/*---------------------------------------------------------------------------*\
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    \\  /    A nd           | Copyright (C) 2016-2018 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/>.

Class
    Foam::SpatialVector

Description
    Templated 3D spatial vector derived from VectorSpace used to represent the
    anglular and linear components of position, velocity and acceleration of
    rigid bodies.

    Reference:
    \verbatim
        Featherstone, R. (2008).
        Rigid body dynamics algorithms.
        Springer.
    \endverbatim

SourceFiles
    SpatialVectorI.H

See also
    Foam::VectorSpace
    Foam::Vector

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

#ifndef SpatialVector_H
#define SpatialVector_H

#include "Vector.H"

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

namespace Foam
{

/*---------------------------------------------------------------------------*\
                         Class SpatialVector Declaration
\*---------------------------------------------------------------------------*/

template<class Cmpt>
class SpatialVector
:
    public VectorSpace<SpatialVector<Cmpt>, Cmpt, 6>
{

public:

    //- Component labeling enumeration
    enum components { WX, WY, WZ, LX, LY, LZ };


    //- Class to represent the dual spatial vector
    class dual
    {
        const SpatialVector& v_;

    public:

        //- Construct the dual of the given SpatialVector
        inline dual(const SpatialVector& v);

        //- Return the parent SpatialVector
        inline const SpatialVector& v() const;
    };


    // Constructors

        //- Construct null
        inline SpatialVector();

        //- Construct initialized to zero
        inline SpatialVector(const Foam::zero);

        //- Construct given VectorSpace of the same rank
        inline SpatialVector(const typename SpatialVector::vsType&);

        //- Construct from the angular and linear vector components
        inline SpatialVector
        (
            const Vector<Cmpt>& w,
            const Vector<Cmpt>& l
        );

        //- Construct given 6 components
        inline SpatialVector
        (
            const Cmpt& wx,
            const Cmpt& wy,
            const Cmpt& wz,
            const Cmpt& lx,
            const Cmpt& ly,
            const Cmpt& lz
        );

        //- Construct from Istream
        inline SpatialVector(Istream&);


    // Member Functions

        // Component access

            inline const Cmpt& wx() const;
            inline const Cmpt& wy() const;
            inline const Cmpt& wz() const;

            inline const Cmpt& lx() const;
            inline const Cmpt& ly() const;
            inline const Cmpt& lz() const;

            inline Cmpt& wx();
            inline Cmpt& wy();
            inline Cmpt& wz();

            inline Cmpt& lx();
            inline Cmpt& ly();
            inline Cmpt& lz();


        // Sub-vector access.

            //- Return the angular part of the spatial vector as a vector
            inline Vector<Cmpt> w() const;

            //- Return the linear part of the spatial vector as a vector
            inline Vector<Cmpt> l() const;


    // Member Operators

        //- Return the dual spatial vector
        inline dual operator*() const;
};


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

} // End namespace Foam

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

// Include inline implementations
#include "SpatialVectorI.H"

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

#endif

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