1 | // |
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2 | // ******************************************************************** |
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3 | // * License and Disclaimer * |
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4 | // * * |
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5 | // * The Geant4 software is copyright of the Copyright Holders of * |
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6 | // * the Geant4 Collaboration. It is provided under the terms and * |
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7 | // * conditions of the Geant4 Software License, included in the file * |
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8 | // * LICENSE and available at http://cern.ch/geant4/license . These * |
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9 | // * include a list of copyright holders. * |
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10 | // * * |
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11 | // * Neither the authors of this software system, nor their employing * |
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12 | // * institutes,nor the agencies providing financial support for this * |
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13 | // * work make any representation or warranty, express or implied, * |
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14 | // * regarding this software system or assume any liability for its * |
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15 | // * use. Please see the license in the file LICENSE and URL above * |
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16 | // * for the full disclaimer and the limitation of liability. * |
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17 | // * * |
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18 | // * This code implementation is the result of the scientific and * |
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19 | // * technical work of the GEANT4 collaboration. * |
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20 | // * By using, copying, modifying or distributing the software (or * |
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21 | // * any work based on the software) you agree to acknowledge its * |
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22 | // * use in resulting scientific publications, and indicate your * |
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23 | // * acceptance of all terms of the Geant4 Software license. * |
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24 | // ******************************************************************** |
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25 | // |
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26 | // |
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27 | // $Id: G4AffineTransform.hh,v 1.6 2006/06/29 18:30:37 gunter Exp $ |
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28 | // GEANT4 tag $Name: $ |
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29 | // |
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30 | // |
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31 | // class G4AffineTransform |
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32 | // |
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33 | // Class description: |
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34 | // |
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35 | // A class for geometric affine transformations [see, eg. Foley & Van Dam] |
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36 | // Supports efficient arbitrary rotation & transformation of vectors and the |
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37 | // computation of compound & inverse transformations. A `rotation flag' is |
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38 | // maintained internally for greater computational efficiency for transforms |
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39 | // that do not involve rotation. |
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40 | // |
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41 | // Interfaces to the CLHEP classes G4ThreeVector & G4RotationMatrix |
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42 | // |
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43 | // For member function descriptions, see comments by declarations. For |
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44 | // additional clarification, also check the `const' declarations for |
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45 | // functions & their parameters. |
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46 | // |
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47 | // Member data: |
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48 | // |
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49 | // G4double rxx,rxy,rxz; |
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50 | // G4double ryx,ryy,ryz; A 3x3 rotation matrix - net rotation |
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51 | // G4double rzx,rzy,rzz; |
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52 | // G4double tx,ty,tz; Net translation |
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53 | |
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54 | // History: |
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55 | // Paul R C Kent 6 Aug 1996 - initial version |
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56 | // |
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57 | // 19.09.96 E.Chernyaev: |
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58 | // - direct access to the protected members of the G4RotationMatrix class |
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59 | // replaced by access via public access functions |
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60 | // - conversion of the rotation matrix to angle & axis used to get |
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61 | // a possibility to remove "friend" from the G4RotationMatrix class |
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62 | // -------------------------------------------------------------------- |
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63 | #ifndef G4AFFINETRANSFORM_HH |
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64 | #define G4AFFINETRANSFORM_HH |
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65 | |
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66 | #include "G4Types.hh" |
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67 | #include "G4ThreeVector.hh" |
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68 | #include "G4RotationMatrix.hh" |
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69 | |
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70 | class G4AffineTransform |
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71 | { |
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72 | |
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73 | public: |
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74 | |
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75 | G4AffineTransform(); |
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76 | |
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77 | public: // with description |
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78 | |
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79 | G4AffineTransform(const G4ThreeVector &tlate); |
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80 | // Translation only: under t'form translate point at origin by tlate |
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81 | |
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82 | G4AffineTransform(const G4RotationMatrix &rot); |
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83 | // Rotation only: under t'form rotate by rot |
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84 | |
