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// $Id: G4AffineTransform.icc,v 1.8 2006/06/29 18:30:39 gunter Exp $
// GEANT4 tag $Name: geant4-09-03 $
//
//
// G4AffineTransformation Inline implementation
//
// --------------------------------------------------------------------

inline G4AffineTransform::G4AffineTransform()
 : rxx(1),rxy(0),rxz(0),
   ryx(0),ryy(1),ryz(0),
   rzx(0),rzy(0),rzz(1),
   tx(0),ty(0),tz(0)
{}

inline G4AffineTransform::G4AffineTransform(const G4ThreeVector& tlate)
 : rxx(1),rxy(0),rxz(0),
   ryx(0),ryy(1),ryz(0),
   rzx(0),rzy(0),rzz(1),
   tx(tlate.x()),ty(tlate.y()),tz(tlate.z())
{}

inline G4AffineTransform::G4AffineTransform(const G4RotationMatrix& rot)
 : rxx(rot.xx()),rxy(rot.xy()),rxz(rot.xz()),
   ryx(rot.yx()),ryy(rot.yy()),ryz(rot.yz()),
   rzx(rot.zx()),rzy(rot.zy()),rzz(rot.zz()),
   tx(0),ty(0),tz(0)
{}

inline G4AffineTransform::G4AffineTransform( const G4RotationMatrix& rot,
                                             const G4ThreeVector& tlate   )
 : rxx(rot.xx()),rxy(rot.xy()),rxz(rot.xz()),
   ryx(rot.yx()),ryy(rot.yy()),ryz(rot.yz()),
   rzx(rot.zx()),rzy(rot.zy()),rzz(rot.zz()),
   tx(tlate.x()),ty(tlate.y()),tz(tlate.z())
{}

inline G4AffineTransform::G4AffineTransform( const G4RotationMatrix *rot,
                                             const G4ThreeVector& tlate)
 : tx(tlate.x()),ty(tlate.y()),tz(tlate.z())
{
  if (rot)
    {
      rxx=rot->xx();rxy=rot->xy();rxz=rot->xz();
      ryx=rot->yx();ryy=rot->yy();ryz=rot->yz();
      rzx=rot->zx();rzy=rot->zy();rzz=rot->zz();
    }
  else
    {
      rxx=1; rxy=0; rxz=0;
      ryx=0; ryy=1; ryz=0;
      rzx=0; rzy=0; rzz=1;
    }
}

inline 
G4AffineTransform::
G4AffineTransform( const G4double prxx,const G4double prxy,const G4double prxz,
                   const G4double pryx,const G4double pryy,const G4double pryz,
                   const G4double przx,const G4double przy,const G4double przz,
                   const G4double ptx,const G4double pty,const G4double ptz)
 : rxx(prxx),rxy(prxy),rxz(prxz),
   ryx(pryx),ryy(pryy),ryz(pryz),
   rzx(przx),rzy(przy),rzz(przz),
   tx(ptx),ty(pty),tz(ptz)
{}

inline G4AffineTransform
G4AffineTransform::operator * (const G4AffineTransform& tf) const
{
        return G4AffineTransform(
        rxx*tf.rxx+rxy*tf.ryx+rxz*tf.rzx,
        rxx*tf.rxy+rxy*tf.ryy+rxz*tf.rzy,
        rxx*tf.rxz+rxy*tf.ryz+rxz*tf.rzz,

        ryx*tf.rxx+ryy*tf.ryx+ryz*tf.rzx,
        ryx*tf.rxy+ryy*tf.ryy+ryz*tf.rzy,
        ryx*tf.rxz+ryy*tf.ryz+ryz*tf.rzz,

        rzx*tf.rxx+rzy*tf.ryx+rzz*tf.rzx,
        rzx*tf.rxy+rzy*tf.ryy+rzz*tf.rzy,
        rzx*tf.rxz+rzy*tf.ryz+rzz*tf.rzz,
        
        tx*tf.rxx+ty*tf.ryx+tz*tf.rzx+tf.tx,
        tx*tf.rxy+ty*tf.ryy+tz*tf.rzy+tf.ty,
        tx*tf.rxz+ty*tf.ryz+tz*tf.rzz+tf.tz);
}

inline G4AffineTransform&
G4AffineTransform::operator *= (const G4AffineTransform& tf)
{
         // Use temporaries for `in place' compound transform computation

