| Geant4 Cross Reference |
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25 // 22 //
>> 23 //
>> 24 // $Id: G4AffineTransform.icc,v 1.7 2003/11/02 14:01:21 gcosmo Exp $
>> 25 // GEANT4 tag $Name: geant4-06-00-patch-01 $
>> 26 //
>> 27 //
26 // G4AffineTransformation Inline implementatio 28 // G4AffineTransformation Inline implementation
27 // 29 //
28 // ------------------------------------------- 30 // --------------------------------------------------------------------
29 31
30 inline G4AffineTransform::G4AffineTransform() 32 inline G4AffineTransform::G4AffineTransform()
31 : rxx(1),rxy(0),rxz(0), 33 : rxx(1),rxy(0),rxz(0),
32 ryx(0),ryy(1),ryz(0), 34 ryx(0),ryy(1),ryz(0),
33 rzx(0),rzy(0),rzz(1), 35 rzx(0),rzy(0),rzz(1),
34 tx(0),ty(0),tz(0) 36 tx(0),ty(0),tz(0)
35 {} 37 {}
36 38
37 inline G4AffineTransform::G4AffineTransform(co 39 inline G4AffineTransform::G4AffineTransform(const G4ThreeVector& tlate)
38 : rxx(1),rxy(0),rxz(0), 40 : rxx(1),rxy(0),rxz(0),
39 ryx(0),ryy(1),ryz(0), 41 ryx(0),ryy(1),ryz(0),
40 rzx(0),rzy(0),rzz(1), 42 rzx(0),rzy(0),rzz(1),
41 tx(tlate.x()),ty(tlate.y()),tz(tlate.z()) 43 tx(tlate.x()),ty(tlate.y()),tz(tlate.z())
42 {} 44 {}
43 45
44 inline G4AffineTransform::G4AffineTransform(co 46 inline G4AffineTransform::G4AffineTransform(const G4RotationMatrix& rot)
45 : rxx(rot.xx()),rxy(rot.xy()),rxz(rot.xz()), 47 : rxx(rot.xx()),rxy(rot.xy()),rxz(rot.xz()),
46 ryx(rot.yx()),ryy(rot.yy()),ryz(rot.yz()), 48 ryx(rot.yx()),ryy(rot.yy()),ryz(rot.yz()),
47 rzx(rot.zx()),rzy(rot.zy()),rzz(rot.zz()), 49 rzx(rot.zx()),rzy(rot.zy()),rzz(rot.zz()),
48 tx(0),ty(0),tz(0) 50 tx(0),ty(0),tz(0)
49 {} 51 {}
50 52
51 inline G4AffineTransform::G4AffineTransform( c 53 inline G4AffineTransform::G4AffineTransform( const G4RotationMatrix& rot,
52 c << 54 const G4ThreeVector& tlate )
53 : rxx(rot.xx()),rxy(rot.xy()),rxz(rot.xz()), 55 : rxx(rot.xx()),rxy(rot.xy()),rxz(rot.xz()),
54 ryx(rot.yx()),ryy(rot.yy()),ryz(rot.yz()), 56 ryx(rot.yx()),ryy(rot.yy()),ryz(rot.yz()),
55 rzx(rot.zx()),rzy(rot.zy()),rzz(rot.zz()), 57 rzx(rot.zx()),rzy(rot.zy()),rzz(rot.zz()),
56 tx(tlate.x()),ty(tlate.y()),tz(tlate.z()) 58 tx(tlate.x()),ty(tlate.y()),tz(tlate.z())
57 {} 59 {}
58 60
59 inline G4AffineTransform::G4AffineTransform( c << 61 inline G4AffineTransform::G4AffineTransform( const G4RotationMatrix *rot,
60 c << 62 const G4ThreeVector& tlate)
61 : tx(tlate.x()),ty(tlate.y()),tz(tlate.z()) 63 : tx(tlate.x()),ty(tlate.y()),tz(tlate.z())
