Foam::tmp<Foam::pointField> Foam::RBD::rigidBodyMotion::transformPoints ( const label bodyID, const pointField& initialPoints ) const { // Calculate the transform from the initial state in the global frame // to the current state in the global frame spatialTransform X(X0(bodyID).inv() & X00(bodyID)); tmp<pointField> tpoints(new pointField(initialPoints.size())); pointField& points = tpoints.ref(); forAll(points, i) { points[i] = X.transformPoint(initialPoints[i]); }
inline void TrtrsmLLN ( UnitOrNonUnit diag, F alpha, const DistMatrix<F>& L, DistMatrix<F>& X, bool checkIfSingular ) { #ifndef RELEASE CallStackEntry entry("internal::TrtrsmLLN"); #endif const Grid& g = L.Grid(); // Matrix views DistMatrix<F> LTL(g), LTR(g), L00(g), L01(g), L02(g), LBL(g), LBR(g), L10(g), L11(g), L12(g), L20(g), L21(g), L22(g); DistMatrix<F> XTL(g), XTR(g), X00(g), X01(g), X02(g), XBL(g), XBR(g), X10(g), X11(g), X12(g), X20(g), X21(g), X22(g); // Temporary distributions DistMatrix<F,STAR,STAR> L11_STAR_STAR(g); DistMatrix<F,MC, STAR> L21_MC_STAR(g); DistMatrix<F,STAR,MR > X10_STAR_MR(g); DistMatrix<F,STAR,VR > X10_STAR_VR(g); DistMatrix<F,STAR,MR > X11_STAR_MR(g); DistMatrix<F,STAR,STAR> X11_STAR_STAR(g); // Start the algorithm ScaleTrapezoid( alpha, LOWER, X ); LockedPartitionDownDiagonal ( L, LTL, LTR, LBL, LBR, 0 ); PartitionDownDiagonal ( X, XTL, XTR, XBL, XBR, 0 ); while( XBR.Height() > 0 ) { LockedRepartitionDownDiagonal ( LTL, /**/ LTR, L00, /**/ L01, L02, /*************/ /******************/ /**/ L10, /**/ L11, L12, LBL, /**/ LBR, L20, /**/ L21, L22 ); RepartitionDownDiagonal ( XTL, /**/ XTR, X00, /**/ X01, X02, /*************/ /******************/ /**/ X10, /**/ X11, X12, XBL, /**/ XBR, X20, /**/ X21, X22 ); L21_MC_STAR.AlignWith( X20 ); X10_STAR_MR.AlignWith( X20 ); X11_STAR_MR.AlignWith( X21 ); //--------------------------------------------------------------------// L11_STAR_STAR = L11; X11_STAR_STAR = X11; X10_STAR_VR = X10; LocalTrsm ( LEFT, LOWER, NORMAL, diag, F(1), L11_STAR_STAR, X10_STAR_VR, checkIfSingular ); LocalTrtrsm ( LEFT, LOWER, NORMAL, diag, F(1), L11_STAR_STAR, X11_STAR_STAR, checkIfSingular ); X11 = X11_STAR_STAR; X11_STAR_MR = X11_STAR_STAR; MakeTriangular( LOWER, X11_STAR_MR ); X10_STAR_MR = X10_STAR_VR; X10 = X10_STAR_MR; L21_MC_STAR = L21; LocalGemm ( NORMAL, NORMAL, F(-1), L21_MC_STAR, X10_STAR_MR, F(1), X20 ); LocalGemm ( NORMAL, NORMAL, F(-1), L21_MC_STAR, X11_STAR_MR, F(1), X21 ); //--------------------------------------------------------------------// SlideLockedPartitionDownDiagonal ( LTL, /**/ LTR, L00, L01, /**/ L02, /**/ L10, L11, /**/ L12, /*************/ /******************/ LBL, /**/ LBR, L20, L21, /**/ L22 ); SlidePartitionDownDiagonal ( XTL, /**/ XTR, X00, X01, /**/ X02, /**/ X10, X11, /**/ X12, /*************/ /******************/ XBL, /**/ XBR, X20, X21, /**/ X22 ); } }