/**************************************************************************
 * Copyright(c) 1998-1999, ALICE Experiment at CERN, All rights reserved. *
 *                                                                        *
 * Author: The ALICE Off-line Project.                                    *
 * Contributors are mentioned in the code where appropriate.              *
 *                                                                        *
 * Permission to use, copy, modify and distribute this software and its   *
 * documentation strictly for non-commercial purposes is hereby granted   *
 * without fee, provided that the above copyright notice appears in all   *
 * copies and that both the copyright notice and this permission notice   *
 * appear in the supporting documentation. The authors make no claims     *
 * about the suitability of this software for any purpose. It is          *
 * provided "as is" without express or implied warranty.                  *
 **************************************************************************/

//-----------------------------------------------------------------
//   Implementation of the alignment object class through the abstract
//  class AliAlignObj. From it two derived concrete representation of
//  alignment object class (AliAlignObjAngles, AliAlignObjMatrix) are
//  derived in separate files.
//-----------------------------------------------------------------
/*****************************************************************************
 * AliAlignObjAngles: derived alignment class storing alignment information  *
 *   for a single volume in form of three doubles for the translation        *
 *   and three doubles for the rotation expressed with the euler angles      *
 *   in the xyz-convention (http://mathworld.wolfram.com/EulerAngles.html),  *
 *   also known as roll, pitch, yaw. PLEASE NOTE THE ANGLES SIGNS ARE        *
 *   INVERSE WITH RESPECT TO THIS REFERENCE!!! In this way the representation*
 *   is fully consistent with the TGeo Rotation methods.                     *
 *****************************************************************************/

#include "AliAlignObj.h"
//#include "AliLog.h"

ClassImp(AliAlignObj)

//_____________________________________________________________________________
AliAlignObj::AliAlignObj():
  fVolUID(0)
{
  // dummy constructor
}

//_____________________________________________________________________________
AliAlignObj::AliAlignObj(const AliAlignObj& theAlignObj) :
  TObject(theAlignObj)
{
  //copy constructor
  fVolPath = theAlignObj.GetVolPath();
  fVolUID = theAlignObj.GetVolUID();
}

//_____________________________________________________________________________
AliAlignObj &AliAlignObj::operator =(const AliAlignObj& theAlignObj)
{
  // assignment operator
  if(this==&theAlignObj) return *this;
  fVolPath = theAlignObj.GetVolPath();
  fVolUID = theAlignObj.GetVolUID();
  return *this;
}

//_____________________________________________________________________________
AliAlignObj::~AliAlignObj()
{
  // dummy destructor
}

//_____________________________________________________________________________
void AliAlignObj::SetVolUID(ELayerID detId, Int_t modId)
{
  // From detector name and module number (according to detector numbering)
  // build fVolUID, unique numerical identity of that volume inside ALICE
  // fVolUID is 16 bits, first 5 reserved for detID (32 possible values),
  // remaining 11 for module ID inside det (2048 possible values).
  //
  fVolUID = LayerToVolUID(detId,modId);
}

//_____________________________________________________________________________
void AliAlignObj::GetVolUID(ELayerID &layerId, Int_t &modId) const
{
  // From detector name and module number (according to detector numbering)
  // build fVolUID, unique numerical identity of that volume inside ALICE
  // fVolUID is 16 bits, first 5 reserved for detID (32 possible values),
  // remaining 11 for module ID inside det (2048 possible values).
  //
  layerId = VolUIDToLayer(fVolUID,modId);
}

