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>> 1 // This code implementation is the intellectual property of
>> 2 // the GEANT4 collaboration.
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>> 8 // $Id: G4AffineTransform.icc,v 1.3 1999/12/15 14:49:50 gunter Exp $
>> 9 // GEANT4 tag $Name: geant4-03-01 $
1 // 10 //
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24 // ******************************************* <<
25 // 11 //
26 // G4AffineTransformation Inline implementatio 12 // G4AffineTransformation Inline implementation
27 // 13 //
28 // ------------------------------------------- <<
29 14
30 inline G4AffineTransform::G4AffineTransform() << 15 inline G4AffineTransform::G4AffineTransform() :
31 : rxx(1),rxy(0),rxz(0), << 16 rxx(1),rxy(0),rxz(0),
32 ryx(0),ryy(1),ryz(0), << 17 ryx(0),ryy(1),ryz(0),
33 rzx(0),rzy(0),rzz(1), << 18 rzx(0),rzy(0),rzz(1),
34 tx(0),ty(0),tz(0) << 19 tx(0),ty(0),tz(0)
35 {} 20 {}
36 21
37 inline G4AffineTransform::G4AffineTransform(co << 22 inline G4AffineTransform::G4AffineTransform(const G4ThreeVector& tlate) :
38 : rxx(1),rxy(0),rxz(0), << 23 rxx(1),rxy(0),rxz(0),
39 ryx(0),ryy(1),ryz(0), << 24 ryx(0),ryy(1),ryz(0),
40 rzx(0),rzy(0),rzz(1), << 25 rzx(0),rzy(0),rzz(1),
41 tx(tlate.x()),ty(tlate.y()),tz(tlate.z()) << 26 tx(tlate.x()),ty(tlate.y()),tz(tlate.z())
42 {} 27 {}
43 28
44 inline G4AffineTransform::G4AffineTransform(co << 29 inline G4AffineTransform::G4AffineTransform(const G4RotationMatrix& rot) :
45 : rxx(rot.xx()),rxy(rot.xy()),rxz(rot.xz()), << 30 rxx(rot.xx()),rxy(rot.xy()),rxz(rot.xz()),
46 ryx(rot.yx()),ryy(rot.yy()),ryz(rot.yz()), << 31 ryx(rot.yx()),ryy(rot.yy()),ryz(rot.yz()),
47 rzx(rot.zx()),rzy(rot.zy()),rzz(rot.zz()), << 32 rzx(rot.zx()),rzy(rot.zy()),rzz(rot.zz()),
48 tx(0),ty(0),tz(0) << 33 tx(0),ty(0),tz(0)
49 {} 34 {}
50 35
51 inline G4AffineTransform::G4AffineTransform( c 36 inline G4AffineTransform::G4AffineTransform( const G4RotationMatrix& rot,
52 c << 37 const G4ThreeVector& tlate ) :
53 : rxx(rot.xx()),rxy(rot.xy()),rxz(rot.xz()), << 38 rxx(rot.xx()),rxy(rot.xy()),rxz(rot.xz()),
54 ryx(rot.yx()),ryy(rot.yy()),ryz(rot.yz()), << 39 ryx(rot.yx()),ryy(rot.yy()),ryz(rot.yz()),
55 rzx(rot.zx()),rzy(rot.zy()),rzz(rot.zz()), << 40 rzx(rot.zx()),rzy(rot.zy()),rzz(rot.zz()),
56 tx(tlate.x()),ty(tlate.y()),tz(tlate.z()) << 41 tx(tlate.x()),ty(tlate.y()),tz(tlate.z())
57 {} 42 {}
58 43
59 inline G4AffineTransform::G4AffineTransform( c << 44 inline G4AffineTransform::G4AffineTransform( const G4RotationMatrix *rot,
60 c << 45 const G4ThreeVector& tlate) :
61 : tx(tlate.x()),ty(tlate.y()),tz(tlate.z()) << 46 tx(tlate.x()),ty(tlate.y()),tz(tlate.z())
62 { << 47 {
63 if (rot != nullptr) << 48 if (rot)
64 { << 49 {
65 rxx=rot->xx();rxy=rot->xy();rxz=rot->xz(); << 50 rxx=rot->xx();rxy=rot->xy();rxz=rot->xz();
66 ryx=rot->yx();ryy=rot->yy();ryz=rot->yz(); << 51 ryx=rot->yx();ryy=rot->yy();ryz=rot->yz();