62 { 64 {
63 if (rot != nullptr) << 65 if (rot)
64 { << 66 {
65 rxx=rot->xx();rxy=rot->xy();rxz=rot->xz(); << 67 rxx=rot->xx();rxy=rot->xy();rxz=rot->xz();
66 ryx=rot->yx();ryy=rot->yy();ryz=rot->yz(); << 68 ryx=rot->yx();ryy=rot->yy();ryz=rot->yz();
67 rzx=rot->zx();rzy=rot->zy();rzz=rot->zz(); << 69 rzx=rot->zx();rzy=rot->zy();rzz=rot->zz();
68 } << 70 }
69 else 71 else
70 { << 72 {
71 rxx=1; rxy=0; rxz=0; << 73 rxx=1; rxy=0; rxz=0;
72 ryx=0; ryy=1; ryz=0; << 74 ryx=0; ryy=1; ryz=0;
73 rzx=0; rzy=0; rzz=1; << 75 rzx=0; rzy=0; rzz=1;
74 } << 76 }
75 } 77 }
76 78
77 inline << 79 inline
78 G4AffineTransform:: 80 G4AffineTransform::
79 G4AffineTransform( const G4double prxx,const G 81 G4AffineTransform( const G4double prxx,const G4double prxy,const G4double prxz,
80 const G4double pryx,const G 82 const G4double pryx,const G4double pryy,const G4double pryz,
81 const G4double przx,const G 83 const G4double przx,const G4double przy,const G4double przz,
82 const G4double ptx,const G4 << 84 const G4double ptx,const G4double pty,const G4double ptz)
83 : rxx(prxx),rxy(prxy),rxz(prxz), 85 : rxx(prxx),rxy(prxy),rxz(prxz),
84 ryx(pryx),ryy(pryy),ryz(pryz), 86 ryx(pryx),ryy(pryy),ryz(pryz),
85 rzx(przx),rzy(przy),rzz(przz), 87 rzx(przx),rzy(przy),rzz(przz),
86 tx(ptx),ty(pty),tz(ptz) 88 tx(ptx),ty(pty),tz(ptz)
87 {} 89 {}
88 90
89 inline G4AffineTransform& <<
90 G4AffineTransform::operator = (const G4AffineT <<
91 { <<
92 if (this == &rhs) { return *this; } <<
93 rxx = rhs.rxx; rxy = rhs.rxy; rxz = rhs.rxz; <<
94 ryx = rhs.ryx; ryy = rhs.ryy; ryz = rhs.ryz; <<
95 rzx = rhs.rzx; rzy = rhs.rzy; rzz = rhs.rzz; <<
96 tx = rhs.tx; ty = rhs.ty; tz = rhs.tz; <<
97 return *this; <<
98 } <<
99 <<
100 inline G4AffineTransform 91 inline G4AffineTransform
101 G4AffineTransform::operator * (const G4AffineT 92 G4AffineTransform::operator * (const G4AffineTransform& tf) const
102 { 93 {
103 return G4AffineTransform(rxx*tf.rxx+rxy*tf.r << 94 return G4AffineTransform(
104 rxx*tf.rxy+rxy*tf.r << 95 rxx*tf.rxx+rxy*tf.ryx+rxz*tf.rzx,
105 rxx*tf.rxz+rxy*tf.r << 96 rxx*tf.rxy+rxy*tf.ryy+rxz*tf.rzy,
106 << 97 rxx*tf.rxz+rxy*tf.ryz+rxz*tf.rzz,
107 ryx*tf.rxx+ryy*tf.r << 98
108 ryx*tf.rxy+ryy*tf.r << 99 ryx*tf.rxx+ryy*tf.ryx+ryz*tf.rzx,
109 ryx*tf.rxz+ryy*tf.r << 100 ryx*tf.rxy+ryy*tf.ryy+ryz*tf.rzy,
110 << 101 ryx*tf.rxz+ryy*tf.ryz+ryz*tf.rzz,
111 rzx*tf.rxx+rzy*tf.r << 102
112 rzx*tf.rxy+rzy*tf.r << 103 rzx*tf.rxx+rzy*tf.ryx+rzz*tf.rzx,
113 rzx*tf.rxz+rzy*tf.r << 104 rzx*tf.rxy+rzy*tf.ryy+rzz*tf.rzy,
