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76082cd6 | 1 | // $Header$ |
2 | ||
3 | // Copyright (C) 1999-2005, Matevz Tadel. All rights reserved. | |
4 | // This file is part of GLED, released under GNU General Public License version 2. | |
5 | // For the licensing terms see $GLEDSYS/LICENSE or http://www.gnu.org/. | |
6 | ||
7 | //______________________________________________________________________ | |
8 | // ZTrans | |
9 | // | |
10 | // ZTrans is a 4x4 transformation matrix for homogeneous coordinates | |
11 | // stored internaly in a column-major order to allow direct usage by | |
12 | // GL. The element type is Double32_t as statically the floats would | |
13 | // be precise enough but continuous operations on the matrix must | |
14 | // retain precision of column vectors. | |
15 | // | |
16 | // Cartan angles in mA[1-3] (+z, -y, +x) are stored for backward | |
17 | // compatibility and will probably be removed soon. | |
18 | // | |
19 | // Direct element access (first two should be used with care): | |
20 | // operator[i] direct access to elements, i:0->15 | |
21 | // CM(i,j) element 4*j + i; i,j:0->3 { CM ~ c-matrix } | |
22 | // operator(i,j) element 4*(j-1) + i - 1 i,j:1->4 | |
23 | // | |
24 | // Column-vector access: | |
25 | // USet Get/SetBaseVec(), Get/SetPos() and Arr[XYZT]() methods. | |
26 | // | |
27 | // For all methods taking the matrix indices: | |
28 | // 1->X, 2->Y, 3->Z; 4->Position (if applicable). 0 reserved for time. | |
29 | // | |
30 | // Shorthands in method-names: | |
31 | // LF ~ LocalFrame; PF ~ ParentFrame; IP ~ InPlace | |
32 | ||
33 | #include "ZTrans.h" | |
34 | #include "Reve.h" | |
35 | #include <TMath.h> | |
0b28fd57 | 36 | #include <TClass.h> |
76082cd6 | 37 | |
38 | #include <ctype.h> | |
39 | ||
40 | #define F00 0 | |
41 | #define F01 4 | |
42 | #define F02 8 | |
43 | #define F03 12 | |
44 | ||
45 | #define F10 1 | |
46 | #define F11 5 | |
47 | #define F12 9 | |
48 | #define F13 13 | |
49 | ||
50 | #define F20 2 | |
51 | #define F21 6 | |
52 | #define F22 10 | |
53 | #define F23 14 | |
54 | ||
55 | #define F30 3 | |
56 | #define F31 7 | |
57 | #define F32 11 | |
58 | #define F33 15 | |
59 | ||
60 | using namespace Reve; | |
61 | ||
62 | ClassImp(ZTrans) | |
63 | ||
64 | /**************************************************************************/ | |
65 | ||
3c67f72c | 66 | ZTrans::ZTrans() : |
67 | TObject(), | |
68 | mA1(0), mA2(0), mA3(0), bAsOK(kFALSE), | |
69 | fUseTrans (kTRUE), | |
70 | fEditTrans(kFALSE) | |
71 | { | |
72 | UnitTrans(); | |
73 | } | |
76082cd6 | 74 | |
3c67f72c | 75 | ZTrans::ZTrans(const ZTrans& t) : |
76 | TObject(), | |
77 | mA1(t.mA1), mA2(t.mA2), mA3(t.mA3), bAsOK(t.bAsOK), | |
78 | fUseTrans (t.fUseTrans), | |
79 | fEditTrans(t.fEditTrans) | |
80 | { | |
81 | SetTrans(t, kFALSE); | |
82 | } | |
76082cd6 | 83 | |
56c08b98 | 84 | ZTrans::ZTrans(const Double_t arr[16]) : |
85 | TObject(), | |
86 | mA1(0), mA2(0), mA3(0), bAsOK(kFALSE), | |
87 | fUseTrans (kTRUE), | |
88 | fEditTrans(kFALSE) | |
89 | { | |
90 | SetFromArray(arr); | |
91 | } | |
92 | ||
93 | ZTrans::ZTrans(const Float_t arr[16]) : | |
94 | TObject(), | |
95 | mA1(0), mA2(0), mA3(0), bAsOK(kFALSE), | |
96 | fUseTrans (kTRUE), | |
97 | fEditTrans(kFALSE) | |
98 | { | |
99 | SetFromArray(arr); | |
100 | } | |
101 | ||
76082cd6 | 102 | /**************************************************************************/ |
103 | ||
104 | void ZTrans::UnitTrans() | |
105 | { | |
106 | // Reset matrix to unity. | |
107 | ||
108 | memset(M, 0, 16*sizeof(Double_t)); | |
109 | M[F00] = M[F11] = M[F22] = M[F33] = 1; | |
110 | mA1 = mA2 = mA3 = 0; | |
3c67f72c | 111 | bAsOK = kTRUE; |
76082cd6 | 112 | } |
113 | ||
114 | void ZTrans::UnitRot() | |
115 | { | |
