[831] | 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.icc,v 1.8 2006/06/29 18:30:39 gunter Exp $ |
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[1058] | 28 | // GEANT4 tag $Name: geant4-09-02-ref-02 $ |
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[831] | 29 | // |
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| 30 | // |
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| 31 | // G4AffineTransformation Inline implementation |
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| 32 | // |
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| 33 | // -------------------------------------------------------------------- |
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| 34 | |
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| 35 | inline G4AffineTransform::G4AffineTransform() |
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| 36 | : rxx(1),rxy(0),rxz(0), |
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| 37 | ryx(0),ryy(1),ryz(0), |
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| 38 | rzx(0),rzy(0),rzz(1), |
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| 39 | tx(0),ty(0),tz(0) |
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| 40 | {} |
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| 41 | |
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| 42 | inline G4AffineTransform::G4AffineTransform(const G4ThreeVector& tlate) |
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| 43 | : rxx(1),rxy(0),rxz(0), |
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| 44 | ryx(0),ryy(1),ryz(0), |
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| 45 | rzx(0),rzy(0),rzz(1), |
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| 46 | tx(tlate.x()),ty(tlate.y()),tz(tlate.z()) |
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| 47 | {} |
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| 48 | |
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| 49 | inline G4AffineTransform::G4AffineTransform(const G4RotationMatrix& rot) |
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| 50 | : rxx(rot.xx()),rxy(rot.xy()),rxz(rot.xz()), |
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| 51 | ryx(rot.yx()),ryy(rot.yy()),ryz(rot.yz()), |
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| 52 | rzx(rot.zx()),rzy(rot.zy()),rzz(rot.zz()), |
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| 53 | tx(0),ty(0),tz(0) |
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| 54 | {} |
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| 55 | |
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| 56 | inline G4AffineTransform::G4AffineTransform( const G4RotationMatrix& rot, |
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| 57 | const G4ThreeVector& tlate ) |
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| 58 | : rxx(rot.xx()),rxy(rot.xy()),rxz(rot.xz()), |
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| 59 | ryx(rot.yx()),ryy(rot.yy()),ryz(rot.yz()), |
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| 60 | rzx(rot.zx()),rzy(rot.zy()),rzz(rot.zz()), |
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| 61 | tx(tlate.x()),ty(tlate.y()),tz(tlate.z()) |
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| 62 | {} |
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| 63 | |
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| 64 | inline G4AffineTransform::G4AffineTransform( const G4RotationMatrix *rot, |
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| 65 | const G4ThreeVector& tlate) |
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| 66 | : tx(tlate.x()),ty(tlate.y()),tz(tlate.z()) |
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| 67 | { |
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| 68 | if (rot) |
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| 69 | { |
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| 70 | rxx=rot->xx();rxy=rot->xy();rxz=rot->xz(); |
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| 71 | ryx=rot->yx();ryy=rot->yy();ryz=rot->yz(); |
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| 72 | rzx=rot->zx();rzy=rot->zy();rzz=rot->zz(); |
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| 73 | } |
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| 74 | else |
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| 75 | { |
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| 76 | rxx=1; rxy=0; rxz=0; |
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| 77 | ryx=0; ryy=1; ryz=0; |
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| 78 | rzx=0; rzy=0; rzz=1; |
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| 79 | } |
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| 80 | } |
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| 81 | |
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| 82 | inline |
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| 83 | G4AffineTransform:: |
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| 84 | G4AffineTransform( const G4double prxx,const G4double prxy,const G4double prxz, |
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| 85 | const G4double pryx,const G4double pryy,const G4double pryz, |
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| 86 | const G4double przx,const G4double przy,const G4double przz, |
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| 87 | const G4double ptx,const G4double pty,const G4double ptz) |
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| 88 | : rxx(prxx),rxy(prxy),rxz(prxz), |
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| 89 | ryx(pryx),ryy(pryy),ryz(pryz), |
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| 90 | rzx(przx),rzy(przy),rzz(przz), |
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| 91 | tx(ptx),ty(pty),tz(ptz) |
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| 92 | {} |
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| 93 | |
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| 94 | inline G4AffineTransform |
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| 95 | G4AffineTransform::operator * (const G4AffineTransform& tf) const |
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| 96 | { |
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| 97 | return G4AffineTransform( |
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| 98 | rxx*tf.rxx+rxy*tf.ryx+rxz*tf.rzx, |
