calculate_QP_position.hpp

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#pragma once
 
#include <Kokkos_Core.hpp>
 
#include "math/quaternion_operations.hpp"
 
namespace kynema::beams {
 
template <typename DeviceType>
struct CalculateQPPosition {
    template <typename ValueType>
    using View = Kokkos::View<ValueType, DeviceType>;
    template <typename ValueType>
    using ConstView = typename View<ValueType>::const_type;
 
    size_t element;
    ConstView<double** [3]> qp_x0_;
    ConstView<double** [3]> qp_u_;
    ConstView<double** [4]> qp_r0_;
    ConstView<double** [4]> qp_r_;
    View<double** [7]> qp_x_;
 
    KOKKOS_FUNCTION void operator()(int qp) const {
        using Kokkos::ALL;
        using Kokkos::subview;
 
        // Calculate current position
        qp_x_(element, qp, 0) = qp_x0_(element, qp, 0) + qp_u_(element, qp, 0);
        qp_x_(element, qp, 1) = qp_x0_(element, qp, 1) + qp_u_(element, qp, 1);
        qp_x_(element, qp, 2) = qp_x0_(element, qp, 2) + qp_u_(element, qp, 2);
 
        // Calculate current orientation
        auto RR0_data = Kokkos::Array<double, 4>{};
        auto RR0 = View<double[4]>(RR0_data.data());
        math::QuaternionCompose(
            subview(qp_r_, element, qp, ALL), subview(qp_r0_, element, qp, ALL), RR0
        );
        qp_x_(element, qp, 3) = RR0(0);
        qp_x_(element, qp, 4) = RR0(1);
        qp_x_(element, qp, 5) = RR0(2);
        qp_x_(element, qp, 6) = RR0(3);
    }
};
 
}  // namespace kynema::beams