67 rzx=rot->zx();rzy=rot->zy();rzz=rot->zz(); << 52 rzx=rot->zx();rzy=rot->zy();rzz=rot->zz();
68 } << 53 }
69 else 54 else
70 { << 55 {
71 rxx=1; rxy=0; rxz=0; << 56 rxx=1; rxy=0; rxz=0;
72 ryx=0; ryy=1; ryz=0; << 57 ryx=0; ryy=1; ryz=0;
73 rzx=0; rzy=0; rzz=1; << 58 rzx=0; rzy=0; rzz=1;
74 } << 59 }
75 } 60 }
76 61
77 inline << 62 inline
78 G4AffineTransform:: 63 G4AffineTransform::
79 G4AffineTransform( const G4double prxx,const G 64 G4AffineTransform( const G4double prxx,const G4double prxy,const G4double prxz,
80 const G4double pryx,const G << 65 const G4double pryx,const G4double pryy,const G4double pryz,
81 const G4double przx,const G << 66 const G4double przx,const G4double przy,const G4double przz,
82 const G4double ptx,const G4 << 67 const G4double ptx,const G4double pty,const G4double ptz) :
83 : rxx(prxx),rxy(prxy),rxz(prxz), << 68 rxx(prxx),rxy(prxy),rxz(prxz),
84 ryx(pryx),ryy(pryy),ryz(pryz), << 69 ryx(pryx),ryy(pryy),ryz(pryz),
85 rzx(przx),rzy(przy),rzz(przz), << 70 rzx(przx),rzy(przy),rzz(przz),
86 tx(ptx),ty(pty),tz(ptz) << 71 tx(ptx),ty(pty),tz(ptz)
87 {} 72 {}
88 73
89 inline G4AffineTransform& << 74 inline G4AffineTransform G4AffineTransform::operator * (const G4AffineTransform& tf) const
90 G4AffineTransform::operator = (const G4AffineT <<
91 { 75 {
92 if (this == &rhs) { return *this; } << 76 return G4AffineTransform(
93 rxx = rhs.rxx; rxy = rhs.rxy; rxz = rhs.rxz; << 77 rxx*tf.rxx+rxy*tf.ryx+rxz*tf.rzx,
94 ryx = rhs.ryx; ryy = rhs.ryy; ryz = rhs.ryz; << 78 rxx*tf.rxy+rxy*tf.ryy+rxz*tf.rzy,
95 rzx = rhs.rzx; rzy = rhs.rzy; rzz = rhs.rzz; << 79 rxx*tf.rxz+rxy*tf.ryz+rxz*tf.rzz,
96 tx = rhs.tx; ty = rhs.ty; tz = rhs.tz; << 80
97 return *this; << 81 ryx*tf.rxx+ryy*tf.ryx+ryz*tf.rzx,
98 } << 82 ryx*tf.rxy+ryy*tf.ryy+ryz*tf.rzy,
99 << 83 ryx*tf.rxz+ryy*tf.ryz+ryz*tf.rzz,
100 inline G4AffineTransform << 84
101 G4AffineTransform::operator * (const G4AffineT << 85 rzx*tf.rxx+rzy*tf.ryx+rzz*tf.rzx,
102 { << 86 rzx*tf.rxy+rzy*tf.ryy+rzz*tf.rzy,
103 return G4AffineTransform(rxx*tf.rxx+rxy*tf.r << 87 rzx*tf.rxz+rzy*tf.ryz+rzz*tf.rzz,
104 rxx*tf.rxy+rxy*tf.r << 88
105 rxx*tf.rxz+rxy*tf.r << 89 tx*tf.rxx+ty*tf.ryx+tz*tf.rzx+tf.tx,
106 << 90 tx*tf.rxy+ty*tf.ryy+tz*tf.rzy+tf.ty,
107 ryx*tf.rxx+ryy*tf.r << 91 tx*tf.rxz+ty*tf.ryz+tz*tf.rzz+tf.tz);
108 ryx*tf.rxy+ryy*tf.r << 92 }
109 ryx*tf.rxz+ryy*tf.r << 93
110 << 94 inline G4AffineTransform& G4AffineTransform::operator *= (const G4AffineTransform& tf)
111 rzx*tf.rxx+rzy*tf.r << 95 {
112 rzx*tf.rxy+rzy*tf.r << 96 // Use temporaries for `in place' compound transform computation
113 rzx*tf.rxz+rzy*tf.r << 97
114 << 98 G4double nrxx=rxx*tf.rxx+rxy*tf.ryx+rxz*tf.rzx;
115 tx*tf.rxx+ty*tf.ryx << 99 G4double nrxy=rxx*tf.rxy+rxy*tf.ryy+rxz*tf.rzy;
116 tx*tf.rxy+ty*tf.ryy << 100 G4double nrxz=rxx*tf.rxz+rxy*tf.ryz+rxz*tf.rzz;
117 tx*tf.rxz+ty*tf.ryz << 101
>> 102 G4double nryx=ryx*tf.rxx+ryy*tf.ryx+ryz*tf.rzx;
>> 103 G4double nryy=ryx*tf.rxy+ryy*tf.ryy+ryz*tf.rzy;
