/*---------------------------------------------------------------------------*\
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     \\/     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/>.

Class
    Foam::EulerCoordinateRotation

Description
    A coordinateRotation defined in the z-x-y Euler convention.

    The 3 rotations are defined in the Euler convention
    (around Z, around X' and around Z').
    For reference and illustration, see
    http://mathworld.wolfram.com/EulerAngles.html
    Note, however, that it is the reverse transformation
    (local->global) that is defined here.

    - the rotation angles are in degrees, unless otherwise explicitly specified:

    \verbatim
    coordinateRotation
    {
        type        EulerRotation;
        degrees     false;
        rotation    (0 0 3.141592654);
    }
    \endverbatim

SourceFiles
    EulerCoordinateRotation.C

\*---------------------------------------------------------------------------*/

#ifndef EulerCoordinateRotation_H
#define EulerCoordinateRotation_H

#include "coordinateRotation.H"

// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //

namespace Foam
{

/*---------------------------------------------------------------------------*\
                   Class EulerCoordinateRotation Declaration
\*---------------------------------------------------------------------------*/

class EulerCoordinateRotation
:
    public coordinateRotation
{

    // Private Member Data

        //- Local-to-global transformation tensor
        tensor R_;

        //- Global-to-Local transformation tensor
        tensor Rtr_;


    // Private Member Functions

        //- Calculate transformation tensor
        void calcTransform
        (
            const scalar phiAngle,
            const scalar thetaAngle,
            const scalar psiAngle,
            const bool inDegrees=true
        );


public:

    //- Runtime type information
    TypeName("EulerRotation");


    // Constructors

        //- Construct null
        EulerCoordinateRotation();

        //- Construct from rotation vector
        EulerCoordinateRotation
        (
            const vector& phiThetaPsi,
            const bool inDegrees=true
        );

        //- Construct from components of rotation vector
        EulerCoordinateRotation
        (
            const scalar phiAngle,
            const scalar thetaAngle,
            const scalar psiAngle,
            const bool inDegrees=true
        );

        //- Construct from dictionary
        EulerCoordinateRotation(const dictionary&);

        //- Construct from dictionary and mesh
        EulerCoordinateRotation(const dictionary&, const objectRegistry&);


    // Member Functions

        //- Reset rotation to an identity rotation
        virtual void clear()
        {
            R_ = sphericalTensor::I;
            Rtr_ = sphericalTensor::I;
        }

        //- Update the rotation for a list of cells
        virtual void updateCells(const polyMesh&, const labelList&)
        {}

        //- Return local-to-global transformation tensor
        virtual const tensor& R() const
        {
            return R_;
        }

        //- Return global-to-local transformation tensor
        virtual const tensor& Rtr() const
        {
            return Rtr_;
        };

        //- Return local Cartesian x-axis in global coordinates
        virtual const vector e1() const
        {
            return Rtr_.x();
        }

        //- Return local Cartesian y-axis in global coordinates
        virtual const vector e2() const
        {
            return Rtr_.y();
        }

        //- Return local Cartesian z-axis in global coordinates
        virtual const vector e3() const
        {
            return Rtr_.z();
        }

        //- Return transformation tensor field
        virtual const tensorField& Tr() const;

        //- Transform vectorField using transformation tensor field
        virtual tmp<vectorField> transform(const vectorField& st) const;

        //- Transform vector using transformation tensor
        virtual vector transform(const vector& st) const;

        //- Inverse transform vectorField using transformation tensor field
        virtual tmp<vectorField> invTransform(const vectorField& st) const;

        //- Inverse transform vector using transformation tensor
        virtual vector invTransform(const vector& st) const;

        //- Transform tensor field using transformation tensorField
        virtual tmp<tensorField> transformTensor(const tensorField& st) const;

        //- Transform tensor using transformation tensorField
        virtual tensor transformTensor(const tensor& st) const;

        //- Transform tensor sub-field using transformation tensorField
        virtual tmp<tensorField> transformTensor
        (
            const tensorField& st,
            const labelList& cellMap
        ) const;

        //- Transform vectorField using transformation tensorField and return
        // symmetrical tensorField
        virtual tmp<symmTensorField> transformVector
        (
            const vectorField& st
        ) const;

        //- Transform vector using transformation tensor and return
        // symmetrical tensor
        virtual symmTensor transformVector(const vector& st) const;


    // Write

        //- Write
        virtual void write(Ostream&) const;
};


// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //

} // End namespace Foam

// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //

#endif

// ************************************************************************* //
