1// -*- C++ -*-
2// $Id: Rotation.icc,v 1.2 2003/10/10 21:42:35 garren Exp $
3// ---------------------------------------------------------------------------
4//
5// This file is a part of the CLHEP - a Class Library for High Energy Physics.
6//
7// This is the definitions of the inline member functions of the
8// HepRotation class
9//
10
11namespace CLHEP {
12
13// Put commonly used accessors as early as possible to avoid inlining misses:
14
15inline double HepRotation::xx() const { return rxx; }
16inline double HepRotation::xy() const { return rxy; }
17inline double HepRotation::xz() const { return rxz; }
18inline double HepRotation::yx() const { return ryx; }
19inline double HepRotation::yy() const { return ryy; }
20inline double HepRotation::yz() const { return ryz; }
21inline double HepRotation::zx() const { return rzx; }
22inline double HepRotation::zy() const { return rzy; }
23inline double HepRotation::zz() const { return rzz; }
24
25inline HepRep3x3 HepRotation::rep3x3() const {
26  return HepRep3x3 ( rxx, rxy, rxz,
27		     ryx, ryy, ryz,
28		     rzx, rzy, rzz );
29}
30
31inline double HepRotation::xt() const { return 0.0; }
32inline double HepRotation::yt() const { return 0.0; }
33inline double HepRotation::zt() const { return 0.0; }
34inline double HepRotation::tx() const { return 0.0; }
35inline double HepRotation::ty() const { return 0.0; }
36inline double HepRotation::tz() const { return 0.0; }
37inline double HepRotation::tt() const { return 1.0; }
38
39inline HepRep4x4 HepRotation::rep4x4() const {
40  return HepRep4x4 ( rxx, rxy, rxz, 0.0,
41		     ryx, ryy, ryz, 0.0,
42		     rzx, rzy, rzz, 0.0,
43		     0.0, 0.0, 0.0, 1.0 );
44}
45
46// Ctors etc:
47
48inline HepRotation::HepRotation() : rxx(1.0), rxy(0.0), rxz(0.0),
49				    ryx(0.0), ryy(1.0), ryz(0.0),
50				    rzx(0.0), rzy(0.0), rzz(1.0) {}
51
52inline HepRotation::HepRotation(const HepRotation & m1) :
53	rxx(m1.rxx), rxy(m1.rxy), rxz(m1.rxz),
54	ryx(m1.ryx), ryy(m1.ryy), ryz(m1.ryz),
55	rzx(m1.rzx), rzy(m1.rzy), rzz(m1.rzz) {}
56
57inline HepRotation::HepRotation
58			(double mxx, double mxy, double mxz,
59			 double myx, double myy, double myz,
60			 double mzx, double mzy, double mzz) :
61	rxx(mxx), rxy(mxy), rxz(mxz),
62	ryx(myx), ryy(myy), ryz(myz),
63	rzx(mzx), rzy(mzy), rzz(mzz) {}
64
65inline HepRotation::HepRotation ( const HepRep3x3 & m1 ) :
66	rxx(m1.xx_), rxy(m1.xy_), rxz(m1.xz_),
67	ryx(m1.yx_), ryy(m1.yy_), ryz(m1.yz_),
68	rzx(m1.zx_), rzy(m1.zy_), rzz(m1.zz_) {}
69
70inline HepRotation::HepRotation(const HepRotationX & rx) :
71	rxx(1.0), rxy(0.0),     rxz(0.0),
72	ryx(0.0), ryy(rx.yy()), ryz(rx.yz()),
73	rzx(0.0), rzy(rx.zy()), rzz(rx.zz()) {}
74
75inline HepRotation::HepRotation(const HepRotationY & ry) :
76	rxx(ry.xx()), rxy(0.0), rxz(ry.xz()),
77	ryx(0.0),     ryy(1.0), ryz(0.0),
78	rzx(ry.zx()), rzy(0.0), rzz(ry.zz()) {}
79
80inline HepRotation::HepRotation(const HepRotationZ & rz) :
81	rxx(rz.xx()), rxy(rz.xy()), rxz(0.0),
82	ryx(rz.yx()), ryy(rz.yy()), ryz(0.0),
83	rzx(0.0),     rzy(0.0),     rzz(1.0) {}
84
85inline HepRotation::~HepRotation() {}
86
87// More accessors:
88
89inline HepRotation::HepRotation_row::HepRotation_row