>> 104 G4double nryz=ryx*tf.rxz+ryy*tf.ryz+ryz*tf.rzz;
>> 105
>> 106 G4double nrzx=rzx*tf.rxx+rzy*tf.ryx+rzz*tf.rzx;
>> 107 G4double nrzy=rzx*tf.rxy+rzy*tf.ryy+rzz*tf.rzy;
>> 108 G4double nrzz=rzx*tf.rxz+rzy*tf.ryz+rzz*tf.rzz;
>> 109
>> 110 G4double ntx=tx*tf.rxx+ty*tf.ryx+tz*tf.rzx+tf.tx;
>> 111 G4double nty=tx*tf.rxy+ty*tf.ryy+tz*tf.rzy+tf.ty;
>> 112 G4double ntz=tx*tf.rxz+ty*tf.ryz+tz*tf.rzz+tf.tz;
>> 113
>> 114 tx=ntx; ty=nty; tz=ntz;
>> 115 rxx=nrxx; rxy=nrxy; rxz=nrxz;
>> 116 ryx=nryx; ryy=nryy; ryz=nryz;
>> 117 rzx=nrzx; rzy=nrzy; rzz=nrzz;
>> 118
>> 119 return *this;
>> 120 }
>> 121
>> 122 inline G4AffineTransform& G4AffineTransform::Product(const G4AffineTransform& tf1,
>> 123 const G4AffineTransform& tf2)
>> 124 {
>> 125 rxx=tf1.rxx*tf2.rxx + tf1.rxy*tf2.ryx + tf1.rxz*tf2.rzx;
>> 126 rxy=tf1.rxx*tf2.rxy + tf1.rxy*tf2.ryy + tf1.rxz*tf2.rzy;
>> 127 rxz=tf1.rxx*tf2.rxz + tf1.rxy*tf2.ryz + tf1.rxz*tf2.rzz;
>> 128
>> 129 ryx=tf1.ryx*tf2.rxx + tf1.ryy*tf2.ryx + tf1.ryz*tf2.rzx;
>> 130 ryy=tf1.ryx*tf2.rxy + tf1.ryy*tf2.ryy + tf1.ryz*tf2.rzy;
>> 131 ryz=tf1.ryx*tf2.rxz + tf1.ryy*tf2.ryz + tf1.ryz*tf2.rzz;
>> 132
>> 133 rzx=tf1.rzx*tf2.rxx + tf1.rzy*tf2.ryx + tf1.rzz*tf2.rzx;
>> 134 rzy=tf1.rzx*tf2.rxy + tf1.rzy*tf2.ryy + tf1.rzz*tf2.rzy;
>> 135 rzz=tf1.rzx*tf2.rxz + tf1.rzy*tf2.ryz + tf1.rzz*tf2.rzz;
>> 136
>> 137 tx=tf1.tx*tf2.rxx + tf1.ty*tf2.ryx + tf1.tz*tf2.rzx + tf2.tx;
>> 138 ty=tf1.tx*tf2.rxy + tf1.ty*tf2.ryy + tf1.tz*tf2.rzy + tf2.ty;
>> 139 tz=tf1.tx*tf2.rxz + tf1.ty*tf2.ryz + tf1.tz*tf2.rzz + tf2.tz;
>> 140
>> 141 return *this;
118 } 142 }
119 143
120 inline G4AffineTransform& 144 inline G4AffineTransform&
121 G4AffineTransform::operator *= (const G4Affine << 145 G4AffineTransform::InverseProduct( const G4AffineTransform& tf1,
>> 146 const G4AffineTransform& tf2)
122 { 147 {
123 // Use temporaries for `in place' compound t << 148 G4double itf2tx = - tf2.tx*tf2.rxx - tf2.ty*tf2.rxy - tf2.tz*tf2.rxz;
124 // << 149 G4double itf2ty = - tf2.tx*tf2.ryx - tf2.ty*tf2.ryy - tf2.tz*tf2.ryz;
125 G4double nrxx=rxx*tf.rxx+rxy*tf.ryx+rxz*tf.r << 150 G4double itf2tz = - tf2.tx*tf2.rzx - tf2.ty*tf2.rzy - tf2.tz*tf2.rzz;
126 G4double nrxy=rxx*tf.rxy+rxy*tf.ryy+rxz*tf.r <<
127 G4double nrxz=rxx*tf.rxz+rxy*tf.ryz+rxz*tf.r <<
128 <<
129 G4double nryx=ryx*tf.rxx+ryy*tf.ryx+ryz*tf.r <<
130 G4double nryy=ryx*tf.rxy+ryy*tf.ryy+ryz*tf.r <<
131 G4double nryz=ryx*tf.rxz+ryy*tf.ryz+ryz*tf.r <<
132 <<
133 G4double nrzx=rzx*tf.rxx+rzy*tf.ryx+rzz*tf.r <<
134 G4double nrzy=rzx*tf.rxy+rzy*tf.ryy+rzz*tf.r <<
135 G4double nrzz=rzx*tf.rxz+rzy*tf.ryz+rzz*tf.r <<
136 <<
137 G4double ntx=tx*tf.rxx+ty*tf.ryx+tz*tf.rzx+t <<
138 G4double nty=tx*tf.rxy+ty*tf.ryy+tz*tf.rzy+t <<
139 G4double ntz=tx*tf.rxz+ty*tf.ryz+tz*tf.rzz+t <<
140 <<
141 tx=ntx; ty=nty; tz=ntz; <<
142 rxx=nrxx; rxy=nrxy; rxz=nrxz; <<
143 ryx=nryx; ryy=nryy; ryz=nryz; <<
144 rzx=nrzx; rzy=nrzy; rzz=nrzz; <<
145 151
146 return *this; << 152 rxx=tf1.rxx*tf2.rxx+tf1.rxy*tf2.rxy+tf1.rxz*tf2.rxz;