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85 | G4AffineTransform(const G4RotationMatrix &rot, |
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86 | const G4ThreeVector &tlate); |
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87 | // Under t'form: rotate by rot then translate by tlate |
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88 | |
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89 | G4AffineTransform(const G4RotationMatrix *rot, |
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90 | const G4ThreeVector &tlate); |
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91 | // Optionally rotate by *rot then translate by tlate - rot may be null |
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92 | |
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93 | G4AffineTransform operator * (const G4AffineTransform &tf) const; |
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94 | // Compound Transforms: |
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95 | // tf2=tf2*tf1 equivalent to tf2*=tf1 |
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96 | // Returns compound transformation of self*tf |
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97 | |
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98 | G4AffineTransform& operator *= (const G4AffineTransform &tf); |
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99 | // (Modifying) Multiplies self by tf; Returns self reference |
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100 | // ie. A=AB for a*=b |
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101 | |
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102 | |
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103 | G4AffineTransform& Product(const G4AffineTransform &tf1, |
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104 | const G4AffineTransform &tf2); |
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105 | // 'Products' for avoiding (potential) temporaries: |
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106 | // c.Product(a,b) equivalent to c=a*b |
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107 | // c.InverseProduct(a*b,b ) equivalent to c=a |
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108 | // (Modifying) Sets self=tf1*tf2; Returns self reference |
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109 | |
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110 | G4AffineTransform& InverseProduct(const G4AffineTransform &tf1, |
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111 | const G4AffineTransform &tf2); |
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112 | // (Modifying) Sets self=tf1*(tf2^-1); Returns self reference |
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113 | |
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114 | G4ThreeVector TransformPoint(const G4ThreeVector &vec) const; |
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115 | // Transform the specified point: returns vec*rot+tlate |
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116 | |
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117 | G4ThreeVector TransformAxis(const G4ThreeVector &axis) const; |
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118 | // Transform the specified axis: returns |
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119 | |
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120 | void ApplyPointTransform(G4ThreeVector &vec) const; |
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121 | // Transform the specified point (in place): sets vec=vec*rot+tlate |
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122 | |
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123 | void ApplyAxisTransform(G4ThreeVector &axis) const; |
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124 | // Transform the specified axis (in place): sets axis=axis*rot; |
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125 | |
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126 | G4AffineTransform Inverse() const; |
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127 | // Return inverse of current transform |
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128 | |
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129 | G4AffineTransform& Invert(); |
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130 | // (Modifying) Sets self=inverse of self; Returns self reference |
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131 | |
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132 | G4AffineTransform& operator +=(const G4ThreeVector &tlate); |
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133 | G4AffineTransform& operator -=(const G4ThreeVector &tlate); |
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134 | // (Modifying) Adjust net translation by given vector; |
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135 | // Returns self reference |
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136 | |
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137 | G4bool operator == (const G4AffineTransform &tf) const; |
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138 | G4bool operator != (const G4AffineTransform &tf) const; |
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139 | |
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140 | G4double operator [] (const G4int n) const; |
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141 | |
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142 | G4bool IsRotated() const; |
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143 | // True if transform includes rotation |
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144 | |
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145 | G4bool IsTranslated() const; |
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146 | // True if transform includes translation |
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147 | |
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148 | G4RotationMatrix NetRotation() const; |
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149 | |
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150 | G4ThreeVector NetTranslation() const; |
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151 | |
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152 | void SetNetRotation(const G4RotationMatrix &rot); |
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153 | |
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154 | void SetNetTranslation(const G4ThreeVector &tlate); |
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155 | |
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156 | private: |
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157 | |
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158 | G4AffineTransform(const G4double prxx,const G4double prxy,const G4double prxz, |
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159 | const G4double pryx,const G4double pryy,const G4double pryz, |
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160 | const G4double przx,const G4double przy,const G4double przz, |
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161 | const G4double ptx, const G4double pty, const G4double ptz ); |
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162 | |
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163 | G4double rxx,rxy,rxz; |
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164 | G4double ryx,ryy,ryz; |
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165 | G4double rzx,rzy,rzz; |
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166 | G4double tx,ty,tz; |
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167 | }; |
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168 | |
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169 | #include "G4AffineTransform.icc" |
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170 | |
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171 | #endif |
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