/*---------------------------------------------------------------------------*\
  =========                 |
  \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
   \\    /   O peration     |
    \\  /    A nd           | www.openfoam.com
     \\/     M anipulation  |
-------------------------------------------------------------------------------
    Copyright (C) 2016 OpenFOAM Foundation
    Copyright (C) 2019 OpenCFD Ltd.
-------------------------------------------------------------------------------
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::CompactSpatialTensorT

Description
    Templated 3D transposed compact spatial tensor derived from MatrixSpace
    used to represent transformations of spatial vectors of rigid bodies.

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

SourceFiles
    CompactSpatialTensorTI.H

See also
    Foam::MatrixSpace
    Foam::CompactSpatialTensor

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

#ifndef Foam_CompactSpatialTensorT_H
#define Foam_CompactSpatialTensorT_H

#include "CompactSpatialTensor.H"

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

namespace Foam
{

/*---------------------------------------------------------------------------*\
                     Class CompactSpatialTensor Declaration
\*---------------------------------------------------------------------------*/

template<class Cmpt>
class CompactSpatialTensorT
:
    public MatrixSpace<CompactSpatialTensorT<Cmpt>, Cmpt, 3, 6>
{

public:

    // Constructors

        //- Default construct
        CompactSpatialTensorT() = default;

        inline CompactSpatialTensorT(const Foam::zero);

        //- Construct given MatrixSpace of the same rank
        inline CompactSpatialTensorT
        (
            const typename CompactSpatialTensorT::msType&
        );

        //- Construct given 18 components
        inline CompactSpatialTensorT
        (
            const Cmpt& t00, const Cmpt& t01, const Cmpt& t02,
            const Cmpt& t10, const Cmpt& t11, const Cmpt& t12,
            const Cmpt& t20, const Cmpt& t21, const Cmpt& t22,
            const Cmpt& t30, const Cmpt& t31, const Cmpt& t32,
            const Cmpt& t40, const Cmpt& t41, const Cmpt& t42,
            const Cmpt& t50, const Cmpt& t51, const Cmpt& t52
        );

        //- Construct from Istream
        inline explicit CompactSpatialTensorT(Istream&);
};


// * * * * * * * * * * * * * * * * * Traits  * * * * * * * * * * * * * * * * //

//- Data are contiguous if component type is contiguous
template<class Cmpt>
struct is_contiguous<CompactSpatialTensorT<Cmpt>> : is_contiguous<Cmpt> {};

//- Data are contiguous label if component type is label
template<class Cmpt>
struct is_contiguous_label<CompactSpatialTensorT<Cmpt>>
:
    is_contiguous_label<Cmpt>
{};

//- Data are contiguous scalar if component type is scalar
template<class Cmpt>
struct is_contiguous_scalar<CompactSpatialTensorT<Cmpt>>
:
    is_contiguous_scalar<Cmpt>
{};


template<class Cmpt>
class typeOfTranspose<Cmpt, CompactSpatialTensor<Cmpt>>
{
public:

    typedef CompactSpatialTensorT<Cmpt> type;
};


template<class Cmpt>
class typeOfTranspose<Cmpt, CompactSpatialTensorT<Cmpt>>
{
public:

    typedef CompactSpatialTensor<Cmpt> type;
};


template<class Cmpt>
class typeOfInnerProduct
<
    Cmpt,
    CompactSpatialTensor<Cmpt>,
    CompactSpatialTensorT<Cmpt>
>
{
public:

    typedef SpatialTensor<Cmpt> type;
};


template<class Cmpt>
class typeOfInnerProduct
<
    Cmpt,
    CompactSpatialTensorT<Cmpt>,
    CompactSpatialTensor<Cmpt>
>
{
public:

    typedef Tensor<Cmpt> type;
};


template<class Cmpt>
class typeOfInnerProduct
<
    Cmpt,
    CompactSpatialTensorT<Cmpt>,
    SpatialVector<Cmpt>
>
{
public:

    typedef Vector<Cmpt> type;
};


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

} // End namespace Foam

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

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

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

#endif

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