Gabriele Cosmo
393 lines
11 KiB
Plaintext
393 lines
11 KiB
Plaintext
//
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// ********************************************************************
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// * DISCLAIMER *
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// * *
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// * The following disclaimer summarizes all the specific disclaimers *
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// * of contributors to this software. The specific disclaimers,which *
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// * govern, are listed with their locations in: *
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// * http://cern.ch/geant4/license *
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// * *
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// * Neither the authors of this software system, nor their employing *
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// * institutes,nor the agencies providing financial support for this *
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// * work make any representation or warranty, express or implied, *
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// * regarding this software system or assume any liability for its *
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// * use. *
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// * *
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// * This code implementation is the intellectual property of the *
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// * GEANT4 collaboration. *
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// * By copying, distributing or modifying the Program (or any work *
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// * based on the Program) you indicate your acceptance of this *
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// * statement, and all its terms. *
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// ********************************************************************
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//
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//
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// $Id: G4AffineTransform.icc,v 1.6 2002/01/08 12:38:05 gcosmo Exp $
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// GEANT4 tag $Name: geant4-05-00 $
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//
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//
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// G4AffineTransformation Inline implementation
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//
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inline G4AffineTransform::G4AffineTransform() :
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rxx(1),rxy(0),rxz(0),
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ryx(0),ryy(1),ryz(0),
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rzx(0),rzy(0),rzz(1),
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tx(0),ty(0),tz(0)
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{}
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inline G4AffineTransform::G4AffineTransform(const G4ThreeVector& tlate) :
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rxx(1),rxy(0),rxz(0),
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ryx(0),ryy(1),ryz(0),
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rzx(0),rzy(0),rzz(1),
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tx(tlate.x()),ty(tlate.y()),tz(tlate.z())
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{}
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inline G4AffineTransform::G4AffineTransform(const G4RotationMatrix& rot) :
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rxx(rot.xx()),rxy(rot.xy()),rxz(rot.xz()),
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ryx(rot.yx()),ryy(rot.yy()),ryz(rot.yz()),
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rzx(rot.zx()),rzy(rot.zy()),rzz(rot.zz()),
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tx(0),ty(0),tz(0)
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{}
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inline G4AffineTransform::G4AffineTransform( const G4RotationMatrix& rot,
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const G4ThreeVector& tlate ) :
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rxx(rot.xx()),rxy(rot.xy()),rxz(rot.xz()),
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ryx(rot.yx()),ryy(rot.yy()),ryz(rot.yz()),
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rzx(rot.zx()),rzy(rot.zy()),rzz(rot.zz()),
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tx(tlate.x()),ty(tlate.y()),tz(tlate.z())
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{}
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inline G4AffineTransform::G4AffineTransform( const G4RotationMatrix *rot,
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const G4ThreeVector& tlate) :
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tx(tlate.x()),ty(tlate.y()),tz(tlate.z())
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{
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if (rot)
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{
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rxx=rot->xx();rxy=rot->xy();rxz=rot->xz();
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ryx=rot->yx();ryy=rot->yy();ryz=rot->yz();
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rzx=rot->zx();rzy=rot->zy();rzz=rot->zz();
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}
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else
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{
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rxx=1; rxy=0; rxz=0;
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ryx=0; ryy=1; ryz=0;
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rzx=0; rzy=0; rzz=1;
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}
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}
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inline
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G4AffineTransform::
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G4AffineTransform( const G4double prxx,const G4double prxy,const G4double prxz,
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const G4double pryx,const G4double pryy,const G4double pryz,
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const G4double przx,const G4double przy,const G4double przz,
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const G4double ptx,const G4double pty,const G4double ptz) :
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rxx(prxx),rxy(prxy),rxz(prxz),
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ryx(pryx),ryy(pryy),ryz(pryz),