>> 153 rxy=tf1.rxx*tf2.ryx+tf1.rxy*tf2.ryy+tf1.rxz*tf2.ryz;
>> 154 rxz=tf1.rxx*tf2.rzx+tf1.rxy*tf2.rzy+tf1.rxz*tf2.rzz;
>> 155
>> 156 ryx=tf1.ryx*tf2.rxx+tf1.ryy*tf2.rxy+tf1.ryz*tf2.rxz;
>> 157 ryy=tf1.ryx*tf2.ryx+tf1.ryy*tf2.ryy+tf1.ryz*tf2.ryz;
>> 158 ryz=tf1.ryx*tf2.rzx+tf1.ryy*tf2.rzy+tf1.ryz*tf2.rzz;
>> 159
>> 160 rzx=tf1.rzx*tf2.rxx+tf1.rzy*tf2.rxy+tf1.rzz*tf2.rxz;
>> 161 rzy=tf1.rzx*tf2.ryx+tf1.rzy*tf2.ryy+tf1.rzz*tf2.ryz;
>> 162 rzz=tf1.rzx*tf2.rzx+tf1.rzy*tf2.rzy+tf1.rzz*tf2.rzz;
>> 163
>> 164 tx=tf1.tx*tf2.rxx+tf1.ty*tf2.rxy+tf1.tz*tf2.rxz+itf2tx;
>> 165 ty=tf1.tx*tf2.ryx+tf1.ty*tf2.ryy+tf1.tz*tf2.ryz+itf2ty;
>> 166 tz=tf1.tx*tf2.rzx+tf1.ty*tf2.rzy+tf1.tz*tf2.rzz+itf2tz;
>> 167
>> 168 return *this;
147 } 169 }
148 170
149 inline G4AffineTransform& << 171 inline
150 G4AffineTransform::Product( const G4AffineTran << 172 G4ThreeVector G4AffineTransform::TransformPoint(const G4ThreeVector& vec) const
151 const G4AffineTran <<
152 { 173 {
153 rxx = tf1.rxx*tf2.rxx + tf1.rxy*tf2.ryx + tf << 174 return G4ThreeVector( vec.x()*rxx + vec.y()*ryx + vec.z()*rzx + tx,
154 rxy = tf1.rxx*tf2.rxy + tf1.rxy*tf2.ryy + tf << 175 vec.x()*rxy + vec.y()*ryy + vec.z()*rzy + ty,
155 rxz = tf1.rxx*tf2.rxz + tf1.rxy*tf2.ryz + tf << 176 vec.x()*rxz + vec.y()*ryz + vec.z()*rzz + tz );
156 <<
157 ryx = tf1.ryx*tf2.rxx + tf1.ryy*tf2.ryx + tf <<
158 ryy = tf1.ryx*tf2.rxy + tf1.ryy*tf2.ryy + tf <<
159 ryz = tf1.ryx*tf2.rxz + tf1.ryy*tf2.ryz + tf <<
160 <<
161 rzx = tf1.rzx*tf2.rxx + tf1.rzy*tf2.ryx + tf <<
162 rzy = tf1.rzx*tf2.rxy + tf1.rzy*tf2.ryy + tf <<
163 rzz = tf1.rzx*tf2.rxz + tf1.rzy*tf2.ryz + tf <<
164 <<
165 tx = tf1.tx*tf2.rxx + tf1.ty*tf2.ryx + tf1.t <<
166 ty = tf1.tx*tf2.rxy + tf1.ty*tf2.ryy + tf1.t <<
167 tz = tf1.tx*tf2.rxz + tf1.ty*tf2.ryz + tf1.t <<
168 <<
169 return *this; <<
170 } 177 }
171 178
172 inline G4AffineTransform& << 179 inline
173 G4AffineTransform::InverseProduct( const G4Aff << 180 G4ThreeVector G4AffineTransform::TransformAxis(const G4ThreeVector& axis) const
174 const G4Aff <<
175 { 181 {
176 if ((tf2.rxx + tf2.ryy + tf2.rzz) == 3.) << 182 return G4ThreeVector( axis.x()*rxx + axis.y()*ryx + axis.z()*rzx,
177 { << 183 axis.x()*rxy + axis.y()*ryy + axis.z()*rzy,
178 rxx = tf1.rxx; << 184 axis.x()*rxz + axis.y()*ryz + axis.z()*rzz );
179 rxy = tf1.rxy; << 185
180 rxz = tf1.rxz; <<
181 <<
182 ryx = tf1.ryx; <<
183 ryy = tf1.ryy; <<
184 ryz = tf1.ryz; <<
185 <<
186 rzx = tf1.rzx; <<
187 rzy = tf1.rzy; <<
188 rzz = tf1.rzz; <<
189 <<
190 tx = tf1.tx - tf2.tx; <<
191 ty = tf1.ty - tf2.ty; <<
192 tz = tf1.tz - tf2.tz; <<
193 } <<
194 else <<
195 { <<
196 G4double tf1rxx = tf1.rxx, tf1rxy = tf1.rx <<
197 rxx = tf1rxx*tf2.rxx + tf1rxy*tf2.rxy + tf <<
198 rxy = tf1rxx*tf2.ryx + tf1rxy*tf2.ryy + tf <<
199 rxz = tf1rxx*tf2.rzx + tf1rxy*tf2.rzy + tf <<
200 <<
201 G4double tf1ryx = tf1.ryx, tf1ryy = tf1.ry <<
202 ryx = tf1ryx*tf2.rxx + tf1ryy*tf2.rxy + tf <<
203 ryy = tf1ryx*tf2.ryx + tf1ryy*tf2.ryy + tf <<
