333 lines
16 KiB
C
333 lines
16 KiB
C
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//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// PPPPP H H EEEEE N N GGGGG L EEEEE III +
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// P P H H E NN N G L E I +
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// PPPPP HHHHH EEEEE N N N G GG L EEEEE I +
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// P H H E N N N G G L E I +
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// P H H EEEEE N N GGGGG LLLLL EEEEE III +
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//------------------------------------------------------------------------+
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// Platform for Hybrid Engineering Simulation of Flows +
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// China Aerodynamics Research and Development Center +
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// (C) Copyright, Since 2010 +
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//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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//! @file SixDofManager.h
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//! @brief Explain this file briefly.
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//! @author xxx.
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#pragma once
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using namespace std;
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namespace PHSPACE
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{
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namespace KINETIC_SCHEME
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{
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const int ADMAS_BASHFORTH_FIRST_ORDER = 0;
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const int ADMAS_BASHFORTH_SECOND_ORDER = 1;
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const int IMPLICIT_EULER_FIRST_ORDER = 2;
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const int IMPLICIT_EULER_SECOND_ORDER = 3;
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const int ADMAS_MOULTON_SECOND_ORDER = 4;
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const int ADMAS_MOULTON_THIRD_ORDER = 5;
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}
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class MassCharacter
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{
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protected:
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RDouble mass;
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RDouble momentOfInertiaTensorXX, momentOfInertiaTensorYY, momentOfInertiaTensorZZ, momentOfInertiaTensorXY, momentOfInertiaTensorXZ, momentOfInertiaTensorYZ;
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public:
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MassCharacter() { mass = momentOfInertiaTensorXX = momentOfInertiaTensorYY = momentOfInertiaTensorZZ = momentOfInertiaTensorXY = momentOfInertiaTensorXZ = momentOfInertiaTensorYZ = 0.0; };
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MassCharacter(RDouble mass, RDouble momentOfInertiaTensorXX, RDouble momentOfInertiaTensorYY, RDouble momentOfInertiaTensorZZ, RDouble momentOfInertiaTensorXY, RDouble momentOfInertiaTensorXZ, RDouble momentOfInertiaTensorYZ);
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~MassCharacter() {};
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void SetMassCharacter(RDouble mass, vector< RDouble > & massMatrix);
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void SetMassCharacter(RDouble mass, RDouble momentOfInertiaTensorXX, RDouble momentOfInertiaTensorYY, RDouble momentOfInertiaTensorZZ, RDouble momentOfInertiaTensorXY, RDouble momentOfInertiaTensorXZ, RDouble momentOfInertiaTensorYZ);
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void GetMassCharacter(RDouble & mass, RDouble & momentOfInertiaTensorXX, RDouble & momentOfInertiaTensorYY, RDouble & momentOfInertiaTensorZZ, RDouble & momentOfInertiaTensorXY, RDouble & momentOfInertiaTensorXZ, RDouble & momentOfInertiaTensorYZ);
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void GetMomentInertia(RDouble & momentOfInertiaTensorXX, RDouble & momentOfInertiaTensorYY, RDouble & momentOfInertiaTensorZZ, RDouble & momentOfInertiaTensorXY,RDouble & momentOfInertiaTensorXZ,RDouble & momentOfInertiaTensorYZ);
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void GetMomentInertia(vector< RDouble > & momentOfInertia);
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RDouble GetMass(){ return mass; };
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RDouble GetMomentOfInertiaTensorXX() { return momentOfInertiaTensorXX; };
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RDouble GetMomentOfInertiaTensorYY() { return momentOfInertiaTensorYY; };
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RDouble GetMomentOfInertiaTensorZZ() { return momentOfInertiaTensorZZ; };
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RDouble GetMomentOfInertiaTensorXY() { return momentOfInertiaTensorXY; };
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RDouble GetMomentOfInertiaTensorXZ() { return momentOfInertiaTensorXZ; };
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RDouble GetMomentOfInertiaTensorYZ() { return momentOfInertiaTensorYZ; };
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public:
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RDouble ** GetMomentOfInertiaTensor();
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RDouble ** GetInverseMomentOfInertiaTensor();
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};
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class SixDofParameter
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{
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protected:
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RDouble referenceLength;
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RDouble massCenterX, massCenterY, massCenterZ;
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RDouble massCenterVelocityX, massCenterVelocityY, massCenterVelocityZ;
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RDouble eulerAngleAlpha, eulerAngleBeta, eulerAngleGama;
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RDouble angularVelocityX, angularVelocityY, angularVelocityZ;
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public:
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SixDofParameter();
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~SixDofParameter() {};
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void SetMassCenterX(RDouble massCenterX){ this->massCenterX = massCenterX; };
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void SetMassCenterY(RDouble massCenterY){ this->massCenterY = massCenterY; };
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void SetMassCenterZ(RDouble massCenterZ){ this->massCenterZ = massCenterZ; };
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void SetMassCenter (RDouble massCenterX, RDouble massCenterY, RDouble massCenterZ)
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{
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this->massCenterX = massCenterX;
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this->massCenterY = massCenterY;
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this->massCenterZ = massCenterZ;
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};
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void SetMassCenterVelocityX(RDouble massCenterVelocityX){ this->massCenterVelocityX = massCenterVelocityX; };
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void SetMassCenterVelocityY(RDouble massCenterVelocityY){ this->massCenterVelocityY = massCenterVelocityY; };
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void SetMassCenterVelocityZ(RDouble massCenterVelocityZ){ this->massCenterVelocityZ = massCenterVelocityZ; };
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void SetMassCenterVelocity (RDouble massCenterVelocityX, RDouble massCenterVelocityY, RDouble massCenterVelocityZ)
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{
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this->massCenterVelocityX = massCenterVelocityX;
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this->massCenterVelocityY = massCenterVelocityY;
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this->massCenterVelocityZ = massCenterVelocityZ;
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};
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void SetEulerAngleAlpha(RDouble eulerAngleAlpha) { this->eulerAngleAlpha = eulerAngleAlpha; };
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void SetEulerAngleBeta (RDouble eulerAngleBeta) { this->eulerAngleBeta = eulerAngleBeta; };
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void SetEulerAngleGama (RDouble eulerAngleGama) { this->eulerAngleGama = eulerAngleGama; };
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void SetEulerAngle (RDouble eulerAngleGama, RDouble eulerAngleBeta, RDouble eulerAngleAlpha)
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{
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this->eulerAngleGama = eulerAngleGama;
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this->eulerAngleBeta = eulerAngleBeta;
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this->eulerAngleAlpha = eulerAngleAlpha;
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};
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void SetAngularVelocityX(RDouble angularVelocityX) { this->angularVelocityX = angularVelocityX; };
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void SetAngularVelocityY(RDouble angularVelocityY) { this->angularVelocityY = angularVelocityY; };
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void SetAngularVelocityZ(RDouble angularVelocityZ) { this->angularVelocityZ = angularVelocityZ; };
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void SetAngularVelocity(RDouble angularVelocityX, RDouble angularVelocityY, RDouble angularVelocityZ)
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{
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this->angularVelocityX = angularVelocityX;
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this->angularVelocityY = angularVelocityY;
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this->angularVelocityZ = angularVelocityZ;
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};
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RDouble GetMassCenterX() { return massCenterX; };
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RDouble GetMassCenterY() { return massCenterY; };
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RDouble GetMassCenterZ() { return massCenterZ; };
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void GetMassCenter(RDouble & massCenterX, RDouble & massCenterY, RDouble & massCenterZ)
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{
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massCenterX = this->massCenterX;
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massCenterY = this->massCenterY;
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massCenterZ = this->massCenterZ;
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};
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RDouble GetNondimensionalMassCenterX();
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RDouble GetNondimensionalMassCenterY();
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RDouble GetNondimensionalMassCenterZ();
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void GetNondimensionalMassCenterVector(vector< RDouble > & nondimensionalMassCenterVector);
