| Geant4 Cross Reference |
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25 // 25 //
>> 26 //
>> 27 // $Id: G4AffineTransform.icc,v 1.8 2006/06/29 18:30:39 gunter Exp $
>> 28 // GEANT4 tag $Name: geant4-09-02-patch-04 $
>> 29 //
>> 30 //
26 // G4AffineTransformation Inline implementatio 31 // G4AffineTransformation Inline implementation
27 // 32 //
28 // ------------------------------------------- 33 // --------------------------------------------------------------------
29 34
30 inline G4AffineTransform::G4AffineTransform() 35 inline G4AffineTransform::G4AffineTransform()
31 : rxx(1),rxy(0),rxz(0), 36 : rxx(1),rxy(0),rxz(0),
32 ryx(0),ryy(1),ryz(0), 37 ryx(0),ryy(1),ryz(0),
33 rzx(0),rzy(0),rzz(1), 38 rzx(0),rzy(0),rzz(1),
34 tx(0),ty(0),tz(0) 39 tx(0),ty(0),tz(0)
35 {} 40 {}
36 41
37 inline G4AffineTransform::G4AffineTransform(co 42 inline G4AffineTransform::G4AffineTransform(const G4ThreeVector& tlate)
38 : rxx(1),rxy(0),rxz(0), 43 : rxx(1),rxy(0),rxz(0),
39 ryx(0),ryy(1),ryz(0), 44 ryx(0),ryy(1),ryz(0),
40 rzx(0),rzy(0),rzz(1), 45 rzx(0),rzy(0),rzz(1),
41 tx(tlate.x()),ty(tlate.y()),tz(tlate.z()) 46 tx(tlate.x()),ty(tlate.y()),tz(tlate.z())
42 {} 47 {}
43 48
44 inline G4AffineTransform::G4AffineTransform(co 49 inline G4AffineTransform::G4AffineTransform(const G4RotationMatrix& rot)
45 : rxx(rot.xx()),rxy(rot.xy()),rxz(rot.xz()), 50 : rxx(rot.xx()),rxy(rot.xy()),rxz(rot.xz()),
46 ryx(rot.yx()),ryy(rot.yy()),ryz(rot.yz()), 51 ryx(rot.yx()),ryy(rot.yy()),ryz(rot.yz()),
47 rzx(rot.zx()),rzy(rot.zy()),rzz(rot.zz()), 52 rzx(rot.zx()),rzy(rot.zy()),rzz(rot.zz()),
48 tx(0),ty(0),tz(0) 53 tx(0),ty(0),tz(0)
49 {} 54 {}
50 55
51 inline G4AffineTransform::G4AffineTransform( c 56 inline G4AffineTransform::G4AffineTransform( const G4RotationMatrix& rot,
52 c << 57 const G4ThreeVector& tlate )
53 : rxx(rot.xx()),rxy(rot.xy()),rxz(rot.xz()), 58 : rxx(rot.xx()),rxy(rot.xy()),rxz(rot.xz()),
54 ryx(rot.yx()),ryy(rot.yy()),ryz(rot.yz()), 59 ryx(rot.yx()),ryy(rot.yy()),ryz(rot.yz()),
55 rzx(rot.zx()),rzy(rot.zy()),rzz(rot.zz()), 60 rzx(rot.zx()),rzy(rot.zy()),rzz(rot.zz()),
56 tx(tlate.x()),ty(tlate.y()),tz(tlate.z()) 61 tx(tlate.x()),ty(tlate.y()),tz(tlate.z())
57 {} 62 {}
58 63
59 inline G4AffineTransform::G4AffineTransform( c << 64 inline G4AffineTransform::G4AffineTransform( const G4RotationMatrix *rot,
60 c << 65 const G4ThreeVector& tlate)
