CLHEP 2.0.4.7 Reference Documentation
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00001 // -*- C++ -*- 00002 // $Id: Rotation.cc,v 1.4 2003/08/13 20:00:14 garren Exp $ 00003 // --------------------------------------------------------------------------- 00004 // 00005 // This file is a part of the CLHEP - a Class Library for High Energy Physics. 00006 // 00007 // This is the implementation of the parts of the the HepRotation class which 00008 // were present in the original CLHEP before the merge with ZOOM PhysicsVectors. 00009 // 00010 00011 #ifdef GNUPRAGMA 00012 #pragma implementation 00013 #endif 00014 00015 #include "CLHEP/Vector/defs.h" 00016 #include "CLHEP/Vector/Rotation.h" 00017 #include "CLHEP/Units/PhysicalConstants.h" 00018 00019 #include <iostream> 00020 #include <cmath> 00021 00022 using std::abs; 00023 00024 namespace CLHEP { 00025 00026 static inline double safe_acos (double x) { 00027 if (abs(x) <= 1.0) return acos(x); 00028 return ( (x>0) ? 0 : CLHEP::pi ); 00029 } 00030 00031 double HepRotation::operator() (int i, int j) const { 00032 if (i == 0) { 00033 if (j == 0) { return xx(); } 00034 if (j == 1) { return xy(); } 00035 if (j == 2) { return xz(); } 00036 } else if (i == 1) { 00037 if (j == 0) { return yx(); } 00038 if (j == 1) { return yy(); } 00039 if (j == 2) { return yz(); } 00040 } else if (i == 2) { 00041 if (j == 0) { return zx(); } 00042 if (j == 1) { return zy(); } 00043 if (j == 2) { return zz(); } 00044 } 00045 std::cerr << "HepRotation subscripting: bad indices " 00046 << "(" << i << "," << j << ")" << std::endl; 00047 return 0.0; 00048 } 00049 00050 HepRotation & HepRotation::rotate(double a, const Hep3Vector& axis) { 00051 if (a != 0.0) { 00052 double ll = axis.mag(); 00053 if (ll == 0.0) { 00054 ZMthrowC (ZMxpvZeroVector("HepRotation: zero axis")); 00055 }else{ 00056 double sa = sin(a), ca = cos(a); 00057 double dx = axis.x()/ll, dy = axis.y()/ll, dz = axis.z()/ll; 00058 HepRotation m( 00059 ca+(1-ca)*dx*dx, (1-ca)*dx*dy-sa*dz, (1-ca)*dx*dz+sa*dy, 00060 (1-ca)*dy*dx+sa*dz, ca+(1-ca)*dy*dy, (1-ca)*dy*dz-sa*dx, 00061 (1-ca)*dz*dx-sa*dy, (1-ca)*dz*dy+sa*dx, ca+(1-ca)*dz*dz ); 00062 transform(m); 00063 } 00064 } 00065 return *this; 00066 } 00067 00068 HepRotation & HepRotation::rotateX(double a) { 00069 double c = cos(a); 00070 double s = sin(a); 00071 double x = ryx, y = ryy, z = ryz; 00072 ryx = c*x - s*rzx; 00073 ryy = c*y - s*rzy; 00074 ryz = c*z - s*rzz; 00075 rzx = s*x + c*rzx; 00076 rzy = s*y + c*rzy; 00077 rzz = s*z + c*rzz; 00078 return *this; 00079 } 00080 00081 HepRotation & HepRotation::rotateY(double a){ 00082 double c = cos(a); 00083 double s = sin(a); 00084 double x = rzx, y = rzy, z = rzz; 00085 rzx = c*x - s*rxx; 00086 rzy = c*y - s*rxy; 00087 rzz = c*z - s*rxz; 00088 rxx = s*x + c*rxx; 00089 rxy = s*y + c*rxy; 00090 rxz = s*z + c*rxz; 00091 return *this; 00092 } 00093 00094 HepRotation & HepRotation::rotateZ(double a) { 00095 double c = cos(a); 00096 double s = sin(a); 00097 double x = rxx, y = rxy, z = rxz; 00098 rxx = c*x - s*ryx; 00099 rxy = c*y - s*ryy; 00100 rxz = c*z - s*ryz; 00101 ryx = s*x + c*ryx; 00102 ryy = s*y + c*ryy; 00103 ryz = s*z + c*ryz; 00104 return *this; 00105 } 00106 00107 HepRotation & HepRotation::rotateAxes(const Hep3Vector &newX, 00108 const Hep3Vector &newY, 00109 const Hep3Vector &newZ) { 00110 double del = 0.001; 00111 Hep3Vector w = newX.cross(newY); 00112 00113 if (abs(newZ.x()-w.x()) > del || 00114 abs(newZ.y()-w.y()) > del || 00115 abs(newZ.z()-w.z()) > del || 00116 abs(newX.mag2()-1.) > del || 00117 abs(newY.mag2()-1.) > del || 00118 abs(newZ.mag2()-1.) > del || 00119 abs(newX.dot(newY)) > del || 00120 abs(newY.dot(newZ)) > del || 00121 abs(newZ.dot(newX)) > del) { 00122 std::cerr << "HepRotation::rotateAxes: bad axis vectors" << std::endl; 00123 return *this; 00124 }else{ 00125 return transform(HepRotation(newX.x(), newY.x(), newZ.x(), 00126 newX.y(), newY.y(), newZ.y(), 00127 newX.z(), newY.z(), newZ.z())); 00128 } 00129 } 00130 00131 double HepRotation::phiX() const { 00132 return (yx() == 0.0 && xx() == 0.0) ? 0.0 : std::atan2(yx(),xx()); 00133 } 00134 00135 double HepRotation::phiY() const { 00136 return (yy() == 0.0 && xy() == 0.0) ? 0.0 : std::atan2(yy(),xy()); 00137 } 00138 00139 double HepRotation::phiZ() const { 00140 return (yz() == 0.0 && xz() == 0.0) ? 0.0 : std::atan2(yz(),xz()); 00141 } 00142 00143 double HepRotation::thetaX() const { 00144 return safe_acos(zx()); 00145 } 00146 00147 double HepRotation::thetaY() const { 00148 return safe_acos(zy()); 00149 } 00150 00151 double HepRotation::thetaZ() const { 00152 return safe_acos(zz()); 00153 } 00154 00155 void HepRotation::getAngleAxis(double &angle, Hep3Vector &axis) const { 00156 double cosa = 0.5*(xx()+yy()+zz()-1); 00157 double cosa1 = 1-cosa; 00158 if (cosa1 <= 0) { 00159 angle = 0; 00160 axis = Hep3Vector(0,0,1); 00161 }else{ 00162 double x=0, y=0, z=0; 00163 if (xx() > cosa) x = sqrt((xx()-cosa)/cosa1); 00164 if (yy() > cosa) y = sqrt((yy()-cosa)/cosa1); 00165 if (zz() > cosa) z = sqrt((zz()-cosa)/cosa1); 00166 if (zy() < yz()) x = -x; 00167 if (xz() < zx()) y = -y; 00168 if (yx() < xy()) z = -z; 00169 angle = (cosa < -1.) ? acos(-1.) : acos(cosa); 00170 axis = Hep3Vector(x,y,z); 00171 } 00172 } 00173 00174 bool HepRotation::isIdentity() const { 00175 return (rxx == 1.0 && rxy == 0.0 && rxz == 0.0 && 00176 ryx == 0.0 && ryy == 1.0 && ryz == 0.0 && 00177 rzx == 0.0 && rzy == 0.0 && rzz == 1.0) ? true : false; 00178 } 00179 00180 int HepRotation::compare ( const HepRotation & r ) const { 00181 if (rzz<r.rzz) return -1; else if (rzz>r.rzz) return 1; 00182 else if (rzy<r.rzy) return -1; else if (rzy>r.rzy) return 1; 00183 else if (rzx<r.rzx) return -1; else if (rzx>r.rzx) return 1; 00184 else if (ryz<r.ryz) return -1; else if (ryz>r.ryz) return 1; 00185 else if (ryy<r.ryy) return -1; else if (ryy>r.ryy) return 1; 00186 else if (ryx<r.ryx) return -1; else if (ryx>r.ryx) return 1; 00187 else if (rxz<r.rxz) return -1; else if (rxz>r.rxz) return 1; 00188 else if (rxy<r.rxy) return -1; else if (rxy>r.rxy) return 1; 00189 else if (rxx<r.rxx) return -1; else if (rxx>r.rxx) return 1; 00190 else return 0; 00191 } 00192 00193 00194 const HepRotation HepRotation::IDENTITY; 00195 00196 } // namespace CLHEP 00197 00198