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void GetNondimensionalMassCenter(RDouble & dimensionlessMassCenterX, RDouble & dimensionlessMassCenterY, RDouble & dimensionlessMassCenterZ);
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RDouble GetMassCenterVelocityX() { return massCenterVelocityX; };
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RDouble GetMassCenterVelocityY() { return massCenterVelocityY; };
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RDouble GetMassCenterVelocityZ() { return massCenterVelocityZ; };
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void GetMassCenterVelocity(RDouble & massCenterVelocityX, RDouble & massCenterVelocityY, RDouble & massCenterVelocityZ)
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{
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massCenterVelocityX = this->massCenterVelocityX;
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massCenterVelocityY = this->massCenterVelocityY;
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massCenterVelocityZ = this->massCenterVelocityZ;
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};
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RDouble GetEulerAngleAlpha() { return eulerAngleAlpha; };
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RDouble GetEulerAngleBeta() { return eulerAngleBeta ; };
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RDouble GetEulerAngleGama() { return eulerAngleGama ; };
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void GetEulerAngle(RDouble & eulerAngleGama, RDouble & eulerAngleBeta, RDouble & eulerAngleAlpha)
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{
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eulerAngleGama = this->eulerAngleGama;
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eulerAngleBeta = this->eulerAngleBeta;
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eulerAngleAlpha = this->eulerAngleAlpha;
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};
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void GetEulerAngleContainer(vector< RDouble > & eulerAngleContainer)
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{
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return this->GetEulerAngle(eulerAngleContainer[ 0 ], eulerAngleContainer[ 1 ], eulerAngleContainer[ 2 ]);
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};
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RDouble GetAngularVelocityX() { return angularVelocityX; };
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RDouble GetAngularVelocityY() { return angularVelocityY; };
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RDouble GetAngularVelocityZ() { return angularVelocityZ; };
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void GetAngularVelocity(RDouble & angularVelocityX, RDouble & angularVelocityY, RDouble & angularVelocityZ)
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{
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angularVelocityX = this->angularVelocityX;
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angularVelocityY = this->angularVelocityY;
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angularVelocityZ = this->angularVelocityZ;
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};
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void GetAngularVelocityContainer(vector< RDouble > & angularVelocityContainer)
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{
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return this->GetAngularVelocity(angularVelocityContainer[ 0 ], angularVelocityContainer[ 1 ], angularVelocityContainer[ 2 ]);
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}
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public:
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void GetGeneralVariableContainer(vector< RDouble > & generalVariableContainer);
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void SetGeneralVariableContainer(RDouble * generalVariableContainer);
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void SetGeneralVariableContainer(vector< RDouble > & massCenter, vector< RDouble >& attitudeAngle,
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vector< RDouble > &massCenterVelocity, vector< RDouble > &angularVelocity);
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void UpdateEulerAngle (RDouble * eulerAngleVariationContainer);
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void UpdateAngularVelocity (RDouble * angularVelocityVariationContainer);
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};
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class SixDofSolver;
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class SixDofSolverManager
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{
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protected:
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int numberOfMovingBodies;
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SixDofSolver ** sixDofSolverContainer;
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public:
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SixDofSolverManager ();
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~SixDofSolverManager();
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public:
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void Initialize();
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void Restart();
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void Run();
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void Post();
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void Dump();
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void DumpRestart(fstream & file);
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void ResetMassCenter();
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protected:
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void AllocateSixDofSolverContainer();
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public:
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MassCharacter * GetMassCharacter (int bodyIndex);
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SixDofParameter * GetSixDofParameterN1(int bodyIndex);
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SixDofParameter * GetSixDofParameterN (int bodyIndex);
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SixDofParameter * GetSixDofParameter (int bodyIndex);
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SixDofSolver * GetSixDofSolver(int bodyIndex) { return sixDofSolverContainer[ bodyIndex ]; }
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};
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class SixDofSolver
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{
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public:
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SixDofSolver(SixDofSolverManager * sixDofSolverManager);
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virtual ~SixDofSolver();
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protected:
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int bodyIndex;
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int numberOfTimeLayers;
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int resetMassCenter;
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SixDofSolverManager * sixDofSolverManager;
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vector< SixDofParameter * > sixDofParameterContainer;
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vector< vector< RDouble > > sixDofForceContainer;
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MassCharacter * massCharacter;
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//<2F>ǶȻ<C7B6><C8BB>Ȼ<EFBFBD><C8BB><EFBFBD>
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RDouble DegToRad, RadToDeg;
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public:
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virtual void Initialize(int bodyIndexIn);
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void Restart();
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void Run();
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void Post();
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void UpdateUnsteadyTerm();
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protected:
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void AllocateAllVariables();
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void AllocateSixDofParameter();
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void AllocateSixDofForceContainer();
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void AllocateMassCharacter();
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void InitializeMassCharacter();
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void InitializeSixDofByParameter();
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void DeallocateAllVariables();
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public:
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virtual void InitializeSixDofByFiles(fstream & file);
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virtual void DumpRestartSixDofSolver(fstream & file);
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virtual void ResetMassCenter();
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public:
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SixDofParameter * GetSixDofParameter(int iTimeLayer) { return sixDofParameterContainer[ iTimeLayer ]; };
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vector< RDouble > & GetForceVector (int iTimeLayer) { return sixDofForceContainer [ iTimeLayer ]; }
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MassCharacter * GetMassCharacter() { return massCharacter; };
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int GetNumberOfTimeLayers() { return numberOfTimeLayers; }
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void SetNumberOfTimeLayers(int numberOfTimeLayers) { this->numberOfTimeLayers = numberOfTimeLayers; }
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protected:
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void MovingByFile ();
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void Stationary ();
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void SolveSixDofEquation ();
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void ModifyForceAndSixDofInformationForXYSymmetryCase();
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void OscillatingInXDirection();
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void OscillatingInYDirection();
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void Pitching ();
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void Yawing ();
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void Rolling ();
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void XDirectionOnly ();
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void YDirectionOnly ();
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void RotationInXDirection ();
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void RotationInZDirection ();
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void ModifyForceAndSixDofInformationForPitchingOnly ();
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void ModifyForceAndSixDofInformationForRollingOnly ();
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void ModifyForceAndSixDofInformationForPitchingAndRollingOnly();
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void ReadSixDofParameterFromFile();
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void Rotation_Rudder_Test1 ();
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protected:
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void GetSixDofFlux(SixDofParameter * sixDofParameter, MassCharacter * massCharacter, vector< RDouble > & force, vector< RDouble > & generalSixDofFlux);