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rzx(przx),rzy(przy),rzz(przz),
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tx(ptx),ty(pty),tz(ptz)
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{}
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inline G4AffineTransform G4AffineTransform::operator * (const G4AffineTransform& tf) const
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{
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return G4AffineTransform(
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rxx*tf.rxx+rxy*tf.ryx+rxz*tf.rzx,
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rxx*tf.rxy+rxy*tf.ryy+rxz*tf.rzy,
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rxx*tf.rxz+rxy*tf.ryz+rxz*tf.rzz,
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ryx*tf.rxx+ryy*tf.ryx+ryz*tf.rzx,
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ryx*tf.rxy+ryy*tf.ryy+ryz*tf.rzy,
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ryx*tf.rxz+ryy*tf.ryz+ryz*tf.rzz,
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rzx*tf.rxx+rzy*tf.ryx+rzz*tf.rzx,
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rzx*tf.rxy+rzy*tf.ryy+rzz*tf.rzy,
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rzx*tf.rxz+rzy*tf.ryz+rzz*tf.rzz,
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tx*tf.rxx+ty*tf.ryx+tz*tf.rzx+tf.tx,
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tx*tf.rxy+ty*tf.ryy+tz*tf.rzy+tf.ty,
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tx*tf.rxz+ty*tf.ryz+tz*tf.rzz+tf.tz);
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}
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inline G4AffineTransform& G4AffineTransform::operator *= (const G4AffineTransform& tf)
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{
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// Use temporaries for `in place' compound transform computation
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G4double nrxx=rxx*tf.rxx+rxy*tf.ryx+rxz*tf.rzx;
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G4double nrxy=rxx*tf.rxy+rxy*tf.ryy+rxz*tf.rzy;
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G4double nrxz=rxx*tf.rxz+rxy*tf.ryz+rxz*tf.rzz;
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G4double nryx=ryx*tf.rxx+ryy*tf.ryx+ryz*tf.rzx;
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G4double nryy=ryx*tf.rxy+ryy*tf.ryy+ryz*tf.rzy;
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G4double nryz=ryx*tf.rxz+ryy*tf.ryz+ryz*tf.rzz;
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G4double nrzx=rzx*tf.rxx+rzy*tf.ryx+rzz*tf.rzx;
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G4double nrzy=rzx*tf.rxy+rzy*tf.ryy+rzz*tf.rzy;
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G4double nrzz=rzx*tf.rxz+rzy*tf.ryz+rzz*tf.rzz;
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G4double ntx=tx*tf.rxx+ty*tf.ryx+tz*tf.rzx+tf.tx;
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G4double nty=tx*tf.rxy+ty*tf.ryy+tz*tf.rzy+tf.ty;
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G4double ntz=tx*tf.rxz+ty*tf.ryz+tz*tf.rzz+tf.tz;
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tx=ntx; ty=nty; tz=ntz;
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rxx=nrxx; rxy=nrxy; rxz=nrxz;
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ryx=nryx; ryy=nryy; ryz=nryz;
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rzx=nrzx; rzy=nrzy; rzz=nrzz;
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return *this;
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}
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inline G4AffineTransform& G4AffineTransform::Product(const G4AffineTransform& tf1,
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const G4AffineTransform& tf2)
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{
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rxx=tf1.rxx*tf2.rxx + tf1.rxy*tf2.ryx + tf1.rxz*tf2.rzx;
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rxy=tf1.rxx*tf2.rxy + tf1.rxy*tf2.ryy + tf1.rxz*tf2.rzy;
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rxz=tf1.rxx*tf2.rxz + tf1.rxy*tf2.ryz + tf1.rxz*tf2.rzz;
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ryx=tf1.ryx*tf2.rxx + tf1.ryy*tf2.ryx + tf1.ryz*tf2.rzx;
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ryy=tf1.ryx*tf2.rxy + tf1.ryy*tf2.ryy + tf1.ryz*tf2.rzy;
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ryz=tf1.ryx*tf2.rxz + tf1.ryy*tf2.ryz + tf1.ryz*tf2.rzz;
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rzx=tf1.rzx*tf2.rxx + tf1.rzy*tf2.ryx + tf1.rzz*tf2.rzx;
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rzy=tf1.rzx*tf2.rxy + tf1.rzy*tf2.ryy + tf1.rzz*tf2.rzy;
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rzz=tf1.rzx*tf2.rxz + tf1.rzy*tf2.ryz + tf1.rzz*tf2.rzz;
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tx=tf1.tx*tf2.rxx + tf1.ty*tf2.ryx + tf1.tz*tf2.rzx + tf2.tx;
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ty=tf1.tx*tf2.rxy + tf1.ty*tf2.ryy + tf1.tz*tf2.rzy + tf2.ty;
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tz=tf1.tx*tf2.rxz + tf1.ty*tf2.ryz + tf1.tz*tf2.rzz + tf2.tz;
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return *this;
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}
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inline G4AffineTransform&
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G4AffineTransform::InverseProduct( const G4AffineTransform& tf1,
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const G4AffineTransform& tf2)
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{
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G4double itf2tx = - tf2.tx*tf2.rxx - tf2.ty*tf2.rxy - tf2.tz*tf2.rxz;
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G4double itf2ty = - tf2.tx*tf2.ryx - tf2.ty*tf2.ryy - tf2.tz*tf2.ryz;
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G4double itf2tz = - tf2.tx*tf2.rzx - tf2.ty*tf2.rzy - tf2.tz*tf2.rzz;
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rxx=tf1.rxx*tf2.rxx+tf1.rxy*tf2.rxy+tf1.rxz*tf2.rxz;
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rxy=tf1.rxx*tf2.ryx+tf1.rxy*tf2.ryy+tf1.rxz*tf2.ryz;
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rxz=tf1.rxx*tf2.rzx+tf1.rxy*tf2.rzy+tf1.rxz*tf2.rzz;
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ryx=tf1.ryx*tf2.rxx+tf1.ryy*tf2.rxy+tf1.ryz*tf2.rxz;
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ryy=tf1.ryx*tf2.ryx+tf1.ryy*tf2.ryy+tf1.ryz*tf2.ryz;
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ryz=tf1.ryx*tf2.rzx+tf1.ryy*tf2.rzy+tf1.ryz*tf2.rzz;
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rzx=tf1.rzx*tf2.rxx+tf1.rzy*tf2.rxy+tf1.rzz*tf2.rxz;
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rzy=tf1.rzx*tf2.ryx+tf1.rzy*tf2.ryy+tf1.rzz*tf2.ryz;
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rzz=tf1.rzx*tf2.rzx+tf1.rzy*tf2.rzy+tf1.rzz*tf2.rzz;