90(const HepRotation & r, int i) : rr(r), ii(i) {}
91
92inline double HepRotation::HepRotation_row::operator [] (int jj) const {
93  return rr(ii,jj);
94}
95
96inline
97const HepRotation::HepRotation_row HepRotation::operator [] (int i) const {
98  return HepRotation_row(*this, i);
99}
100
101inline Hep3Vector HepRotation::colX() const
102				{ return Hep3Vector ( rxx, ryx, rzx ); }
103inline Hep3Vector HepRotation::colY() const
104				{ return Hep3Vector ( rxy, ryy, rzy ); }
105inline Hep3Vector HepRotation::colZ() const
106				{ return Hep3Vector ( rxz, ryz, rzz ); }
107
108inline Hep3Vector HepRotation::rowX() const
109				{ return Hep3Vector ( rxx, rxy, rxz ); }
110inline Hep3Vector HepRotation::rowY() const
111				{ return Hep3Vector ( ryx, ryy, ryz ); }
112inline Hep3Vector HepRotation::rowZ() const
113				{ return Hep3Vector ( rzx, rzy, rzz ); }
114
115inline HepLorentzVector HepRotation::col1() const
116				{ return HepLorentzVector (colX(), 0); }
117inline HepLorentzVector HepRotation::col2() const
118				{ return HepLorentzVector (colY(), 0); }
119inline HepLorentzVector HepRotation::col3() const
120				{ return HepLorentzVector (colZ(), 0); }
121inline HepLorentzVector HepRotation::col4() const
122				{ return HepLorentzVector (0,0,0,1); }
123inline HepLorentzVector HepRotation::row1() const
124				{ return HepLorentzVector (rowX(), 0); }
125inline HepLorentzVector HepRotation::row2() const
126				{ return HepLorentzVector (rowY(), 0); }
127inline HepLorentzVector HepRotation::row3() const
128				{ return HepLorentzVector (rowZ(), 0); }
129inline HepLorentzVector HepRotation::row4() const
130				{ return HepLorentzVector (0,0,0,1); }
131
132inline double  HepRotation::getPhi  () const { return phi();   }
133inline double  HepRotation::getTheta() const { return theta(); }
134inline double  HepRotation::getPsi  () const { return psi();   }
135inline double  HepRotation::getDelta() const { return delta(); }
136inline Hep3Vector HepRotation::getAxis () const { return axis();  }
137
138inline HepRotation & HepRotation::operator = (const HepRotation & m1) {
139  rxx = m1.rxx;
140  rxy = m1.rxy;
141  rxz = m1.rxz;
142  ryx = m1.ryx;
143  ryy = m1.ryy;
144  ryz = m1.ryz;
145  rzx = m1.rzx;
146  rzy = m1.rzy;
147  rzz = m1.rzz;
148  return *this;
149}
150
151inline HepRotation & HepRotation::set(const HepRep3x3 & m1) {
152  rxx = m1.xx_;
153  rxy = m1.xy_;
154  rxz = m1.xz_;
155  ryx = m1.yx_;
156  ryy = m1.yy_;
157  ryz = m1.yz_;
158  rzx = m1.zx_;
159  rzy = m1.zy_;
160  rzz = m1.zz_;
161  return *this;
162}
163
164inline HepRotation & HepRotation::set(const HepRotationX & r) {
165  return (set (r.rep3x3()));
166}
167inline HepRotation & HepRotation::set(const HepRotationY & r) {
168  return (set (r.rep3x3()));
169}
170inline HepRotation & HepRotation::set(const HepRotationZ & r) {
171  return (set (r.rep3x3()));
172}
173
174inline HepRotation & HepRotation::operator= (const HepRotationX & r) {
175  return (set (r.rep3x3()));
176}
177inline HepRotation & HepRotation::operator= (const HepRotationY & r) {
178  return (set (r.rep3x3()));
179}
180inline HepRotation & HepRotation::operator= (const HepRotationZ & r) {
181  return (set (r.rep3x3()));
