05455d50ea
Based on definitions in chapter 2 of the book:
Featherstone, R. (2008).
Rigid body dynamics algorithms.
Springer.
This work is sponsored by Carnegie Wave Energy Ltd
117 lines
3 KiB
C++
117 lines
3 KiB
C++
/*---------------------------------------------------------------------------*\
|
|
========= |
|
|
\\ / F ield | OpenFOAM: The Open Source CFD Toolbox
|
|
\\ / O peration |
|
|
\\ / A nd | Copyright (C) 2016 OpenFOAM Foundation
|
|
\\/ M anipulation |
|
|
-------------------------------------------------------------------------------
|
|
License
|
|
This file is part of OpenFOAM.
|
|
|
|
OpenFOAM is free software: you can redistribute it and/or modify it
|
|
under the terms of the GNU General Public License as published by
|
|
the Free Software Foundation, either version 3 of the License, or
|
|
(at your option) any later version.
|
|
|
|
OpenFOAM is distributed in the hope that it will be useful, but WITHOUT
|
|
ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
|
|
FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
|
for more details.
|
|
|
|
You should have received a copy of the GNU General Public License
|
|
along with OpenFOAM. If not, see <http://www.gnu.org/licenses/>.
|
|
|
|
\*---------------------------------------------------------------------------*/
|
|
|
|
// * * * * * * * * * * * * * * * * Constructors * * * * * * * * * * * * * * //
|
|
|
|
template<class Cmpt>
|
|
inline Foam::SpatialVector<Cmpt>::SpatialVector()
|
|
{}
|
|
|
|
|
|
template<class Cmpt>
|
|
inline Foam::SpatialVector<Cmpt>::SpatialVector(const Foam::zero z)
|
|
:
|
|
SpatialVector::vsType(z)
|
|
{}
|
|
|
|
|
|
template<class Cmpt>
|
|
inline Foam::SpatialVector<Cmpt>::SpatialVector
|
|
(
|
|
const typename SpatialVector::vsType& vs
|
|
)
|
|
:
|
|
SpatialVector::vsType(vs)
|
|
{}
|
|
|
|
|
|
template<class Cmpt>
|
|
inline Foam::SpatialVector<Cmpt>::SpatialVector
|
|
(
|
|
const Vector<Cmpt>& angular,
|
|
const Vector<Cmpt>& linear
|
|
)
|
|
{
|
|
this->v_[0] = angular.x();
|
|
this->v_[1] = angular.y();
|
|
this->v_[2] = angular.z();
|
|
this->v_[3] = linear.x();
|
|
this->v_[4] = linear.y();
|
|
this->v_[5] = linear.z();
|
|
}
|
|
|
|
|
|
template<class Cmpt>
|
|
inline Foam::SpatialVector<Cmpt>::SpatialVector
|
|
(
|
|
const Cmpt& v0,
|
|
const Cmpt& v1,
|
|
const Cmpt& v2,
|
|
const Cmpt& v3,
|
|
const Cmpt& v4,
|
|
const Cmpt& v5
|
|
)
|
|
{
|
|
this->v_[0] = v0;
|
|
this->v_[1] = v1;
|
|
this->v_[2] = v2;
|
|
this->v_[3] = v3;
|
|
this->v_[4] = v4;
|
|
this->v_[5] = v5;
|
|
}
|
|
|
|
|
|
template<class Cmpt>
|
|
inline Foam::SpatialVector<Cmpt>::SpatialVector(Istream& is)
|
|
:
|
|
SpatialVector::vsType(is)
|
|
{}
|
|
|
|
|
|
// * * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * //
|
|
|
|
template<class Cmpt>
|
|
inline Foam::Vector<Cmpt> Foam::SpatialVector<Cmpt>::angular() const
|
|
{
|
|
return Vector<Cmpt>(this->v_[0], this->v_[1], this->v_[2]);
|
|
}
|
|
|
|
template<class Cmpt>
|
|
inline Foam::Vector<Cmpt> Foam::SpatialVector<Cmpt>::linear() const
|
|
{
|
|
return Vector<Cmpt>(this->v_[3], this->v_[4], this->v_[5]);
|
|
}
|
|
|
|
|
|
// * * * * * * * * * * * * * * * Member Operators * * * * * * * * * * * * * //
|
|
|
|
template<class Cmpt>
|
|
inline void Foam::SpatialVector<Cmpt>::operator=(const Foam::zero z)
|
|
{
|
|
SpatialVector::vsType::operator=(z);
|
|
}
|
|
|
|
|
|
// ************************************************************************* //
|