// @(#)root/geom:$Id$ // Author: Andrei Gheata 25/10/01 /************************************************************************* * Copyright (C) 1995-2000, Rene Brun and Fons Rademakers. * * All rights reserved. * * * * For the licensing terms see $ROOTSYS/LICENSE. * * For the list of contributors see $ROOTSYS/README/CREDITS. * *************************************************************************/ #ifndef ROOT_TGeoMatrix #define ROOT_TGeoMatrix /************************************************************************* * Geometrical transformations. TGeoMatrix - base class, TGeoTranslation * * TGeoRotation, TGeoScale, TGeoCombiTrans, TGeoGenTrans . * * * *************************************************************************/ #include "TNamed.h" //--- globals const Double_t kNullVector[3] = {0.0, 0.0, 0.0}; const Double_t kIdentityMatrix[3*3] = {1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0}; const Double_t kUnitScale[3] = {1.0, 1.0, 1.0}; class TGeoHMatrix; //////////////////////////////////////////////////////////////////////////// // // // TGeoMatrix - base class for geometrical transformations. // // // //////////////////////////////////////////////////////////////////////////// class TGeoMatrix : public TNamed { public: enum EGeoTransfTypes { kGeoIdentity = 0, kGeoShared = BIT(14), kGeoTranslation = BIT(17), kGeoRotation = BIT(18), kGeoScale = BIT(19), kGeoReflection = BIT(20), kGeoRegistered = BIT(21), kGeoSavePrimitive = BIT(22), kGeoMatrixOwned = BIT(23), kGeoCombiTrans = kGeoTranslation | kGeoRotation, kGeoGenTrans = kGeoTranslation | kGeoRotation | kGeoScale, kGeoMatrixBits = kGeoShared | kGeoGenTrans | kGeoReflection | kGeoRegistered | kGeoSavePrimitive | kGeoMatrixOwned }; protected: TGeoMatrix(const TGeoMatrix &other); public : TGeoMatrix(); TGeoMatrix(const char *name); virtual ~TGeoMatrix(); Bool_t IsIdentity() const {return !TestBit(kGeoGenTrans);} Bool_t IsTranslation() const {return TestBit(kGeoTranslation);} Bool_t IsRotation() const {return TestBit(kGeoRotation);} Bool_t IsReflection() const {return TestBit(kGeoReflection);} Bool_t IsScale() const {return TestBit(kGeoScale);} Bool_t IsShared() const {return TestBit(kGeoShared);} Bool_t IsOwned() const {return TestBit(kGeoMatrixOwned);} Bool_t IsCombi() const {return (TestBit(kGeoTranslation) && TestBit(kGeoRotation));} Bool_t IsGeneral() const {return (TestBit(kGeoTranslation) && TestBit(kGeoRotation) && TestBit(kGeoScale));} Bool_t IsRegistered() const {return TestBit(kGeoRegistered);} Bool_t IsRotAboutZ() const; void GetHomogenousMatrix(Double_t *hmat) const; char *GetPointerName() const; virtual Int_t GetByteCount() const; virtual const Double_t *GetTranslation() const = 0; virtual const Double_t *GetRotationMatrix() const = 0; virtual const Double_t *GetScale() const = 0; virtual TGeoHMatrix Inverse() const = 0; virtual void LocalToMaster(const Double_t *local, Double_t *master) const; virtual void LocalToMasterVect(const Double_t *local, Double_t *master) const; virtual void LocalToMasterBomb(const Double_t *local, Double_t *master) const; virtual TGeoMatrix *MakeClone() const = 0; virtual void MasterToLocal(const Double_t *master, Double_t *local) const; virtual void MasterToLocalVect(const Double_t *master, Double_t *local) const; virtual void MasterToLocalBomb(const Double_t *master, Double_t *local) const; static void Normalize(Double_t *vect); void Print(Option_t *option="") const; // *MENU* virtual