182}
183
184inline Hep3Vector HepRotation::operator * (const Hep3Vector & p) const {
185  return Hep3Vector(rxx*p.x() + rxy*p.y() + rxz*p.z(),
186                    ryx*p.x() + ryy*p.y() + ryz*p.z(),
187                    rzx*p.x() + rzy*p.y() + rzz*p.z());
188//  This is identical to the code in the CLHEP 1.6 version
189}
190
191inline Hep3Vector HepRotation::operator () (const Hep3Vector & p) const {
192  double x = p.x();
193  double y = p.y();
194  double z = p.z();
195  return Hep3Vector(rxx*x + rxy*y + rxz*z,
196                    ryx*x + ryy*y + ryz*z,
197                    rzx*x + rzy*y + rzz*z);
198}
199
200inline HepLorentzVector
201HepRotation::operator () (const HepLorentzVector & w) const {
202  return HepLorentzVector( operator() (w.vect()), w.t() );
203}
204
205inline HepLorentzVector HepRotation::operator *
206					(const HepLorentzVector & p) const {
207  return operator()(p);
208}
209
210inline HepRotation HepRotation::operator* (const HepRotation & r) const {
211  return HepRotation(rxx*r.rxx + rxy*r.ryx + rxz*r.rzx,
212                     rxx*r.rxy + rxy*r.ryy + rxz*r.rzy,
213                     rxx*r.rxz + rxy*r.ryz + rxz*r.rzz,
214                     ryx*r.rxx + ryy*r.ryx + ryz*r.rzx,
215                     ryx*r.rxy + ryy*r.ryy + ryz*r.rzy,
216                     ryx*r.rxz + ryy*r.ryz + ryz*r.rzz,
217                     rzx*r.rxx + rzy*r.ryx + rzz*r.rzx,
218                     rzx*r.rxy + rzy*r.ryy + rzz*r.rzy,
219                     rzx*r.rxz + rzy*r.ryz + rzz*r.rzz );
220}
221
222inline HepRotation HepRotation::operator * (const HepRotationX & rx) const {
223  double yy1 = rx.yy();
224  double yz1 = rx.yz();
225  double zy1 = -yz1;
226  double zz1 =  yy1;
227  return HepRotation(
228    rxx,   rxy*yy1 + rxz*zy1,   rxy*yz1 + rxz*zz1,
229    ryx,   ryy*yy1 + ryz*zy1,   ryy*yz1 + ryz*zz1,
230    rzx,   rzy*yy1 + rzz*zy1,   rzy*yz1 + rzz*zz1 );
231}
232
233inline HepRotation HepRotation::operator * (const HepRotationY & ry) const {
234  double xx1 = ry.xx();
235  double xz1 = ry.xz();
236  double zx1 = -xz1;
237  double zz1 =  xx1;
238  return HepRotation(
239    rxx*xx1 + rxz*zx1,   rxy,   rxx*xz1 + rxz*zz1,
240    ryx*xx1 + ryz*zx1,   ryy,   ryx*xz1 + ryz*zz1,
241    rzx*xx1 + rzz*zx1,   rzy,   rzx*xz1 + rzz*zz1 );
242}
243
244inline HepRotation HepRotation::operator * (const HepRotationZ & rz) const {
245  double xx1 = rz.xx();
246  double xy1 = rz.xy();
247  double yx1 = -xy1;
248  double yy1 =  xx1;
249  return HepRotation(
250    rxx*xx1 + rxy*yx1,   rxx*xy1 + rxy*yy1,   rxz,
251    ryx*xx1 + ryy*yx1,   ryx*xy1 + ryy*yy1,   ryz,
252    rzx*xx1 + rzy*yx1,   rzx*xy1 + rzy*yy1,   rzz );
253}
254
255
256inline HepRotation & HepRotation::operator *= (const HepRotation & r) {
257  return *this = (*this) * (r);
258}
259
260inline HepRotation & HepRotation::operator *= (const HepRotationX & r) {
261  return *this = (*this) * (r); }
262inline HepRotation & HepRotation::operator *= (const HepRotationY & r) {
263  return *this = (*this) * (r); }
264inline HepRotation & HepRotation::operator *= (const HepRotationZ & r) {
265  return *this = (*this) * (r); }
266
267inline HepRotation & HepRotation::transform(const HepRotation & r) {