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void ComputeRightHandSideOfRigidBodyTranslationalMotionEquation (SixDofParameter * sixDofParameter, MassCharacter * massCharacter, vector< RDouble > & force, vector< RDouble > & generalSixDofFlux);
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void ComputeRightHandSideOfRigidBodyTranslationalDynamicsEquation(SixDofParameter * sixDofParameter, MassCharacter * massCharacter, vector< RDouble > & force, vector< RDouble > & generalSixDofFlux);
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void ComputeRightHandSideOfRigidBodyRotationalMotionEquation (SixDofParameter * sixDofParameter, MassCharacter * massCharacter, vector< RDouble > & force, vector< RDouble > & generalSixDofFlux);
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void ComputeRightHandSideOfRigidBodyRotationalDynamicsEquation (SixDofParameter * sixDofParameter, MassCharacter * massCharacter, vector< RDouble > & force, vector< RDouble > & generalSixDofFlux);
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void ComputeSixDofForceTimeSequenceContainer();
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void GetDimensionalTotalForceAndMomentOfBody(vector< RDouble > & dimensionalGeneralForceContainer, int iTimeLayer);
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void GetMassCenterAndEulerAngleContainer(vector< RDouble > & massCenterContainer, vector< RDouble > & eulerAngleContainer, int iTimeLayer);
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void GetMomentAboutMassCenterInInertialFrame(vector< RDouble > & massCenterContainer, vector< RDouble > & totalForceVector, vector< RDouble > & momentVector, vector< RDouble > & momentAboutMassCenterInInertialFrame);
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void GetDimensionalAdditionalForceAndMomentOfBody(vector< RDouble > & dimensionalGeneralForceContainer, int iTimeLayer);
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void GetDimensionalAdditionalForceAndMomentOfBodyByParameter(vector< RDouble > & dimensionalGeneralForceContainer, int iTimeLayer);
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void ComputeCurrentSixDofVariables(vector< vector< RDouble > > & qContainer, vector< vector< RDouble > > & fluxContainer, int numberOfEquations);
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void ComputeCurrentSixDofVariables(RDouble * q, RDouble * qN, RDouble * qN1, RDouble * fluxM, RDouble * fluxN, RDouble * fluxN1, int numberOfEquations);
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void GetDimensionalAerodynamicForceAndMoment(vector< RDouble > & dimensionalAerodynamicForce, vector< RDouble > & dimensionalAerodynamicMoment, int bodyIndex, int iTimeLayer);
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public:
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void GetDimensionalAerodynamicForceAndMomentOfBody (vector< RDouble > & dimensionalGeneralAerodynamicForceContainer, int iTimeLayer);
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void GetDimensionalAerodynamicForceAndMomentBodyFrame(vector< RDouble > & dimensionalGeneralAerodynamicForceContainer, int iTimeLayer);
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void GetDimensionalAerodynamicForceAndMomentInerFrame(vector< RDouble > & dimensionalGeneralAerodynamicForceContainer, int iTimeLayer);
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public:
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void DumpSixDofSolverInformation();
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protected:
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void DumpSixDofParameterInformation();
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void DumpSixDofParameterInformation(fstream & file);
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void DumpAleForceInformation();
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void DumpAleForceInformationBodyFrame(fstream & file);
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void DumpAleForceInformationInerFrame(fstream & file);
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};
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SixDofParameter * GetSixDofParameter (int bodyIndex);
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void GetSixDofCoefficients(RDouble & a, RDouble & b, RDouble & c, RDouble & d, RDouble & e, RFloat & relaxParameter);
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void ConvertVectorFromInertialCoordinateSystemToBodyCoordinateSystem(vector< RDouble > & vectorInInertialFrame, vector< RDouble > & angleVector, vector< RDouble > & massCenter, vector< RDouble > & vectorInBodyFrame);
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void ConvertVectorFromBodyCoordinateSystemToInertialCoordinateSystem(vector< RDouble > & vectorInBodyFrame, vector< RDouble > & angleVector, vector< RDouble > & massCenter, vector< RDouble > & vectorInInertialFrame);
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void ConvertVectorFromInertialCoordinateSystemToBodyCoordinateSystem(vector< RDouble > & vectorInInertialFrame, vector< RDouble > & angleVector, vector< RDouble > & vectorInBodyFrame);
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void ConvertVectorFromBodyCoordinateSystemToInertialCoordinateSystem(vector< RDouble > & vectorInBodyFrame, vector< RDouble > & angleVector, vector< RDouble > & vectorInInertialFrame);
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void RotateAboutAxisX(vector< RDouble > & vectorIn, RDouble rotateAngle, vector< RDouble > & vectorOut);
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void RotateAboutAxisY(vector< RDouble > & vectorIn, RDouble rotateAngle, vector< RDouble > & vectorOut);
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void RotateAboutAxisZ(vector< RDouble > & vectorIn, RDouble rotateAngle, vector< RDouble > & vectorOut);
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}
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