| Geant4 Cross Reference |
1 // -*- C++ -*- 1 // -*- C++ -*-
2 // ------------------------------------------- 2 // ---------------------------------------------------------------------------
3 // 3 //
4 // This file is a part of the CLHEP - a Class 4 // This file is a part of the CLHEP - a Class Library for High Energy Physics.
5 // 5 //
6 // This is the implementation of the parts of 6 // This is the implementation of the parts of the the HepRotation class which
7 // were present in the original CLHEP before t 7 // were present in the original CLHEP before the merge with ZOOM PhysicsVectors.
8 // 8 //
9 9
>> 10 #ifdef GNUPRAGMA
>> 11 #pragma implementation
>> 12 #endif
>> 13
10 #include "CLHEP/Vector/Rotation.h" 14 #include "CLHEP/Vector/Rotation.h"
11 #include "CLHEP/Units/PhysicalConstants.h" 15 #include "CLHEP/Units/PhysicalConstants.h"
12 16
13 #include <iostream> 17 #include <iostream>
14 #include <cmath> 18 #include <cmath>
15 19
16 namespace CLHEP { 20 namespace CLHEP {
17 21
18 static inline double safe_acos (double x) { 22 static inline double safe_acos (double x) {
19 if (std::abs(x) <= 1.0) return std::acos(x); 23 if (std::abs(x) <= 1.0) return std::acos(x);
20 return ( (x>0) ? 0 : CLHEP::pi ); 24 return ( (x>0) ? 0 : CLHEP::pi );
21 } 25 }
22 26
23 double HepRotation::operator() (int i, int j) 27 double HepRotation::operator() (int i, int j) const {
24 if (i == 0) { 28 if (i == 0) {
25 if (j == 0) { return xx(); } 29 if (j == 0) { return xx(); }
26 if (j == 1) { return xy(); } 30 if (j == 1) { return xy(); }
27 if (j == 2) { return xz(); } 31 if (j == 2) { return xz(); }
28 } else if (i == 1) { 32 } else if (i == 1) {
29 if (j == 0) { return yx(); } 33 if (j == 0) { return yx(); }
30 if (j == 1) { return yy(); } 34 if (j == 1) { return yy(); }
31 if (j == 2) { return yz(); } 35 if (j == 2) { return yz(); }
32 } else if (i == 2) { 36 } else if (i == 2) {
33 if (j == 0) { return zx(); } 37 if (j == 0) { return zx(); }
34 if (j == 1) { return zy(); } 38 if (j == 1) { return zy(); }
35 if (j == 2) { return zz(); } 39 if (j == 2) { return zz(); }
36 } 40 }
37 std::cerr << "HepRotation subscripting: bad 41 std::cerr << "HepRotation subscripting: bad indices "
38 << "(" << i << "," << j << ")" << std:: 42 << "(" << i << "," << j << ")" << std::endl;
39 return 0.0; 43 return 0.0;
40 } 44 }
41 45
42 HepRotation & HepRotation::rotate(double a, co 46 HepRotation & HepRotation::rotate(double a, const Hep3Vector& aaxis) {
43 if (a != 0.0) { 47 if (a != 0.0) {
44 double ll = aaxis.mag(); 48 double ll = aaxis.mag();
45 if (ll == 0.0) { 49 if (ll == 0.0) {
46 std::cerr << "HepRotation::rotate() - " 50 std::cerr << "HepRotation::rotate() - "