114 << 105 rzx*tf.rxz+rzy*tf.ryz+rzz*tf.rzz,
115 tx*tf.rxx+ty*tf.ryx << 106
116 tx*tf.rxy+ty*tf.ryy << 107 tx*tf.rxx+ty*tf.ryx+tz*tf.rzx+tf.tx,
117 tx*tf.rxz+ty*tf.ryz << 108 tx*tf.rxy+ty*tf.ryy+tz*tf.rzy+tf.ty,
>> 109 tx*tf.rxz+ty*tf.ryz+tz*tf.rzz+tf.tz);
118 } 110 }
119 111
120 inline G4AffineTransform& 112 inline G4AffineTransform&
121 G4AffineTransform::operator *= (const G4Affine 113 G4AffineTransform::operator *= (const G4AffineTransform& tf)
122 { 114 {
123 // Use temporaries for `in place' compound t << 115 // Use temporaries for `in place' compound transform computation
124 // << 116
125 G4double nrxx=rxx*tf.rxx+rxy*tf.ryx+rxz*tf.r << 117 G4double nrxx=rxx*tf.rxx+rxy*tf.ryx+rxz*tf.rzx;
126 G4double nrxy=rxx*tf.rxy+rxy*tf.ryy+rxz*tf.r << 118 G4double nrxy=rxx*tf.rxy+rxy*tf.ryy+rxz*tf.rzy;
127 G4double nrxz=rxx*tf.rxz+rxy*tf.ryz+rxz*tf.r << 119 G4double nrxz=rxx*tf.rxz+rxy*tf.ryz+rxz*tf.rzz;
128 << 120
129 G4double nryx=ryx*tf.rxx+ryy*tf.ryx+ryz*tf.r << 121 G4double nryx=ryx*tf.rxx+ryy*tf.ryx+ryz*tf.rzx;
130 G4double nryy=ryx*tf.rxy+ryy*tf.ryy+ryz*tf.r << 122 G4double nryy=ryx*tf.rxy+ryy*tf.ryy+ryz*tf.rzy;
131 G4double nryz=ryx*tf.rxz+ryy*tf.ryz+ryz*tf.r << 123 G4double nryz=ryx*tf.rxz+ryy*tf.ryz+ryz*tf.rzz;
132 << 124
133 G4double nrzx=rzx*tf.rxx+rzy*tf.ryx+rzz*tf.r << 125 G4double nrzx=rzx*tf.rxx+rzy*tf.ryx+rzz*tf.rzx;
134 G4double nrzy=rzx*tf.rxy+rzy*tf.ryy+rzz*tf.r << 126 G4double nrzy=rzx*tf.rxy+rzy*tf.ryy+rzz*tf.rzy;
135 G4double nrzz=rzx*tf.rxz+rzy*tf.ryz+rzz*tf.r << 127 G4double nrzz=rzx*tf.rxz+rzy*tf.ryz+rzz*tf.rzz;
136 128
137 G4double ntx=tx*tf.rxx+ty*tf.ryx+tz*tf.rzx+t << 129 G4double ntx=tx*tf.rxx+ty*tf.ryx+tz*tf.rzx+tf.tx;
138 G4double nty=tx*tf.rxy+ty*tf.ryy+tz*tf.rzy+t << 130 G4double nty=tx*tf.rxy+ty*tf.ryy+tz*tf.rzy+tf.ty;
139 G4double ntz=tx*tf.rxz+ty*tf.ryz+tz*tf.rzz+t << 131 G4double ntz=tx*tf.rxz+ty*tf.ryz+tz*tf.rzz+tf.tz;
140 << 132
141 tx=ntx; ty=nty; tz=ntz; << 133 tx=ntx; ty=nty; tz=ntz;
142 rxx=nrxx; rxy=nrxy; rxz=nrxz; << 134 rxx=nrxx; rxy=nrxy; rxz=nrxz;
143 ryx=nryx; ryy=nryy; ryz=nryz; << 135 ryx=nryx; ryy=nryy; ryz=nryz;
144 rzx=nrzx; rzy=nrzy; rzz=nrzz; << 136 rzx=nrzx; rzy=nrzy; rzz=nrzz;
145 137
146 return *this; << 138 return *this;
147 } 139 }
148 140
149 inline G4AffineTransform& 141 inline G4AffineTransform&
150 G4AffineTransform::Product( const G4AffineTran << 142 G4AffineTransform::Product(const G4AffineTransform& tf1,
151 const G4AffineTran << 143 const G4AffineTransform& tf2)