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tx=tf1.tx*tf2.rxx+tf1.ty*tf2.rxy+tf1.tz*tf2.rxz+itf2tx;
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ty=tf1.tx*tf2.ryx+tf1.ty*tf2.ryy+tf1.tz*tf2.ryz+itf2ty;
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tz=tf1.tx*tf2.rzx+tf1.ty*tf2.rzy+tf1.tz*tf2.rzz+itf2tz;
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return *this;
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}
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inline
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G4ThreeVector G4AffineTransform::TransformPoint(const G4ThreeVector& vec) const
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{
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return G4ThreeVector( vec.x()*rxx + vec.y()*ryx + vec.z()*rzx + tx,
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vec.x()*rxy + vec.y()*ryy + vec.z()*rzy + ty,
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vec.x()*rxz + vec.y()*ryz + vec.z()*rzz + tz );
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}
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inline
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G4ThreeVector G4AffineTransform::TransformAxis(const G4ThreeVector& axis) const
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{
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return G4ThreeVector( axis.x()*rxx + axis.y()*ryx + axis.z()*rzx,
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axis.x()*rxy + axis.y()*ryy + axis.z()*rzy,
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axis.x()*rxz + axis.y()*ryz + axis.z()*rzz );
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}
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inline
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void G4AffineTransform::ApplyPointTransform(G4ThreeVector& vec) const
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{
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G4double x = vec.x()*rxx + vec.y()*ryx + vec.z()*rzx + tx;
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G4double y = vec.x()*rxy + vec.y()*ryy + vec.z()*rzy + ty;
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G4double z = vec.x()*rxz + vec.y()*ryz + vec.z()*rzz + tz;
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vec.setX(x);
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vec.setY(y);
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vec.setZ(z);
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}
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inline
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void G4AffineTransform::ApplyAxisTransform(G4ThreeVector& axis) const
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{
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G4double x = axis.x()*rxx + axis.y()*ryx + axis.z()*rzx;
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G4double y = axis.x()*rxy + axis.y()*ryy + axis.z()*rzy;
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G4double z = axis.x()*rxz + axis.y()*ryz + axis.z()*rzz;
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axis.setX(x);
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axis.setY(y);
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axis.setZ(z);
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}
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inline
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G4AffineTransform G4AffineTransform::Inverse() const
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{
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return G4AffineTransform( rxx, ryx, rzx,
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rxy, ryy, rzy,
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rxz, ryz, rzz,
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-tx*rxx - ty*rxy - tz*rxz,
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-tx*ryx - ty*ryy - tz*ryz,
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-tx*rzx - ty*rzy - tz*rzz );
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}
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inline
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G4AffineTransform& G4AffineTransform::Invert()
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{
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G4double v1 = -tx*rxx - ty*rxy - tz*rxz;
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G4double v2 = -tx*ryx - ty*ryy - tz*ryz;
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G4double v3 = -tx*rzx - ty*rzy - tz*rzz;
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tx=v1; ty=v2; tz=v3;
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G4double tmp1=ryx; ryx=rxy; rxy=tmp1;
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G4double tmp2=rzx; rzx=rxz; rxz=tmp2;
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G4double tmp3=rzy; rzy=ryz; ryz=tmp3;
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return *this;
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}
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inline
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G4AffineTransform& G4AffineTransform::operator +=(const G4ThreeVector& tlate)
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{
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tx += tlate.x();
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ty += tlate.y();
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tz += tlate.z();
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return *this;
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}
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inline
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G4AffineTransform& G4AffineTransform::operator -=(const G4ThreeVector& tlate)
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{
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tx -= tlate.x();
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ty -= tlate.y();
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tz -= tlate.z();
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return *this;
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}
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inline
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G4bool G4AffineTransform::operator == (const G4AffineTransform& tf) const
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{
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return (tx==tf.tx&&ty==tf.ty&&tz==tf.tz&&
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rxx==tf.rxx&&rxy==tf.rxy&&rxz==tf.rxz&&
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ryx==tf.ryx&&ryy==tf.ryy&&ryz==tf.ryz&&
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rzx==tf.rzx&&rzy==tf.rzy&&rzz==tf.rzz) ? true : false;
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}