47 << "HepRotation: zero axis" << 51 << "HepRotation: zero axis" << std::endl;
48 }else{ 52 }else{
49 double sa = std::sin(a), ca = std::cos(a 53 double sa = std::sin(a), ca = std::cos(a);
50 double dx = aaxis.x()/ll, dy = aaxis.y() 54 double dx = aaxis.x()/ll, dy = aaxis.y()/ll, dz = aaxis.z()/ll;
51 HepRotation m1( 55 HepRotation m1(
52 ca+(1-ca)*dx*dx, (1-ca)*dx*dy-sa*dz 56 ca+(1-ca)*dx*dx, (1-ca)*dx*dy-sa*dz, (1-ca)*dx*dz+sa*dy,
53 (1-ca)*dy*dx+sa*dz, ca+(1-ca)*dy*dy, 57 (1-ca)*dy*dx+sa*dz, ca+(1-ca)*dy*dy, (1-ca)*dy*dz-sa*dx,
54 (1-ca)*dz*dx-sa*dy, (1-ca)*dz*dy+sa*dx 58 (1-ca)*dz*dx-sa*dy, (1-ca)*dz*dy+sa*dx, ca+(1-ca)*dz*dz );
55 transform(m1); 59 transform(m1);
56 } 60 }
57 } 61 }
58 return *this; 62 return *this;
59 } 63 }
60 64
61 HepRotation & HepRotation::rotateX(double a) { 65 HepRotation & HepRotation::rotateX(double a) {
62 double c1 = std::cos(a); 66 double c1 = std::cos(a);
63 double s1 = std::sin(a); 67 double s1 = std::sin(a);
64 double x1 = ryx, y1 = ryy, z1 = ryz; 68 double x1 = ryx, y1 = ryy, z1 = ryz;
65 ryx = c1*x1 - s1*rzx; 69 ryx = c1*x1 - s1*rzx;
66 ryy = c1*y1 - s1*rzy; 70 ryy = c1*y1 - s1*rzy;
67 ryz = c1*z1 - s1*rzz; 71 ryz = c1*z1 - s1*rzz;
68 rzx = s1*x1 + c1*rzx; 72 rzx = s1*x1 + c1*rzx;
69 rzy = s1*y1 + c1*rzy; 73 rzy = s1*y1 + c1*rzy;
70 rzz = s1*z1 + c1*rzz; 74 rzz = s1*z1 + c1*rzz;
71 return *this; 75 return *this;
72 } 76 }
73 77
74 HepRotation & HepRotation::rotateY(double a){ 78 HepRotation & HepRotation::rotateY(double a){
75 double c1 = std::cos(a); 79 double c1 = std::cos(a);
76 double s1 = std::sin(a); 80 double s1 = std::sin(a);
77 double x1 = rzx, y1 = rzy, z1 = rzz; 81 double x1 = rzx, y1 = rzy, z1 = rzz;
78 rzx = c1*x1 - s1*rxx; 82 rzx = c1*x1 - s1*rxx;
79 rzy = c1*y1 - s1*rxy; 83 rzy = c1*y1 - s1*rxy;
80 rzz = c1*z1 - s1*rxz; 84 rzz = c1*z1 - s1*rxz;
81 rxx = s1*x1 + c1*rxx; 85 rxx = s1*x1 + c1*rxx;
82 rxy = s1*y1 + c1*rxy; 86 rxy = s1*y1 + c1*rxy;
83 rxz = s1*z1 + c1*rxz; 87 rxz = s1*z1 + c1*rxz;
84 return *this; 88 return *this;
85 } 89 }
86 90
87 HepRotation & HepRotation::rotateZ(double a) { 91 HepRotation & HepRotation::rotateZ(double a) {
88 double c1 = std::cos(a); 92 double c1 = std::cos(a);
89 double s1 = std::sin(a); 93 double s1 = std::sin(a);
90 double x1 = rxx, y1 = rxy, z1 = rxz; 94 double x1 = rxx, y1 = rxy, z1 = rxz;
91 rxx = c1*x1 - s1*ryx; 95 rxx = c1*x1 - s1*ryx;
92 rxy = c1*y1 - s1*ryy; 96 rxy = c1*y1 - s1*ryy;
93 rxz = c1*z1 - s1*ryz; 97 rxz = c1*z1 - s1*ryz;
94 ryx = s1*x1 + c1*ryx; 98 ryx = s1*x1 + c1*ryx;
95 ryy = s1*y1 + c1*ryy; 99 ryy = s1*y1 + c1*ryy;
96 ryz = s1*z1 + c1*ryz; 100 ryz = s1*z1 + c1*ryz;
97 return *this; 101 return *this;
98 } 102 }
99 103
100 HepRotation & HepRotation::rotateAxes(const He 104 HepRotation & HepRotation::rotateAxes(const Hep3Vector &newX,