152 { 144 {
153 rxx = tf1.rxx*tf2.rxx + tf1.rxy*tf2.ryx + tf << 145 rxx=tf1.rxx*tf2.rxx + tf1.rxy*tf2.ryx + tf1.rxz*tf2.rzx;
154 rxy = tf1.rxx*tf2.rxy + tf1.rxy*tf2.ryy + tf << 146 rxy=tf1.rxx*tf2.rxy + tf1.rxy*tf2.ryy + tf1.rxz*tf2.rzy;
155 rxz = tf1.rxx*tf2.rxz + tf1.rxy*tf2.ryz + tf << 147 rxz=tf1.rxx*tf2.rxz + tf1.rxy*tf2.ryz + tf1.rxz*tf2.rzz;
156 << 148
157 ryx = tf1.ryx*tf2.rxx + tf1.ryy*tf2.ryx + tf << 149 ryx=tf1.ryx*tf2.rxx + tf1.ryy*tf2.ryx + tf1.ryz*tf2.rzx;
158 ryy = tf1.ryx*tf2.rxy + tf1.ryy*tf2.ryy + tf << 150 ryy=tf1.ryx*tf2.rxy + tf1.ryy*tf2.ryy + tf1.ryz*tf2.rzy;
159 ryz = tf1.ryx*tf2.rxz + tf1.ryy*tf2.ryz + tf << 151 ryz=tf1.ryx*tf2.rxz + tf1.ryy*tf2.ryz + tf1.ryz*tf2.rzz;
160 << 152
161 rzx = tf1.rzx*tf2.rxx + tf1.rzy*tf2.ryx + tf << 153 rzx=tf1.rzx*tf2.rxx + tf1.rzy*tf2.ryx + tf1.rzz*tf2.rzx;
162 rzy = tf1.rzx*tf2.rxy + tf1.rzy*tf2.ryy + tf << 154 rzy=tf1.rzx*tf2.rxy + tf1.rzy*tf2.ryy + tf1.rzz*tf2.rzy;
163 rzz = tf1.rzx*tf2.rxz + tf1.rzy*tf2.ryz + tf << 155 rzz=tf1.rzx*tf2.rxz + tf1.rzy*tf2.ryz + tf1.rzz*tf2.rzz;
164 << 156
165 tx = tf1.tx*tf2.rxx + tf1.ty*tf2.ryx + tf1.t << 157 tx=tf1.tx*tf2.rxx + tf1.ty*tf2.ryx + tf1.tz*tf2.rzx + tf2.tx;
166 ty = tf1.tx*tf2.rxy + tf1.ty*tf2.ryy + tf1.t << 158 ty=tf1.tx*tf2.rxy + tf1.ty*tf2.ryy + tf1.tz*tf2.rzy + tf2.ty;
167 tz = tf1.tx*tf2.rxz + tf1.ty*tf2.ryz + tf1.t << 159 tz=tf1.tx*tf2.rxz + tf1.ty*tf2.ryz + tf1.tz*tf2.rzz + tf2.tz;
168 << 160
169 return *this; << 161 return *this;
170 } 162 }
171 163
172 inline G4AffineTransform& 164 inline G4AffineTransform&
173 G4AffineTransform::InverseProduct( const G4Aff 165 G4AffineTransform::InverseProduct( const G4AffineTransform& tf1,
174 const G4Aff << 166 const G4AffineTransform& tf2)
175 { 167 {
176 if ((tf2.rxx + tf2.ryy + tf2.rzz) == 3.) << 168 G4double itf2tx = - tf2.tx*tf2.rxx - tf2.ty*tf2.rxy - tf2.tz*tf2.rxz;
177 { << 169 G4double itf2ty = - tf2.tx*tf2.ryx - tf2.ty*tf2.ryy - tf2.tz*tf2.ryz;
178 rxx = tf1.rxx; << 170 G4double itf2tz = - tf2.tx*tf2.rzx - tf2.ty*tf2.rzy - tf2.tz*tf2.rzz;
179 rxy = tf1.rxy; << 171
180 rxz = tf1.rxz; << 172 rxx=tf1.rxx*tf2.rxx+tf1.rxy*tf2.rxy+tf1.rxz*tf2.rxz;
181 << 173 rxy=tf1.rxx*tf2.ryx+tf1.rxy*tf2.ryy+tf1.rxz*tf2.ryz;
182 ryx = tf1.ryx; << 174 rxz=tf1.rxx*tf2.rzx+tf1.rxy*tf2.rzy+tf1.rxz*tf2.rzz;
183 ryy = tf1.ryy; << 175
184 ryz = tf1.ryz; << 176 ryx=tf1.ryx*tf2.rxx+tf1.ryy*tf2.rxy+tf1.ryz*tf2.rxz;
185 << 177 ryy=tf1.ryx*tf2.ryx+tf1.ryy*tf2.ryy+tf1.ryz*tf2.ryz;