204 ryz = tf1ryx*tf2.rzx + tf1ryy*tf2.rzy + tf <<
205 <<
206 G4double tf1rzx = tf1.rzx, tf1rzy = tf1.rz <<
207 rzx = tf1rzx*tf2.rxx + tf1rzy*tf2.rxy + tf <<
208 rzy = tf1rzx*tf2.ryx + tf1rzy*tf2.ryy + tf <<
209 rzz = tf1rzx*tf2.rzx + tf1rzy*tf2.rzy + tf <<
210 <<
211 G4double tf1_2tx = tf1.tx - tf2.tx; <<
212 G4double tf1_2ty = tf1.ty - tf2.ty; <<
213 G4double tf1_2tz = tf1.tz - tf2.tz; <<
214 tx = tf1_2tx*tf2.rxx + tf1_2ty*tf2.rxy + t <<
215 ty = tf1_2tx*tf2.ryx + tf1_2ty*tf2.ryy + t <<
216 tz = tf1_2tx*tf2.rzx + tf1_2ty*tf2.rzy + t <<
217 } <<
218 return *this; <<
219 } <<
220 <<
221 inline G4ThreeVector <<
222 G4AffineTransform::TransformPoint(const G4Thre <<
223 { <<
224 G4double vecx = vec.x(), vecy = vec.y(), vec <<
225 return { vecx*rxx + vecy*ryx + vecz*rzx + tx <<
226 vecx*rxy + vecy*ryy + vecz*rzy + ty <<
227 vecx*rxz + vecy*ryz + vecz*rzz + tz <<
228 } <<
229 <<
230 inline G4ThreeVector <<
231 G4AffineTransform::InverseTransformPoint(const <<
232 { <<
233 G4double vecx = vec.x()-tx, vecy = vec.y()-t <<
234 return { vecx*rxx + vecy*rxy + vecz*rxz, <<
235 vecx*ryx + vecy*ryy + vecz*ryz, <<
236 vecx*rzx + vecy*rzy + vecz*rzz }; <<
237 } <<
238 <<
239 inline G4ThreeVector <<
240 G4AffineTransform::TransformAxis(const G4Three <<
241 { <<
242 G4double axisx = axis.x(), axisy = axis.y(), <<
243 return { axisx*rxx + axisy*ryx + axisz*rzx, <<
244 axisx*rxy + axisy*ryy + axisz*rzy, <<
245 axisx*rxz + axisy*ryz + axisz*rzz } <<
246 } <<
247 <<
248 inline G4ThreeVector <<
249 G4AffineTransform::InverseTransformAxis(const <<
250 { <<
251 G4double axisx = axis.x(), axisy = axis.y(), <<
252 return { axisx*rxx + axisy*rxy + axisz*rxz, <<
253 axisx*ryx + axisy*ryy + axisz*ryz, <<
254 axisx*rzx + axisy*rzy + axisz*rzz } <<
255 } 186 }
256 187
257 inline 188 inline
258 void G4AffineTransform::ApplyPointTransform(G4 189 void G4AffineTransform::ApplyPointTransform(G4ThreeVector& vec) const
259 { 190 {
260 G4double vecx = vec.x(), vecy = vec.y(), vec << 191 G4double x = vec.x()*rxx + vec.y()*ryx + vec.z()*rzx + tx;
261 vec.setX( vecx*rxx + vecy*ryx + vecz*rzx + t << 192 G4double y = vec.x()*rxy + vec.y()*ryy + vec.z()*rzy + ty;
262 vec.setY( vecx*rxy + vecy*ryy + vecz*rzy + t << 193 G4double z = vec.x()*rxz + vec.y()*ryz + vec.z()*rzz + tz;
263 vec.setZ( vecx*rxz + vecy*ryz + vecz*rzz + t << 194
>> 195 vec.setX(x);
>> 196 vec.setY(y);
>> 197 vec.setZ(z);
264 } 198 }
265 199
266 inline 200 inline
267 void G4AffineTransform::ApplyAxisTransform(G4T 201 void G4AffineTransform::ApplyAxisTransform(G4ThreeVector& axis) const
268 { 202 {
269 G4double axisx = axis.x(), axisy = axis.y(), << 203 G4double x = axis.x()*rxx + axis.y()*ryx + axis.z()*rzx;
270 axis.setX( axisx*rxx + axisy*ryx + axisz*rzx << 204 G4double y = axis.x()*rxy + axis.y()*ryy + axis.z()*rzy;
271 axis.setY( axisx*rxy + axisy*ryy + axisz*rzy << 205 G4double z = axis.x()*rxz + axis.y()*ryz + axis.z()*rzz;
272 axis.setZ( axisx*rxz + axisy*ryz + axisz*rzz << 206