101 const Hep3Vector &newY, 105 const Hep3Vector &newY,
102 const Hep3Vector &newZ) { 106 const Hep3Vector &newZ) {
103 double del = 0.001; 107 double del = 0.001;
104 Hep3Vector w = newX.cross(newY); 108 Hep3Vector w = newX.cross(newY);
105 109
106 if (std::abs(newZ.x()-w.x()) > del || 110 if (std::abs(newZ.x()-w.x()) > del ||
107 std::abs(newZ.y()-w.y()) > del || 111 std::abs(newZ.y()-w.y()) > del ||
108 std::abs(newZ.z()-w.z()) > del || 112 std::abs(newZ.z()-w.z()) > del ||
109 std::abs(newX.mag2()-1.) > del || 113 std::abs(newX.mag2()-1.) > del ||
110 std::abs(newY.mag2()-1.) > del || 114 std::abs(newY.mag2()-1.) > del ||
111 std::abs(newZ.mag2()-1.) > del || 115 std::abs(newZ.mag2()-1.) > del ||
112 std::abs(newX.dot(newY)) > del || 116 std::abs(newX.dot(newY)) > del ||
113 std::abs(newY.dot(newZ)) > del || 117 std::abs(newY.dot(newZ)) > del ||
114 std::abs(newZ.dot(newX)) > del) { 118 std::abs(newZ.dot(newX)) > del) {
115 std::cerr << "HepRotation::rotateAxes: bad 119 std::cerr << "HepRotation::rotateAxes: bad axis vectors" << std::endl;
116 return *this; 120 return *this;
117 }else{ 121 }else{
118 return transform(HepRotation(newX.x(), new 122 return transform(HepRotation(newX.x(), newY.x(), newZ.x(),
119 newX.y(), new 123 newX.y(), newY.y(), newZ.y(),
120 newX.z(), new 124 newX.z(), newY.z(), newZ.z()));
121 } 125 }
122 } 126 }
123 127
124 double HepRotation::phiX() const { 128 double HepRotation::phiX() const {
125 return (yx() == 0.0 && xx() == 0.0) ? 0.0 : 129 return (yx() == 0.0 && xx() == 0.0) ? 0.0 : std::atan2(yx(),xx());
126 } 130 }
127 131
128 double HepRotation::phiY() const { 132 double HepRotation::phiY() const {
129 return (yy() == 0.0 && xy() == 0.0) ? 0.0 : 133 return (yy() == 0.0 && xy() == 0.0) ? 0.0 : std::atan2(yy(),xy());
130 } 134 }
131 135
132 double HepRotation::phiZ() const { 136 double HepRotation::phiZ() const {
133 return (yz() == 0.0 && xz() == 0.0) ? 0.0 : 137 return (yz() == 0.0 && xz() == 0.0) ? 0.0 : std::atan2(yz(),xz());
134 } 138 }
135 139
136 double HepRotation::thetaX() const { 140 double HepRotation::thetaX() const {
137 return safe_acos(zx()); 141 return safe_acos(zx());
138 } 142 }
139 143
140 double HepRotation::thetaY() const { 144 double HepRotation::thetaY() const {
141 return safe_acos(zy()); 145 return safe_acos(zy());
142 } 146 }
143 147
144 double HepRotation::thetaZ() const { 148 double HepRotation::thetaZ() const {
145 return safe_acos(zz()); 149 return safe_acos(zz());
146 } 150 }
147 151
148 void HepRotation::getAngleAxis(double &angle, 152 void HepRotation::getAngleAxis(double &angle, Hep3Vector &aaxis) const {
149 double cosa = 0.5*(xx()+yy()+zz()-1); 153 double cosa = 0.5*(xx()+yy()+zz()-1);