61 : tx(tlate.x()),ty(tlate.y()),tz(tlate.z()) 66 : tx(tlate.x()),ty(tlate.y()),tz(tlate.z())
62 { 67 {
63 if (rot != nullptr) << 68 if (rot)
64 { << 69 {
65 rxx=rot->xx();rxy=rot->xy();rxz=rot->xz(); << 70 rxx=rot->xx();rxy=rot->xy();rxz=rot->xz();
66 ryx=rot->yx();ryy=rot->yy();ryz=rot->yz(); << 71 ryx=rot->yx();ryy=rot->yy();ryz=rot->yz();
67 rzx=rot->zx();rzy=rot->zy();rzz=rot->zz(); << 72 rzx=rot->zx();rzy=rot->zy();rzz=rot->zz();
68 } << 73 }
69 else 74 else
70 { << 75 {
71 rxx=1; rxy=0; rxz=0; << 76 rxx=1; rxy=0; rxz=0;
72 ryx=0; ryy=1; ryz=0; << 77 ryx=0; ryy=1; ryz=0;
73 rzx=0; rzy=0; rzz=1; << 78 rzx=0; rzy=0; rzz=1;
74 } << 79 }
75 } 80 }
76 81
77 inline << 82 inline
78 G4AffineTransform:: 83 G4AffineTransform::
79 G4AffineTransform( const G4double prxx,const G 84 G4AffineTransform( const G4double prxx,const G4double prxy,const G4double prxz,
80 const G4double pryx,const G 85 const G4double pryx,const G4double pryy,const G4double pryz,
81 const G4double przx,const G 86 const G4double przx,const G4double przy,const G4double przz,
82 const G4double ptx,const G4 << 87 const G4double ptx,const G4double pty,const G4double ptz)
83 : rxx(prxx),rxy(prxy),rxz(prxz), 88 : rxx(prxx),rxy(prxy),rxz(prxz),
84 ryx(pryx),ryy(pryy),ryz(pryz), 89 ryx(pryx),ryy(pryy),ryz(pryz),
85 rzx(przx),rzy(przy),rzz(przz), 90 rzx(przx),rzy(przy),rzz(przz),
86 tx(ptx),ty(pty),tz(ptz) 91 tx(ptx),ty(pty),tz(ptz)
87 {} 92 {}
88 93
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 94 inline G4AffineTransform
101 G4AffineTransform::operator * (const G4AffineT 95 G4AffineTransform::operator * (const G4AffineTransform& tf) const
102 { 96 {
103 return G4AffineTransform(rxx*tf.rxx+rxy*tf.r << 97 return G4AffineTransform(
104 rxx*tf.rxy+rxy*tf.r << 98 rxx*tf.rxx+rxy*tf.ryx+rxz*tf.rzx,
105 rxx*tf.rxz+rxy*tf.r << 99 rxx*tf.rxy+rxy*tf.ryy+rxz*tf.rzy,
106 << 100 rxx*tf.rxz+rxy*tf.ryz+rxz*tf.rzz,
107 ryx*tf.rxx+ryy*tf.r << 101
108 ryx*tf.rxy+ryy*tf.r << 102 ryx*tf.rxx+ryy*tf.ryx+ryz*tf.rzx,
109 ryx*tf.rxz+ryy*tf.r << 103 ryx*tf.rxy+ryy*tf.ryy+ryz*tf.rzy,
110 << 104 ryx*tf.rxz+ryy*tf.ryz+ryz*tf.rzz,
111 rzx*tf.rxx+rzy*tf.r << 105
112 rzx*tf.rxy+rzy*tf.r << 106 rzx*tf.rxx+rzy*tf.ryx+rzz*tf.rzx,
113 rzx*tf.rxz+rzy*tf.r << 107 rzx*tf.rxy+rzy*tf.ryy+rzz*tf.rzy,
114 << 108 rzx*tf.rxz+rzy*tf.ryz+rzz*tf.rzz,
115 tx*tf.rxx+ty*tf.ryx << 109
116 tx*tf.rxy+ty*tf.ryy << 110 tx*tf.rxx+ty*tf.ryx+tz*tf.rzx+tf.tx,