116 | // Reset rotation part of the matrix to unity. | |
117 | ||
118 | memset(M, 0, 12*sizeof(Double_t)); | |
119 | M[F00] = M[F11] = M[F22] = 1; | |
120 | mA1 = mA2 = mA3 = 0; | |
3c67f72c | 121 | bAsOK = kTRUE; |
76082cd6 | 122 | } |
123 | ||
3c67f72c | 124 | void ZTrans::SetTrans(const ZTrans& t, Bool_t copyAngles) |
76082cd6 | 125 | { |
126 | memcpy(M, t.M, sizeof(M)); | |
3c67f72c | 127 | if (copyAngles && t.bAsOK) { |
128 | bAsOK = kTRUE; | |
129 | mA1 = t.mA1; mA2 = t.mA2; mA3 = t.mA3; | |
130 | } else { | |
131 | bAsOK = kFALSE; | |
132 | } | |
76082cd6 | 133 | } |
134 | ||
56c08b98 | 135 | void ZTrans::SetFromArray(const Double_t arr[16]) |
136 | { | |
137 | for(Int_t i=0; i<16; ++i) M[i] = arr[i]; | |
138 | bAsOK = false; | |
139 | } | |
140 | ||
141 | void ZTrans::SetFromArray(const Float_t arr[16]) | |
142 | { | |
143 | for(Int_t i=0; i<16; ++i) M[i] = arr[i]; | |
144 | bAsOK = false; | |
145 | } | |
146 | ||
76082cd6 | 147 | void ZTrans::SetupRotation(Int_t i, Int_t j, Double_t f) |
148 | { | |
149 | // Setup the matrix as an elementary rotation. | |
150 | // Optimized versions of left/right multiplication with an elementary | |
151 | // rotation matrix are implemented in RotatePF/RotateLF. | |
152 | // Expects identity matrix. | |
153 | ||
154 | if(i == j) return; | |
155 | ZTrans& M = *this; | |
156 | M(i,i) = M(j,j) = TMath::Cos(f); | |
157 | Double_t s = TMath::Sin(f); | |
158 | M(i,j) = -s; M(j,i) = s; | |
3c67f72c | 159 | bAsOK = kFALSE; |
76082cd6 | 160 | } |
161 | ||
162 | /**************************************************************************/ | |
163 | ||
164 | // OrtoNorm3 and Invert are near the bottom. | |
165 | ||
166 | /**************************************************************************/ | |
167 | ||
168 | void ZTrans::MultLeft(const ZTrans& t) | |
169 | { | |
170 | Double_t B[4]; | |
171 | Double_t* C = M; | |
172 | for(int c=0; c<4; ++c, C+=4) { | |
173 | const Double_t* T = t.M; | |
174 | for(int r=0; r<4; ++r, ++T) | |
175 | B[r] = T[0]*C[0] + T[4]*C[1] + T[8]*C[2] + T[12]*C[3]; | |
176 | C[0] = B[0]; C[1] = B[1]; C[2] = B[2]; C[3] = B[3]; | |
177 | } | |
3c67f72c | 178 | bAsOK = kFALSE; |
76082cd6 | 179 | } |
180 | ||
181 | void ZTrans::MultRight(const ZTrans& t) | |
182 | { | |
183 | Double_t B[4]; | |
184 | Double_t* C = M; | |
185 | for(int r=0; r<4; ++r, ++C) { | |
186 | const Double_t* T = t.M; | |
187 | for(int c=0; c<4; ++c, T+=4) | |
188 | B[c] = C[0]*T[0] + C[4]*T[1] + C[8]*T[2] + C[12]*T[3]; | |
189 | C[0] = B[0]; C[4] = B[1]; C[8] = B[2]; C[12] = B[3]; | |
190 | } | |
3c67f72c | 191 | bAsOK = kFALSE; |
76082cd6 | 192 | } |
193 | ||
194 | ZTrans ZTrans::operator*(const ZTrans& t) | |
195 | { | |
196 | ZTrans b(*this); | |
197 | b.MultRight(t); | |
198 | return b; | |
199 | } | |
200 | ||
56c08b98 | 201 | /**************************************************************************/ |
202 | ||
203 | void ZTrans::TransposeRotationPart() | |
204 | { | |
205 | Double_t x; | |
206 | x = M[F01]; M[F01] = M[F10]; M[F10] = x; | |
207 | x = M[F02]; M[F02] = M[F20]; M[F20] = x; | |
208 | x = M[F12]; M[F12] = M[F21]; M[F21] = x; | |
209 | bAsOK = false; | |
210 | } | |
211 | ||
76082cd6 | 212 | /**************************************************************************/ |
213 | // Move & Rotate | |
214 | /**************************************************************************/ | |
215 | ||
216 | void ZTrans::MoveLF(Int_t ai, Double_t amount) | |
217 | { | |
218 | const Double_t *C = M + 4*--ai; | |
219 | M[F03] += amount*C[0]; M[F13] += amount*C[1]; M[F23] += amount*C[2]; | |
220 | } | |
221 | ||
222 | void ZTrans::Move3LF(Double_t x, Double_t y, Double_t z) | |
223 | { | |
224 | M[F03] += x*M[0] + y*M[4] + z*M[8]; | |
225 | M[F13] += x*M[1] + y*M[5] + z*M[9]; | |