>> 207 axis.setX(x);
>> 208 axis.setY(y);
>> 209 axis.setZ(z);
273 } 210 }
274 211
275 inline 212 inline
276 G4AffineTransform G4AffineTransform::Inverse() 213 G4AffineTransform G4AffineTransform::Inverse() const
277 { 214 {
278 G4double ttx = -tx, tty = -ty, ttz = -tz; << 215 return G4AffineTransform( rxx, ryx, rzx,
279 return G4AffineTransform( rxx, ryx, rzx, << 216 rxy, ryy, rzy,
280 rxy, ryy, rzy, << 217 rxz, ryz, rzz,
281 rxz, ryz, rzz, << 218
282 ttx*rxx + tty*rxy << 219 -tx*rxx - ty*rxy - tz*rxz,
283 ttx*ryx + tty*ryy << 220 -tx*ryx - ty*ryy - tz*ryz,
284 ttx*rzx + tty*rzy << 221 -tx*rzx - ty*rzy - tz*rzz );
285 } 222 }
286 223
287 inline 224 inline
288 G4AffineTransform& G4AffineTransform::Invert() 225 G4AffineTransform& G4AffineTransform::Invert()
289 { 226 {
290 G4double ttx = -tx, tty = -ty, ttz = -tz; << 227 G4double v1 = -tx*rxx - ty*rxy - tz*rxz;
291 tx = ttx*rxx + tty*rxy + ttz*rxz; << 228 G4double v2 = -tx*ryx - ty*ryy - tz*ryz;
292 ty = ttx*ryx + tty*ryy + ttz*ryz; << 229 G4double v3 = -tx*rzx - ty*rzy - tz*rzz;
293 tz = ttx*rzx + tty*rzy + ttz*rzz; << 230
294 << 231 tx=v1; ty=v2; tz=v3;
295 G4double tmp1=ryx; ryx=rxy; rxy=tmp1; << 232
296 G4double tmp2=rzx; rzx=rxz; rxz=tmp2; << 233 G4double tmp1=ryx; ryx=rxy; rxy=tmp1;
297 G4double tmp3=rzy; rzy=ryz; ryz=tmp3; << 234 G4double tmp2=rzx; rzx=rxz; rxz=tmp2;
>> 235 G4double tmp3=rzy; rzy=ryz; ryz=tmp3;
>> 236
>> 237 return *this;
298 238
299 return *this; <<
300 } 239 }
301 240
302 inline 241 inline
303 G4AffineTransform& G4AffineTransform::operator 242 G4AffineTransform& G4AffineTransform::operator +=(const G4ThreeVector& tlate)
304 { 243 {
305 tx += tlate.x(); << 244 tx += tlate.x();
306 ty += tlate.y(); << 245 ty += tlate.y();
307 tz += tlate.z(); << 246 tz += tlate.z();
308 << 247
309 return *this; << 248 return *this;
310 } 249 }
311 250
312 inline 251 inline
313 G4AffineTransform& G4AffineTransform::operator 252 G4AffineTransform& G4AffineTransform::operator -=(const G4ThreeVector& tlate)
314 { 253 {
315 tx -= tlate.x(); << 254 tx -= tlate.x();
316 ty -= tlate.y(); << 255 ty -= tlate.y();
317 tz -= tlate.z(); << 256 tz -= tlate.z();
318 << 257
319 return *this; << 258 return *this;
320 } 259 }
321 260
322 inline 261 inline
323 G4bool G4AffineTransform::operator == (const G 262 G4bool G4AffineTransform::operator == (const G4AffineTransform& tf) const
324 { 263 {
325 return tx==tf.tx&&ty==tf.ty&&tz==tf.tz&& << 264 return (tx==tf.tx&&ty==tf.ty&&tz==tf.tz&&
326 rxx==tf.rxx&&rxy==tf.rxy&&rxz==tf.rxz << 265 rxx==tf.rxx&&rxy==tf.rxy&&rxz==tf.rxz&&
327 ryx==tf.ryx&&ryy==tf.ryy&&ryz==tf.ryz << 266 ryx==tf.ryx&&ryy==tf.ryy&&ryz==tf.ryz&&
328 rzx==tf.rzx&&rzy==tf.rzy&&rzz==tf.rzz << 267 rzx==tf.rzx&&rzy==tf.rzy&&rzz==tf.rzz) ? true : false;
329 } 268 }
330 <<
331 inline 269 inline
332 G4bool G4AffineTransform::operator != (const G 270 G4bool G4AffineTransform::operator != (const G4AffineTransform& tf) const
333 { 271 {