117 tx*tf.rxz+ty*tf.ryz << 111 tx*tf.rxy+ty*tf.ryy+tz*tf.rzy+tf.ty,
>> 112 tx*tf.rxz+ty*tf.ryz+tz*tf.rzz+tf.tz);
118 } 113 }
119 114
120 inline G4AffineTransform& 115 inline G4AffineTransform&
121 G4AffineTransform::operator *= (const G4Affine 116 G4AffineTransform::operator *= (const G4AffineTransform& tf)
122 { 117 {
123 // Use temporaries for `in place' compound t << 118 // Use temporaries for `in place' compound transform computation
124 // << 119
125 G4double nrxx=rxx*tf.rxx+rxy*tf.ryx+rxz*tf.r << 120 G4double nrxx=rxx*tf.rxx+rxy*tf.ryx+rxz*tf.rzx;
126 G4double nrxy=rxx*tf.rxy+rxy*tf.ryy+rxz*tf.r << 121 G4double nrxy=rxx*tf.rxy+rxy*tf.ryy+rxz*tf.rzy;
127 G4double nrxz=rxx*tf.rxz+rxy*tf.ryz+rxz*tf.r << 122 G4double nrxz=rxx*tf.rxz+rxy*tf.ryz+rxz*tf.rzz;
128 << 123
129 G4double nryx=ryx*tf.rxx+ryy*tf.ryx+ryz*tf.r << 124 G4double nryx=ryx*tf.rxx+ryy*tf.ryx+ryz*tf.rzx;
130 G4double nryy=ryx*tf.rxy+ryy*tf.ryy+ryz*tf.r << 125 G4double nryy=ryx*tf.rxy+ryy*tf.ryy+ryz*tf.rzy;
131 G4double nryz=ryx*tf.rxz+ryy*tf.ryz+ryz*tf.r << 126 G4double nryz=ryx*tf.rxz+ryy*tf.ryz+ryz*tf.rzz;
132 << 127
133 G4double nrzx=rzx*tf.rxx+rzy*tf.ryx+rzz*tf.r << 128 G4double nrzx=rzx*tf.rxx+rzy*tf.ryx+rzz*tf.rzx;
134 G4double nrzy=rzx*tf.rxy+rzy*tf.ryy+rzz*tf.r << 129 G4double nrzy=rzx*tf.rxy+rzy*tf.ryy+rzz*tf.rzy;
135 G4double nrzz=rzx*tf.rxz+rzy*tf.ryz+rzz*tf.r << 130 G4double nrzz=rzx*tf.rxz+rzy*tf.ryz+rzz*tf.rzz;
136 131
137 G4double ntx=tx*tf.rxx+ty*tf.ryx+tz*tf.rzx+t << 132 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 << 133 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 << 134 G4double ntz=tx*tf.rxz+ty*tf.ryz+tz*tf.rzz+tf.tz;
140 << 135
141 tx=ntx; ty=nty; tz=ntz; << 136 tx=ntx; ty=nty; tz=ntz;
142 rxx=nrxx; rxy=nrxy; rxz=nrxz; << 137 rxx=nrxx; rxy=nrxy; rxz=nrxz;
143 ryx=nryx; ryy=nryy; ryz=nryz; << 138 ryx=nryx; ryy=nryy; ryz=nryz;
144 rzx=nrzx; rzy=nrzy; rzz=nrzz; << 139 rzx=nrzx; rzy=nrzy; rzz=nrzz;
145 140
146 return *this; << 141 return *this;
147 } 142 }
148 143
149 inline G4AffineTransform& 144 inline G4AffineTransform&
150 G4AffineTransform::Product( const G4AffineTran << 145 G4AffineTransform::Product(const G4AffineTransform& tf1,
151 const G4AffineTran << 146 const G4AffineTransform& tf2)
152 { 147 {
153 rxx = tf1.rxx*tf2.rxx + tf1.rxy*tf2.ryx + tf << 148 rxx=tf1.rxx*tf2.rxx + tf1.rxy*tf2.ryx + tf1.rxz*tf2.rzx;
154 rxy = tf1.rxx*tf2.rxy + tf1.rxy*tf2.ryy + tf << 149 rxy=tf1.rxx*tf2.rxy + tf1.rxy*tf2.ryy + tf1.rxz*tf2.rzy;