186 rzx = tf1.rzx; << 178 ryz=tf1.ryx*tf2.rzx+tf1.ryy*tf2.rzy+tf1.ryz*tf2.rzz;
187 rzy = tf1.rzy; << 179
188 rzz = tf1.rzz; << 180 rzx=tf1.rzx*tf2.rxx+tf1.rzy*tf2.rxy+tf1.rzz*tf2.rxz;
189 << 181 rzy=tf1.rzx*tf2.ryx+tf1.rzy*tf2.ryy+tf1.rzz*tf2.ryz;
190 tx = tf1.tx - tf2.tx; << 182 rzz=tf1.rzx*tf2.rzx+tf1.rzy*tf2.rzy+tf1.rzz*tf2.rzz;
191 ty = tf1.ty - tf2.ty; << 183
192 tz = tf1.tz - tf2.tz; << 184 tx=tf1.tx*tf2.rxx+tf1.ty*tf2.rxy+tf1.tz*tf2.rxz+itf2tx;
193 } << 185 ty=tf1.tx*tf2.ryx+tf1.ty*tf2.ryy+tf1.tz*tf2.ryz+itf2ty;
194 else << 186 tz=tf1.tx*tf2.rzx+tf1.ty*tf2.rzy+tf1.tz*tf2.rzz+itf2tz;
195 { << 187
196 G4double tf1rxx = tf1.rxx, tf1rxy = tf1.rx << 188 return *this;
197 rxx = tf1rxx*tf2.rxx + tf1rxy*tf2.rxy + tf << 189 }
198 rxy = tf1rxx*tf2.ryx + tf1rxy*tf2.ryy + tf << 190
199 rxz = tf1rxx*tf2.rzx + tf1rxy*tf2.rzy + tf << 191 inline
200 << 192 G4ThreeVector G4AffineTransform::TransformPoint(const G4ThreeVector& vec) const
201 G4double tf1ryx = tf1.ryx, tf1ryy = tf1.ry << 193 {
202 ryx = tf1ryx*tf2.rxx + tf1ryy*tf2.rxy + tf << 194 return G4ThreeVector( vec.x()*rxx + vec.y()*ryx + vec.z()*rzx + tx,
203 ryy = tf1ryx*tf2.ryx + tf1ryy*tf2.ryy + tf << 195 vec.x()*rxy + vec.y()*ryy + vec.z()*rzy + ty,
204 ryz = tf1ryx*tf2.rzx + tf1ryy*tf2.rzy + tf << 196 vec.x()*rxz + vec.y()*ryz + vec.z()*rzz + tz );
205 << 197 }
206 G4double tf1rzx = tf1.rzx, tf1rzy = tf1.rz << 198
207 rzx = tf1rzx*tf2.rxx + tf1rzy*tf2.rxy + tf << 199 inline
208 rzy = tf1rzx*tf2.ryx + tf1rzy*tf2.ryy + tf << 200 G4ThreeVector G4AffineTransform::TransformAxis(const G4ThreeVector& axis) const
209 rzz = tf1rzx*tf2.rzx + tf1rzy*tf2.rzy + tf << 201 {
210 << 202 return G4ThreeVector( axis.x()*rxx + axis.y()*ryx + axis.z()*rzx,
211 G4double tf1_2tx = tf1.tx - tf2.tx; << 203 axis.x()*rxy + axis.y()*ryy + axis.z()*rzy,
212 G4double tf1_2ty = tf1.ty - tf2.ty; << 204 axis.x()*rxz + axis.y()*ryz + axis.z()*rzz );
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 } 205 }
256 206
257 inline 207 inline
258 void G4AffineTransform::ApplyPointTransform(G4 208 void G4AffineTransform::ApplyPointTransform(G4ThreeVector& vec) const
259 { 209 {
260 G4double vecx = vec.x(), vecy = vec.y(), vec << 210 G4double x = vec.x()*rxx + vec.y()*ryx + vec.z()*rzx + tx;
261 vec.setX( vecx*rxx + vecy*ryx + vecz*rzx + t << 211 G4double y = vec.x()*rxy + vec.y()*ryy + vec.z()*rzy + ty;
262 vec.setY( vecx*rxy + vecy*ryy + vecz*rzy + t << 212 G4double z = vec.x()*rxz + vec.y()*ryz + vec.z()*rzz + tz;
