Rotation<Frenet<ThisFrame>, ThisFrame>
DynamicFrame<InertialFrame, ThisFrame>::FrenetFrame(
Instant const& t,
DegreesOfFreedom<ThisFrame> const& degrees_of_freedom) const {
Velocity<ThisFrame> const& velocity = degrees_of_freedom.velocity();
Vector<Acceleration, ThisFrame> const acceleration =
GeometricAcceleration(t, degrees_of_freedom);
Vector<Acceleration, ThisFrame> normal_acceleration = acceleration;
velocity.template Orthogonalize<Acceleration>(&normal_acceleration);
Vector<double, ThisFrame> tangent = Normalize(velocity);
Vector<double, ThisFrame> normal = Normalize(normal_acceleration);
Bivector<double, ThisFrame> binormal = Wedge(tangent, normal);
// Maps |tangent| to {1, 0, 0}, |normal| to {0, 1, 0}, and |binormal| to
// {0, 0, 1}.
return Rotation<Frenet<ThisFrame>, ThisFrame>(
R3x3Matrix(tangent.coordinates(),
normal.coordinates(),
binormal.coordinates()).Transpose());
}
Rotation<ThisFrame, Frame>
BodySurfaceFrameField<Frame, ThisFrame>::FromThisFrame(
Position<Frame> const& q) const {
Displacement<Frame> const from_body_centre = q - body_position_;
Vector<double, Frame> const zenith = Normalize(from_body_centre);
double const axis_projection =
InnerProduct(zenith, body_axis_);
double const axis_projection² = axis_projection * axis_projection;
// The unit vector |north| is directed along the polar axis. Note that λ is
// positive.
double const λ = 1 / Sqrt(1 - axis_projection²);
auto const μ = -λ * axis_projection;
Vector<double, Frame> const north = λ * body_axis_ + μ * zenith;
Vector<double, Frame> const nadir = -zenith;
Bivector<double, Frame> const east = Wedge(nadir, north);
return Rotation<ThisFrame, Frame>(north, east, nadir);
}
bool Inicializer::initConfig(FILE** infile, std::vector<Particle > &pvec) {
int err,fields,tmp_type;
long j,current;
char * line, line2[STRLEN];
size_t line_size = (STRLEN + 1) * sizeof(char);
line = (char *) malloc(line_size);
//Particle chorig[MAXCHL];
double maxlength = 0.0;
for(int i = 0; i < MAXT; i++){
if(maxlength < topo.ia_params[i][i].len[0])
maxlength = topo.ia_params[i][i].len[0];
}
if(myGetLine(&line, &line_size, *infile) == -1){
fprintf (stderr, "ERROR: Could not read box size (Inicializer::initConfig)\n\n");
return false;
}
strip_comment(line);
trim(line);
#ifdef WEDGE
double angle, innerR, outerR;
Vector box;
if (sscanf(line, "%le %le %le %le", &outerR, &innerR, &box.z, &angle) != 4) {
if(myGetLine(&line, &line_size, infile) == -1){
fprintf (stderr, "ERROR: Could not read box size.\n\n");
return false;
}
aftercommand(line2,line,BOXSEP);
strip_comment(line2);
trim(line2);
if (sscanf(line2, "%le %le %le %le", &box.z, &angle, &outerR, &innerR) != 4) {
fprintf (stderr, "ERROR: Could not read box size.\n\n");
return false;
}
}
conf->geo = Wedge(box.z, angle, outerR, innerR); //(double box.z, double angle, double outerR, double innerR)
#else
Vector box;
if (sscanf(line, "%le %le %le", &(box.x), &(box.y), &(box.z) ) != 3) {
if(myGetLine(&line, &line_size, *infile) == -1){
fprintf (stderr, "ERROR: Could not read box size2.\n\n");
return false;
}
aftercommand(line2,line,BOXSEP);
strip_comment(line2);
trim(line2);