        G4double nrxx=rxx*tf.rxx+rxy*tf.ryx+rxz*tf.rzx;
        G4double nrxy=rxx*tf.rxy+rxy*tf.ryy+rxz*tf.rzy;
        G4double nrxz=rxx*tf.rxz+rxy*tf.ryz+rxz*tf.rzz;

        G4double nryx=ryx*tf.rxx+ryy*tf.ryx+ryz*tf.rzx;
        G4double nryy=ryx*tf.rxy+ryy*tf.ryy+ryz*tf.rzy;
        G4double nryz=ryx*tf.rxz+ryy*tf.ryz+ryz*tf.rzz;

        G4double nrzx=rzx*tf.rxx+rzy*tf.ryx+rzz*tf.rzx;
        G4double nrzy=rzx*tf.rxy+rzy*tf.ryy+rzz*tf.rzy;
        G4double nrzz=rzx*tf.rxz+rzy*tf.ryz+rzz*tf.rzz;
        
        G4double ntx=tx*tf.rxx+ty*tf.ryx+tz*tf.rzx+tf.tx;
        G4double nty=tx*tf.rxy+ty*tf.ryy+tz*tf.rzy+tf.ty;
        G4double ntz=tx*tf.rxz+ty*tf.ryz+tz*tf.rzz+tf.tz;

        tx=ntx; ty=nty; tz=ntz;
        rxx=nrxx; rxy=nrxy; rxz=nrxz;
        ryx=nryx; ryy=nryy; ryz=nryz;
        rzx=nrzx; rzy=nrzy; rzz=nrzz;

        return *this;
}

inline G4AffineTransform&
G4AffineTransform::Product(const G4AffineTransform& tf1,
                           const G4AffineTransform& tf2)
{
        rxx=tf1.rxx*tf2.rxx + tf1.rxy*tf2.ryx + tf1.rxz*tf2.rzx;
        rxy=tf1.rxx*tf2.rxy + tf1.rxy*tf2.ryy + tf1.rxz*tf2.rzy;
        rxz=tf1.rxx*tf2.rxz + tf1.rxy*tf2.ryz + tf1.rxz*tf2.rzz;

        ryx=tf1.ryx*tf2.rxx + tf1.ryy*tf2.ryx + tf1.ryz*tf2.rzx;
        ryy=tf1.ryx*tf2.rxy + tf1.ryy*tf2.ryy + tf1.ryz*tf2.rzy;
        ryz=tf1.ryx*tf2.rxz + tf1.ryy*tf2.ryz + tf1.ryz*tf2.rzz;

        rzx=tf1.rzx*tf2.rxx + tf1.rzy*tf2.ryx + tf1.rzz*tf2.rzx;
        rzy=tf1.rzx*tf2.rxy + tf1.rzy*tf2.ryy + tf1.rzz*tf2.rzy;
        rzz=tf1.rzx*tf2.rxz + tf1.rzy*tf2.ryz + tf1.rzz*tf2.rzz;
        
        tx=tf1.tx*tf2.rxx + tf1.ty*tf2.ryx + tf1.tz*tf2.rzx   + tf2.tx;
        ty=tf1.tx*tf2.rxy + tf1.ty*tf2.ryy + tf1.tz*tf2.rzy   + tf2.ty;
        tz=tf1.tx*tf2.rxz + tf1.ty*tf2.ryz + tf1.tz*tf2.rzz   + tf2.tz; 
        
        return *this;
}

inline G4AffineTransform&
G4AffineTransform::InverseProduct( const G4AffineTransform& tf1,
                                   const G4AffineTransform& tf2)
{
        G4double itf2tx = - tf2.tx*tf2.rxx - tf2.ty*tf2.rxy - tf2.tz*tf2.rxz;
        G4double itf2ty = - tf2.tx*tf2.ryx - tf2.ty*tf2.ryy - tf2.tz*tf2.ryz;
        G4double itf2tz = - tf2.tx*tf2.rzx - tf2.ty*tf2.rzy - tf2.tz*tf2.rzz;