void RotateX(Double_t) {} virtual void RotateY(Double_t) {} virtual void RotateZ(Double_t) {} virtual void ReflectX(Bool_t leftside,Bool_t rotonly=kFALSE); virtual void ReflectY(Bool_t leftside,Bool_t rotonly=kFALSE); virtual void ReflectZ(Bool_t leftside,Bool_t rotonly=kFALSE); virtual void RegisterYourself(); void SetDefaultName(); virtual void SetDx(Double_t) {} virtual void SetDy(Double_t) {} virtual void SetDz(Double_t) {} void SetShared(Bool_t flag=kTRUE) {SetBit(kGeoShared, flag);} ClassDef(TGeoMatrix, 1) // base geometrical transformation class }; //////////////////////////////////////////////////////////////////////////// // // // TGeoTranslation - class describing translations. A translation is // // basically an array of 3 doubles matching the positions 12, 13 // // and 14 in the homogenous matrix description. // // // // // //////////////////////////////////////////////////////////////////////////// class TGeoTranslation : public TGeoMatrix { protected: Double_t fTranslation[3]; // translation vector public : TGeoTranslation(); TGeoTranslation(const TGeoTranslation &other); TGeoTranslation(const TGeoMatrix &other); TGeoTranslation(Double_t dx, Double_t dy, Double_t dz); TGeoTranslation(const char *name, Double_t dx, Double_t dy, Double_t dz); virtual ~TGeoTranslation() {} TGeoTranslation &operator =(const TGeoTranslation &other) {return TGeoTranslation::operator=((TGeoMatrix&)other);} TGeoTranslation &operator =(const TGeoMatrix &matrix); TGeoTranslation &operator *=(const TGeoTranslation &other); TGeoTranslation operator *(const TGeoTranslation &right) const; TGeoHMatrix operator *(const TGeoMatrix &right) const; Bool_t operator ==(const TGeoTranslation &other) const; void Add(const TGeoTranslation *other); TGeoHMatrix Inverse() const; virtual void LocalToMaster(const Double_t *local, Double_t *master) const; virtual void LocalToMasterVect(const Double_t *local, Double_t *master) const; virtual void LocalToMasterBomb(const Double_t *local, Double_t *master) const; virtual TGeoMatrix *MakeClone() const; virtual void MasterToLocal(const Double_t *master, Double_t *local) const; virtual void MasterToLocalVect(const Double_t *master, Double_t *local) const; virtual void MasterToLocalBomb(const Double_t *master, Double_t *local) const; virtual void RotateX(Double_t angle); virtual void RotateY(Double_t angle); virtual void RotateZ(Double_t angle); virtual void SavePrimitive(std::ostream &out, Option_t *option = ""); void Subtract(const TGeoTranslation *other); void SetTranslation(Double_t dx, Double_t dy, Double_t dz); void SetTranslation(const TGeoMatrix &other); virtual void SetDx(Double_t dx) {SetTranslation(dx, fTranslation[1], fTranslation[2]);} virtual void SetDy(Double_t dy) {SetTranslation(fTranslation[0], dy, fTranslation[2]);} virtual void SetDz(Double_t dz) {SetTranslation(fTranslation[0], fTranslation[1], dz);} virtual const Double_t *GetTranslation() const {return &fTranslation[0];} virtual const Double_t *GetRotationMatrix() const {return &kIdentityMatrix[0];} virtual const Double_t *GetScale() const {return &kUnitScale[0];} ClassDef(TGeoTranslation, 1) // translation class }; //////////////////////////////////////////////////////////////////////////// // // // TGeoRotation - class describing rotations. A rotation is a 3*3 array // // Column vectors has to be orthogonal unit vectors. // // // //////////////////////////////////////////////////////////////////////////// class