150 double cosa1 = 1-cosa; 154 double cosa1 = 1-cosa;
151 if (cosa1 <= 0) { 155 if (cosa1 <= 0) {
152 angle = 0; 156 angle = 0;
153 aaxis = Hep3Vector(0,0,1); 157 aaxis = Hep3Vector(0,0,1);
154 }else{ 158 }else{
155 double x=0, y=0, z=0; 159 double x=0, y=0, z=0;
156 if (xx() > cosa) x = std::sqrt((xx()-cosa) 160 if (xx() > cosa) x = std::sqrt((xx()-cosa)/cosa1);
157 if (yy() > cosa) y = std::sqrt((yy()-cosa) 161 if (yy() > cosa) y = std::sqrt((yy()-cosa)/cosa1);
158 if (zz() > cosa) z = std::sqrt((zz()-cosa) 162 if (zz() > cosa) z = std::sqrt((zz()-cosa)/cosa1);
159 if (zy() < yz()) x = -x; 163 if (zy() < yz()) x = -x;
160 if (xz() < zx()) y = -y; 164 if (xz() < zx()) y = -y;
161 if (yx() < xy()) z = -z; 165 if (yx() < xy()) z = -z;
162 angle = (cosa < -1.) ? std::acos(-1.) : st 166 angle = (cosa < -1.) ? std::acos(-1.) : std::acos(cosa);
163 aaxis = Hep3Vector(x,y,z); 167 aaxis = Hep3Vector(x,y,z);
164 } 168 }
165 } 169 }
166 170
167 bool HepRotation::isIdentity() const { 171 bool HepRotation::isIdentity() const {
168 return (rxx == 1.0 && rxy == 0.0 && rxz == 172 return (rxx == 1.0 && rxy == 0.0 && rxz == 0.0 &&
169 ryx == 0.0 && ryy == 1.0 && ryz == 173 ryx == 0.0 && ryy == 1.0 && ryz == 0.0 &&
170 rzx == 0.0 && rzy == 0.0 && rzz == 174 rzx == 0.0 && rzy == 0.0 && rzz == 1.0) ? true : false;
171 } 175 }
172 176
173 int HepRotation::compare ( const HepRotation & 177 int HepRotation::compare ( const HepRotation & r ) const {
174 if (rzz<r.rzz) return -1; else if (rzz> 178 if (rzz<r.rzz) return -1; else if (rzz>r.rzz) return 1;
175 else if (rzy<r.rzy) return -1; else if (rzy> 179 else if (rzy<r.rzy) return -1; else if (rzy>r.rzy) return 1;
176 else if (rzx<r.rzx) return -1; else if (rzx> 180 else if (rzx<r.rzx) return -1; else if (rzx>r.rzx) return 1;
177 else if (ryz<r.ryz) return -1; else if (ryz> 181 else if (ryz<r.ryz) return -1; else if (ryz>r.ryz) return 1;
178 else if (ryy<r.ryy) return -1; else if (ryy> 182 else if (ryy<r.ryy) return -1; else if (ryy>r.ryy) return 1;
179 else if (ryx<r.ryx) return -1; else if (ryx> 183 else if (ryx<r.ryx) return -1; else if (ryx>r.ryx) return 1;
180 else if (rxz<r.rxz) return -1; else if (rxz> 184 else if (rxz<r.rxz) return -1; else if (rxz>r.rxz) return 1;
181 else if (rxy<r.rxy) return -1; else if (rxy> 185 else if (rxy<r.rxy) return -1; else if (rxy>r.rxy) return 1;
182 else if (rxx<r.rxx) return -1; else if (rxx> 186 else if (rxx<r.rxx) return -1; else if (rxx>r.rxx) return 1;
183 else return 0; 187 else return 0;
184 } 188 }
185 189
186 190
187 const HepRotation HepRotation::IDENTITY; 191 const HepRotation HepRotation::IDENTITY;
188 192
189 } // namespace CLHEP 193 } // namespace CLHEP
190 194
191 195
192 196