ -99,13 +94,8 @@ typename std::enable_if
 // Do ++nFail_ if two components are not equal within a given tolerance.
 // The function is converted from PEP-485
 template<class Type>
-typename std::enable_if
+typename std::enable_if<pTraits<Type>::rank != 0, void>::type
-<
+cmp
-    !std::is_same<floatScalar, Type>::value &&
-    !std::is_same<doubleScalar, Type>::value &&
-    !std::is_same<complex, Type>::value,
-    void
->::type cmp
 (
     const word& msg,
     const Type& x,
@@ -118,7 +108,7 @@ typename std::enable_if
 
     unsigned nFail = 0;
 
-    for (label i = 0; i < pTraits<Type>::nComponents; ++i)
+    for (direction i = 0; i < pTraits<Type>::nComponents; ++i)
     {
         if (max(absTol, relTol*max(mag(x[i]), mag(y[i]))) < mag(x[i] - y[i]))
         {

applications/test/SphericalTensor2D/Test-SphericalTensor2D.C

@@ -5,7 +5,7 @@
     \\  /    A nd           | www.openfoam.com
      \\/     M anipulation  |
 -------------------------------------------------------------------------------
-    Copyright (C) 2020 OpenCFD Ltd.
+    Copyright (C) 2020-2022 OpenCFD Ltd.
 -------------------------------------------------------------------------------
 License
     This file is part of OpenFOAM.
@@ -60,13 +60,8 @@ unsigned nFail_ = 0;
 // Do ++nFail_ if values of two objects are not equal within a given tolerance.
 // The function is converted from PEP-485.
 template<class Type>
-typename std::enable_if
+typename std::enable_if<pTraits<Type>::rank == 0, void>::type
-<
+cmp
-    std::is_same<floatScalar, Type>::value ||
-    std::is_same<doubleScalar, Type>::value ||
-    std::is_same<complex, Type>::value,
-    void
->::type cmp
 (
     const word& msg,
     const Type& x,
@@ -98,13 +93,8 @@ typename std::enable_if
 // Do ++nFail_ if two components are not equal within a given tolerance.
 // The function is converted from PEP-485
 template<class Type>
-typename std::enable_if
+typename std::enable_if<pTraits<Type>::rank != 0, void>::type
-<
+cmp
-    !std::is_same<floatScalar, Type>::value &&
-    !std::is_same<doubleScalar, Type>::value &&
-    !std::is_same<complex, Type>::value,
-    void
->::type cmp
 (
     const word& msg,
     const Type& x,
@@ -117,7 +107,7 @@ typename std::enable_if
 
     unsigned nFail = 0;
 
-    for (label i = 0; i < pTraits<Type>::nComponents; ++i)
+    for (direction i = 0; i < pTraits<Type>::nComponents; ++i)
     {
         if (max(absTol, relTol*max(mag(x[i]), mag(y[i]))) < mag(x[i] - y[i]))
         {

applications/test/SymmTensor/Test-SymmTensor.C

@@ -5,7 +5,7 @@
     \\  /    A nd           | www.openfoam.com
      \\/     M anipulation  |
 -------------------------------------------------------------------------------
-    Copyright (C) 2020 OpenCFD Ltd.
+    Copyright (C) 2020-2022 OpenCFD Ltd.
 -------------------------------------------------------------------------------
 License
     This file is part of OpenFOAM.
@@ -86,13 +86,8 @@ typename std::enable_if
 // Do ++nFail_ if values of two objects are not equal within a given tolerance.
 // The function is converted from PEP-485.
 template<class Type>
-typename std::enable_if
+typename std::enable_if<pTraits<Type>::rank == 0, void>::type
-<
+cmp
-    std::is_same<floatScalar, Type>::value ||
-    std::is_same<doubleScalar, Type>::value ||
-    std::is_same<complex, Type>::value,
-    void
->::type cmp
 (
     const word& msg,
     const Type& x,
@@ -124,13 +119,8 @@ typename std::enable_if
 // Do ++nFail_ if two components are not equal within a given tolerance.
 // The function is converted from PEP-485
 template<class Type>
-typename std::enable_if
+typename std::enable_if<pTraits<Type>::rank != 0, void>::type
-<
+cmp
-    !std::is_same<floatScalar, Type>::value &&
-    !std::is_same<doubleScalar, Type>::value &&
-    !std::is_same<complex, Type>::value,
-    void
->::type cmp
 (
     const word& msg,
     const Type& x,
@@ -143,7 +133,7 @@ typename std::enable_if
 
     unsigned nFail = 0;
 
