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Data Structures | Public Member Functions | Static Public Attributes | Protected Member Functions | Protected Attributes
HepGeom::Transform3D Class Reference

#include <Transform3D.h>

Inheritance diagram for HepGeom::Transform3D:
HepGeom::Reflect3D HepGeom::Rotate3D HepGeom::Scale3D HepGeom::Translate3D HepGeom::ReflectX3D HepGeom::ReflectY3D HepGeom::ReflectZ3D HepGeom::RotateX3D HepGeom::RotateY3D HepGeom::RotateZ3D HepGeom::ScaleX3D HepGeom::ScaleY3D HepGeom::ScaleZ3D HepGeom::TranslateX3D HepGeom::TranslateY3D HepGeom::TranslateZ3D

Data Structures

class  Transform3D_row
 

Public Member Functions

 Transform3D ()
 
 Transform3D (const CLHEP::HepRotation &m, const CLHEP::Hep3Vector &v)
 
 Transform3D (const Point3D< double > &fr0, const Point3D< double > &fr1, const Point3D< double > &fr2, const Point3D< double > &to0, const Point3D< double > &to1, const Point3D< double > &to2)
 
 Transform3D (const Transform3D &m)
 
 ~Transform3D ()
 
const Transform3D_row operator[] (int) const
 
double operator() (int, int) const
 
double xx () const
 
double xy () const
 
double xz () const
 
double yx () const
 
double yy () const
 
double yz () const
 
double zx () const
 
double zy () const
 
double zz () const
 
double dx () const
 
double dy () const
 
double dz () const
 
Transform3Doperator= (const Transform3D &m)
 
void setIdentity ()
 
Transform3D inverse () const
 
Transform3D operator* (const Transform3D &b) const
 
void getDecomposition (Scale3D &scale, Rotate3D &rotation, Translate3D &translation) const
 
bool isNear (const Transform3D &t, double tolerance=2.2E-14) const
 
CLHEP::HepRotation getRotation () const
 
CLHEP::Hep3Vector getTranslation () const
 
bool operator== (const Transform3D &transform) const
 
bool operator!= (const Transform3D &transform) const
 

Static Public Attributes

static const Transform3D Identity = Transform3D ()
 

Protected Member Functions

 Transform3D (double XX, double XY, double XZ, double DX, double YX, double YY, double YZ, double DY, double ZX, double ZY, double ZZ, double DZ)
 
void setTransform (double XX, double XY, double XZ, double DX, double YX, double YY, double YZ, double DY, double ZX, double ZY, double ZZ, double DZ)
 

Protected Attributes

double xx_
 
double xy_
 
double xz_
 
double dx_
 
double yx_
 
double yy_
 
double yz_
 
double dy_
 
double zx_
 
double zy_
 
double zz_
 
double dz_
 

Detailed Description

Class for transformation of 3D geometrical objects. It allows different translations, rotations, scalings and reflections. Several specialized classes are derived from it:

TranslateX3D, TranslateY3D, TranslateZ3D, Translate3D,
RotateX3D, RotateY3D, RotateZ3D, Rotate3D,
ScaleX3D, ScaleY3D, ScaleZ3D, Scale3D,
ReflectX3D, ReflectY3D, ReflectZ3D, Reflect3D.

The idea behind these classes is to provide some additional constructors for Transform3D, they normally should not be used as separate classes.

Example:

Remark: For the reason that the operator* is left associative, the notation

v2 = m3*(m2*(m1*v1));

is much more effective then the notation

v2 = m3*m2*m1*v1;

In the first case three operations Transform3D*Vector3D are executed, in the second case two operations Transform3D*Transform3D and one Transform3D*Vector3D are performed. Transform3D*Transform3D is roughly three times slower than Transform3D*Vector3D.

Author
Evgue.nosp@m.ni.T.nosp@m.chern.nosp@m.iaev.nosp@m.@cern.nosp@m..ch

Definition at line 171 of file Transform3D.h.

Constructor & Destructor Documentation

HepGeom::Transform3D::Transform3D ( double  XX,
double  XY,
double  XZ,
double  DX,
double  YX,
double  YY,
double  YZ,
double  DY,
double  ZX,
double  ZY,
double  ZZ,
double  DZ 
)
inlineprotected

Definition at line 178 of file Transform3D.h.

181  : xx_(XX), xy_(XY), xz_(XZ), dx_(DX),
182  yx_(YX), yy_(YY), yz_(YZ), dy_(DY),
183  zx_(ZX), zy_(ZY), zz_(ZZ), dz_(DZ) {}
HepGeom::Transform3D::Transform3D ( )
inline

Default constructor - sets the Identity transformation.