263 vec.setZ( vecx*rxz + vecy*ryz + vecz*rzz + t << 213
>> 214 vec.setX(x);
>> 215 vec.setY(y);
>> 216 vec.setZ(z);
264 } 217 }
265 218
266 inline 219 inline
267 void G4AffineTransform::ApplyAxisTransform(G4T 220 void G4AffineTransform::ApplyAxisTransform(G4ThreeVector& axis) const
268 { 221 {
269 G4double axisx = axis.x(), axisy = axis.y(), << 222 G4double x = axis.x()*rxx + axis.y()*ryx + axis.z()*rzx;
270 axis.setX( axisx*rxx + axisy*ryx + axisz*rzx << 223 G4double y = axis.x()*rxy + axis.y()*ryy + axis.z()*rzy;
271 axis.setY( axisx*rxy + axisy*ryy + axisz*rzy << 224 G4double z = axis.x()*rxz + axis.y()*ryz + axis.z()*rzz;
272 axis.setZ( axisx*rxz + axisy*ryz + axisz*rzz << 225
>> 226 axis.setX(x);
>> 227 axis.setY(y);
>> 228 axis.setZ(z);
273 } 229 }
274 230
275 inline 231 inline
276 G4AffineTransform G4AffineTransform::Inverse() 232 G4AffineTransform G4AffineTransform::Inverse() const
277 { 233 {
278 G4double ttx = -tx, tty = -ty, ttz = -tz; << 234 return G4AffineTransform( rxx, ryx, rzx,
279 return G4AffineTransform( rxx, ryx, rzx, << 235 rxy, ryy, rzy,
280 rxy, ryy, rzy, << 236 rxz, ryz, rzz,
281 rxz, ryz, rzz, << 237
282 ttx*rxx + tty*rxy << 238 -tx*rxx - ty*rxy - tz*rxz,
283 ttx*ryx + tty*ryy << 239 -tx*ryx - ty*ryy - tz*ryz,
284 ttx*rzx + tty*rzy << 240 -tx*rzx - ty*rzy - tz*rzz );
285 } 241 }
286 242
287 inline 243 inline
288 G4AffineTransform& G4AffineTransform::Invert() 244 G4AffineTransform& G4AffineTransform::Invert()
289 { 245 {
290 G4double ttx = -tx, tty = -ty, ttz = -tz; << 246 G4double v1 = -tx*rxx - ty*rxy - tz*rxz;
291 tx = ttx*rxx + tty*rxy + ttz*rxz; << 247 G4double v2 = -tx*ryx - ty*ryy - tz*ryz;
292 ty = ttx*ryx + tty*ryy + ttz*ryz; << 248 G4double v3 = -tx*rzx - ty*rzy - tz*rzz;
293 tz = ttx*rzx + tty*rzy + ttz*rzz; << 249
294 << 250 tx=v1; ty=v2; tz=v3;
295 G4double tmp1=ryx; ryx=rxy; rxy=tmp1; << 251
296 G4double tmp2=rzx; rzx=rxz; rxz=tmp2; << 252 G4double tmp1=ryx; ryx=rxy; rxy=tmp1;
297 G4double tmp3=rzy; rzy=ryz; ryz=tmp3; << 253 G4double tmp2=rzx; rzx=rxz; rxz=tmp2;
>> 254 G4double tmp3=rzy; rzy=ryz; ryz=tmp3;
>> 255
>> 256 return *this;
298 257
299 return *this; <<
300 } 258 }
301 259
302 inline 260 inline
303 G4AffineTransform& G4AffineTransform::operator 261 G4AffineTransform& G4AffineTransform::operator +=(const G4ThreeVector& tlate)
304 { 262 {
305 tx += tlate.x(); << 263 tx += tlate.x();
306 ty += tlate.y(); << 264 ty += tlate.y();
307 tz += tlate.z(); << 265 tz += tlate.z();
308 266
309 return *this; << 267 return *this;