268  return *this = r * (*this);
269}
270
271inline HepRotation & HepRotation::transform(const HepRotationX & r) {
272  return *this = r * (*this); }
273inline HepRotation & HepRotation::transform(const HepRotationY & r) {
274  return *this = r * (*this); }
275inline HepRotation & HepRotation::transform(const HepRotationZ & r) {
276  return *this = r * (*this); }
277
278inline HepRotation HepRotation::inverse() const {
279  return HepRotation( rxx, ryx, rzx,
280		      rxy, ryy, rzy,
281		      rxz, ryz, rzz );
282}
283
284inline HepRotation inverseOf (const HepRotation & r) {
285  return r.inverse();
286}
287
288inline HepRotation & HepRotation::invert() {
289  return *this=inverse();
290}
291
292inline HepRotation & HepRotation::rotate
293				(double ddelta, const Hep3Vector * p) {
294  return rotate(ddelta, *p);
295}
296
297inline bool HepRotation::operator== ( const HepRotation & r ) const {
298  return ( rxx==r.rxx && rxy==r.rxy && rxz==r.rxz &&
299	   ryx==r.ryx && ryy==r.ryy && ryz==r.ryz &&
300	   rzx==r.rzx && rzy==r.rzy && rzz==r.rzz );
301}
302inline bool HepRotation::operator!= ( const HepRotation & r ) const {
303  return ! operator==(r);
304}
305inline bool HepRotation::operator< ( const HepRotation & r ) const
306	{ return compare(r)< 0; }
307inline bool HepRotation::operator<=( const HepRotation & r ) const
308	{ return compare(r)<=0; }
309inline bool HepRotation::operator>=( const HepRotation & r ) const
310	{ return compare(r)>=0; }
311inline bool HepRotation::operator> ( const HepRotation & r ) const
312	{ return compare(r)> 0; }
313
314inline double HepRotation::getTolerance() {
315  return Hep4RotationInterface::tolerance;
316}
317inline double HepRotation::setTolerance(double tol) {
318  return Hep4RotationInterface::setTolerance(tol);
319}
320
321inline HepRotation operator * (const HepRotationX & rx, const HepRotation & r){
322  HepRep3x3 mmm = r.rep3x3();
323  double c = rx.yy();
324  double ss = rx.zy();
325  return HepRotation (        mmm.xx_,           mmm.xy_,          mmm.xz_,
326                        c*mmm.yx_-ss*mmm.zx_, c*mmm.yy_-ss*mmm.zy_, c*mmm.yz_-ss*mmm.zz_,
327                        ss*mmm.yx_+c*mmm.zx_, ss*mmm.yy_+c*mmm.zy_, ss*mmm.yz_+c*mmm.zz_ );
328}
329
330inline HepRotation operator * (const HepRotationY & ry, const HepRotation & r){
331  HepRep3x3 mmm = r.rep3x3();
332  double c = ry.xx();
333  double ss = ry.xz();
334  return HepRotation (  c*mmm.xx_+ss*mmm.zx_, c*mmm.xy_+ss*mmm.zy_, c*mmm.xz_+ss*mmm.zz_,
335                              mmm.yx_,           mmm.yy_,          mmm.yz_,
336                       -ss*mmm.xx_+c*mmm.zx_,-ss*mmm.xy_+c*mmm.zy_,-ss*mmm.xz_+c*mmm.zz_ );
337}
338
339inline HepRotation operator * (const HepRotationZ & rz, const HepRotation & r){
340  HepRep3x3 mmm = r.rep3x3();
341  double c = rz.xx();
342  double ss = rz.yx();
343  return HepRotation (  c*mmm.xx_-ss*mmm.yx_, c*mmm.xy_-ss*mmm.yy_, c*mmm.xz_-ss*mmm.yz_,
344                        ss*mmm.xx_+c*mmm.yx_, ss*mmm.xy_+c*mmm.yy_, ss*mmm.xz_+c*mmm.yz_,
345                              mmm.zx_,           mmm.zy_,          mmm.zz_       );
346}
347
348}  // namespace CLHEP
349