if (sscanf(line2, "%le %le %le", &(box.x), &(box.y), &(box.z) ) != 3) {
fprintf (stderr, "ERROR: Could not read box size3.\n\n");
return false;
}
}
conf->geo = Cuboid(box);
#endif
if (conf->geo.box.x < maxlength * 2.0 + 2.0) {
printf ("WARNING: x (%f) geo.box length is less than two spherocylinders long (%f).\n\n", conf->geo.box.x, maxlength * 2.0 + 2.0);
exit(1);
}
if (conf->geo.box.y < maxlength * 2.0 + 2.0) {
printf ("WARNING: y (%f) geo.box length is less than two spherocylinders long (%f).\n\n", conf->geo.box.y, maxlength * 2.0 + 2.0);
exit(1);
}
if (conf->geo.box.z < maxlength * 2.0 + 2.0) {
printf ("WARNING: z (%f) geo.box length is less than two spherocylinders long (%f).\n\n", conf->geo.box.z, maxlength * 2.0 + 2.0);
exit(1);
}
DEBUG_INIT("Position of the particle");
for(unsigned int i=0; i < pvec.size(); i++) {
if(myGetLine(&line, &line_size, *infile) == -1){
break;
}
strip_comment(line);
trim(line);
fields = sscanf(line, "%le %le %le %le %le %le %le %le %le %d",
&pvec[i].pos.x, &pvec[i].pos.y, &pvec[i].pos.z,
&pvec[i].dir.x, &pvec[i].dir.y, &pvec[i].dir.z,
&pvec[i].patchdir[0].x, &pvec[i].patchdir[0].y, &pvec[i].patchdir[0].z,
&pvec[i].switched);
pvec[i].patchdir[1].x = pvec[i].patchdir[1].y = pvec[i].patchdir[1].z =0;
pvec[i].chdir[0].x = pvec[i].chdir[0].y = pvec[i].chdir[0].z =0;
pvec[i].chdir[1].x = pvec[i].chdir[1].y = pvec[i].chdir[1].z =0;
DEBUG_INIT("Line: %s\nNumber of Fields: %d", line, fields);
if (fields == 9){
pvec[i].switched = 0;
fprintf(stdout, "WARNING: Particle %u is assumed to be not switched!\n", i+1);
fields++;
}
if (fields != 10) {
fprintf (stderr, "ERROR: Could not read coordinates for particle %u.\n \
Did you specify box size at the begining?\n\n", i+1);
free(line);
exit (1);
}
/* Scale position vector to the unit cube */
#ifdef WEDGE
pvec[i].pos.x /= conf->geo.box.x;
pvec[i].pos.y /= conf->geo.box.y;
pvec[i].pos.z /= conf->geo.box.z;
conf->geo.usePBC(&pvec[i]);
#else
// For analysis of sheet
//conf->geo.usePBC2(&pvec[i]); // range 0 - box
pvec[i].pos.x /= conf->geo.box.x;
pvec[i].pos.y /= conf->geo.box.y;
pvec[i].pos.z /= conf->geo.box.z;
// for compatibility unfortunately
conf->geo.usePBC(&pvec[i]);
#endif
if ((topo.ia_params[pvec[i].type][pvec[i].type].geotype[0]<SP)&&( DOT(pvec[i].dir, pvec[i].dir) < ZEROTOL )) {
//DEBUG_INIT("Geotype = %d < %d", conf->pvec[i].geotype,SP);
fprintf (stderr,
"ERROR: Null direction vector supplied for particle %u.\n\n", i+1);
free(line);
return false;
} else {
pvec[i].dir.normalise();
}
if ((topo.ia_params[pvec[i].type][pvec[i].type].geotype[0]<SP)&&( DOT(pvec[i].patchdir[0], pvec[i].patchdir[0]) < ZEROTOL )) {
fprintf (stderr,
"ERROR: Null patch vector supplied for particle %u.\n\n", i+1);
free(line);
return false;
} else {
ortogonalise(&pvec[i].patchdir[0],&pvec[i].dir);
pvec[i].patchdir[0].normalise();
}
// Switch the type
if(pvec[i].switched){
if(pvec[i].switchtype == 0){
fprintf(stderr, "ERROR: Particle %u switched even though it has no switchtype", i);
free(line);
exit(1);
}
tmp_type = pvec[i].type;
pvec[i].type = pvec[i].switchtype;
pvec[i].switchtype = tmp_type;
}
DEBUG_INIT("%ld:\t%lf\t%lf\t%lf", i, pvec[i].pos.x, pvec[i].pos.y, pvec[i].pos.z);
}
