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RotationTensor.C
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9 
10 #include "RotationTensor.h"
11 #include "libmesh/libmesh.h"
12 
14 
15 RotationTensor::RotationTensor(const RealVectorValue & euler_angles) { update(euler_angles); }
16 
17 void
19 {
20  zero();
21 
23  a(axis) = 1.0;
24 
25  const Real s = std::sin(angle * libMesh::pi / 180.0);
26  const Real c = std::cos(angle * libMesh::pi / 180.0);
27 
28  // assemble row wise
29  _coords[0] = a * RealVectorValue(1.0, -c, -c);
30  _coords[1] = a * RealVectorValue(0.0, 0.0, s);
31  _coords[2] = a * RealVectorValue(0.0, -s, 0.0);
32 
33  _coords[3] = a * RealVectorValue(0.0, 0.0, -s);
34  _coords[4] = a * RealVectorValue(-c, 1.0, -c);
35  _coords[5] = a * RealVectorValue(s, 0.0, 0.0);
36 
37  _coords[6] = a * RealVectorValue(0.0, s, 0.0);
38  _coords[7] = a * RealVectorValue(-s, 0.0, 0.0);
39  _coords[8] = a * RealVectorValue(-c, -c, 1.0);
40 }
41 
42 void
44 {
45  const Real phi_1 = euler_angles(0) * (libMesh::pi / 180.0);
46  const Real Phi = euler_angles(1) * (libMesh::pi / 180.0);
47  const Real phi_2 = euler_angles(2) * (libMesh::pi / 180.0);
48 
49  const Real c1 = std::cos(phi_1);
50  const Real c2 = std::cos(Phi);
51  const Real c3 = std::cos(phi_2);
52 
53  const Real s1 = std::sin(phi_1);
54  const Real s2 = std::sin(Phi);
55  const Real s3 = std::sin(phi_2);
56 
57  // doing a Z1, X2, Z3 rotation
58  // RealTensorValue is formed row-wise
59 
60  _coords[0] = c1 * c3 - c2 * s1 * s3; // R11
61  _coords[3] = -c1 * s3 - c2 * c3 * s1; // R21
62  _coords[6] = s1 * s2; // R31
63 
64  _coords[1] = c3 * s1 + c1 * c2 * s3; // R12
65  _coords[4] = c1 * c2 * c3 - s1 * s3; // R22
66  _coords[7] = -c1 * s2; // R32
67 
68  _coords[2] = s2 * s3; // R13
69  _coords[5] = c3 * s2; // R23
70  _coords[8] = c2; // R33
71 }
Axis
axis for single axis rotation constructor
static const std::string axis
Definition: NS.h:27
const Number zero
DIE A HORRIBLE DEATH HERE typedef LIBMESH_DEFAULT_SCALAR_TYPE Real
RotationTensor(Axis axis, Real angle)
single axis rotation (in degrees)
void update(Axis axis, Real angle)
reforms the rotation matrix according to axis and angle.
const Real pi