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| 99 | rxx*tf.rxy+rxy*tf.ryy+rxz*tf.rzy, |
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| 100 | rxx*tf.rxz+rxy*tf.ryz+rxz*tf.rzz, |
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| 101 | |
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| 102 | ryx*tf.rxx+ryy*tf.ryx+ryz*tf.rzx, |
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| 103 | ryx*tf.rxy+ryy*tf.ryy+ryz*tf.rzy, |
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| 104 | ryx*tf.rxz+ryy*tf.ryz+ryz*tf.rzz, |
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| 105 | |
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| 106 | rzx*tf.rxx+rzy*tf.ryx+rzz*tf.rzx, |
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| 107 | rzx*tf.rxy+rzy*tf.ryy+rzz*tf.rzy, |
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| 108 | rzx*tf.rxz+rzy*tf.ryz+rzz*tf.rzz, |
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| 109 | |
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| 110 | tx*tf.rxx+ty*tf.ryx+tz*tf.rzx+tf.tx, |
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| 111 | tx*tf.rxy+ty*tf.ryy+tz*tf.rzy+tf.ty, |
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| 112 | tx*tf.rxz+ty*tf.ryz+tz*tf.rzz+tf.tz); |
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| 113 | } |
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| 114 | |
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| 115 | inline G4AffineTransform& |
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| 116 | G4AffineTransform::operator *= (const G4AffineTransform& tf) |
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| 117 | { |
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| 118 | // Use temporaries for `in place' compound transform computation |
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| 119 | |
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| 120 | G4double nrxx=rxx*tf.rxx+rxy*tf.ryx+rxz*tf.rzx; |
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| 121 | G4double nrxy=rxx*tf.rxy+rxy*tf.ryy+rxz*tf.rzy; |
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| 122 | G4double nrxz=rxx*tf.rxz+rxy*tf.ryz+rxz*tf.rzz; |
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| 123 | |
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| 124 | G4double nryx=ryx*tf.rxx+ryy*tf.ryx+ryz*tf.rzx; |
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| 125 | G4double nryy=ryx*tf.rxy+ryy*tf.ryy+ryz*tf.rzy; |
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| 126 | G4double nryz=ryx*tf.rxz+ryy*tf.ryz+ryz*tf.rzz; |
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| 127 | |
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| 128 | G4double nrzx=rzx*tf.rxx+rzy*tf.ryx+rzz*tf.rzx; |
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| 129 | G4double nrzy=rzx*tf.rxy+rzy*tf.ryy+rzz*tf.rzy; |
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| 130 | G4double nrzz=rzx*tf.rxz+rzy*tf.ryz+rzz*tf.rzz; |
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| 131 | |
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| 132 | G4double ntx=tx*tf.rxx+ty*tf.ryx+tz*tf.rzx+tf.tx; |
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| 133 | G4double nty=tx*tf.rxy+ty*tf.ryy+tz*tf.rzy+tf.ty; |
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| 134 | G4double ntz=tx*tf.rxz+ty*tf.ryz+tz*tf.rzz+tf.tz; |
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| 135 | |
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| 136 | tx=ntx; ty=nty; tz=ntz; |
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| 137 | rxx=nrxx; rxy=nrxy; rxz=nrxz; |
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| 138 | ryx=nryx; ryy=nryy; ryz=nryz; |
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| 139 | rzx=nrzx; rzy=nrzy; rzz=nrzz; |
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| 140 | |
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| 141 | return *this; |
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| 142 | } |
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| 143 | |
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| 144 | inline G4AffineTransform& |
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| 145 | G4AffineTransform::Product(const G4AffineTransform& tf1, |
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| 146 | const G4AffineTransform& tf2) |
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| 147 | { |
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| 148 | rxx=tf1.rxx*tf2.rxx + tf1.rxy*tf2.ryx + tf1.rxz*tf2.rzx; |
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| 149 | rxy=tf1.rxx*tf2.rxy + tf1.rxy*tf2.ryy + tf1.rxz*tf2.rzy; |
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| 150 | rxz=tf1.rxx*tf2.rxz + tf1.rxy*tf2.ryz + tf1.rxz*tf2.rzz; |
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| 151 | |
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| 152 | ryx=tf1.ryx*tf2.rxx + tf1.ryy*tf2.ryx + tf1.ryz*tf2.rzx; |
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| 153 | ryy=tf1.ryx*tf2.rxy + tf1.ryy*tf2.ryy + tf1.ryz*tf2.rzy; |
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| 154 | ryz=tf1.ryx*tf2.rxz + tf1.ryy*tf2.ryz + tf1.ryz*tf2.rzz; |
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| 155 | |
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| 156 | rzx=tf1.rzx*tf2.rxx + tf1.rzy*tf2.ryx + tf1.rzz*tf2.rzx; |
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| 157 | rzy=tf1.rzx*tf2.rxy + tf1.rzy*tf2.ryy + tf1.rzz*tf2.rzy; |
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| 158 | rzz=tf1.rzx*tf2.rxz + tf1.rzy*tf2.ryz + tf1.rzz*tf2.rzz; |
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| 159 | |
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| 160 | tx=tf1.tx*tf2.rxx + tf1.ty*tf2.ryx + tf1.tz*tf2.rzx + tf2.tx; |
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| 161 | ty=tf1.tx*tf2.rxy + tf1.ty*tf2.ryy + tf1.tz*tf2.rzy + tf2.ty; |
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| 162 | tz=tf1.tx*tf2.rxz + tf1.ty*tf2.ryz + tf1.tz*tf2.rzz + tf2.tz; |
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| 163 | |
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| 164 | return *this; |
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| 165 | } |
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| 166 | |
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| 167 | inline G4AffineTransform& |