//_____________________________________________________________________________
void AliAlignObj::AnglesToMatrix(const Double_t *angles, Double_t *rot) const
{
  // Calculates the rotation matrix using the 
  // Euler angles in "x y z" notation
  Double_t degrad = TMath::DegToRad();
  Double_t sinpsi = TMath::Sin(degrad*angles[0]);
  Double_t cospsi = TMath::Cos(degrad*angles[0]);
  Double_t sinthe = TMath::Sin(degrad*angles[1]);
  Double_t costhe = TMath::Cos(degrad*angles[1]);
  Double_t sinphi = TMath::Sin(degrad*angles[2]);
  Double_t cosphi = TMath::Cos(degrad*angles[2]);

  rot[0] =  costhe*cosphi;
  rot[1] = -costhe*sinphi;
  rot[2] =  sinthe;
  rot[3] =  sinpsi*sinthe*cosphi + cospsi*sinphi;
  rot[4] = -sinpsi*sinthe*sinphi + cospsi*cosphi;
  rot[5] = -costhe*sinpsi;
  rot[6] = -cospsi*sinthe*cosphi + sinpsi*sinphi;
  rot[7] =  cospsi*sinthe*sinphi + sinpsi*cosphi;
  rot[8] =  costhe*cospsi;
}

//_____________________________________________________________________________
Bool_t AliAlignObj::MatrixToAngles(const Double_t *rot, Double_t *angles) const
{
  // Calculates the Euler angles in "x y z" notation
  // using the rotation matrix
  if(rot[0]<1e-7 || rot[8]<1e-7) return kFALSE;
  Double_t raddeg = TMath::RadToDeg();
  angles[0]=raddeg*TMath::ATan2(-rot[5],rot[8]);
  angles[1]=raddeg*TMath::ASin(rot[2]);
  angles[2]=raddeg*TMath::ATan2(-rot[1],rot[0]);
  return kTRUE;
}

//_____________________________________________________________________________
void AliAlignObj::Print(Option_t *) const
{
  // Print the contents of the
  // alignment object in angles and
  // matrix representations
  Double_t tr[3];
  GetTranslation(tr);
  Double_t angles[3];
  GetAngles(angles);
  TGeoHMatrix m;
  GetMatrix(m);
  const Double_t *rot = m.GetRotationMatrix();
//   printf("Volume=%s ID=%u\n", GetVolPath(),GetVolUID());
  ELayerID layerId;
  Int_t modId;
  GetVolUID(layerId,modId);
  printf("Volume=%s LayerID=%d ModuleID=%d\n", GetVolPath(),layerId,modId);
  printf("%12.6f%12.6f%12.6f    Tx = %12.6f    Psi   = %12.6f\n", rot[0], rot[1], rot[2], tr[0], angles[0]);
  printf("%12.6f%12.6f%12.6f    Ty = %12.6f    Theta = %12.6f\n", rot[3], rot[4], rot[5], tr[1], angles[1]);
  printf("%12.6f%12.6f%12.6f    Tz = %12.6f    Phi   = %12.6f\n", rot[6], rot[7], rot[8], tr[2], angles[2]);

}

//_____________________________________________________________________________
UShort_t AliAlignObj::LayerToVolUID(ELayerID layerId, Int_t modId)
{
  // From detector (layer) name and module number (according to detector numbering)
  // build fVolUID, unique numerical identity of that volume inside ALICE
  // fVolUID is 16 bits, first 5 reserved for layerID (32 possible values),
  // remaining 11 for module ID inside det (2048 possible values).
  //
  return ((UShort_t(layerId) << 11) | UShort_t(modId));
}

//_____________________________________________________________________________
AliAlignObj::ELayerID AliAlignObj::VolUIDToLayer(UShort_t voluid, Int_t &modId)
{
  // From detector (layer) name and module number (according to detector numbering)
  // build fVolUID, unique numerical identity of that volume inside ALICE
  // fVolUID is 16 bits, first 5 reserved for layerID (32 possible values),
  // remaining 11 for module ID inside det (2048 possible values).
  //
  modId = voluid & 0x7ff;

  return VolUIDToLayer(voluid);
}

//_____________________________________________________________________________
AliAlignObj::ELayerID AliAlignObj::VolUIDToLayer(UShort_t voluid)
{
  // From detector (layer) name and module number (according to detector numbering)
  // build fVolUID, unique numerical identity of that volume inside ALICE
  // fVolUID is 16 bits, first 5 reserved for layerID (32 possible values),
  // remaining 11 for module ID inside det (2048 possible values).
  //
  return ELayerID((voluid >> 11) & 0x1f);
}