Definition at line 211 of file Transform3D.h.

Referenced by inverse(), and operator*().

HepGeom::Transform3D::Transform3D ( const CLHEP::HepRotation m,
const CLHEP::Hep3Vector v 
)
inline

Constructor: rotation and then translation.

HepGeom::Transform3D::Transform3D ( const Point3D< double > &  fr0,
const Point3D< double > &  fr1,
const Point3D< double > &  fr2,
const Point3D< double > &  to0,
const Point3D< double > &  to1,
const Point3D< double > &  to2 
)

Constructor: transformation of basis (assumed - no reflection).

Definition at line 63 of file Transform3D.cc.

References HepGeom::BasicVector3D< T >::cross(), setIdentity(), setTransform(), HepGeom::BasicVector3D< T >::x(), HepGeom::BasicVector3D< T >::y(), and HepGeom::BasicVector3D< T >::z().

80  {
81  Vector3D<double> x1,y1,z1, x2,y2,z2;
82  x1 = (fr1 - fr0).unit();
83  y1 = (fr2 - fr0).unit();
84  x2 = (to1 - to0).unit();
85  y2 = (to2 - to0).unit();
86 
87  // C H E C K A N G L E S
88 
89  double cos1, cos2;
90  cos1 = x1*y1;
91  cos2 = x2*y2;
92 
93  if (std::abs(1.0-cos1) <= 0.000001 || std::abs(1.0-cos2) <= 0.000001) {
94  std::cerr << "Transform3D: zero angle between axes" << std::endl;
95  setIdentity();
96  }else{
97  if (std::abs(cos1-cos2) > 0.000001) {
98  std::cerr << "Transform3D: angles between axes are not equal"
99  << std::endl;
100  }
101 
102  // F I N D R O T A T I O N M A T R I X
103 
104  z1 = (x1.cross(y1)).unit();
105  y1 = z1.cross(x1);
106 
107  z2 = (x2.cross(y2)).unit();
108  y2 = z2.cross(x2);
109 
110  double detxx = (y1.y()*z1.z() - z1.y()*y1.z());
111  double detxy = -(y1.x()*z1.z() - z1.x()*y1.z());
112  double detxz = (y1.x()*z1.y() - z1.x()*y1.y());
113  double detyx = -(x1.y()*z1.z() - z1.y()*x1.z());
114  double detyy = (x1.x()*z1.z() - z1.x()*x1.z());
115  double detyz = -(x1.x()*z1.y() - z1.x()*x1.y());
116  double detzx = (x1.y()*y1.z() - y1.y()*x1.z());
117  double detzy = -(x1.x()*y1.z() - y1.x()*x1.z());
118  double detzz = (x1.x()*y1.y() - y1.x()*x1.y());
119 
120  double txx = x2.x()*detxx + y2.x()*detyx + z2.x()*detzx;
121  double txy = x2.x()*detxy + y2.x()*detyy + z2.x()*detzy;
122  double txz = x2.x()*detxz + y2.x()*detyz + z2.x()*detzz;
123  double tyx = x2.y()*detxx + y2.y()*detyx + z2.y()*detzx;
124  double tyy = x2.y()*detxy + y2.y()*detyy + z2.y()*detzy;
125  double tyz = x2.y()*detxz + y2.y()*detyz + z2.y()*detzz;
126  double tzx = x2.z()*detxx + y2.z()*detyx + z2.z()*detzx;
127  double tzy = x2.z()*detxy + y2.z()*detyy + z2.z()*detzy;
128  double tzz = x2.z()*detxz + y2.z()*detyz + z2.z()*detzz;
129 
130  // S E T T R A N S F O R M A T I O N
131 
132  double dx1 = fr0.x(), dy1 = fr0.y(), dz1 = fr0.z();
133  double dx2 = to0.x(), dy2 = to0.y(), dz2 = to0.z();
134 
135  setTransform(txx, txy, txz, dx2-txx*dx1-txy*dy1-txz*dz1,
136  tyx, tyy, tyz, dy2-tyx*dx1-tyy*dy1-tyz*dz1,
137  tzx, tzy, tzz, dz2-tzx*dx1-tzy*dy1-tzz*dz1);
138  }
139  }
void setTransform(double XX, double XY, double XZ, double DX, double YX, double YY, double YZ, double DY, double ZX, double ZY, double ZZ, double DZ)
Definition: Transform3D.h:186
HepGeom::Transform3D::Transform3D ( const Transform3D m)
inline

Copy constructor.

