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