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| 168 | G4AffineTransform::InverseProduct( const G4AffineTransform& tf1, |
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| 169 | const G4AffineTransform& tf2) |
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| 170 | { |
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| 171 | G4double itf2tx = - tf2.tx*tf2.rxx - tf2.ty*tf2.rxy - tf2.tz*tf2.rxz; |
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| 172 | G4double itf2ty = - tf2.tx*tf2.ryx - tf2.ty*tf2.ryy - tf2.tz*tf2.ryz; |
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| 173 | G4double itf2tz = - tf2.tx*tf2.rzx - tf2.ty*tf2.rzy - tf2.tz*tf2.rzz; |
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| 174 | |
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| 175 | rxx=tf1.rxx*tf2.rxx+tf1.rxy*tf2.rxy+tf1.rxz*tf2.rxz; |
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| 176 | rxy=tf1.rxx*tf2.ryx+tf1.rxy*tf2.ryy+tf1.rxz*tf2.ryz; |
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| 177 | rxz=tf1.rxx*tf2.rzx+tf1.rxy*tf2.rzy+tf1.rxz*tf2.rzz; |
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| 178 | |
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| 179 | ryx=tf1.ryx*tf2.rxx+tf1.ryy*tf2.rxy+tf1.ryz*tf2.rxz; |
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| 180 | ryy=tf1.ryx*tf2.ryx+tf1.ryy*tf2.ryy+tf1.ryz*tf2.ryz; |
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| 181 | ryz=tf1.ryx*tf2.rzx+tf1.ryy*tf2.rzy+tf1.ryz*tf2.rzz; |
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| 182 | |
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| 183 | rzx=tf1.rzx*tf2.rxx+tf1.rzy*tf2.rxy+tf1.rzz*tf2.rxz; |
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| 184 | rzy=tf1.rzx*tf2.ryx+tf1.rzy*tf2.ryy+tf1.rzz*tf2.ryz; |
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| 185 | rzz=tf1.rzx*tf2.rzx+tf1.rzy*tf2.rzy+tf1.rzz*tf2.rzz; |
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| 186 | |
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| 187 | tx=tf1.tx*tf2.rxx+tf1.ty*tf2.rxy+tf1.tz*tf2.rxz+itf2tx; |
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| 188 | ty=tf1.tx*tf2.ryx+tf1.ty*tf2.ryy+tf1.tz*tf2.ryz+itf2ty; |
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| 189 | tz=tf1.tx*tf2.rzx+tf1.ty*tf2.rzy+tf1.tz*tf2.rzz+itf2tz; |
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| 190 | |
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| 191 | return *this; |
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| 192 | } |
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| 193 | |
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| 194 | inline |
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| 195 | G4ThreeVector G4AffineTransform::TransformPoint(const G4ThreeVector& vec) const |
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| 196 | { |
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| 197 | return G4ThreeVector( vec.x()*rxx + vec.y()*ryx + vec.z()*rzx + tx, |
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| 198 | vec.x()*rxy + vec.y()*ryy + vec.z()*rzy + ty, |
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| 199 | vec.x()*rxz + vec.y()*ryz + vec.z()*rzz + tz ); |
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| 200 | } |
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| 201 | |
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| 202 | inline |
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| 203 | G4ThreeVector G4AffineTransform::TransformAxis(const G4ThreeVector& axis) const |
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| 204 | { |
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| 205 | return G4ThreeVector( axis.x()*rxx + axis.y()*ryx + axis.z()*rzx, |
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| 206 | axis.x()*rxy + axis.y()*ryy + axis.z()*rzy, |
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| 207 | axis.x()*rxz + axis.y()*ryz + axis.z()*rzz ); |
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| 208 | } |
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| 209 | |
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| 210 | inline |
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| 211 | void G4AffineTransform::ApplyPointTransform(G4ThreeVector& vec) const |
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| 212 | { |
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| 213 | G4double x = vec.x()*rxx + vec.y()*ryx + vec.z()*rzx + tx; |
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| 214 | G4double y = vec.x()*rxy + vec.y()*ryy + vec.z()*rzy + ty; |
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| 215 | G4double z = vec.x()*rxz + vec.y()*ryz + vec.z()*rzz + tz; |
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| 216 | |
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| 217 | vec.setX(x); |
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| 218 | vec.setY(y); |
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| 219 | vec.setZ(z); |
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| 220 | } |
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| 221 | |
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| 222 | inline |
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| 223 | void G4AffineTransform::ApplyAxisTransform(G4ThreeVector& axis) const |
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| 224 | { |
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| 225 | G4double x = axis.x()*rxx + axis.y()*ryx + axis.z()*rzx; |
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| 226 | G4double y = axis.x()*rxy + axis.y()*ryy + axis.z()*rzy; |
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| 227 | G4double z = axis.x()*rxz + axis.y()*ryz + axis.z()*rzz; |
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| 228 | |
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| 229 | axis.setX(x); |
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| 230 | axis.setY(y); |
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| 231 | axis.setZ(z); |
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| 232 | } |
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| 233 | |
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| 234 | inline |
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| 235 | G4AffineTransform G4AffineTransform::Inverse() const |