Definition at line 231 of file Transform3D.h.

232  : xx_(m.xx_), xy_(m.xy_), xz_(m.xz_), dx_(m.dx_),
233  yx_(m.yx_), yy_(m.yy_), yz_(m.yz_), dy_(m.dy_),
234  zx_(m.zx_), zy_(m.zy_), zz_(m.zz_), dz_(m.dz_) {}
HepGeom::Transform3D::~Transform3D ( )
inline

Destructor. Virtual for now as some persistency mechanism needs that, in future releases this might go away again.

Definition at line 241 of file Transform3D.h.

241 { /* nop */ }

Member Function Documentation

double HepGeom::Transform3D::dx ( ) const
inline
double HepGeom::Transform3D::dy ( ) const
inline
double HepGeom::Transform3D::dz ( ) const
inline

Gets dz-element of the transformation matrix.

Definition at line 285 of file Transform3D.h.

References dz_.

Referenced by btocho2(), G4PhysicalVolumeModel::DescribeAndDescend(), hijcsc(), lzp(), HepGeom::operator*(), HepGeom::Point3D< float >::transform(), and HepGeom::Point3D< double >::transform().

285 { return dz_; }
void HepGeom::Transform3D::getDecomposition ( Scale3D scale,
Rotate3D rotation,
Translate3D translation 
) const

Decomposition of general transformation. This function gets decomposition of the transformation in three consequentive specific transformations: Scale3D, then Rotate3D, then Translate3, i.e.

Transform3D = Translate3D * Rotate3D * Scale3D
Parameters
scaleoutput: scaling transformation; if there was a reflection, then scale factor for z-component (scale(2,2)) will be negative.
rotationoutput: rotation transformaion.
translationoutput: translation transformaion.

Definition at line 174 of file Transform3D.cc.

Referenced by G4AssemblyVolume::AddPlacedAssembly(), G4AssemblyVolume::AddPlacedVolume(), G4PhysicalVolumeModel::DescribeAndDescend(), G4GDMLWriteStructure::PhysvolWrite(), and G4ReflectionFactory::Place().

188  {
189  double sx = std::sqrt(xx_*xx_ + yx_*yx_ + zx_*zx_);
190  double sy = std::sqrt(xy_*xy_ + yy_*yy_ + zy_*zy_);
191  double sz = std::sqrt(xz_*xz_ + yz_*yz_ + zz_*zz_);
192 
193  if (xx_*(yy_*zz_-yz_*zy_) -
194  xy_*(yx_*zz_-yz_*zx_) +
195  xz_*(yx_*zy_-yy_*zx_) < 0) sz = -sz;
196  scale.setTransform(sx,0,0,0, 0,sy,0,0, 0,0,sz,0);
197  rotation.setTransform(xx_/sx,xy_/sy,xz_/sz,0,
198  yx_/sx,yy_/sy,yz_/sz,0,
199  zx_/sx,zy_/sy,zz_/sz,0);
200  translation.setTransform(1,0,0,dx_, 0,1,0,dy_, 0,0,1,dz_);
201  }
CLHEP::HepRotation HepGeom::Transform3D::getRotation ( ) const
inline
CLHEP::Hep3Vector HepGeom::Transform3D::getTranslation ( ) const
inline
Transform3D HepGeom::Transform3D::inverse ( ) const

Returns the inverse transformation.

Definition at line 142 of file Transform3D.cc.

References dx_, dy_, dz_, Transform3D(), xx_, xy_, xz_, yx_, yy_, yz_, zx_, zy_, and zz_.

Referenced by G4PhysicalVolumeModel::CalculateExtent(), G4PhysicalVolumeModel::DescribeAndDescend(), G4PhysicalVolumeModel::DescribeSolid(), G4ScoringCylinder::Draw(), G4ScoringBox::Draw(), G4ScoringCylinder::DrawColumn(), G4ScoringBox::DrawColumn(), G3toG4BuildPVTree(), G3toG4MANY(), G4ReflectedSolid::G4ReflectedSolid(), GetTransform3D(), G4ReflectionFactory::Place(), SubstractSolids(), and G4GDMLWriteStructure::TraverseVolumeTree().