334 return tx!=tf.tx||ty!=tf.ty||tz!=tf.tz|| << 272 return (tx!=tf.tx||ty!=tf.ty||tz!=tf.tz||
335 rxx!=tf.rxx||rxy!=tf.rxy||rxz!=tf.rxz << 273 rxx!=tf.rxx||rxy!=tf.rxy||rxz!=tf.rxz||
336 ryx!=tf.ryx||ryy!=tf.ryy||ryz!=tf.ryz << 274 ryx!=tf.ryx||ryy!=tf.ryy||ryz!=tf.ryz||
337 rzx!=tf.rzx||rzy!=tf.rzy||rzz!=tf.rzz << 275 rzx!=tf.rzx||rzy!=tf.rzy||rzz!=tf.rzz) ? true : false;
338 } 276 }
339 277
340 inline 278 inline
341 G4double G4AffineTransform::operator [] (const 279 G4double G4AffineTransform::operator [] (const G4int n) const
342 { 280 {
343 G4double v = 0.0; << 281 G4double v;
344 switch(n) << 282 switch(n)
345 { << 283 {
346 case 0: << 284 case 0:
347 v=rxx; << 285 v=rxx;
348 break; << 286 break;
349 case 1: << 287 case 1:
350 v=rxy; << 288 v=rxy;
351 break; << 289 break;
352 case 2: << 290 case 2:
353 v=rxz; << 291 v=rxz;
354 break; << 292 break;
355 case 4: << 293 case 4:
356 v=ryx; << 294 v=ryx;
357 break; << 295 break;
358 case 5: << 296 case 5:
359 v=ryy; << 297 v=ryy;
360 break; << 298 break;
361 case 6: << 299 case 6:
362 v=ryz; << 300 v=ryz;
363 break; << 301 break;
364 case 8: << 302 case 8:
365 v=rzx; << 303 v=rzx;
366 break; << 304 break;
367 case 9: << 305 case 9:
368 v=rzy; << 306 v=rzy;
369 break; << 307 break;
370 case 10: << 308 case 10:
371 v=rzz; << 309 v=rzz;
372 break; << 310 break;
373 case 12: << 311 case 12:
374 v=tx; << 312 v=tx;
375 break; << 313 break;
376 case 13: << 314 case 13:
377 v=ty; << 315 v=ty;
378 break; << 316 break;
379 case 14: << 317 case 14:
380 v=tz; << 318 v=tz;
381 break; << 319 break;
382 case 3: << 320 case 3:
383 case 7: << 321 case 7:
384 case 11: << 322 case 11:
385 break; << 323 v=0;
386 case 15: << 324 break;
387 v=1.0; << 325 case 15:
388 break; << 326 v=1;
389 } << 327 break;
390 return v; << 328 }
>> 329 return v;
391 } 330 }
392 331
393 inline 332 inline
394 G4bool G4AffineTransform::IsRotated() const 333 G4bool G4AffineTransform::IsRotated() const
395 { 334 {
396 return !(rxx==1.0 && ryy==1.0 && rzz==1.0); << 335 return (rxx==1.0 && ryy==1.0 && rzz==1.0) ? false : true;
397 } 336 }
398 337
399 inline 338 inline
400 G4bool G4AffineTransform::IsTranslated() const 339 G4bool G4AffineTransform::IsTranslated() const
401 { 340 {
402 return (tx != 0.0) || (ty != 0.0) || (tz != << 341 return (tx || ty || tz) ? true:false;
403 } 342 }
404 343
405 inline G4RotationMatrix G4AffineTransform::Net << 344 inline G4RotationMatrix G4AffineTransform::NetRotation() const {
406 { << 345 G4RotationMatrix m;
407 return G4Rep3x3(rxx,rxy,rxz, << 346 return m.rotateAxes(G4ThreeVector(rxx,ryx,rzx),
408 ryx,ryy,ryz, << 347 G4ThreeVector(rxy,ryy,rzy),
409 rzx,rzy,rzz); << 348 G4ThreeVector(rxz,ryz,rzz));
410 } <<
411 <<
412 inline G4RotationMatrix G4AffineTransform::Inv <<
413 { <<
414 return G4Rep3x3(rxx,ryx,rzx, <<
415 rxy,ryy,rzy, <<
416 rxz,ryz,rzz); <<
417 } 349 }
418 350
419 inline 351 inline
420 G4ThreeVector G4AffineTransform::NetTranslatio 352 G4ThreeVector G4AffineTransform::NetTranslation() const