-    for (label i = 0; i < pTraits<Type>::nComponents; ++i)
+    for (direction i = 0; i < pTraits<Type>::nComponents; ++i)
     {
         if (max(absTol, relTol*max(mag(x[i]), mag(y[i]))) < mag(x[i] - y[i]))
         {

applications/test/SymmTensor2D/Test-SymmTensor2D.C

@@ -5,7 +5,7 @@
     \\  /    A nd           | www.openfoam.com
      \\/     M anipulation  |
 -------------------------------------------------------------------------------
-    Copyright (C) 2019-2020 OpenCFD Ltd.
+    Copyright (C) 2019-2022 OpenCFD Ltd.
 -------------------------------------------------------------------------------
 License
     This file is part of OpenFOAM.
@@ -71,13 +71,8 @@ symmTensor2D makeRandomContainer(Random& rnd)
 // Do ++nFail_ if values of two objects are not equal within a given tolerance.
 // The function is converted from PEP-485.
 template<class Type>
-typename std::enable_if
+typename std::enable_if<pTraits<Type>::rank == 0, void>::type
-<
+cmp
-    std::is_same<floatScalar, Type>::value ||
-    std::is_same<doubleScalar, Type>::value ||
-    std::is_same<complex, Type>::value,
-    void
->::type cmp
 (
     const word& msg,
     const Type& x,
@@ -109,13 +104,8 @@ typename std::enable_if
 // Do ++nFail_ if two components are not equal within a given tolerance.
 // The function is converted from PEP-485
 template<class Type>
-typename std::enable_if
+typename std::enable_if<pTraits<Type>::rank != 0, void>::type
-<
+cmp
-    !std::is_same<floatScalar, Type>::value &&
-    !std::is_same<doubleScalar, Type>::value &&
-    !std::is_same<complex, Type>::value,
-    void
->::type cmp
 (
     const word& msg,
     const Type& x,
@@ -128,7 +118,7 @@ typename std::enable_if
 
     unsigned nFail = 0;
 
-    for (label i = 0; i < pTraits<Type>::nComponents; ++i)
+    for (direction i = 0; i < pTraits<Type>::nComponents; ++i)
     {
         if (max(absTol, relTol*max(mag(x[i]), mag(y[i]))) < mag(x[i] - y[i]))
         {

applications/test/Tensor/Test-Tensor.C

@@ -72,13 +72,8 @@ tensor makeRandomContainer(Random& rnd)
 // Do ++nFail_ if values of two objects are not equal within a given tolerance.
 // The function is converted from PEP-485.
 template<class Type>
-typename std::enable_if
+typename std::enable_if<pTraits<Type>::rank == 0, void>::type
-<
+cmp
-    std::is_same<floatScalar, Type>::value ||
-    std::is_same<doubleScalar, Type>::value ||
-    std::is_same<complex, Type>::value,
-    void
->::type cmp
 (
     const word& msg,
     const Type& x,
@@ -110,13 +105,8 @@ typename std::enable_if
 // Do ++nFail_ if two components are not equal within a given tolerance.
 // The function is converted from PEP-485
 template<class Type>
-typename std::enable_if
+typename std::enable_if<pTraits<Type>::rank != 0, void>::type
-<
+cmp
-    !std::is_same<floatScalar, Type>::value &&
-    !std::is_same<doubleScalar, Type>::value &&
-    !std::is_same<complex, Type>::value,
-    void
->::type cmp
 (
     const word& msg,
     const Type& x,
@@ -129,7 +119,7 @@ typename std::enable_if
 
     unsigned nFail = 0;
 