        rxx=tf1.rxx*tf2.rxx+tf1.rxy*tf2.rxy+tf1.rxz*tf2.rxz;
        rxy=tf1.rxx*tf2.ryx+tf1.rxy*tf2.ryy+tf1.rxz*tf2.ryz;
        rxz=tf1.rxx*tf2.rzx+tf1.rxy*tf2.rzy+tf1.rxz*tf2.rzz;

        ryx=tf1.ryx*tf2.rxx+tf1.ryy*tf2.rxy+tf1.ryz*tf2.rxz;
        ryy=tf1.ryx*tf2.ryx+tf1.ryy*tf2.ryy+tf1.ryz*tf2.ryz;
        ryz=tf1.ryx*tf2.rzx+tf1.ryy*tf2.rzy+tf1.ryz*tf2.rzz;

        rzx=tf1.rzx*tf2.rxx+tf1.rzy*tf2.rxy+tf1.rzz*tf2.rxz;
        rzy=tf1.rzx*tf2.ryx+tf1.rzy*tf2.ryy+tf1.rzz*tf2.ryz;
        rzz=tf1.rzx*tf2.rzx+tf1.rzy*tf2.rzy+tf1.rzz*tf2.rzz;
        
        tx=tf1.tx*tf2.rxx+tf1.ty*tf2.rxy+tf1.tz*tf2.rxz+itf2tx;
        ty=tf1.tx*tf2.ryx+tf1.ty*tf2.ryy+tf1.tz*tf2.ryz+itf2ty;
        tz=tf1.tx*tf2.rzx+tf1.ty*tf2.rzy+tf1.tz*tf2.rzz+itf2tz;

        return *this;
}

inline
G4ThreeVector G4AffineTransform::TransformPoint(const G4ThreeVector& vec) const
{
        return G4ThreeVector( vec.x()*rxx + vec.y()*ryx + vec.z()*rzx   + tx,
                              vec.x()*rxy + vec.y()*ryy + vec.z()*rzy   + ty,
                              vec.x()*rxz + vec.y()*ryz + vec.z()*rzz   + tz  );
}

inline
G4ThreeVector G4AffineTransform::TransformAxis(const G4ThreeVector& axis) const
{
        return G4ThreeVector( axis.x()*rxx + axis.y()*ryx + axis.z()*rzx,
                              axis.x()*rxy + axis.y()*ryy + axis.z()*rzy,
                              axis.x()*rxz + axis.y()*ryz + axis.z()*rzz  );
}

inline
void G4AffineTransform::ApplyPointTransform(G4ThreeVector& vec) const
{
        G4double x = vec.x()*rxx + vec.y()*ryx + vec.z()*rzx    + tx;
        G4double y = vec.x()*rxy + vec.y()*ryy + vec.z()*rzy    + ty;
        G4double z = vec.x()*rxz + vec.y()*ryz + vec.z()*rzz    + tz;

        vec.setX(x);
        vec.setY(y);
        vec.setZ(z);
}

inline
void G4AffineTransform::ApplyAxisTransform(G4ThreeVector& axis) const
{
        G4double x = axis.x()*rxx + axis.y()*ryx + axis.z()*rzx;
        G4double y = axis.x()*rxy + axis.y()*ryy + axis.z()*rzy;
        G4double z = axis.x()*rxz + axis.y()*ryz + axis.z()*rzz;

        axis.setX(x);
        axis.setY(y);
        axis.setZ(z);
}

inline
G4AffineTransform G4AffineTransform::Inverse() const
{
        return G4AffineTransform( rxx, ryx, rzx,
                                  rxy, ryy, rzy,
                                  rxz, ryz, rzz,