310 } 268 }
311 269
312 inline 270 inline
313 G4AffineTransform& G4AffineTransform::operator 271 G4AffineTransform& G4AffineTransform::operator -=(const G4ThreeVector& tlate)
314 { 272 {
315 tx -= tlate.x(); << 273 tx -= tlate.x();
316 ty -= tlate.y(); << 274 ty -= tlate.y();
317 tz -= tlate.z(); << 275 tz -= tlate.z();
318 276
319 return *this; << 277 return *this;
320 } 278 }
321 279
322 inline 280 inline
323 G4bool G4AffineTransform::operator == (const G 281 G4bool G4AffineTransform::operator == (const G4AffineTransform& tf) const
324 { 282 {
325 return tx==tf.tx&&ty==tf.ty&&tz==tf.tz&& << 283 return (tx==tf.tx&&ty==tf.ty&&tz==tf.tz&&
326 rxx==tf.rxx&&rxy==tf.rxy&&rxz==tf.rxz << 284 rxx==tf.rxx&&rxy==tf.rxy&&rxz==tf.rxz&&
327 ryx==tf.ryx&&ryy==tf.ryy&&ryz==tf.ryz << 285 ryx==tf.ryx&&ryy==tf.ryy&&ryz==tf.ryz&&
328 rzx==tf.rzx&&rzy==tf.rzy&&rzz==tf.rzz << 286 rzx==tf.rzx&&rzy==tf.rzy&&rzz==tf.rzz) ? true : false;
329 } 287 }
330 <<
331 inline 288 inline
332 G4bool G4AffineTransform::operator != (const G 289 G4bool G4AffineTransform::operator != (const G4AffineTransform& tf) const
333 { 290 {
334 return tx!=tf.tx||ty!=tf.ty||tz!=tf.tz|| << 291 return (tx!=tf.tx||ty!=tf.ty||tz!=tf.tz||
335 rxx!=tf.rxx||rxy!=tf.rxy||rxz!=tf.rxz << 292 rxx!=tf.rxx||rxy!=tf.rxy||rxz!=tf.rxz||
336 ryx!=tf.ryx||ryy!=tf.ryy||ryz!=tf.ryz << 293 ryx!=tf.ryx||ryy!=tf.ryy||ryz!=tf.ryz||
337 rzx!=tf.rzx||rzy!=tf.rzy||rzz!=tf.rzz << 294 rzx!=tf.rzx||rzy!=tf.rzy||rzz!=tf.rzz) ? true : false;
338 } 295 }
339 296
340 inline 297 inline
341 G4double G4AffineTransform::operator [] (const 298 G4double G4AffineTransform::operator [] (const G4int n) const
342 { 299 {
343 G4double v = 0.0; << 300 G4double v = 0.0;
344 switch(n) << 301 switch(n)
345 { << 302 {
346 case 0: << 303 case 0:
347 v=rxx; << 304 v=rxx;
348 break; << 305 break;
349 case 1: << 306 case 1:
350 v=rxy; << 307 v=rxy;
351 break; << 308 break;
352 case 2: << 309 case 2:
353 v=rxz; << 310 v=rxz;
354 break; << 311 break;
355 case 4: << 312 case 4:
356 v=ryx; << 313 v=ryx;
357 break; << 314 break;
358 case 5: << 315 case 5:
359 v=ryy; << 316 v=ryy;
360 break; << 317 break;
361 case 6: << 318 case 6:
362 v=ryz; << 319 v=ryz;
363 break; << 320 break;
364 case 8: << 321 case 8:
365 v=rzx; << 322 v=rzx;
366 break; << 323 break;
367 case 9: << 324 case 9:
368 v=rzy; << 325 v=rzy;
369 break; << 326 break;
370 case 10: << 327 case 10:
371 v=rzz; << 328 v=rzz;
372 break; << 329 break;