TGeoRotation : public TGeoMatrix { protected: Double_t fRotationMatrix[3*3]; // rotation matrix void CheckMatrix(); public : TGeoRotation(); TGeoRotation(const TGeoRotation &other); TGeoRotation(const TGeoMatrix &other); TGeoRotation(const char *name); // TGeoRotation(const char *name, Double_t *matrix) ; TGeoRotation(const char *name, Double_t phi, Double_t theta, Double_t psi); TGeoRotation(const char *name, Double_t theta1, Double_t phi1, Double_t theta2, Double_t phi2, Double_t theta3, Double_t phi3); virtual ~TGeoRotation() {} TGeoRotation &operator =(const TGeoRotation &other) {return TGeoRotation::operator=((TGeoMatrix&)other);} TGeoRotation &operator =(const TGeoMatrix &other); TGeoRotation &operator *=(const TGeoRotation &other); TGeoRotation operator *(const TGeoRotation &other) const; TGeoHMatrix operator *(const TGeoMatrix &right) const; Bool_t operator ==(const TGeoRotation &other) const; Bool_t IsValid() const; TGeoHMatrix Inverse() const; void Clear(Option_t *option =""); Double_t Determinant() const; void FastRotZ(const Double_t *sincos); void GetAngles(Double_t &theta1, Double_t &phi1, Double_t &theta2, Double_t &phi2, Double_t &theta3, Double_t &phi3) const; void GetAngles(Double_t &phi, Double_t &theta, Double_t &psi) const; Double_t GetPhiRotation(Bool_t fixX=kFALSE) const; virtual void LocalToMaster(const Double_t *local, Double_t *master) const; virtual void LocalToMasterVect(const Double_t *local, Double_t *master) const {TGeoRotation::LocalToMaster(local, master);} virtual void LocalToMasterBomb(const Double_t *local, Double_t *master) const {TGeoRotation::LocalToMaster(local, master);} virtual TGeoMatrix *MakeClone() const; virtual void MasterToLocal(const Double_t *master, Double_t *local) const; virtual void MasterToLocalVect(const Double_t *master, Double_t *local) const {TGeoRotation::MasterToLocal(master, local);} virtual void MasterToLocalBomb(const Double_t *master, Double_t *local) const {TGeoRotation::MasterToLocal(master, local);} void MultiplyBy(const TGeoRotation *rot, Bool_t after=kTRUE); virtual void RotateX(Double_t angle); virtual void RotateY(Double_t angle); virtual void RotateZ(Double_t angle); virtual void SavePrimitive(std::ostream &out, Option_t *option = ""); virtual void ReflectX(Bool_t leftside, Bool_t rotonly=kFALSE); virtual void ReflectY(Bool_t leftside, Bool_t rotonly=kFALSE); virtual void ReflectZ(Bool_t leftside, Bool_t rotonly=kFALSE); void SetAngles(Double_t phi, Double_t theta, Double_t psi); void SetAngles(Double_t theta1, Double_t phi1, Double_t theta2, Double_t phi2, Double_t theta3, Double_t phi3); void SetMatrix(const Double_t *rot) {memcpy(&fRotationMatrix[0], rot, 9*sizeof(Double_t));CheckMatrix();} void SetRotation(const TGeoMatrix &other); void GetInverse(Double_t *invmat) const; virtual const Double_t *GetTranslation() const {return &kNullVector[0];} virtual const Double_t *GetRotationMatrix() const {return &fRotationMatrix[0];} virtual const Double_t *GetScale() const {return &kUnitScale[0];} ClassDef(TGeoRotation, 1) // rotation class }; //////////////////////////////////////////////////////////////////////////// // // // TGeoScale - class describing scale transformations. A scale is an // // array of 3 doubles (sx, sy, sz) multiplying elements 0, 5 and 10 // // of the homogenous matrix. A scale is normalized : sx*sy*sz = 1 // // // //////////////////////////////////////////////////////////////////////////// class