-    for (label i = 0; i < pTraits<Type>::nComponents; ++i)
+    for (direction i = 0; i < pTraits<Type>::nComponents; ++i)
     {
         if (max(absTol, relTol*max(mag(x[i]), mag(y[i]))) < mag(x[i] - y[i]))
         {

applications/test/Tensor2D/Test-Tensor2D.C

@@ -6,7 +6,7 @@
      \\/     M anipulation  |
 -------------------------------------------------------------------------------
     Copyright (C) 2014 OpenFOAM Foundation
-    Copyright (C) 2019-2020 OpenCFD Ltd.
+    Copyright (C) 2019-2022 OpenCFD Ltd.
 -------------------------------------------------------------------------------
 License
     This file is part of OpenFOAM.
@@ -74,13 +74,8 @@ tensor2D makeRandomContainer(Random& rnd)
 // Do ++nFail_ if values of two objects are not equal within a given tolerance.
 // The function is converted from PEP-485.
 template<class Type>
-typename std::enable_if
+typename std::enable_if<pTraits<Type>::rank == 0, void>::type
-<
+cmp
-    std::is_same<floatScalar, Type>::value ||
-    std::is_same<doubleScalar, Type>::value ||
-    std::is_same<complex, Type>::value,
-    void
->::type cmp
 (
     const word& msg,
     const Type& x,
@@ -112,13 +107,8 @@ typename std::enable_if
 // Do ++nFail_ if two components are not equal within a given tolerance.
 // The function is converted from PEP-485
 template<class Type>
-typename std::enable_if
+typename std::enable_if<pTraits<Type>::rank != 0, void>::type
-<
+cmp
-    !std::is_same<floatScalar, Type>::value &&
-    !std::is_same<doubleScalar, Type>::value &&
-    !std::is_same<complex, Type>::value,
-    void
->::type cmp
 (
     const word& msg,
     const Type& x,
@@ -131,7 +121,7 @@ typename std::enable_if
 
     unsigned nFail = 0;
 
-    for (label i = 0; i < pTraits<Type>::nComponents; ++i)
+    for (direction i = 0; i < pTraits<Type>::nComponents; ++i)
     {
         if (max(absTol, relTol*max(mag(x[i]), mag(y[i]))) < mag(x[i] - y[i]))
         {

src/OpenFOAM/primitives/DiagTensor/DiagTensor.H

@@ -39,8 +39,8 @@ SourceFiles
 
 \*---------------------------------------------------------------------------*/
 
-#ifndef DiagTensor_H
+#ifndef Foam_DiagTensor_H
-#define DiagTensor_H
+#define Foam_DiagTensor_H
 
 #include "Tensor.H"
 

src/OpenFOAM/primitives/SphericalTensor/Identity.H

@@ -51,7 +51,6 @@ class Identity
 :
     public SphericalTensor<Cmpt>
 {
-
 public:
 
     //- Construct initializing the SphericalTensor to 1
@@ -73,19 +72,19 @@ public:
     };
 
     //- Return the identity in the dual space
-    inline dual operator*()
+    dual operator*()
     {
         return dual();
     }
 
     //- Return 1 for label
-    inline explicit operator label() const
+    explicit operator label() const noexcept
     {
         return 1;
     }
 
     //- Return 1 for scalar
-    inline explicit operator scalar() const
+    explicit operator scalar() const noexcept
     {
         return 1;
     }

src/OpenFOAM/primitives/SphericalTensor/SphericalTensor.H

@@ -39,8 +39,8 @@ SourceFiles
 
 \*---------------------------------------------------------------------------*/
 
-#ifndef SphericalTensor_H
+#ifndef Foam_SphericalTensor_H
-#define SphericalTensor_H
+#define Foam_SphericalTensor_H
 
 #include "contiguous.H"
 #include "VectorSpace.H"
@@ -123,6 +123,8 @@ public:
         inline Cmpt& ii();
 
 
+    // Tensor Operations
+
         //- Return non-Hermitian transpose (no-op)
         inline const SphericalTensor<Cmpt>& T() const;
 };

src/OpenFOAM/primitives/SphericalTensor/labelSphericalTensor/labelSphericalTensor.H

@@ -52,9 +52,6 @@ namespace Foam
 
 typedef SphericalTensor<label> labelSphericalTensor;
 
-//- Identity labelTensor
-static const labelSphericalTensor labelI(1);
-
 // * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
 
 } // End namespace Foam

src/OpenFOAM/primitives/SymmTensor/SymmTensor.H

@@ -39,7 +39,6 @@ SourceFiles
 #ifndef Foam_SymmTensor_H
 #define Foam_SymmTensor_H
 
-#include "contiguous.H"
 #include "Vector.H"
 #include "SphericalTensor.H"
 

src/OpenFOAM/primitives/Tensor/Tensor.H

@@ -261,6 +261,12 @@ public:
         inline void diag(const Vector<Cmpt>& v);
 
 
+    // Characteristics
+
+        //- Is identity tensor?
+        inline bool is_identity(const scalar tol = ROOTVSMALL) const;
+
+
     // Tensor Operations
 
         //- Return non-Hermitian transpose

src/OpenFOAM/primitives/Tensor/TensorI.H

@@ -25,6 +25,7 @@ License
     along with OpenFOAM.  If not, see <http://www.gnu.org/licenses/>.
 