226 | M[F23] += x*M[2] + y*M[6] + z*M[10]; | |
227 | } | |
228 | ||
229 | void ZTrans::RotateLF(Int_t i1, Int_t i2, Double_t amount) | |
230 | { | |
231 | // Rotate in local frame. Does optimised version of MultRight. | |
232 | ||
233 | if(i1 == i2) return; | |
234 | // Algorithm: ZTrans a; a.SetupRotation(i1, i2, amount); MultRight(a); | |
235 | // Optimized version: | |
236 | const Double_t cos = TMath::Cos(amount), sin = TMath::Sin(amount); | |
237 | Double_t b1, b2; | |
238 | Double_t* C = M; | |
239 | --i1 <<= 2; --i2 <<= 2; // column major | |
240 | for(int r=0; r<4; ++r, ++C) { | |
241 | b1 = cos*C[i1] + sin*C[i2]; | |
242 | b2 = cos*C[i2] - sin*C[i1]; | |
243 | C[i1] = b1; C[i2] = b2; | |
244 | } | |
3c67f72c | 245 | bAsOK = kFALSE; |
76082cd6 | 246 | } |
247 | ||
248 | /**************************************************************************/ | |
249 | ||
250 | void ZTrans::MovePF(Int_t ai, Double_t amount) | |
251 | { | |
252 | M[F03 + --ai] += amount; | |
253 | } | |
254 | ||
255 | void ZTrans::Move3PF(Double_t x, Double_t y, Double_t z) | |
256 | { | |
257 | M[F03] += x; | |
258 | M[F13] += y; | |
259 | M[F23] += z; | |
260 | } | |
261 | ||
262 | void ZTrans::RotatePF(Int_t i1, Int_t i2, Double_t amount) | |
263 | { | |
264 | // Rotate in parent frame. Does optimised version of MultLeft. | |
265 | ||
266 | if(i1 == i2) return; | |
267 | // Algorithm: ZTrans a; a.SetupRotation(i1, i2, amount); MultLeft(a); | |
268 | ||
269 | // Optimized version: | |
270 | const Double_t cos = TMath::Cos(amount), sin = TMath::Sin(amount); | |
271 | Double_t b1, b2; | |
272 | Double_t* C = M; | |
273 | --i1; --i2; | |
274 | for(int c=0; c<4; ++c, C+=4) { | |
275 | b1 = cos*C[i1] - sin*C[i2]; | |
276 | b2 = cos*C[i2] + sin*C[i1]; | |
277 | C[i1] = b1; C[i2] = b2; | |
278 | } | |
3c67f72c | 279 | bAsOK = kFALSE; |
76082cd6 | 280 | } |
281 | ||
282 | /**************************************************************************/ | |
283 | ||
284 | void ZTrans::Move(const ZTrans& a, Int_t ai, Double_t amount) | |
285 | { | |
286 | const Double_t* A = a.M + 4*--ai; | |
287 | M[F03] += amount*A[0]; | |
288 | M[F13] += amount*A[1]; | |
289 | M[F23] += amount*A[2]; | |
290 | } | |
291 | ||
292 | void ZTrans::Move3(const ZTrans& a, Double_t x, Double_t y, Double_t z) | |
293 | { | |
294 | const Double_t* A = a.M; | |
295 | M[F03] += x*A[F00] + y*A[F01] + z*A[F02]; | |
296 | M[F13] += x*A[F10] + y*A[F11] + z*A[F12]; | |
297 | M[F23] += x*A[F20] + y*A[F21] + z*A[F22]; | |
298 | } | |
299 | ||
300 | void ZTrans::Rotate(const ZTrans& a, Int_t i1, Int_t i2, Double_t amount) | |
301 | { | |
302 | if(i1 == i2) return; | |
303 | ZTrans X(a); | |
304 | X.Invert(); | |
305 | MultLeft(X); | |
306 | RotatePF(i1, i2, amount); | |
307 | MultLeft(a); | |
3c67f72c | 308 | bAsOK = kFALSE; |
76082cd6 | 309 | } |
310 | ||
311 | /**************************************************************************/ | |
312 | // Base-vector interface | |
313 | /**************************************************************************/ | |
314 | ||
315 | void ZTrans::SetBaseVec(Int_t b, Double_t x, Double_t y, Double_t z) | |
316 | { | |
317 | Double_t* C = M + 4*--b; | |
318 | C[0] = x; C[1] = y; C[2] = z; | |
3c67f72c | 319 | bAsOK = kFALSE; |
76082cd6 | 320 | } |
321 | ||
322 | void ZTrans::SetBaseVec(Int_t b, const TVector3& v) | |
323 | { | |
324 | Double_t* C = M + 4*--b; | |
325 | v.GetXYZ(C); | |
3c67f72c | 326 | bAsOK = kFALSE; |
76082cd6 | 327 | } |
328 | ||
329 | TVector3 ZTrans::GetBaseVec(Int_t b) const | |
330 | { return TVector3(&M[4*--b]); } | |
331 | ||
332 | void ZTrans::GetBaseVec(Int_t b, TVector3& v) const | |
333 | { | |
334 | const Double_t* C = M + 4*--b; | |
335 | v.SetXYZ(C[0], C[1], C[2]); | |
336 | } | |
337 | ||
