SpatialTensor.H

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    Copyright (C) 2016 OpenFOAM Foundation
    Copyright (C) 2019 OpenCFD Ltd.
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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.
 
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    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/>.
 
Class
    Foam::SpatialTensor
 
Description
    Templated 3D spatial tensor derived from MatrixSpace used to represent
    transformations of spatial vectors and the angular and linear inertia of
    rigid bodies.
 
    Reference:
    \verbatim
        Featherstone, R. (2008).
        Rigid body dynamics algorithms.
        Springer.
    \endverbatim
 
SourceFiles
    SpatialTensorI.H
 
See also
    Foam::MatrixSpace
    Foam::Tensor
    Foam::SpatialVector
 
\*---------------------------------------------------------------------------*/
 
#ifndef Foam_SpatialTensor_H
#define Foam_SpatialTensor_H
 
#include "Tensor.H"
#include "SpatialVector.H"
 
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
 
namespace Foam
{
 
/*---------------------------------------------------------------------------*\
                         Class SpatialTensor Declaration
\*---------------------------------------------------------------------------*/
 
template<class Cmpt>
class SpatialTensor
:
    public MatrixSpace<SpatialTensor<Cmpt>, Cmpt, 6, 6>
{
 
public:
 
    // Member constants
 
        //- Rank of Tensor is 2
        static constexpr direction rank = 2;
 
 
    // Static data members
 
        //- Identity matrix for square matrices
        static const SpatialTensor I;
 
 
    // Constructors
 
        //- Default Construct
        SpatialTensor() = default;
 
        //- Construct initialized to zero
        inline SpatialTensor(const Foam::zero);
 
        //- Construct given MatrixSpace of the same rank
        inline SpatialTensor(const typename SpatialTensor::msType&);
 
        //- Construct given 4 tensor blocks
        inline SpatialTensor
        (
            const Tensor<Cmpt>& t00, const Tensor<Cmpt>& t01,
            const Tensor<Cmpt>& t10, const Tensor<Cmpt>& t11
        );
 
        //- Construct given 36 components
        inline SpatialTensor
        (
            const Cmpt& t00, const Cmpt& t01, const Cmpt& t02,
            const Cmpt& t03, const Cmpt& t04, const Cmpt& t05,
 
            const Cmpt& t10, const Cmpt& t11, const Cmpt& t12,
            const Cmpt& t13, const Cmpt& t14, const Cmpt& t15,
 
            const Cmpt& t20, const Cmpt& t21, const Cmpt& t22,
            const Cmpt& t23, const Cmpt& t24, const Cmpt& t25,
 
            const Cmpt& t30, const Cmpt& t31, const Cmpt& t32,
            const Cmpt& t33, const Cmpt& t34, const Cmpt& t35,
 
            const Cmpt& t40, const Cmpt& t41, const Cmpt& t42,
            const Cmpt& t43, const Cmpt& t44, const Cmpt& t45,
 
            const Cmpt& t50, const Cmpt& t51, const Cmpt& t52,
            const Cmpt& t53, const Cmpt& t54, const Cmpt& t55
        );
 
        //- Construct from Istream
        inline explicit SpatialTensor(Istream&);
};
 
 
// * * * * * * * * * * * * * * * * * Traits  * * * * * * * * * * * * * * * * //
 
//- Data are contiguous if component type is contiguous
template<class Cmpt>
struct is_contiguous<SpatialTensor<Cmpt>> : is_contiguous<Cmpt> {};
 
//- Data are contiguous label if component type is label
template<class Cmpt>
struct is_contiguous_label<SpatialTensor<Cmpt>>
:
    is_contiguous_label<Cmpt>
{};
 
//- Data are contiguous scalar if component type is scalar
template<class Cmpt>
struct is_contiguous_scalar<SpatialTensor<Cmpt>>
:
    is_contiguous_scalar<Cmpt>
{};
 
 
template<class Cmpt>
class typeOfTranspose<Cmpt, SpatialTensor<Cmpt>>
{
public:
 
    typedef SpatialTensor<Cmpt> type;
};
 
 
template<class Cmpt>
class typeOfOuterProduct<Cmpt, SpatialVector<Cmpt>, SpatialVector<Cmpt>>
{
public:
 
    typedef SpatialTensor<Cmpt> type;
};
 
 
template<class Cmpt>
class typeOfInnerProduct<Cmpt, SpatialTensor<Cmpt>, SpatialVector<Cmpt>>
{
public:
 
    typedef SpatialVector<Cmpt> type;
};
 
 
template<class Cmpt>
class typeOfInnerProduct<Cmpt, SpatialTensor<Cmpt>, SpatialTensor<Cmpt>>
{
public:
 
    typedef SpatialTensor<Cmpt> type;
};
 
 
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
 
} // End namespace Foam
 
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
 
#include "SpatialTensorI.H"
 
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
 
#endif
 
// ************************************************************************* //