421 { 353 {
422 return {tx,ty,tz}; << 354 return G4ThreeVector(tx,ty,tz);
423 } <<
424 <<
425 inline <<
426 G4ThreeVector G4AffineTransform::InverseNetTra <<
427 { <<
428 G4double ttx = -tx, tty = -ty, ttz = -tz; <<
429 G4double invtx = ttx*rxx + tty*rxy + ttz*rxz <<
430 G4double invty = ttx*ryx + tty*ryy + ttz*ryz <<
431 G4double invtz = ttx*rzx + tty*rzy + ttz*rzz <<
432 return {invtx,invty,invtz}; <<
433 } 355 }
434 356
435 inline 357 inline
436 void G4AffineTransform::SetNetRotation(const G 358 void G4AffineTransform::SetNetRotation(const G4RotationMatrix& rot)
437 { 359 {
438 rxx=rot.xx(); << 360 rxx=rot.xx();
439 rxy=rot.xy(); << 361 rxy=rot.xy();
440 rxz=rot.xz(); << 362 rxz=rot.xz();
441 ryx=rot.yx(); << 363 ryx=rot.yx();
442 ryy=rot.yy(); << 364 ryy=rot.yy();
443 ryz=rot.yz(); << 365 ryz=rot.yz();
444 rzx=rot.zx(); << 366 rzx=rot.zx();
445 rzy=rot.zy(); << 367 rzy=rot.zy();
446 rzz=rot.zz(); << 368 rzz=rot.zz();
447 } 369 }
448 370
449 inline 371 inline
450 void G4AffineTransform::SetNetTranslation(cons 372 void G4AffineTransform::SetNetTranslation(const G4ThreeVector& tlate)
451 { 373 {
452 tx=tlate.x(); << 374 tx=tlate.x();
453 ty=tlate.y(); << 375 ty=tlate.y();
454 tz=tlate.z(); << 376 tz=tlate.z();
455 } <<
456 <<
457 inline <<
458 G4AffineTransform::operator G4Transform3D () c <<
459 { <<
460 return G4Transform3D(NetRotation().inverse() <<
461 } <<
462 <<
463 inline <<
464 std::ostream& operator << (std::ostream& os, c <<
465 { <<
466 std::streamsize oldPrec = os.precision(6); <<
467 G4double DeviationTolerance = 1.0e-05; <<
468 <<
469 G4double diagDeviation = 0.0; <<
470 G4double offdDeviationUL = 0.0; <<
471 G4double offdDeviationDR = 0.0; <<
472 G4double offdDeviation = 0.0; <<
473 <<
474 os << " Transformation: " << G4endl; <<
475 <<
476 // double a = std::max ( 1, 2, 3 ) ; <<
477 <<
478 G4bool UnitTr = ! transf.IsRotated(); <<
479 diagDeviation = std::max( std::fabs( transf[ <<
480 std::fabs( transf[ <<
481 diagDeviation = std::max( diagDeviation, <<
482 std::fabs( transf[ <<
483 <<
484 offdDeviationUL = std::max( std::fabs( trans <<
485 std::fabs( trans <<
486 offdDeviationUL = std::max( offdDeviationUL, <<
487 std::fabs( trans <<
488 <<
489 offdDeviationDR = std::max( std::fabs( trans <<
490 std::fabs( trans <<
491 offdDeviationDR = std::max( offdDeviationDR, <<
492 std::fabs( trans <<
493 offdDeviation = std::max( offdDeviationUL, o <<
494 <<
495 if( UnitTr || std::max(diagDeviation, offdDe <<
496 { <<
497 os << " UNIT Rotation " << G4endl; <<
498 } <<
499 else <<
500 { <<
501 os << "rx/x,y,z: " <<
502 << transf[0] << " " << transf[1] << " <<
503 << "ry/x,y,z: " <<
504 << transf[4] << " " << transf[5] << " <<
505 << "rz/x,y,z: " <<
506 << transf[8] << " " << transf[9] << " <<
507 } <<
508 <<
509 os << "tr/x,y,z: " << transf[12] << " " << <<
510 << G4endl; <<
511 <<
512 os.precision(oldPrec); <<
513 <<
514 return os; <<
515 } 377 }
516 378