338 | /**************************************************************************/ | |
339 | // Position interface | |
340 | /**************************************************************************/ | |
341 | ||
342 | void ZTrans::SetPos(Double_t x, Double_t y, Double_t z) | |
343 | { M[F03] = x; M[F13] = y; M[F23] = z; } | |
344 | ||
345 | void ZTrans::SetPos(Double_t* x) | |
346 | { M[F03] = x[0]; M[F13] = x[1]; M[F23] = x[2]; } | |
347 | ||
32e219c2 | 348 | void ZTrans::SetPos(Float_t* x) |
349 | { M[F03] = x[0]; M[F13] = x[1]; M[F23] = x[2]; } | |
350 | ||
76082cd6 | 351 | void ZTrans::SetPos(const ZTrans& t) |
352 | { | |
353 | const Double_t* T = t.M; | |
354 | M[F03] = T[F03]; M[F13] = T[F13]; M[F23] = T[F23]; | |
355 | } | |
356 | ||
357 | void ZTrans::GetPos(Double_t& x, Double_t& y, Double_t& z) const | |
358 | { x = M[F03]; y = M[F13]; z = M[F23]; } | |
359 | ||
360 | void ZTrans::GetPos(Double_t* x) const | |
361 | { x[0] = M[F03]; x[1] = M[F13]; x[2] = M[F23]; } | |
362 | ||
32e219c2 | 363 | void ZTrans::GetPos(Float_t* x) const |
364 | { x[0] = M[F03]; x[1] = M[F13]; x[2] = M[F23]; } | |
365 | ||
76082cd6 | 366 | void ZTrans::GetPos(TVector3& v) const |
367 | { v.SetXYZ(M[F03], M[F13], M[F23]); } | |
368 | ||
369 | TVector3 ZTrans::GetPos() const | |
370 | { return TVector3(M[F03], M[F13], M[F23]); } | |
371 | ||
372 | /**************************************************************************/ | |
373 | // Cardan angle interface | |
374 | /**************************************************************************/ | |
375 | ||
376 | namespace { | |
377 | inline void clamp_angle(Float_t& a) { | |
378 | while(a < -TMath::TwoPi()) a += TMath::TwoPi(); | |
379 | while(a > TMath::TwoPi()) a -= TMath::TwoPi(); | |
380 | } | |
381 | } | |
382 | ||
383 | void ZTrans::SetRotByAngles(Float_t a1, Float_t a2, Float_t a3) | |
384 | { | |
385 | // Sets Rotation part as given by angles: | |
386 | // a1 around z, -a2 around y, a3 around x | |
387 | clamp_angle(a1); clamp_angle(a2); clamp_angle(a3); | |
388 | ||
389 | Double_t A, B, C, D, E, F; | |
390 | A = TMath::Cos(a3); B = TMath::Sin(a3); | |
391 | C = TMath::Cos(a2); D = TMath::Sin(a2); // should be -sin(a2) for positive direction | |
392 | E = TMath::Cos(a1); F = TMath::Sin(a1); | |
393 | Double_t AD = A*D, BD = B*D; | |
394 | ||
395 | M[F00] = C*E; M[F01] = -BD*E - A*F; M[F02] = -AD*E + B*F; | |
396 | M[F10] = C*F; M[F11] = -BD*F + A*E; M[F12] = -AD*F - B*E; | |
397 | M[F20] = D; M[F21] = B*C; M[F22] = A*C; | |
398 | ||
399 | mA1 = a1; mA2 = a2; mA3 = a3; | |
400 | bAsOK = true; | |
401 | } | |
402 | ||
403 | void ZTrans::SetRotByAnyAngles(Float_t a1, Float_t a2, Float_t a3, | |
404 | const Text_t* pat) | |
405 | { | |
406 | // Sets Rotation part as given by angles a1, a1, a3 and pattern pat. | |
407 | // Pattern consists of "XxYyZz" characters. | |
408 | // eg: x means rotate about x axis, X means rotate in negative direction | |
409 | // xYz -> R_x(a3) * R_y(-a2) * R_z(a1); (standard Gled representation) | |
410 | // Note that angles and pattern elements have inversed order! | |
411 | // | |
412 | // Implements Eulerian/Cardanian angles in a uniform way. | |
413 | ||
414 | int n = strspn(pat, "XxYyZz"); if(n > 3) n = 3; | |
415 | // Build Trans ... assign ... | |
416 | Float_t a[] = { a3, a2, a1 }; | |
417 | UnitRot(); | |
418 | for(int i=0; i<n; i++) { | |
419 | if(isupper(pat[i])) a[i] = -a[i]; | |
420 | switch(pat[i]) { | |
421 | case 'x': case 'X': RotateLF(2, 3, a[i]); break; | |
422 | case 'y': case 'Y': RotateLF(3, 1, a[i]); break; | |
423 | case 'z': case 'Z': RotateLF(1, 2, a[i]); break; | |
424 | } | |
425 | } | |
3c67f72c | 426 | bAsOK = kFALSE; |
76082cd6 | 427 | } |
428 | ||
429 | void ZTrans::GetRotAngles(Float_t* x) const | |
