// This code implementation is the intellectual property of
// the RD44 GEANT4 collaboration.
//
// By copying, distributing or modifying the Program (or any work
// based on the Program) you indicate your acceptance of this statement,
// and all its terms.
//
// $Id: G4RotationMatrix.icc,v 1.1 1999/01/08 16:31:34 gunter Exp $
// GEANT4 tag $Name: geant4-00-01 $
//
// Inline functions for class G4RotationMatrix
// Converted from CLHEP:
// Author: Leif Lonnblad
//
// History:
// 30.11.94 P.Kent

inline G4RotationMatrix & G4RotationMatrix::operator = (const G4RotationMatrix & m) {
  xx = m.xx;
  xy = m.xy;
  xz = m.xz;
  yx = m.yx;
  yy = m.yy;
  yz = m.yz;
  zx = m.zx;
  zy = m.zy;
  zz = m.zz;
  return *this;
}

inline G4bool G4RotationMatrix::operator == (const G4RotationMatrix& m) const
{
    return (  (xx == m.xx)
	      &&(xy == m.xy)
	      &&(xz == m.xz)
	      &&(yx == m.yx)
	      &&(yy == m.yy)
	      &&(yz == m.yz)
	      &&(zx == m.zx)
	      &&(zy == m.zy)
	      &&(zz == m.zz) ) ? true : false;
} 

inline G4ThreeVector G4RotationMatrix::operator * (const G4ThreeVector & p) const {
  return G4ThreeVector(xx*p.x() + xy*p.y() + xz*p.z(),
		     yx*p.x() + yy*p.y() + yz*p.z(),
		     zx*p.x() + zy*p.y() + zz*p.z());
}

inline G4RotationMatrix & G4RotationMatrix::operator *= (const G4RotationMatrix & m) {
  return *this = operator * (m);
}

inline G4RotationMatrix & G4RotationMatrix::transform(const G4RotationMatrix & m) {
  return *this = m.operator * (*this);
}

inline G4RotationMatrix G4RotationMatrix::inverse() const {
  G4RotationMatrix m(xx, yx, zx, xy, yy, zy, xz, yz, zz);
  return m;
}

inline G4RotationMatrix & G4RotationMatrix::invert() {
  return *this=inverse();
}

inline G4RotationMatrix & G4RotationMatrix::rotate(double psi, const G4ThreeVector * p) {
  return rotate(psi, *p);
}

inline G4RotationMatrix::G4RotationMatrix(double mxx, double mxy, double mxz,
			 double myx, double myy, double myz,
			 double mzx, double mzy, double mzz)
: xx(mxx), xy(mxy), xz(mxz), yx(myx), yy(myy), yz(myz),
  zx(mzx), zy(mzy), zz(mzz) {}

inline double G4RotationMatrix::phiX() const
{
    double radang;
    if (yx) radang=atan2(yx,xx);
    else radang=0.0;
    return radang;
}

inline double G4RotationMatrix::phiY() const
{
    double radang;
    if (yy) radang=atan2(yy,xy);
    else radang=0.0;
    return radang;
}

inline double G4RotationMatrix::phiZ() const
{
    double radang;
    if (yz) radang=atan2(yz,xz);
    else radang=0.0;
    return radang;
}

inline double G4RotationMatrix::thetaX() const
{
//    double zang=xz;
//    if (zang>=1.0) return 0;
//    else if (zang <=1.0) return 180.0;
//    else return acos(zang);
    return acos(xz);
}
inline double G4RotationMatrix::thetaY() const

{
//Angs should always be <1.0 && >-1.0
//    double zang=yz;
//    if (zang>=1.0) return 0;
//    else if (zang <=1.0) return 180.0;
//    else return acos(zang);
    return acos(yz);
}

inline double G4RotationMatrix::thetaZ() const
{
//Angs should always be <1.0 && >-1.0
//    double zang=zz;
//    if (zang>=1.0) return 0;
//    else if (zang <=1.0) return 180.0;
//    else return acos(zang);
    return acos(zz);
}

// Return zero if identity, else non-zero
// Does not use `fuzzy' check - must be exactly identity
inline G4bool G4RotationMatrix::isIdentity() const
{
    return  (xx==1.0 && xy==0.0 && xz==0.0 &&
	     yx==0.0 && yy==1.0 && yz==0.0 &&
	     zx==0.0 && zy==0.0 && zz==1.0    ) ? true : false;
             
}