151  {
152  double detxx = yy_*zz_-yz_*zy_;
153  double detxy = yx_*zz_-yz_*zx_;
154  double detxz = yx_*zy_-yy_*zx_;
155  double det = xx_*detxx - xy_*detxy + xz_*detxz;
156  if (det == 0) {
157  std::cerr << "Transform3D::inverse error: zero determinant" << std::endl;
158  return Transform3D();
159  }
160  det = 1./det; detxx *= det; detxy *= det; detxz *= det;
161  double detyx = (xy_*zz_ - xz_*zy_)*det;
162  double detyy = (xx_*zz_ - xz_*zx_)*det;
163  double detyz = (xx_*zy_ - xy_*zx_)*det;
164  double detzx = (xy_*yz_ - xz_*yy_)*det;
165  double detzy = (xx_*yz_ - xz_*yx_)*det;
166  double detzz = (xx_*yy_ - xy_*yx_)*det;
167  return Transform3D
168  (detxx, -detyx, detzx, -detxx*dx_+detyx*dy_-detzx*dz_,
169  -detxy, detyy, -detzy, detxy*dx_-detyy*dy_+detzy*dz_,
170  detxz, -detyz, detzz, -detxz*dx_+detyz*dy_-detzz*dz_);
171  }
bool HepGeom::Transform3D::isNear ( const Transform3D t,
double  tolerance = 2.2E-14 
) const

Returns true if the difference between corresponding matrix elements is less than the tolerance.

Definition at line 204 of file Transform3D.cc.

References dx_, dy_, dz_, xx_, xy_, xz_, yx_, yy_, yz_, zx_, zy_, and zz_.

205  {
206  return ( (std::abs(xx_ - t.xx_) <= tolerance) &&
207  (std::abs(xy_ - t.xy_) <= tolerance) &&
208  (std::abs(xz_ - t.xz_) <= tolerance) &&
209  (std::abs(dx_ - t.dx_) <= tolerance) &&
210  (std::abs(yx_ - t.yx_) <= tolerance) &&
211  (std::abs(yy_ - t.yy_) <= tolerance) &&
212  (std::abs(yz_ - t.yz_) <= tolerance) &&
213  (std::abs(dy_ - t.dy_) <= tolerance) &&
214  (std::abs(zx_ - t.zx_) <= tolerance) &&
215  (std::abs(zy_ - t.zy_) <= tolerance) &&
216  (std::abs(zz_ - t.zz_) <= tolerance) &&
217  (std::abs(dz_ - t.dz_) <= tolerance) );
218  }
bool HepGeom::Transform3D::operator!= ( const Transform3D transform) const
inline

Test for inequality.

Definition at line 353 of file Transform3D.h.

References operator==().

353  {
354  return ! operator==(transform);
355  }
bool operator==(const Transform3D &transform) const
Definition: Transform3D.cc:221
double HepGeom::Transform3D::operator() ( int  i,
int  j 
) const

Fortran-style subscripting: returns (i,j) element of the matrix.

Definition at line 24 of file Transform3D.cc.

References dx_, dy_, dz_, xx_, xy_, xz_, yx_, yy_, yz_, zx_, zy_, and zz_.

24  {
25  if (i == 0) {
26  if (j == 0) { return xx_; }
27  if (j == 1) { return xy_; }
28  if (j == 2) { return xz_; }
29  if (j == 3) { return dx_; }
30  } else if (i == 1) {
31  if (j == 0) { return yx_; }
32  if (j == 1) { return yy_; }
33  if (j == 2) { return yz_; }
34  if (j == 3) { return dy_; }
35  } else if (i == 2) {
36  if (j == 0) { return zx_; }
37  if (j == 1) { return zy_; }
38  if (j == 2) { return zz_; }
39  if (j == 3) { return dz_; }
40  } else if (i == 3) {
41  if (j == 0) { return 0.0; }
42  if (j == 1) { return 0.0; }
43  if (j == 2) { return 0.0; }
44  if (j == 3) { return 1.0; }
45  }
46  std::cerr << "Transform3D subscripting: bad indeces "
47  << "(" << i << "," << j << ")" << std::endl;
48  return 0.0;
49  }
Transform3D HepGeom::Transform3D::operator* ( const Transform3D b) const

Transformation by another Transform3D.

Definition at line 52 of file Transform3D.cc.

References dx_, dy_, dz_, Transform3D(), xx_, xy_, xz_, yx_, yy_, yz_, zx_, zy_, and zz_.