430 | { | |
431 | // Get Cardan rotation angles (pattern xYz above). | |
432 | ||
433 | if(!bAsOK) { | |
434 | Double_t sx, sy, sz; | |
435 | GetScale(sx, sy, sz); | |
436 | Double_t d = M[F20]/sx; | |
437 | if(d>1) d=1; else if(d<-1) d=-1; // Fix numerical errors | |
438 | mA2 = TMath::ASin(d); | |
439 | Double_t C = TMath::Cos(mA2); | |
440 | if(TMath::Abs(C) > 8.7e-6) { | |
441 | mA1 = TMath::ATan2(M[F10], M[F00]); | |
442 | mA3 = TMath::ATan2(M[F21]/sy, M[F22]/sz); | |
443 | } else { | |
444 | mA1 = TMath::ATan2(M[F10]/sx, M[F11]/sy); | |
445 | mA3 = 0; | |
446 | } | |
447 | bAsOK = true; | |
448 | } | |
449 | x[0] = mA1; x[1] = mA2; x[2] = mA3; | |
450 | } | |
451 | ||
452 | /**************************************************************************/ | |
453 | // Scaling | |
454 | /**************************************************************************/ | |
455 | ||
456 | void ZTrans::Scale(Double_t sx, Double_t sy, Double_t sz) | |
457 | { | |
458 | M[F00] *= sx; M[F10] *= sx; M[F20] *= sx; | |
459 | M[F01] *= sy; M[F11] *= sy; M[F21] *= sy; | |
460 | M[F02] *= sz; M[F12] *= sz; M[F22] *= sz; | |
461 | } | |
462 | ||
463 | void ZTrans::GetScale(Double_t& sx, Double_t& sy, Double_t& sz) const | |
464 | { | |
465 | sx = TMath::Sqrt( M[F00]*M[F00] + M[F10]*M[F10] + M[F20]*M[F20] ); | |
466 | sy = TMath::Sqrt( M[F01]*M[F01] + M[F11]*M[F11] + M[F21]*M[F21] ); | |
467 | sz = TMath::Sqrt( M[F02]*M[F02] + M[F12]*M[F12] + M[F22]*M[F22] ); | |
468 | } | |
469 | ||
470 | void ZTrans::Unscale(Double_t& sx, Double_t& sy, Double_t& sz) | |
471 | { | |
472 | GetScale(sx, sy, sz); | |
473 | M[F00] /= sx; M[F10] /= sx; M[F20] /= sx; | |
474 | M[F01] /= sy; M[F11] /= sy; M[F21] /= sy; | |
475 | M[F02] /= sz; M[F12] /= sz; M[F22] /= sz; | |
476 | } | |
477 | ||
478 | Double_t ZTrans::Unscale() | |
479 | { | |
480 | Double_t sx, sy, sz; | |
481 | Unscale(sx, sy, sz); | |
482 | return (sx + sy + sz)/3; | |
483 | } | |
484 | ||
485 | /**************************************************************************/ | |
486 | // Operations on vectors | |
487 | /**************************************************************************/ | |
488 | ||
489 | void ZTrans::MultiplyIP(TVector3& v, Double_t w) const | |
490 | { | |
491 | v.SetXYZ(M[F00]*v.x() + M[F01]*v.y() + M[F02]*v.z() + M[F03]*w, | |
492 | M[F10]*v.x() + M[F11]*v.y() + M[F12]*v.z() + M[F13]*w, | |
493 | M[F20]*v.x() + M[F21]*v.y() + M[F22]*v.z() + M[F23]*w); | |
494 | } | |
495 | ||
32e219c2 | 496 | void ZTrans::MultiplyIP(Double_t* v, Double_t w) const |
497 | { | |
498 | Double_t r[3] = { v[0], v[1], v[2] }; | |
499 | v[0] = M[F00]*r[0] + M[F01]*r[1] + M[F02]*r[2] + M[F03]*w; | |
500 | v[1] = M[F10]*r[0] + M[F11]*r[1] + M[F12]*r[2] + M[F13]*w; | |
501 | v[2] = M[F20]*r[0] + M[F21]*r[1] + M[F22]*r[2] + M[F23]*w; | |
502 | } | |
503 | ||
504 | void ZTrans::MultiplyIP(Float_t* v, Double_t w) const | |
505 | { | |
506 | Double_t r[3] = { v[0], v[1], v[2] }; | |
507 | v[0] = M[F00]*r[0] + M[F01]*r[1] + M[F02]*r[2] + M[F03]*w; | |
508 | v[1] = M[F10]*r[0] + M[F11]*r[1] + M[F12]*r[2] + M[F13]*w; | |
509 | v[2] = M[F20]*r[0] + M[F21]*r[1] + M[F22]*r[2] + M[F23]*w; | |
510 | } | |
511 | ||
76082cd6 | 512 | TVector3 ZTrans::Multiply(const TVector3& v, Double_t w) const |
513 | { | |
514 | return TVector3(M[F00]*v.x() + M[F01]*v.y() + M[F02]*v.z() + M[F03]*w, | |
515 | M[F10]*v.x() + M[F11]*v.y() + M[F12]*v.z() + M[F13]*w, | |
516 | M[F20]*v.x() + M[F21]*v.y() + M[F22]*v.z() + M[F23]*w); | |
517 | } | |
518 | ||
32e219c2 | 519 | void ZTrans::Multiply(const Double_t *vin, Double_t* vout, Double_t w) const |
520 | { | |
521 | vout[0] = M[F00]*vin[0] + M[F01]*vin[1] + M[F02]*vin[2] + M[F03]*w; | |
522 | vout[1] = M[F10]*vin[0] + M[F11]*vin[1] + M[F12]*vin[1] + M[F13]*w; | |
