Geant4  v4-10.4-release
Rotation.cc
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1 // -*- C++ -*-
2 // $Id:$
3 // ---------------------------------------------------------------------------
4 //
5 // This file is a part of the CLHEP - a Class Library for High Energy Physics.
6 //
7 // This is the implementation of the parts of the the HepRotation class which
8 // were present in the original CLHEP before the merge with ZOOM PhysicsVectors.
9 //
10
11 #ifdef GNUPRAGMA
12 #pragma implementation
13 #endif
14
15 #include "CLHEP/Vector/Rotation.h"
17
18 #include <iostream>
19 #include <cmath>
20
21 namespace CLHEP {
22
23 static inline double safe_acos (double x) {
24  if (std::abs(x) <= 1.0) return std::acos(x);
25  return ( (x>0) ? 0 : CLHEP::pi );
26 }
27
28 double HepRotation::operator() (int i, int j) const {
29  if (i == 0) {
30  if (j == 0) { return xx(); }
31  if (j == 1) { return xy(); }
32  if (j == 2) { return xz(); }
33  } else if (i == 1) {
34  if (j == 0) { return yx(); }
35  if (j == 1) { return yy(); }
36  if (j == 2) { return yz(); }
37  } else if (i == 2) {
38  if (j == 0) { return zx(); }
39  if (j == 1) { return zy(); }
40  if (j == 2) { return zz(); }
41  }
42  std::cerr << "HepRotation subscripting: bad indices "
43  << "(" << i << "," << j << ")" << std::endl;
44  return 0.0;
45 }
46
47 HepRotation & HepRotation::rotate(double a, const Hep3Vector& aaxis) {
48  if (a != 0.0) {
49  double ll = aaxis.mag();
50  if (ll == 0.0) {
51  std::cerr << "HepRotation::rotate() - "
52  << "HepRotation: zero axis" << std::endl;
53  }else{
54  double sa = std::sin(a), ca = std::cos(a);
55  double dx = aaxis.x()/ll, dy = aaxis.y()/ll, dz = aaxis.z()/ll;
56  HepRotation m1(
57  ca+(1-ca)*dx*dx, (1-ca)*dx*dy-sa*dz, (1-ca)*dx*dz+sa*dy,
58  (1-ca)*dy*dx+sa*dz, ca+(1-ca)*dy*dy, (1-ca)*dy*dz-sa*dx,
59  (1-ca)*dz*dx-sa*dy, (1-ca)*dz*dy+sa*dx, ca+(1-ca)*dz*dz );
60  transform(m1);
61  }
62  }
63  return *this;
64 }
65
67  double c1 = std::cos(a);
68  double s1 = std::sin(a);
69  double x1 = ryx, y1 = ryy, z1 = ryz;
70  ryx = c1*x1 - s1*rzx;
71  ryy = c1*y1 - s1*rzy;
72  ryz = c1*z1 - s1*rzz;
73  rzx = s1*x1 + c1*rzx;
74  rzy = s1*y1 + c1*rzy;
75  rzz = s1*z1 + c1*rzz;
76  return *this;
77 }
78
80  double c1 = std::cos(a);
81  double s1 = std::sin(a);
82  double x1 = rzx, y1 = rzy, z1 = rzz;
83  rzx = c1*x1 - s1*rxx;
84  rzy = c1*y1 - s1*rxy;
85  rzz = c1*z1 - s1*rxz;
86  rxx = s1*x1 + c1*rxx;
87  rxy = s1*y1 + c1*rxy;
88  rxz = s1*z1 + c1*rxz;
89  return *this;
90 }
91
93  double c1 = std::cos(a);
94  double s1 = std::sin(a);
95  double x1 = rxx, y1 = rxy, z1 = rxz;
96  rxx = c1*x1 - s1*ryx;
97  rxy = c1*y1 - s1*ryy;
98  rxz = c1*z1 - s1*ryz;
99  ryx = s1*x1 + c1*ryx;
100  ryy = s1*y1 + c1*ryy;
101  ryz = s1*z1 + c1*ryz;
102  return *this;
103 }
104
106  const Hep3Vector &newY,
107  const Hep3Vector &newZ) {
108  double del = 0.001;
109  Hep3Vector w = newX.cross(newY);
110
111  if (std::abs(newZ.x()-w.x()) > del ||
112  std::abs(newZ.y()-w.y()) > del ||
113  std::abs(newZ.z()-w.z()) > del ||
114  std::abs(newX.mag2()-1.) > del ||
115  std::abs(newY.mag2()-1.) > del ||
116  std::abs(newZ.mag2()-1.) > del ||
117  std::abs(newX.dot(newY)) > del ||
118  std::abs(newY.dot(newZ)) > del ||
119  std::abs(newZ.dot(newX)) > del) {
120  std::cerr << "HepRotation::rotateAxes: bad axis vectors" << std::endl;
121  return *this;
122  }else{
123  return transform(HepRotation(newX.x(), newY.x(), newZ.x(),
124  newX.y(), newY.y(), newZ.y(),
125  newX.z(), newY.z(), newZ.z()));
126  }
127 }
128
129 double HepRotation::phiX() const {
130  return (yx() == 0.0 && xx() == 0.0) ? 0.0 : std::atan2(yx(),xx());
131 }
132
133 double HepRotation::phiY() const {