TGeoScale : public TGeoMatrix { protected: Double_t fScale[3]; // scale (x, y, z) public : TGeoScale(); TGeoScale(const TGeoScale &other); TGeoScale(const TGeoMatrix &other); TGeoScale(Double_t sx, Double_t sy, Double_t sz); TGeoScale(const char *name, Double_t sx, Double_t sy, Double_t sz); virtual ~TGeoScale(); TGeoScale &operator =(const TGeoScale &other) {return TGeoScale::operator=((TGeoMatrix&)other);} TGeoScale &operator =(const TGeoMatrix &other); TGeoScale &operator *=(const TGeoScale &other); TGeoScale operator *(const TGeoScale &other) const; TGeoHMatrix operator *(const TGeoMatrix &right) const; Bool_t operator ==(const TGeoScale &other) const; TGeoHMatrix Inverse() const; void SetScale(Double_t sx, Double_t sy, Double_t sz); void SetScale(const TGeoMatrix &other); virtual void LocalToMaster(const Double_t *local, Double_t *master) const; Double_t LocalToMaster(Double_t dist, const Double_t *dir=0) const; virtual void LocalToMasterVect(const Double_t *local, Double_t *master) const {TGeoScale::LocalToMaster(local, master);} virtual TGeoMatrix *MakeClone() const; virtual void MasterToLocal(const Double_t *master, Double_t *local) const; Double_t MasterToLocal(Double_t dist, const Double_t *dir=0) const; virtual void MasterToLocalVect(const Double_t *master, Double_t *local) const {TGeoScale::MasterToLocal(master, local);} virtual void ReflectX(Bool_t, Bool_t) {fScale[0]=-fScale[0]; SetBit(kGeoReflection, !IsReflection());} virtual void ReflectY(Bool_t, Bool_t) {fScale[1]=-fScale[1]; SetBit(kGeoReflection, !IsReflection());} virtual void ReflectZ(Bool_t, Bool_t) {fScale[2]=-fScale[2]; SetBit(kGeoReflection, !IsReflection());} virtual const Double_t *GetTranslation() const {return &kNullVector[0];} virtual const Double_t *GetRotationMatrix() const {return &kIdentityMatrix[0];} virtual const Double_t *GetScale() const {return &fScale[0];} ClassDef(TGeoScale, 1) // scaling class }; //////////////////////////////////////////////////////////////////////////// // // // TGeoCombiTrans - class describing rotation + translation. Most // // frequently used in the description of TGeoNode 's // // // //////////////////////////////////////////////////////////////////////////// class TGeoCombiTrans : public TGeoMatrix { protected: Double_t fTranslation[3]; // translation vector TGeoRotation *fRotation; // rotation matrix public : TGeoCombiTrans(); TGeoCombiTrans(const TGeoCombiTrans &other) : TGeoCombiTrans((TGeoMatrix&)other) {} TGeoCombiTrans(const TGeoMatrix &other); TGeoCombiTrans(const TGeoTranslation &tr, const TGeoRotation &rot); TGeoCombiTrans(const char *name); TGeoCombiTrans(Double_t dx, Double_t dy, Double_t dz, TGeoRotation *rot); TGeoCombiTrans(const char *name, Double_t dx, Double_t dy, Double_t dz, TGeoRotation *rot); TGeoCombiTrans& operator =(const TGeoCombiTrans &other) {return TGeoCombiTrans::operator=((TGeoMatrix&)other);} TGeoCombiTrans& operator =(const TGeoMatrix &matrix); TGeoCombiTrans &operator *=(const TGeoMatrix &other); TGeoCombiTrans operator *(const TGeoMatrix &other) const; Bool_t operator ==(const TGeoMatrix &other) const; virtual ~TGeoCombiTrans(); void Clear(Option_t *option =""); TGeoHMatrix Inverse() const; virtual TGeoMatrix *MakeClone() const; void Multiply(const TGeoMatrix *right); virtual void RegisterYourself(); virtual void RotateX(Double_t angle); virtual void RotateY(Double_t angle); virtual void