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| 236 | { |
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| 237 | return G4AffineTransform( rxx, ryx, rzx, |
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| 238 | rxy, ryy, rzy, |
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| 239 | rxz, ryz, rzz, |
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| 240 | |
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| 241 | -tx*rxx - ty*rxy - tz*rxz, |
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| 242 | -tx*ryx - ty*ryy - tz*ryz, |
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| 243 | -tx*rzx - ty*rzy - tz*rzz ); |
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| 244 | } |
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| 245 | |
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| 246 | inline |
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| 247 | G4AffineTransform& G4AffineTransform::Invert() |
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| 248 | { |
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| 249 | G4double v1 = -tx*rxx - ty*rxy - tz*rxz; |
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| 250 | G4double v2 = -tx*ryx - ty*ryy - tz*ryz; |
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| 251 | G4double v3 = -tx*rzx - ty*rzy - tz*rzz; |
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| 252 | |
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| 253 | tx=v1; ty=v2; tz=v3; |
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| 254 | |
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| 255 | G4double tmp1=ryx; ryx=rxy; rxy=tmp1; |
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| 256 | G4double tmp2=rzx; rzx=rxz; rxz=tmp2; |
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| 257 | G4double tmp3=rzy; rzy=ryz; ryz=tmp3; |
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| 258 | |
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| 259 | return *this; |
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| 260 | |
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| 261 | } |
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| 262 | |
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| 263 | inline |
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| 264 | G4AffineTransform& G4AffineTransform::operator +=(const G4ThreeVector& tlate) |
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| 265 | { |
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| 266 | tx += tlate.x(); |
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| 267 | ty += tlate.y(); |
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| 268 | tz += tlate.z(); |
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| 269 | |
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| 270 | return *this; |
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| 271 | } |
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| 272 | |
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| 273 | inline |
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| 274 | G4AffineTransform& G4AffineTransform::operator -=(const G4ThreeVector& tlate) |
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| 275 | { |
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| 276 | tx -= tlate.x(); |
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| 277 | ty -= tlate.y(); |
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| 278 | tz -= tlate.z(); |
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| 279 | |
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| 280 | return *this; |
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| 281 | } |
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| 282 | |
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| 283 | inline |
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| 284 | G4bool G4AffineTransform::operator == (const G4AffineTransform& tf) const |
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| 285 | { |
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| 286 | return (tx==tf.tx&&ty==tf.ty&&tz==tf.tz&& |
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| 287 | rxx==tf.rxx&&rxy==tf.rxy&&rxz==tf.rxz&& |
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| 288 | ryx==tf.ryx&&ryy==tf.ryy&&ryz==tf.ryz&& |
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| 289 | rzx==tf.rzx&&rzy==tf.rzy&&rzz==tf.rzz) ? true : false; |
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| 290 | } |
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| 291 | inline |
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| 292 | G4bool G4AffineTransform::operator != (const G4AffineTransform& tf) const |
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| 293 | { |
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| 294 | return (tx!=tf.tx||ty!=tf.ty||tz!=tf.tz|| |
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| 295 | rxx!=tf.rxx||rxy!=tf.rxy||rxz!=tf.rxz|| |
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| 296 | ryx!=tf.ryx||ryy!=tf.ryy||ryz!=tf.ryz|| |
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| 297 | rzx!=tf.rzx||rzy!=tf.rzy||rzz!=tf.rzz) ? true : false; |
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| 298 | } |
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| 299 | |
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| 300 | inline |
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| 301 | G4double G4AffineTransform::operator [] (const G4int n) const |
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| 302 | { |
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| 303 | G4double v = 0.0; |
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| 304 | switch(n) |
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| 305 | { |
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| 306 | case 0: |
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| 307 | v=rxx; |
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| 308 | break; |
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| 309 | case 1: |
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| 310 | v=rxy; |
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| 311 | break; |
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| 312 | case 2: |
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| 313 | v=rxz; |
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| 314 | break; |