134  return (yy() == 0.0 && xy() == 0.0) ? 0.0 : std::atan2(yy(),xy());
135 }
136
137 double HepRotation::phiZ() const {
138  return (yz() == 0.0 && xz() == 0.0) ? 0.0 : std::atan2(yz(),xz());
139 }
140
141 double HepRotation::thetaX() const {
142  return safe_acos(zx());
143 }
144
145 double HepRotation::thetaY() const {
146  return safe_acos(zy());
147 }
148
149 double HepRotation::thetaZ() const {
150  return safe_acos(zz());
151 }
152
153 void HepRotation::getAngleAxis(double &angle, Hep3Vector &aaxis) const {
154  double cosa = 0.5*(xx()+yy()+zz()-1);
155  double cosa1 = 1-cosa;
156  if (cosa1 <= 0) {
157  angle = 0;
158  aaxis = Hep3Vector(0,0,1);
159  }else{
160  double x=0, y=0, z=0;
161  if (xx() > cosa) x = std::sqrt((xx()-cosa)/cosa1);
162  if (yy() > cosa) y = std::sqrt((yy()-cosa)/cosa1);
163  if (zz() > cosa) z = std::sqrt((zz()-cosa)/cosa1);
164  if (zy() < yz()) x = -x;
165  if (xz() < zx()) y = -y;
166  if (yx() < xy()) z = -z;
167  angle = (cosa < -1.) ? std::acos(-1.) : std::acos(cosa);
168  aaxis = Hep3Vector(x,y,z);
169  }
170 }
171
173  return (rxx == 1.0 && rxy == 0.0 && rxz == 0.0 &&
174  ryx == 0.0 && ryy == 1.0 && ryz == 0.0 &&
175  rzx == 0.0 && rzy == 0.0 && rzz == 1.0) ? true : false;
176 }
177
178 int HepRotation::compare ( const HepRotation & r ) const {
179  if (rzz<r.rzz) return -1; else if (rzz>r.rzz) return 1;
180  else if (rzy<r.rzy) return -1; else if (rzy>r.rzy) return 1;
181  else if (rzx<r.rzx) return -1; else if (rzx>r.rzx) return 1;
182  else if (ryz<r.ryz) return -1; else if (ryz>r.ryz) return 1;
183  else if (ryy<r.ryy) return -1; else if (ryy>r.ryy) return 1;
184  else if (ryx<r.ryx) return -1; else if (ryx>r.ryx) return 1;
185  else if (rxz<r.rxz) return -1; else if (rxz>r.rxz) return 1;
186  else if (rxy<r.rxy) return -1; else if (rxy>r.rxy) return 1;
187  else if (rxx<r.rxx) return -1; else if (rxx>r.rxx) return 1;
188  else return 0;
189 }
190
191
193
194 } // namespace CLHEP
195
196
Float_t x
Definition: compare.C:6
bool isIdentity() const
Definition: Rotation.cc:172
std::vector< ExP01TrackerHit * > a
Definition: ExP01Classes.hh:33
Float_t y1[n_points_granero]
Definition: compare.C:5
double yx() const
static DLL_API const HepRotation IDENTITY
Definition: Rotation.h:369
double zz() const
Float_t x1[n_points_granero]
Definition: compare.C:5
Float_t y
Definition: compare.C:6
Double_t z
double thetaZ() const
Definition: Rotation.cc:149
double yz() const
double z() const
double dot(const Hep3Vector &) const
int compare(const HepRotation &r) const
Definition: Rotation.cc:178
double thetaY() const
Definition: Rotation.cc:145
double xz() const
double phiY() const
Definition: Rotation.cc:133
double zx() const
void getAngleAxis(double &delta, Hep3Vector &axis) const
Definition: Rotation.cc:153
double phiX() const
Definition: Rotation.cc:129
double xx() const
static double safe_acos(double x)
Definition: Rotation.cc:23
double mag2() const
double operator()(int, int) const
Definition: Rotation.cc:28
Hep3Vector cross(const Hep3Vector &) const
double mag() const
HepRotation & rotateY(double delta)
Definition: Rotation.cc:79
double zy() const
double yy() const
HepRotation & rotateZ(double delta)
Definition: Rotation.cc:92
HepRotation & rotate(double delta, const Hep3Vector &axis)
Definition: Rotation.cc:47
double xy() const
double x() const
HepRotation & transform(const HepRotation &r)
double y() const
HepRotation & rotateAxes(const Hep3Vector &newX, const Hep3Vector &newY, const Hep3Vector &newZ)
Definition: Rotation.cc:105
double phiZ() const
Definition: Rotation.cc:137
double thetaX() const
Definition: Rotation.cc:141
HepRotation & rotateX(double delta)
Definition: Rotation.cc:66
static constexpr double pi
Definition: SystemOfUnits.h:54