155 rxz = tf1.rxx*tf2.rxz + tf1.rxy*tf2.ryz + tf << 150 rxz=tf1.rxx*tf2.rxz + tf1.rxy*tf2.ryz + tf1.rxz*tf2.rzz;
156 << 151
157 ryx = tf1.ryx*tf2.rxx + tf1.ryy*tf2.ryx + tf << 152 ryx=tf1.ryx*tf2.rxx + tf1.ryy*tf2.ryx + tf1.ryz*tf2.rzx;
158 ryy = tf1.ryx*tf2.rxy + tf1.ryy*tf2.ryy + tf << 153 ryy=tf1.ryx*tf2.rxy + tf1.ryy*tf2.ryy + tf1.ryz*tf2.rzy;
159 ryz = tf1.ryx*tf2.rxz + tf1.ryy*tf2.ryz + tf << 154 ryz=tf1.ryx*tf2.rxz + tf1.ryy*tf2.ryz + tf1.ryz*tf2.rzz;
160 << 155
161 rzx = tf1.rzx*tf2.rxx + tf1.rzy*tf2.ryx + tf << 156 rzx=tf1.rzx*tf2.rxx + tf1.rzy*tf2.ryx + tf1.rzz*tf2.rzx;
162 rzy = tf1.rzx*tf2.rxy + tf1.rzy*tf2.ryy + tf << 157 rzy=tf1.rzx*tf2.rxy + tf1.rzy*tf2.ryy + tf1.rzz*tf2.rzy;
163 rzz = tf1.rzx*tf2.rxz + tf1.rzy*tf2.ryz + tf << 158 rzz=tf1.rzx*tf2.rxz + tf1.rzy*tf2.ryz + tf1.rzz*tf2.rzz;
164 << 159
165 tx = tf1.tx*tf2.rxx + tf1.ty*tf2.ryx + tf1.t << 160 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 << 161 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 << 162 tz=tf1.tx*tf2.rxz + tf1.ty*tf2.ryz + tf1.tz*tf2.rzz + tf2.tz;
168 << 163
169 return *this; << 164 return *this;
170 } 165 }
171 166
172 inline G4AffineTransform& 167 inline G4AffineTransform&
173 G4AffineTransform::InverseProduct( const G4Aff 168 G4AffineTransform::InverseProduct( const G4AffineTransform& tf1,
174 const G4Aff << 169 const G4AffineTransform& tf2)
175 { 170 {
176 if ((tf2.rxx + tf2.ryy + tf2.rzz) == 3.) << 171 G4double itf2tx = - tf2.tx*tf2.rxx - tf2.ty*tf2.rxy - tf2.tz*tf2.rxz;
177 { << 172 G4double itf2ty = - tf2.tx*tf2.ryx - tf2.ty*tf2.ryy - tf2.tz*tf2.ryz;
178 rxx = tf1.rxx; << 173 G4double itf2tz = - tf2.tx*tf2.rzx - tf2.ty*tf2.rzy - tf2.tz*tf2.rzz;
179 rxy = tf1.rxy; << 174
180 rxz = tf1.rxz; << 175 rxx=tf1.rxx*tf2.rxx+tf1.rxy*tf2.rxy+tf1.rxz*tf2.rxz;
181 << 176 rxy=tf1.rxx*tf2.ryx+tf1.rxy*tf2.ryy+tf1.rxz*tf2.ryz;
182 ryx = tf1.ryx; << 177 rxz=tf1.rxx*tf2.rzx+tf1.rxy*tf2.rzy+tf1.rxz*tf2.rzz;
183 ryy = tf1.ryy; << 178
184 ryz = tf1.ryz; << 179 ryx=tf1.ryx*tf2.rxx+tf1.ryy*tf2.rxy+tf1.ryz*tf2.rxz;
185 << 180 ryy=tf1.ryx*tf2.ryx+tf1.ryy*tf2.ryy+tf1.ryz*tf2.ryz;
186 rzx = tf1.rzx; << 181 ryz=tf1.ryx*tf2.rzx+tf1.ryy*tf2.rzy+tf1.ryz*tf2.rzz;
187 rzy = tf1.rzy; << 182
188 rzz = tf1.rzz; << 183 rzx=tf1.rzx*tf2.rxx+tf1.rzy*tf2.rxy+tf1.rzz*tf2.rxz;
189 << 184 rzy=tf1.rzx*tf2.ryx+tf1.rzy*tf2.ryy+tf1.rzz*tf2.ryz;