 \*---------------------------------------------------------------------------*/
+
 #include <type_traits>
 
 #include "SymmTensor.H"
@@ -504,6 +505,21 @@ inline void Foam::Tensor<Cmpt>::diag(const Vector<Cmpt>& v)
 }
 
 
+template<class Cmpt>
+inline bool Foam::Tensor<Cmpt>::is_identity(const scalar tol) const
+{
+    return
+    (
+        mag(xx() - pTraits<Cmpt>::one) < tol
+     && mag(yy() - pTraits<Cmpt>::one) < tol
+     && mag(zz() - pTraits<Cmpt>::one) < tol
+     && mag(xy()) < tol && mag(xz()) < tol
+     && mag(yx()) < tol && mag(yz()) < tol
+     && mag(zx()) < tol && mag(zy()) < tol
+    );
+}
+
+
 // * * * * * * * * * * * * * * * Member Operations * * * * * * * * * * * * * //
 
 template<class Cmpt>

src/OpenFOAM/primitives/Tensor/ints/labelTensor.C

@@ -77,5 +77,13 @@ const Foam::labelTensor Foam::labelTensor::vsType::rootMin
     labelTensor::uniform(-sqrt(scalar(labelMax)))
 );
 
+template<>
+const Foam::labelTensor Foam::labelTensor::I
+(
+    1, 0, 0,
+    0, 1, 0,
+    0, 0, 1
+);
+
 
 // ************************************************************************* //

src/OpenFOAM/primitives/VectorSpace/VectorSpaceI.H

@@ -6,7 +6,7 @@
      \\/     M anipulation  |
 -------------------------------------------------------------------------------
     Copyright (C) 2011-2016 OpenFOAM Foundation
-    Copyright (C) 2019-2021 OpenCFD Ltd.
+    Copyright (C) 2019-2022 OpenCFD Ltd.
 -------------------------------------------------------------------------------
 License
     This file is part of OpenFOAM.
@@ -837,12 +837,11 @@ inline bool operator==
     const VectorSpace<Form, Cmpt, Ncmpts>& vs2
 )
 {
-    bool eq = true;
     for (direction i=0; i<Ncmpts; ++i)
     {
-        if (!(eq &= (equal(vs1.v_[i], vs2.v_[i])))) break;
+        if (!equal(vs1.v_[i], vs2.v_[i])) return false;
     }
-    return eq;
+    return true;
 }
 
 
@@ -864,12 +863,11 @@ inline bool operator>
     const VectorSpace<Form, Cmpt, Ncmpts>& vs2
 )
 {
-    bool gt = true;
     for (direction i=0; i<Ncmpts; ++i)
     {
-        if (!(gt &= vs1.v_[i] > vs2.v_[i])) break;
+        if (!(vs1.v_[i] > vs2.v_[i])) return false;
     }
-    return gt;
+    return true;
 }
 
 
@@ -880,12 +878,11 @@ inline bool operator<
     const VectorSpace<Form, Cmpt, Ncmpts>& vs2
 )
 {
-    bool lt = true;
     for (direction i=0; i<Ncmpts; ++i)
     {
-        if (!(lt &= vs1.v_[i] < vs2.v_[i])) break;
+        if (!(vs1.v_[i] < vs2.v_[i])) return false;
     }
-    return lt;
+    return true;
 }
 
 

src/OpenFOAM/primitives/quaternion/quaternion.C

@@ -6,7 +6,7 @@
      \\/     M anipulation  |
 -------------------------------------------------------------------------------
     Copyright (C) 2011-2016 OpenFOAM Foundation
-    Copyright (C) 2019 OpenCFD Ltd.
+    Copyright (C) 2019-2022 OpenCFD Ltd.
 -------------------------------------------------------------------------------
 License
     This file is part of OpenFOAM.
@@ -53,6 +53,10 @@ Foam::quaternion::eulerOrderNames
     { eulerOrder::YZX, "yzx" },
     { eulerOrder::ZYX, "zyx" },
     { eulerOrder::ZXY, "zxy" },
+
+    // Aliases
+    { eulerOrder::XYZ, "rollPitchYaw" },
+    { eulerOrder::ZYX, "yawPitchRoll" },
 });
 