523 | vout[2] = M[F20]*vin[0] + M[F21]*vin[1] + M[F22]*vin[1] + M[F23]*w; | |
524 | } | |
525 | ||
76082cd6 | 526 | void ZTrans::RotateIP(TVector3& v) const |
527 | { | |
528 | v.SetXYZ(M[F00]*v.x() + M[F01]*v.y() + M[F02]*v.z(), | |
529 | M[F10]*v.x() + M[F11]*v.y() + M[F12]*v.z(), | |
530 | M[F20]*v.x() + M[F21]*v.y() + M[F22]*v.z()); | |
531 | } | |
532 | ||
533 | TVector3 ZTrans::Rotate(const TVector3& v) const | |
534 | { | |
535 | return TVector3(M[F00]*v.x() + M[F01]*v.y() + M[F02]*v.z(), | |
536 | M[F10]*v.x() + M[F11]*v.y() + M[F12]*v.z(), | |
537 | M[F20]*v.x() + M[F21]*v.y() + M[F22]*v.z()); | |
538 | } | |
539 | ||
540 | /**************************************************************************/ | |
541 | // Normalization, ortogonalization | |
542 | /**************************************************************************/ | |
543 | ||
544 | Double_t ZTrans::norm3_column(Int_t col) | |
545 | { | |
546 | Double_t* C = M + 4*--col; | |
547 | const Double_t l = TMath::Sqrt(C[0]*C[0] + C[1]*C[1] + C[2]*C[2]); | |
548 | C[0] /= l; C[1] /= l; C[2] /= l; | |
549 | return l; | |
550 | } | |
551 | ||
552 | Double_t ZTrans::orto3_column(Int_t col, Int_t ref) | |
553 | { | |
554 | Double_t* C = M + 4*--col; | |
555 | Double_t* R = M + 4*--ref; | |
556 | const Double_t dp = C[0]*R[0] + C[1]*R[1] + C[2]*R[2]; | |
557 | C[0] -= R[0]*dp; C[1] -= R[1]*dp; C[2] -= R[2]*dp; | |
558 | return dp; | |
559 | } | |
560 | ||
561 | void ZTrans::OrtoNorm3() | |
562 | { | |
563 | norm3_column(1); | |
564 | orto3_column(2,1); norm3_column(2); | |
565 | M[F02] = M[F10]*M[F21] - M[F11]*M[F20]; | |
566 | M[F12] = M[F20]*M[F01] - M[F21]*M[F00]; | |
567 | M[F22] = M[F00]*M[F11] - M[F01]*M[F10]; | |
568 | // cross-product faster. | |
569 | // orto3_column(3,1); orto3_column(3,2); norm3_column(3); | |
570 | } | |
571 | ||
572 | /**************************************************************************/ | |
573 | // Inversion | |
574 | /**************************************************************************/ | |
575 | ||
576 | Double_t ZTrans::Invert() | |
577 | { | |
578 | // Copied from ROOT's TMatrixFCramerInv. | |
579 | ||
580 | static const Exc_t _eh("ZTrans::Invert "); | |
581 | ||
582 | // Find all NECESSARY 2x2 dets: (18 of them) | |
583 | const Double_t det2_12_01 = M[F10]*M[F21] - M[F11]*M[F20]; | |
584 | const Double_t det2_12_02 = M[F10]*M[F22] - M[F12]*M[F20]; | |
585 | const Double_t det2_12_03 = M[F10]*M[F23] - M[F13]*M[F20]; | |
586 | const Double_t det2_12_13 = M[F11]*M[F23] - M[F13]*M[F21]; | |
587 | const Double_t det2_12_23 = M[F12]*M[F23] - M[F13]*M[F22]; | |
588 | const Double_t det2_12_12 = M[F11]*M[F22] - M[F12]*M[F21]; | |
589 | const Double_t det2_13_01 = M[F10]*M[F31] - M[F11]*M[F30]; | |
590 | const Double_t det2_13_02 = M[F10]*M[F32] - M[F12]*M[F30]; | |
591 | const Double_t det2_13_03 = M[F10]*M[F33] - M[F13]*M[F30]; | |
592 | const Double_t det2_13_12 = M[F11]*M[F32] - M[F12]*M[F31]; | |
593 | const Double_t det2_13_13 = M[F11]*M[F33] - M[F13]*M[F31]; | |
594 | const Double_t det2_13_23 = M[F12]*M[F33] - M[F13]*M[F32]; | |
595 | const Double_t det2_23_01 = M[F20]*M[F31] - M[F21]*M[F30]; | |
596 | const Double_t det2_23_02 = M[F20]*M[F32] - M[F22]*M[F30]; | |
597 | const Double_t det2_23_03 = M[F20]*M[F33] - M[F23]*M[F30]; | |
598 | const Double_t det2_23_12 = M[F21]*M[F32] - M[F22]*M[F31]; | |
599 | const Double_t det2_23_13 = M[F21]*M[F33] - M[F23]*M[F31]; | |
600 | const Double_t det2_23_23 = M[F22]*M[F33] - M[F23]*M[F32]; | |
601 | ||
602 | // Find all NECESSARY 3x3 dets: (16 of them) | |
603 | const Double_t det3_012_012 = M[F00]*det2_12_12 - M[F01]*det2_12_02 + M[F02]*det2_12_01; | |
604 | const Double_t det3_012_013 = M[F00]*det2_12_13 - M[F01]*det2_12_03 + M[F03]*det2_12_01; | |
