Gabriele Cosmo
60 lines
1.9 KiB
C++
60 lines
1.9 KiB
C++
//
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// ********************************************************************
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// * This Software is part of the AIDA Unified Solids Library package *
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// * See: https://aidasoft.web.cern.ch/USolids *
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// ********************************************************************
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//
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// $Id:$
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//
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// --------------------------------------------------------------------
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//
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// UTransform3D
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//
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// Class description:
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//
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// UTransform3D: General transformation made by rotation + translation
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//
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// 19.10.12 Marek Gayer
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// Created from original implementation in CLHEP
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// --------------------------------------------------------------------
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#ifndef USOLIDS_UTransform3D
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#define USOLIDS_UTransform3D
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#include "UVector3.hh"
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class UTransform3D
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{
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public:
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UVector3 fTr; // Translation
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double fRot[9]; // Rotation
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UTransform3D(); // Initialize to identity
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UTransform3D(double tx, double ty, double tz,
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double phi = 0., double theta = 0., double psi = 0.);
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UTransform3D(const UTransform3D& other);
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~UTransform3D() {}
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virtual void RotateX(double angle);
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virtual void RotateY(double angle);
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virtual void RotateZ(double angle);
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void SetAngles(double phi, double theta, double psi);
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// Local<->global coordinate and vector conversions
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UVector3 GlobalPoint(const UVector3& local) const;
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UVector3 GlobalVector(const UVector3& local) const;
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UVector3 LocalPoint(const UVector3& global) const;
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UVector3 LocalVector(const UVector3& global) const;
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// Operators
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UTransform3D& operator = (const UTransform3D& other);
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UTransform3D& operator *= (const UTransform3D& other);
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UTransform3D& operator *= (const UVector3& vect);
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};
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// Vector-matrix multiplication
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UVector3 operator * (const UVector3& p, const UTransform3D& trans);
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#endif
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