                                 -tx*rxx - ty*rxy - tz*rxz,
                                 -tx*ryx - ty*ryy - tz*ryz,
                                 -tx*rzx - ty*rzy - tz*rzz  );
}

inline
G4AffineTransform& G4AffineTransform::Invert()
{
        G4double v1 = -tx*rxx - ty*rxy - tz*rxz;
        G4double v2 = -tx*ryx - ty*ryy - tz*ryz;
        G4double v3 = -tx*rzx - ty*rzy - tz*rzz;

        tx=v1; ty=v2; tz=v3;

        G4double tmp1=ryx; ryx=rxy; rxy=tmp1;
        G4double tmp2=rzx; rzx=rxz; rxz=tmp2;
        G4double tmp3=rzy; rzy=ryz; ryz=tmp3;

        return *this;

}

inline
G4AffineTransform& G4AffineTransform::operator +=(const G4ThreeVector& tlate)
{
        tx += tlate.x();
        ty += tlate.y();
        tz += tlate.z();

        return *this;
}

inline
G4AffineTransform& G4AffineTransform::operator -=(const G4ThreeVector& tlate)
{
        tx -= tlate.x();
        ty -= tlate.y();
        tz -= tlate.z();

        return *this;
}

inline
G4bool G4AffineTransform::operator == (const G4AffineTransform& tf) const
{
        return (tx==tf.tx&&ty==tf.ty&&tz==tf.tz&&
                rxx==tf.rxx&&rxy==tf.rxy&&rxz==tf.rxz&&
                ryx==tf.ryx&&ryy==tf.ryy&&ryz==tf.ryz&&
                rzx==tf.rzx&&rzy==tf.rzy&&rzz==tf.rzz) ? true : false;
}
inline
G4bool G4AffineTransform::operator != (const G4AffineTransform& tf) const
{
        return (tx!=tf.tx||ty!=tf.ty||tz!=tf.tz||
                rxx!=tf.rxx||rxy!=tf.rxy||rxz!=tf.rxz||
                ryx!=tf.ryx||ryy!=tf.ryy||ryz!=tf.ryz||
                rzx!=tf.rzx||rzy!=tf.rzy||rzz!=tf.rzz) ? true : false;
}

inline
G4double G4AffineTransform::operator [] (const G4int n) const
{
        G4double v = 0.0;
        switch(n)
                {
                case 0:
                        v=rxx;
                        break;
                case 1:
                        v=rxy;
                        break;
                case 2:
                        v=rxz;
                        break;
                case 4:
                        v=ryx;
                        break;
                case 5:
                        v=ryy;
                        break;
                case 6:
                        v=ryz;
                        break;
                case 8:
                        v=rzx;
                        break;
                case 9:
                        v=rzy;
                        break;
                case 10:
                        v=rzz;
                        break;
                case 12:
                        v=tx;
                        break;
                case 13:
                        v=ty;
                        break;
                case 14:
                        v=tz;
                        break;
                case 3:
                case 7:
                case 11:
                        break;
                case 15:
                        v=1.0;
                        break;
                }
        return v;
}

inline
G4bool G4AffineTransform::IsRotated() const
{
        return (rxx==1.0 && ryy==1.0 && rzz==1.0) ? false : true;
}

inline 
G4bool G4AffineTransform::IsTranslated() const
{
        return (tx || ty || tz) ? true:false;
}

inline G4RotationMatrix G4AffineTransform::NetRotation() const {
  G4RotationMatrix m;
  return m.rotateAxes(G4ThreeVector(rxx,ryx,rzx),
                      G4ThreeVector(rxy,ryy,rzy),
                      G4ThreeVector(rxz,ryz,rzz));
}

inline
G4ThreeVector G4AffineTransform::NetTranslation() const
{
        return G4ThreeVector(tx,ty,tz);
}

inline 
void G4AffineTransform::SetNetRotation(const G4RotationMatrix& rot)
{
        rxx=rot.xx();
        rxy=rot.xy();
        rxz=rot.xz();
        ryx=rot.yx();
        ryy=rot.yy();
        ryz=rot.yz();
        rzx=rot.zx();
        rzy=rot.zy();
        rzz=rot.zz();
}

inline
void G4AffineTransform::SetNetTranslation(const G4ThreeVector& tlate)
{
        tx=tlate.x();
        ty=tlate.y();
        tz=tlate.z();
}