373 case 12: << 330 case 12:
374 v=tx; << 331 v=tx;
375 break; << 332 break;
376 case 13: << 333 case 13:
377 v=ty; << 334 v=ty;
378 break; << 335 break;
379 case 14: << 336 case 14:
380 v=tz; << 337 v=tz;
381 break; << 338 break;
382 case 3: << 339 case 3:
383 case 7: << 340 case 7:
384 case 11: << 341 case 11:
385 break; << 342 break;
386 case 15: << 343 case 15:
387 v=1.0; << 344 v=1.0;
388 break; << 345 break;
389 } << 346 }
390 return v; << 347 return v;
391 } 348 }
392 349
393 inline 350 inline
394 G4bool G4AffineTransform::IsRotated() const 351 G4bool G4AffineTransform::IsRotated() const
395 { 352 {
396 return !(rxx==1.0 && ryy==1.0 && rzz==1.0); << 353 return (rxx==1.0 && ryy==1.0 && rzz==1.0) ? false : true;
397 } 354 }
398 355
399 inline 356 inline
400 G4bool G4AffineTransform::IsTranslated() const 357 G4bool G4AffineTransform::IsTranslated() const
401 { 358 {
402 return (tx != 0.0) || (ty != 0.0) || (tz != << 359 return (tx || ty || tz) ? true:false;
403 } 360 }
404 361
405 inline G4RotationMatrix G4AffineTransform::Net << 362 inline G4RotationMatrix G4AffineTransform::NetRotation() const {
406 { << 363 G4RotationMatrix m;
407 return G4Rep3x3(rxx,rxy,rxz, << 364 return m.rotateAxes(G4ThreeVector(rxx,ryx,rzx),
408 ryx,ryy,ryz, << 365 G4ThreeVector(rxy,ryy,rzy),
409 rzx,rzy,rzz); << 366 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 } 367 }
418 368
419 inline 369 inline
420 G4ThreeVector G4AffineTransform::NetTranslatio 370 G4ThreeVector G4AffineTransform::NetTranslation() const
421 { 371 {
422 return {tx,ty,tz}; << 372 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 } 373 }
434 374
435 inline 375 inline
436 void G4AffineTransform::SetNetRotation(const G 376 void G4AffineTransform::SetNetRotation(const G4RotationMatrix& rot)
437 { 377 {
438 rxx=rot.xx(); << 378 rxx=rot.xx();
439 rxy=rot.xy(); << 379 rxy=rot.xy();
440 rxz=rot.xz(); << 380 rxz=rot.xz();
441 ryx=rot.yx(); << 381 ryx=rot.yx();
442 ryy=rot.yy(); << 382 ryy=rot.yy();
443 ryz=rot.yz(); << 383 ryz=rot.yz();
444 rzx=rot.zx(); << 384 rzx=rot.zx();
445 rzy=rot.zy(); << 385 rzy=rot.zy();
446 rzz=rot.zz(); << 386 rzz=rot.zz();
447 } 387 }
448 388
449 inline 389 inline
450 void G4AffineTransform::SetNetTranslation(cons 390 void G4AffineTransform::SetNetTranslation(const G4ThreeVector& tlate)
451 { 391 {
452 tx=tlate.x(); << 392 tx=tlate.x();
453 ty=tlate.y(); << 393 ty=tlate.y();
454 tz=tlate.z(); << 394 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 } 395 }
516 396