190 tx = tf1.tx - tf2.tx; << 185 rzz=tf1.rzx*tf2.rzx+tf1.rzy*tf2.rzy+tf1.rzz*tf2.rzz;
191 ty = tf1.ty - tf2.ty; << 186
192 tz = tf1.tz - tf2.tz; << 187 tx=tf1.tx*tf2.rxx+tf1.ty*tf2.rxy+tf1.tz*tf2.rxz+itf2tx;
193 } << 188 ty=tf1.tx*tf2.ryx+tf1.ty*tf2.ryy+tf1.tz*tf2.ryz+itf2ty;
194 else << 189 tz=tf1.tx*tf2.rzx+tf1.ty*tf2.rzy+tf1.tz*tf2.rzz+itf2tz;
195 { << 190
196 G4double tf1rxx = tf1.rxx, tf1rxy = tf1.rx << 191 return *this;
197 rxx = tf1rxx*tf2.rxx + tf1rxy*tf2.rxy + tf << 192 }
198 rxy = tf1rxx*tf2.ryx + tf1rxy*tf2.ryy + tf << 193
199 rxz = tf1rxx*tf2.rzx + tf1rxy*tf2.rzy + tf << 194 inline
200 << 195 G4ThreeVector G4AffineTransform::TransformPoint(const G4ThreeVector& vec) const
201 G4double tf1ryx = tf1.ryx, tf1ryy = tf1.ry << 196 {
202 ryx = tf1ryx*tf2.rxx + tf1ryy*tf2.rxy + tf << 197 return G4ThreeVector( vec.x()*rxx + vec.y()*ryx + vec.z()*rzx + tx,
203 ryy = tf1ryx*tf2.ryx + tf1ryy*tf2.ryy + tf << 198 vec.x()*rxy + vec.y()*ryy + vec.z()*rzy + ty,
204 ryz = tf1ryx*tf2.rzx + tf1ryy*tf2.rzy + tf << 199 vec.x()*rxz + vec.y()*ryz + vec.z()*rzz + tz );
205 << 200 }
206 G4double tf1rzx = tf1.rzx, tf1rzy = tf1.rz << 201
207 rzx = tf1rzx*tf2.rxx + tf1rzy*tf2.rxy + tf << 202 inline
208 rzy = tf1rzx*tf2.ryx + tf1rzy*tf2.ryy + tf << 203 G4ThreeVector G4AffineTransform::TransformAxis(const G4ThreeVector& axis) const
209 rzz = tf1rzx*tf2.rzx + tf1rzy*tf2.rzy + tf << 204 {
210 << 205 return G4ThreeVector( axis.x()*rxx + axis.y()*ryx + axis.z()*rzx,
211 G4double tf1_2tx = tf1.tx - tf2.tx; << 206 axis.x()*rxy + axis.y()*ryy + axis.z()*rzy,
212 G4double tf1_2ty = tf1.ty - tf2.ty; << 207 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 } 208 }
256 209
257 inline 210 inline
258 void G4AffineTransform::ApplyPointTransform(G4 211 void G4AffineTransform::ApplyPointTransform(G4ThreeVector& vec) const
259 { 212 {
260 G4double vecx = vec.x(), vecy = vec.y(), vec << 213 G4double x = vec.x()*rxx + vec.y()*ryx + vec.z()*rzx + tx;
261 vec.setX( vecx*rxx + vecy*ryx + vecz*rzx + t << 214 G4double y = vec.x()*rxy + vec.y()*ryy + vec.z()*rzy + ty;
262 vec.setY( vecx*rxy + vecy*ryy + vecz*rzy + t << 215 G4double z = vec.x()*rxz + vec.y()*ryz + vec.z()*rzz + tz;
263 vec.setZ( vecx*rxz + vecy*ryz + vecz*rzz + t << 216
>> 217 vec.setX(x);
>> 218 vec.setY(y);
>> 219 vec.setZ(z);
264 } 220 }
265 221
266 inline 222 inline
267 void G4AffineTransform::ApplyAxisTransform(G4T 223 void G4AffineTransform::ApplyAxisTransform(G4ThreeVector& axis) const