605 | const Double_t det3_012_023 = M[F00]*det2_12_23 - M[F02]*det2_12_03 + M[F03]*det2_12_02; | |
606 | const Double_t det3_012_123 = M[F01]*det2_12_23 - M[F02]*det2_12_13 + M[F03]*det2_12_12; | |
607 | const Double_t det3_013_012 = M[F00]*det2_13_12 - M[F01]*det2_13_02 + M[F02]*det2_13_01; | |
608 | const Double_t det3_013_013 = M[F00]*det2_13_13 - M[F01]*det2_13_03 + M[F03]*det2_13_01; | |
609 | const Double_t det3_013_023 = M[F00]*det2_13_23 - M[F02]*det2_13_03 + M[F03]*det2_13_02; | |
610 | const Double_t det3_013_123 = M[F01]*det2_13_23 - M[F02]*det2_13_13 + M[F03]*det2_13_12; | |
611 | const Double_t det3_023_012 = M[F00]*det2_23_12 - M[F01]*det2_23_02 + M[F02]*det2_23_01; | |
612 | const Double_t det3_023_013 = M[F00]*det2_23_13 - M[F01]*det2_23_03 + M[F03]*det2_23_01; | |
613 | const Double_t det3_023_023 = M[F00]*det2_23_23 - M[F02]*det2_23_03 + M[F03]*det2_23_02; | |
614 | const Double_t det3_023_123 = M[F01]*det2_23_23 - M[F02]*det2_23_13 + M[F03]*det2_23_12; | |
615 | const Double_t det3_123_012 = M[F10]*det2_23_12 - M[F11]*det2_23_02 + M[F12]*det2_23_01; | |
616 | const Double_t det3_123_013 = M[F10]*det2_23_13 - M[F11]*det2_23_03 + M[F13]*det2_23_01; | |
617 | const Double_t det3_123_023 = M[F10]*det2_23_23 - M[F12]*det2_23_03 + M[F13]*det2_23_02; | |
618 | const Double_t det3_123_123 = M[F11]*det2_23_23 - M[F12]*det2_23_13 + M[F13]*det2_23_12; | |
619 | ||
620 | // Find the 4x4 det: | |
621 | const Double_t det = M[F00]*det3_123_123 - M[F01]*det3_123_023 + | |
622 | M[F02]*det3_123_013 - M[F03]*det3_123_012; | |
623 | ||
624 | if(det == 0) { | |
625 | throw(_eh + "matrix is singular."); | |
626 | } | |
627 | ||
628 | const Double_t oneOverDet = 1.0/det; | |
629 | const Double_t mn1OverDet = - oneOverDet; | |
630 | ||
631 | M[F00] = det3_123_123 * oneOverDet; | |
632 | M[F01] = det3_023_123 * mn1OverDet; | |
633 | M[F02] = det3_013_123 * oneOverDet; | |
634 | M[F03] = det3_012_123 * mn1OverDet; | |
635 | ||
636 | M[F10] = det3_123_023 * mn1OverDet; | |
637 | M[F11] = det3_023_023 * oneOverDet; | |
638 | M[F12] = det3_013_023 * mn1OverDet; | |
639 | M[F13] = det3_012_023 * oneOverDet; | |
640 | ||
641 | M[F20] = det3_123_013 * oneOverDet; | |
642 | M[F21] = det3_023_013 * mn1OverDet; | |
643 | M[F22] = det3_013_013 * oneOverDet; | |
644 | M[F23] = det3_012_013 * mn1OverDet; | |
645 | ||
646 | M[F30] = det3_123_012 * mn1OverDet; | |
647 | M[F31] = det3_023_012 * oneOverDet; | |
648 | M[F32] = det3_013_012 * mn1OverDet; | |
649 | M[F33] = det3_012_012 * oneOverDet; | |
650 | ||
3c67f72c | 651 | bAsOK = kFALSE; |
76082cd6 | 652 | return det; |
653 | } | |
654 | ||
655 | /**************************************************************************/ | |
656 | ||
657 | void ZTrans::Streamer(TBuffer &R__b) | |
658 | { | |
659 | // Stream an object of class ZTrans. | |
660 | ||
661 | if (R__b.IsReading()) { | |
662 | ZTrans::Class()->ReadBuffer(R__b, this); | |
3c67f72c | 663 | bAsOK = kFALSE; |
76082cd6 | 664 | } else { |
665 | ZTrans::Class()->WriteBuffer(R__b, this); | |
666 | } | |
667 | } | |
668 | ||
669 | /**************************************************************************/ | |
670 | /**************************************************************************/ | |
671 | ||
672 | void ZTrans::Print(Option_t* /*option*/) const | |
673 | { | |
674 | const Double_t* C = M; | |
675 | for(Int_t i=0; i<4; ++i, ++C) | |
676 | printf("%8.3f %8.3f %8.3f | %8.3f\n", C[0], C[4], C[8], C[12]); | |
677 | } | |
678 | ||
679 | #include <iomanip> | |
680 | ||
681 | ostream& Reve::operator<<(ostream& s, const ZTrans& t) { | |
682 | s.setf(std::ios::fixed, std::ios::floatfield); | |
683 | s.precision(3); | |
684 | for(Int_t i=1; i<=4; i++) | |
685 | for(Int_t j=1; j<=4; j++) | |