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| 315 | case 4: |
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| 316 | v=ryx; |
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| 317 | break; |
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| 318 | case 5: |
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| 319 | v=ryy; |
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| 320 | break; |
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| 321 | case 6: |
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| 322 | v=ryz; |
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| 323 | break; |
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| 324 | case 8: |
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| 325 | v=rzx; |
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| 326 | break; |
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| 327 | case 9: |
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| 328 | v=rzy; |
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| 329 | break; |
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| 330 | case 10: |
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| 331 | v=rzz; |
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| 332 | break; |
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| 333 | case 12: |
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| 334 | v=tx; |
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| 335 | break; |
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| 336 | case 13: |
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| 337 | v=ty; |
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| 338 | break; |
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| 339 | case 14: |
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| 340 | v=tz; |
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| 341 | break; |
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| 342 | case 3: |
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| 343 | case 7: |
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| 344 | case 11: |
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| 345 | break; |
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| 346 | case 15: |
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| 347 | v=1.0; |
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| 348 | break; |
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| 349 | } |
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| 350 | return v; |
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| 351 | } |
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| 352 | |
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| 353 | inline |
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| 354 | G4bool G4AffineTransform::IsRotated() const |
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| 355 | { |
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| 356 | return (rxx==1.0 && ryy==1.0 && rzz==1.0) ? false : true; |
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| 357 | } |
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| 358 | |
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| 359 | inline |
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| 360 | G4bool G4AffineTransform::IsTranslated() const |
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| 361 | { |
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| 362 | return (tx || ty || tz) ? true:false; |
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| 363 | } |
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| 364 | |
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| 365 | inline G4RotationMatrix G4AffineTransform::NetRotation() const { |
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| 366 | G4RotationMatrix m; |
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| 367 | return m.rotateAxes(G4ThreeVector(rxx,ryx,rzx), |
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| 368 | G4ThreeVector(rxy,ryy,rzy), |
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| 369 | G4ThreeVector(rxz,ryz,rzz)); |
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| 370 | } |
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| 371 | |
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| 372 | inline |
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| 373 | G4ThreeVector G4AffineTransform::NetTranslation() const |
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| 374 | { |
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| 375 | return G4ThreeVector(tx,ty,tz); |
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| 376 | } |
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| 377 | |
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| 378 | inline |
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| 379 | void G4AffineTransform::SetNetRotation(const G4RotationMatrix& rot) |
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| 380 | { |
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| 381 | rxx=rot.xx(); |
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| 382 | rxy=rot.xy(); |
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| 383 | rxz=rot.xz(); |
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| 384 | ryx=rot.yx(); |
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| 385 | ryy=rot.yy(); |
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| 386 | ryz=rot.yz(); |
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| 387 | rzx=rot.zx(); |
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| 388 | rzy=rot.zy(); |
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| 389 | rzz=rot.zz(); |
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| 390 | } |
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| 391 | |
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| 392 | inline |
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| 393 | void G4AffineTransform::SetNetTranslation(const G4ThreeVector& tlate) |
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| 394 | { |
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| 395 | tx=tlate.x(); |
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| 396 | ty=tlate.y(); |
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| 397 | tz=tlate.z(); |
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| 398 | } |
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