268 { 224 {
269 G4double axisx = axis.x(), axisy = axis.y(), << 225 G4double x = axis.x()*rxx + axis.y()*ryx + axis.z()*rzx;
270 axis.setX( axisx*rxx + axisy*ryx + axisz*rzx << 226 G4double y = axis.x()*rxy + axis.y()*ryy + axis.z()*rzy;
271 axis.setY( axisx*rxy + axisy*ryy + axisz*rzy << 227 G4double z = axis.x()*rxz + axis.y()*ryz + axis.z()*rzz;
272 axis.setZ( axisx*rxz + axisy*ryz + axisz*rzz << 228
>> 229 axis.setX(x);
>> 230 axis.setY(y);
>> 231 axis.setZ(z);
273 } 232 }
274 233
275 inline 234 inline
276 G4AffineTransform G4AffineTransform::Inverse() 235 G4AffineTransform G4AffineTransform::Inverse() const
277 { 236 {
278 G4double ttx = -tx, tty = -ty, ttz = -tz; << 237 return G4AffineTransform( rxx, ryx, rzx,
279 return G4AffineTransform( rxx, ryx, rzx, << 238 rxy, ryy, rzy,
280 rxy, ryy, rzy, << 239 rxz, ryz, rzz,
281 rxz, ryz, rzz, << 240
282 ttx*rxx + tty*rxy << 241 -tx*rxx - ty*rxy - tz*rxz,
283 ttx*ryx + tty*ryy << 242 -tx*ryx - ty*ryy - tz*ryz,
284 ttx*rzx + tty*rzy << 243 -tx*rzx - ty*rzy - tz*rzz );
285 } 244 }
286 245
287 inline 246 inline
288 G4AffineTransform& G4AffineTransform::Invert() 247 G4AffineTransform& G4AffineTransform::Invert()
289 { 248 {
290 G4double ttx = -tx, tty = -ty, ttz = -tz; << 249 G4double v1 = -tx*rxx - ty*rxy - tz*rxz;
291 tx = ttx*rxx + tty*rxy + ttz*rxz; << 250 G4double v2 = -tx*ryx - ty*ryy - tz*ryz;
292 ty = ttx*ryx + tty*ryy + ttz*ryz; << 251 G4double v3 = -tx*rzx - ty*rzy - tz*rzz;
293 tz = ttx*rzx + tty*rzy + ttz*rzz; << 252
294 << 253 tx=v1; ty=v2; tz=v3;
295 G4double tmp1=ryx; ryx=rxy; rxy=tmp1; << 254
296 G4double tmp2=rzx; rzx=rxz; rxz=tmp2; << 255 G4double tmp1=ryx; ryx=rxy; rxy=tmp1;
297 G4double tmp3=rzy; rzy=ryz; ryz=tmp3; << 256 G4double tmp2=rzx; rzx=rxz; rxz=tmp2;
>> 257 G4double tmp3=rzy; rzy=ryz; ryz=tmp3;
>> 258
>> 259 return *this;
298 260
299 return *this; <<
300 } 261 }
301 262
302 inline 263 inline
303 G4AffineTransform& G4AffineTransform::operator 264 G4AffineTransform& G4AffineTransform::operator +=(const G4ThreeVector& tlate)
304 { 265 {
305 tx += tlate.x(); << 266 tx += tlate.x();
306 ty += tlate.y(); << 267 ty += tlate.y();
307 tz += tlate.z(); << 268 tz += tlate.z();
308 269
309 return *this; << 270 return *this;
310 } 271 }
311 272
312 inline 273 inline
313 G4AffineTransform& G4AffineTransform::operator 274 G4AffineTransform& G4AffineTransform::operator -=(const G4ThreeVector& tlate)