686 | s << t(i,j) << ((j==4) ? "\n" : "\t"); | |
687 | return s; | |
688 | } | |
689 | ||
690 | /**************************************************************************/ | |
691 | // Reve stuff | |
692 | /**************************************************************************/ | |
693 | ||
694 | #include <TGeoMatrix.h> | |
695 | #include <TBuffer3D.h> | |
696 | ||
697 | void ZTrans::SetFrom(Double_t* carr) | |
698 | { | |
699 | fUseTrans = kTRUE; | |
700 | memcpy(M, carr, 16*sizeof(Double_t)); | |
3c67f72c | 701 | bAsOK = kFALSE; |
76082cd6 | 702 | } |
703 | ||
704 | void ZTrans::SetFrom(const TGeoMatrix& mat) | |
705 | { | |
706 | fUseTrans = kTRUE; | |
707 | const Double_t *r = mat.GetRotationMatrix(); | |
708 | const Double_t *t = mat.GetTranslation(); | |
709 | const Double_t *s = mat.GetScale(); | |
710 | Double_t *m = M; | |
711 | m[0] = r[0]*s[0]; m[1] = r[3]*s[0]; m[2] = r[6]*s[0]; m[3] = 0; m += 4; | |
712 | m[0] = r[1]*s[1]; m[1] = r[4]*s[1]; m[2] = r[7]*s[1]; m[3] = 0; m += 4; | |
713 | m[0] = r[2]*s[2]; m[1] = r[5]*s[2]; m[2] = r[8]*s[2]; m[3] = 0; m += 4; | |
714 | m[0] = t[0]; m[1] = t[1]; m[2] = t[2]; m[3] = 1; | |
3c67f72c | 715 | bAsOK = kFALSE; |
76082cd6 | 716 | } |
717 | ||
a3975d20 | 718 | void ZTrans::SetGeoHMatrix(TGeoHMatrix& mat) |
719 | { | |
720 | Double_t *r = mat.GetRotationMatrix(); | |
721 | Double_t *t = mat.GetTranslation(); | |
722 | Double_t *s = mat.GetScale(); | |
723 | if (fUseTrans) | |
724 | { | |
725 | mat.SetBit(TGeoMatrix::kGeoGenTrans); | |
726 | Double_t *m = M; | |
727 | GetScale(s[0], s[1], s[2]); | |
728 | r[0] = m[0]/s[0]; r[3] = m[1]/s[0]; r[6] = m[2]/s[0]; m += 4; | |
729 | r[1] = m[0]/s[1]; r[4] = m[1]/s[1]; r[7] = m[2]/s[1]; m += 4; | |
730 | r[2] = m[0]/s[2]; r[5] = m[1]/s[2]; r[8] = m[2]/s[2]; m += 4; | |
731 | t[0] = m[0]; t[1] = m[1]; t[2] = m[2]; | |
732 | } else { | |
733 | mat.ResetBit(TGeoMatrix::kGeoGenTrans); | |
734 | r[0] = 1; r[3] = 0; r[6] = 0; | |
735 | r[1] = 0; r[4] = 1; r[7] = 0; | |
736 | r[2] = 0; r[5] = 0; r[8] = 1; | |
737 | s[0] = s[1] = s[2] = 1; | |
738 | t[0] = t[1] = t[2] = 0; | |
739 | } | |
740 | } | |
741 | ||
76082cd6 | 742 | void ZTrans::SetBuffer3D(TBuffer3D& buff) |
743 | { | |
744 | buff.fLocalFrame = fUseTrans; | |
10497cea | 745 | if (fUseTrans) { |
746 | // In phys-shape ctor the rotation part is transposed, due to | |
747 | // TGeo's convention for rotation matrix. So we have to transpose | |
748 | // it here, also. | |
749 | Double_t *B = buff.fLocalMaster; | |
750 | B[0] = M[0]; B[1] = M[4]; B[2] = M[8]; B[3] = M[3]; | |
751 | B[4] = M[1]; B[5] = M[5]; B[6] = M[9]; B[7] = M[7]; | |
752 | B[8] = M[2]; B[9] = M[6]; B[10] = M[10]; B[11] = M[11]; | |
753 | B[12] = M[12]; B[13] = M[13]; B[14] = M[14]; B[15] = M[15]; | |
754 | // Otherwise this would do: | |
755 | // memcpy(buff.fLocalMaster, M, 16*sizeof(Double_t)); | |
756 | } | |
76082cd6 | 757 | } |
758 | ||
759 | Bool_t ZTrans::IsScale(Double_t low, Double_t high) const | |
760 | { | |
761 | // Test if the transformation is a scale. | |
762 | // To be used by ROOT TGLObject descendants that potentially need to | |
763 | // use GL_NORMALIZE. | |
764 | // The low/high limits are expected to be squares of acutal limits. | |
765 | // | |
766 | // Ideally this should be done by the TGLViewer [but is not]. | |
767 | ||
768 | if (!fUseTrans) return kFALSE; | |
769 | Double_t s; | |
770 | s = M[F00]*M[F00] + M[F10]*M[F10] + M[F20]*M[F20]; | |
771 | if (s < low || s > high) return kTRUE; | |
772 | s = M[F01]*M[F01] + M[F11]*M[F11] + M[F21]*M[F21]; | |
773 | if (s < low || s > high) return kTRUE; | |
774 | s = M[F02]*M[F02] + M[F12]*M[F12] + M[F22]*M[F22]; | |
775 | if (s < low || s > high) return kTRUE; | |
776 | return kFALSE; | |
777 | } |