 

src/OpenFOAM/primitives/quaternion/quaternion.H

@@ -107,10 +107,15 @@ public:
             XZX, XYX, YXY, YZY, ZYZ, ZXZ,
 
             // Tait-Bryan angles
-            XZY, XYZ, YXZ, YZX, ZYX, ZXY
+            XZY, XYZ, YXZ, YZX, ZYX, ZXY,
+
+            // Aliases
+            ROLL_PITCH_YAW = XYZ,
+            YAW_PITCH_ROLL = ZYX,
         };
 
-        //- The names for Euler-angle rotation order
+        //- The names for Euler-angle and Tait-Bryan angles,
+        //- including "rollPitchYaw" and "yawPitchRoll" aliases
         static const Enum<eulerOrder> eulerOrderNames;
 
 

src/OpenFOAM/primitives/transform/transform.H

@@ -32,8 +32,8 @@ Description
 
 \*---------------------------------------------------------------------------*/
 
-#ifndef transform_H
+#ifndef Foam_transform_H
-#define transform_H
+#define Foam_transform_H
 
 #include "tensor.H"
 #include "mathematicalConstants.H"
@@ -82,7 +82,7 @@ inline tensor rotationTensor
 
 
 //- Rotational transformation tensor about the x-axis by omega radians
-inline tensor Rx(const scalar& omega)
+inline tensor Rx(const scalar omega)
 {
     const scalar s = sin(omega);
     const scalar c = cos(omega);
@@ -96,7 +96,7 @@ inline tensor Rx(const scalar& omega)
 
 
 //- Rotational transformation tensor about the y-axis by omega radians
-inline tensor Ry(const scalar& omega)
+inline tensor Ry(const scalar omega)
 {
     const scalar s = sin(omega);
     const scalar c = cos(omega);
@@ -110,7 +110,7 @@ inline tensor Ry(const scalar& omega)
 
 
 //- Rotational transformation tensor about the z-axis by omega radians
-inline tensor Rz(const scalar& omega)
+inline tensor Rz(const scalar omega)
 {
     const scalar s = sin(omega);
     const scalar c = cos(omega);

src/finiteVolume/fields/fvPatchFields/derived/turbulentDFSEMInlet/eddy/eddy.C

@@ -37,6 +37,7 @@ Foam::label Foam::eddy::Gamma2Values[] = {1, 2, 3, 4, 5, 6, 7, 8};
 Foam::UList<Foam::label> Foam::eddy::Gamma2(&Gamma2Values[0], 8);
 int Foam::eddy::debug = 0;
 
+
 // * * * * * * * * * * * * * Private Member Functions  * * * * * * * * * * * //
 
 bool Foam::eddy::setScales
@@ -287,7 +288,10 @@ Foam::label Foam::eddy::writeSurfaceOBJ
 
     const vector& s = sigma_;
 
-    const vector axisDir = tensor::I.vectorComponent(dir1_);
+    // Unit vector
+    vector axisDir(Zero);
+    axisDir[dir1_] = 1;
+
     const label dir2 = (dir1_ + 1) % 3;
     const label dir3 = (dir1_ + 2) % 3;
 

src/finiteVolume/fields/fvPatchFields/derived/turbulentDFSEMInlet/eddy/eddy.H

@@ -96,7 +96,7 @@ class eddy
         //- Model coefficient c1
         scalar c1_;
 
-        //- Index of streamwise direction
+        //- Index of streamwise direction (0,1,2)
         label dir1_;
 
 
@@ -177,8 +177,8 @@ public:
             //- Return the eddy position
             inline point position(const vector& n) const;
 
-            //- Return the index of the streamwise direction
+            //- Return the index of the streamwise direction (0,1,2)
-            inline label dir1() const;
+            label dir1() const noexcept { return dir1_; }
 
             //- Return random vector of -1 and 1's
             inline vector epsilon(Random& rndGen) const;