314 { 275 {
315 tx -= tlate.x(); << 276 tx -= tlate.x();
316 ty -= tlate.y(); << 277 ty -= tlate.y();
317 tz -= tlate.z(); << 278 tz -= tlate.z();
318 279
319 return *this; << 280 return *this;
320 } 281 }
321 282
322 inline 283 inline
323 G4bool G4AffineTransform::operator == (const G 284 G4bool G4AffineTransform::operator == (const G4AffineTransform& tf) const
324 { 285 {
325 return tx==tf.tx&&ty==tf.ty&&tz==tf.tz&& << 286 return (tx==tf.tx&&ty==tf.ty&&tz==tf.tz&&
326 rxx==tf.rxx&&rxy==tf.rxy&&rxz==tf.rxz << 287 rxx==tf.rxx&&rxy==tf.rxy&&rxz==tf.rxz&&
327 ryx==tf.ryx&&ryy==tf.ryy&&ryz==tf.ryz << 288 ryx==tf.ryx&&ryy==tf.ryy&&ryz==tf.ryz&&
328 rzx==tf.rzx&&rzy==tf.rzy&&rzz==tf.rzz << 289 rzx==tf.rzx&&rzy==tf.rzy&&rzz==tf.rzz) ? true : false;
329 } 290 }
330 <<
331 inline 291 inline
332 G4bool G4AffineTransform::operator != (const G 292 G4bool G4AffineTransform::operator != (const G4AffineTransform& tf) const
333 { 293 {
334 return tx!=tf.tx||ty!=tf.ty||tz!=tf.tz|| << 294 return (tx!=tf.tx||ty!=tf.ty||tz!=tf.tz||
335 rxx!=tf.rxx||rxy!=tf.rxy||rxz!=tf.rxz << 295 rxx!=tf.rxx||rxy!=tf.rxy||rxz!=tf.rxz||
336 ryx!=tf.ryx||ryy!=tf.ryy||ryz!=tf.ryz << 296 ryx!=tf.ryx||ryy!=tf.ryy||ryz!=tf.ryz||
337 rzx!=tf.rzx||rzy!=tf.rzy||rzz!=tf.rzz << 297 rzx!=tf.rzx||rzy!=tf.rzy||rzz!=tf.rzz) ? true : false;
338 } 298 }
339 299
340 inline 300 inline
341 G4double G4AffineTransform::operator [] (const 301 G4double G4AffineTransform::operator [] (const G4int n) const
342 { 302 {
343 G4double v = 0.0; << 303 G4double v = 0.0;
344 switch(n) << 304 switch(n)
345 { << 305 {
346 case 0: << 306 case 0:
347 v=rxx; << 307 v=rxx;
348 break; << 308 break;
349 case 1: << 309 case 1:
350 v=rxy; << 310 v=rxy;
351 break; << 311 break;
352 case 2: << 312 case 2:
353 v=rxz; << 313 v=rxz;
354 break; << 314 break;
355 case 4: << 315 case 4:
356 v=ryx; << 316 v=ryx;
357 break; << 317 break;
358 case 5: << 318 case 5:
359 v=ryy; << 319 v=ryy;
360 break; << 320 break;
361 case 6: << 321 case 6:
362 v=ryz; << 322 v=ryz;
363 break; << 323 break;
364 case 8: << 324 case 8:
365 v=rzx; << 325 v=rzx;
366 break; << 326 break;
367 case 9: << 327 case 9:
368 v=rzy; << 328 v=rzy;
369 break; << 329 break;
370 case 10: << 330 case 10:
371 v=rzz; << 331 v=rzz;
372 break; << 332 break;
373 case 12: << 333 case 12:
374 v=tx; << 334 v=tx;
375 break; << 335 break;