RotateZ(Double_t angle); virtual void ReflectX(Bool_t leftside, Bool_t rotonly=kFALSE); virtual void ReflectY(Bool_t leftside, Bool_t rotonly=kFALSE); virtual void ReflectZ(Bool_t leftside, Bool_t rotonly=kFALSE); virtual void SavePrimitive(std::ostream &out, Option_t *option = ""); virtual void SetDx(Double_t dx) {SetTranslation(dx, fTranslation[1], fTranslation[2]);} virtual void SetDy(Double_t dy) {SetTranslation(fTranslation[0], dy, fTranslation[2]);} virtual void SetDz(Double_t dz) {SetTranslation(fTranslation[0], fTranslation[1], dz);} void SetTranslation(const TGeoTranslation &tr); void SetTranslation(Double_t dx, Double_t dy, Double_t dz); void SetTranslation(Double_t *vect); void SetRotation(const TGeoRotation &other); void SetRotation(const TGeoRotation *rot); TGeoRotation *GetRotation() const {return fRotation;} virtual const Double_t *GetTranslation() const {return &fTranslation[0];} virtual const Double_t *GetRotationMatrix() const; virtual const Double_t *GetScale() const {return &kUnitScale[0];} ClassDef(TGeoCombiTrans, 1) // rotation + translation }; //////////////////////////////////////////////////////////////////////////// // // // TGeoGenTrans - most general transformation, holding a translation, // // a rotation and a scale // // // //////////////////////////////////////////////////////////////////////////// class TGeoGenTrans : public TGeoCombiTrans { protected: Double_t fScale[3]; // scale (x, y, z) public : TGeoGenTrans(); TGeoGenTrans(const char *name); TGeoGenTrans(Double_t dx, Double_t dy, Double_t dz, Double_t sx, Double_t sy, Double_t sz, TGeoRotation *rot); TGeoGenTrans(const char *name, Double_t dx, Double_t dy, Double_t dz, Double_t sx, Double_t sy, Double_t sz, TGeoRotation *rot); virtual ~TGeoGenTrans(); void Clear(Option_t *option =""); TGeoHMatrix Inverse() const; void SetScale(Double_t sx, Double_t sy, Double_t sz); void SetScale(Double_t *scale) {memcpy(&fScale[0], scale, 3*sizeof(Double_t));} virtual TGeoMatrix *MakeClone() const {return NULL;} Bool_t Normalize(); virtual const Double_t *GetScale() const {return &fScale[0];} ClassDef(TGeoGenTrans, 1) // rotation + translation + scale }; //////////////////////////////////////////////////////////////////////////// // // // TGeoIdentity - an identity transformation. It holds no data member // // and returns pointers to static null translation and identity // // transformations for rotation and scale // // // //////////////////////////////////////////////////////////////////////////// class TGeoIdentity : public TGeoMatrix { private: // no data members public : TGeoIdentity(); TGeoIdentity(const char *name); virtual ~TGeoIdentity() {} TGeoHMatrix Inverse() const; virtual void LocalToMaster(const Double_t *local, Double_t *master) const {memcpy(master, local, 3*sizeof(Double_t));} virtual void LocalToMasterVect(const Double_t *local, Double_t *master) const {memcpy(master, local, 3*sizeof(Double_t));} virtual void LocalToMasterBomb(const Double_t *local, Double_t *master) const {TGeoIdentity::LocalToMaster(local, master);} virtual TGeoMatrix *MakeClone() const {return NULL;} virtual void MasterToLocal(const Double_t *master, Double_t *local) const {memcpy(local, master, 3*sizeof(Double_t));} virtual void MasterToLocalVect(const Double_t *master, Double_t *local) const {memcpy(local, master, 3*sizeof(Double_t));} virtual void MasterToLocalBomb(const Double_t *master, Double_t *local) const {TGeoIdentity::MasterToLocal(master, local);} virtual const Double_t *GetTranslation() const {return &kNullVector[0];} virtual const Double_t *GetRotationMatrix() const {return &kIdentityMatrix[0];} virtual const Double_t *GetScale() const {return &kUnitScale[0];} virtual void SavePrimitive(std::ostream &, Option_t * = "") {;} ClassDef(TGeoIdentity, 1) // identity transformation class }; //////////////////////////////////////////////////////////////////////////// // // // TGeoHMatrix - Matrix class used for computing global transformations // // Should NOT be used for node definition. An instance of this class // // is generally used to pile-up local transformations starting from // // the top level physical node, down to the current node. // // // //////////////////////////////////////////////////////////////////////////// class TGeoHMatrix : public TGeoMatrix { private: Double_t fTranslation[3]; // translation component Double_t fRotationMatrix[9]; // rotation matrix Double_t fScale[3]; // scale component public : TGeoHMatrix(); TGeoHMatrix(const TGeoHMatrix &other) : TGeoHMatrix((TGeoMatrix&)other) {} TGeoHMatrix(const TGeoMatrix &matrix); TGeoHMatrix(const char *name); virtual ~TGeoHMatrix(); TGeoHMatrix& operator =(const TGeoHMatrix &other) {return TGeoHMatrix::operator=((TGeoMatrix&)other);} TGeoHMatrix& operator =(const TGeoMatrix *other); TGeoHMatrix& operator =(const TGeoMatrix &other); TGeoHMatrix& operator *=(const TGeoMatrix &other); TGeoHMatrix operator *(const TGeoMatrix &other) const; Bool_t operator ==(const TGeoMatrix &other) const; void Clear(Option_t *option =""); void CopyFrom(const TGeoMatrix *other); Double_t Determinant() const; void FastRotZ(const Double_t *sincos); TGeoHMatrix Inverse() const; virtual TGeoMatrix *MakeClone() const; void Multiply(const TGeoMatrix *right); void Multiply(const TGeoMatrix &right) {Multiply(&right);} void MultiplyLeft(const TGeoMatrix *left); void MultiplyLeft(const TGeoMatrix &left) {MultiplyLeft(&left);} virtual void RotateX(Double_t angle); virtual void RotateY(Double_t angle); virtual void RotateZ(Double_t angle); virtual void ReflectX(Bool_t leftside, Bool_t rotonly=kFALSE); virtual void ReflectY(Bool_t leftside, Bool_t rotonly=kFALSE); virtual void ReflectZ(Bool_t leftside, Bool_t rotonly=kFALSE); virtual void SavePrimitive(std::ostream &out, Option_t *option = ""); virtual void SetDx(Double_t dx) {fTranslation[0] = dx; SetBit(kGeoTranslation);} virtual void SetDy(Double_t dy) {fTranslation[1] = dy; SetBit(kGeoTranslation);} virtual void SetDz(Double_t dz) {fTranslation[2] = dz; SetBit(kGeoTranslation);} void SetTranslation(const Double_t *vect) {SetBit(kGeoTranslation); memcpy(&fTranslation[0], vect, 3*sizeof(Double_t));} void SetRotation(const Double_t *matrix) {SetBit(kGeoRotation); memcpy(&fRotationMatrix[0], matrix, 9*sizeof(Double_t));} void SetScale(const Double_t *scale) {SetBit(kGeoScale); memcpy(&fScale[0], scale, 3*sizeof(Double_t));} virtual const Double_t *GetTranslation() const {return &fTranslation[0];} virtual const Double_t *GetRotationMatrix() const {return &fRotationMatrix[0];} virtual const Double_t *GetScale() const {return &fScale[0];} virtual Double_t *GetTranslation() {return &fTranslation[0];} virtual Double_t *GetRotationMatrix() {return &fRotationMatrix[0];} virtual Double_t *GetScale() {return &fScale[0];} ClassDef(TGeoHMatrix, 1) // global matrix class }; R__EXTERN TGeoIdentity *gGeoIdentity; #endif