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inline
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G4bool G4AffineTransform::operator != (const G4AffineTransform& tf) const
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{
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return (tx!=tf.tx||ty!=tf.ty||tz!=tf.tz||
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rxx!=tf.rxx||rxy!=tf.rxy||rxz!=tf.rxz||
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ryx!=tf.ryx||ryy!=tf.ryy||ryz!=tf.ryz||
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rzx!=tf.rzx||rzy!=tf.rzy||rzz!=tf.rzz) ? true : false;
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}
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inline
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G4double G4AffineTransform::operator [] (const G4int n) const
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{
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G4double v = 0.0;
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switch(n)
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{
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case 0:
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v=rxx;
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break;
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case 1:
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v=rxy;
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break;
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case 2:
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v=rxz;
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break;
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case 4:
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v=ryx;
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break;
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case 5:
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v=ryy;
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break;
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case 6:
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v=ryz;
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break;
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case 8:
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v=rzx;
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break;
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case 9:
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v=rzy;
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break;
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case 10:
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v=rzz;
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break;
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case 12:
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v=tx;
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break;
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case 13:
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v=ty;
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break;
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case 14:
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v=tz;
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break;
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case 3:
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case 7:
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case 11:
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break;
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case 15:
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v=1.0;
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break;
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}
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return v;
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}
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inline
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G4bool G4AffineTransform::IsRotated() const
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{
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return (rxx==1.0 && ryy==1.0 && rzz==1.0) ? false : true;
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}
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inline
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G4bool G4AffineTransform::IsTranslated() const
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{
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return (tx || ty || tz) ? true:false;
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}
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inline G4RotationMatrix G4AffineTransform::NetRotation() const {
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G4RotationMatrix m;
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return m.rotateAxes(G4ThreeVector(rxx,ryx,rzx),
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G4ThreeVector(rxy,ryy,rzy),
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G4ThreeVector(rxz,ryz,rzz));
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}
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inline
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G4ThreeVector G4AffineTransform::NetTranslation() const
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{
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return G4ThreeVector(tx,ty,tz);
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}
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inline
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void G4AffineTransform::SetNetRotation(const G4RotationMatrix& rot)
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{
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rxx=rot.xx();
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rxy=rot.xy();
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rxz=rot.xz();
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ryx=rot.yx();
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ryy=rot.yy();
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ryz=rot.yz();
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rzx=rot.zx();
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rzy=rot.zy();
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rzz=rot.zz();
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}
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inline
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void G4AffineTransform::SetNetTranslation(const G4ThreeVector& tlate)
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{
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tx=tlate.x();
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ty=tlate.y();
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tz=tlate.z();
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}
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