376 case 13: << 336 case 13:
377 v=ty; << 337 v=ty;
378 break; << 338 break;
379 case 14: << 339 case 14:
380 v=tz; << 340 v=tz;
381 break; << 341 break;
382 case 3: << 342 case 3:
383 case 7: << 343 case 7:
384 case 11: << 344 case 11:
385 break; << 345 break;
386 case 15: << 346 case 15:
387 v=1.0; << 347 v=1.0;
388 break; << 348 break;
389 } << 349 }
390 return v; << 350 return v;
391 } 351 }
392 352
393 inline 353 inline
394 G4bool G4AffineTransform::IsRotated() const 354 G4bool G4AffineTransform::IsRotated() const
395 { 355 {
396 return !(rxx==1.0 && ryy==1.0 && rzz==1.0); << 356 return (rxx==1.0 && ryy==1.0 && rzz==1.0) ? false : true;
397 } 357 }
398 358
399 inline 359 inline
400 G4bool G4AffineTransform::IsTranslated() const 360 G4bool G4AffineTransform::IsTranslated() const
401 { 361 {
402 return (tx != 0.0) || (ty != 0.0) || (tz != << 362 return (tx || ty || tz) ? true:false;
403 } 363 }
404 364
405 inline G4RotationMatrix G4AffineTransform::Net << 365 inline G4RotationMatrix G4AffineTransform::NetRotation() const {
406 { << 366 G4RotationMatrix m;
407 return G4Rep3x3(rxx,rxy,rxz, << 367 return m.rotateAxes(G4ThreeVector(rxx,ryx,rzx),
408 ryx,ryy,ryz, << 368 G4ThreeVector(rxy,ryy,rzy),
409 rzx,rzy,rzz); << 369 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 } 370 }
418 371
419 inline 372 inline
420 G4ThreeVector G4AffineTransform::NetTranslatio 373 G4ThreeVector G4AffineTransform::NetTranslation() const
421 { 374 {
422 return {tx,ty,tz}; << 375 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 } 376 }
434 377
435 inline 378 inline
436 void G4AffineTransform::SetNetRotation(const G 379 void G4AffineTransform::SetNetRotation(const G4RotationMatrix& rot)
437 { 380 {
438 rxx=rot.xx(); << 381 rxx=rot.xx();
439 rxy=rot.xy(); << 382 rxy=rot.xy();
440 rxz=rot.xz(); << 383 rxz=rot.xz();
441 ryx=rot.yx(); << 384 ryx=rot.yx();
442 ryy=rot.yy(); << 385 ryy=rot.yy();
443 ryz=rot.yz(); << 386 ryz=rot.yz();
444 rzx=rot.zx(); << 387 rzx=rot.zx();
445 rzy=rot.zy(); << 388 rzy=rot.zy();
446 rzz=rot.zz(); << 389 rzz=rot.zz();
447 } 390 }
448 391
449 inline 392 inline
450 void G4AffineTransform::SetNetTranslation(cons 393 void G4AffineTransform::SetNetTranslation(const G4ThreeVector& tlate)
451 { 394 {
452 tx=tlate.x(); << 395 tx=tlate.x();
453 ty=tlate.y(); << 396 ty=tlate.y();
454 tz=tlate.z(); << 397 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 } 398 }
516 399