52  {
53  return Transform3D
54  (xx_*b.xx_+xy_*b.yx_+xz_*b.zx_, xx_*b.xy_+xy_*b.yy_+xz_*b.zy_,
55  xx_*b.xz_+xy_*b.yz_+xz_*b.zz_, xx_*b.dx_+xy_*b.dy_+xz_*b.dz_+dx_,
56  yx_*b.xx_+yy_*b.yx_+yz_*b.zx_, yx_*b.xy_+yy_*b.yy_+yz_*b.zy_,
57  yx_*b.xz_+yy_*b.yz_+yz_*b.zz_, yx_*b.dx_+yy_*b.dy_+yz_*b.dz_+dy_,
58  zx_*b.xx_+zy_*b.yx_+zz_*b.zx_, zx_*b.xy_+zy_*b.yy_+zz_*b.zy_,
59  zx_*b.xz_+zy_*b.yz_+zz_*b.zz_, zx_*b.dx_+zy_*b.dy_+zz_*b.dz_+dz_);
60  }
Transform3D& HepGeom::Transform3D::operator= ( const Transform3D m)
inline

Assignment.

Definition at line 289 of file Transform3D.h.

References dx_, dy_, dz_, xx_, xy_, xz_, yx_, yy_, yz_, zx_, zy_, and zz_.

289  {
290  xx_= m.xx_; xy_= m.xy_; xz_= m.xz_; dx_= m.dx_;
291  yx_= m.yx_; yy_= m.yy_; yz_= m.yz_; dy_= m.dy_;
292  zx_= m.zx_; zy_= m.zy_; zz_= m.zz_; dz_= m.dz_;
293  return *this;
294  }
bool HepGeom::Transform3D::operator== ( const Transform3D transform) const

Test for equality.

Definition at line 221 of file Transform3D.cc.

References dx_, dy_, dz_, xx_, xy_, xz_, yx_, yy_, yz_, zx_, zy_, and zz_.

Referenced by operator!=().

222  {
223  return (this == &t) ? true :
224  (xx_==t.xx_ && xy_==t.xy_ && xz_==t.xz_ && dx_==t.dx_ &&
225  yx_==t.yx_ && yy_==t.yy_ && yz_==t.yz_ && dy_==t.dy_ &&
226  zx_==t.zx_ && zy_==t.zy_ && zz_==t.zz_ && dz_==t.dz_ );
227  }
const Transform3D_row HepGeom::Transform3D::operator[] ( int  ) const
inline

Returns object of the helper class for C-style subscripting r[i][j]

void HepGeom::Transform3D::setIdentity ( )
inline

Sets the Identity transformation.

Definition at line 298 of file Transform3D.h.

References dx_, dy_, dz_, xx_, xy_, xz_, yx_, yy_, yz_, zx_, zy_, and zz_.

Referenced by HepGeom::Reflect3D::Reflect3D(), and Transform3D().

void HepGeom::Transform3D::setTransform ( double  XX,
double  XY,
double  XZ,
double  DX,
double  YX,
double  YY,
double  YZ,
double  DY,
double  ZX,
double  ZY,
double  ZZ,
double  DZ 
)
inlineprotected
double HepGeom::Transform3D::xx ( ) const
inline
double HepGeom::Transform3D::xy ( ) const
inline
double HepGeom::Transform3D::xz ( ) const
inline
double HepGeom::Transform3D::yx ( ) const
inline
double HepGeom::Transform3D::yy ( ) const
inline
double HepGeom::Transform3D::yz ( ) const
inline
double HepGeom::Transform3D::zx ( ) const
inline
double HepGeom::Transform3D::zy ( ) const
inline
double HepGeom::Transform3D::zz ( ) const
inline

Field Documentation

double HepGeom::Transform3D::dx_
protected
double HepGeom::Transform3D::dy_
protected
double HepGeom::Transform3D::dz_
protected
const Transform3D HepGeom::Transform3D::Identity = Transform3D ()
static

Global identity transformation.

Definition at line 197 of file Transform3D.h.

Referenced by G4GDMLWriteStructure::TraverseVolumeTree(), and G4GDMLWrite::Write().

double HepGeom::Transform3D::xx_
protected
double HepGeom::Transform3D::xy_
protected
double HepGeom::Transform3D::xz_
protected
double HepGeom::Transform3D::yx_
protected
double HepGeom::Transform3D::yy_
protected
double HepGeom::Transform3D::yz_
protected
double HepGeom::Transform3D::zx_
protected
double HepGeom::Transform3D::zy_
protected
double HepGeom::Transform3D::zz_
protected

The documentation for this class was generated from the following files: