| 1 | // ----------------------------------------------------------------------
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| 2 | //
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| 3 | // AxisAngle.cc
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| 4 | //
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| 5 | // History:
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| 6 | // 23-Jan-1998 WEB Initial draft
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| 7 | // 13-Mar-1998 WEB Corrected ZMpvAxisAngleRep
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| 8 | // 15-Jun-1998 WEB Added namespace support
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| 9 | // 26-Jul-2000 MF CLHEP version
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| 10 | // 12-Apr-2001 MF NaN-proofing
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| 11 | //
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| 12 | // ----------------------------------------------------------------------
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| 13 |
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| 14 | #include "CLHEP/Vector/defs.h"
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| 15 | #include "CLHEP/Vector/AxisAngle.h"
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| 16 |
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| 17 | namespace CLHEP {
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| 18 |
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| 19 | double HepAxisAngle::tolerance = Hep3Vector::ToleranceTicks * 1.0e-08;
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| 20 |
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| 21 | static void ZMpvAxisAngleRep( const HepAxisAngle & aa, double array[] ) {
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| 22 |
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| 23 | register double sinDelta = sin( aa.delta() );
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| 24 | register double cosDelta = cos( aa.delta() );
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| 25 | register double oneMinusCosDelta = 1.0 - cosDelta;
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| 26 |
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| 27 | register double uX = aa.getAxis().getX();
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| 28 | register double uY = aa.getAxis().getY();
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| 29 | register double uZ = aa.getAxis().getZ();
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| 30 |
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| 31 | array[0] = oneMinusCosDelta * uX * uX + cosDelta;
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| 32 | array[1] = oneMinusCosDelta * uX * uY - sinDelta * uZ;
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| 33 | array[2] = oneMinusCosDelta * uX * uZ + sinDelta * uY;
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| 34 |
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| 35 | array[3] = oneMinusCosDelta * uY * uX + sinDelta * uZ;
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| 36 | array[4] = oneMinusCosDelta * uY * uY + cosDelta;
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| 37 | array[5] = oneMinusCosDelta * uY * uZ - sinDelta * uX;
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| 38 |
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| 39 | array[6] = oneMinusCosDelta * uZ * uX - sinDelta * uY;
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| 40 | array[7] = oneMinusCosDelta * uZ * uY + sinDelta * uX;
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| 41 | array[8] = oneMinusCosDelta * uZ * uZ + cosDelta;
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| 42 |
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| 43 | } // ZMpvAxisAngleRep
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| 44 |
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| 45 |
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| 46 | double HepAxisAngle::distance( const AA & aa ) const {
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| 47 |
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| 48 | double thisRep[9];
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| 49 | double aaRep[9];
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| 50 |
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| 51 | ZMpvAxisAngleRep( *this, thisRep );
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| 52 | ZMpvAxisAngleRep( aa, aaRep );
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| 53 |
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| 54 | double sum = 0.0;
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| 55 | for ( int i = 0; i < 9; i++ ) {
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| 56 | sum += thisRep[i] * aaRep[i];
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| 57 | }
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| 58 |
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| 59 | double d = 3.0 - sum; // NaN-proofing:
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| 60 | return (d >= 0) ? d : 0; // sqrt(distance) is used in howNear()
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| 61 |
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| 62 | } // HepAxisAngle::distance()
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| 63 |
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| 64 |
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| 65 | bool HepAxisAngle::isNear( const AA & aa, Scalar epsilon ) const {
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| 66 |
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| 67 | return distance( aa ) <= epsilon * epsilon;
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| 68 |
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| 69 | } // HepAxisAngle::isNear()
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| 70 |
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| 71 |
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| 72 | double HepAxisAngle::howNear( const AA & aa ) const {
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| 73 |
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| 74 | return sqrt( distance( aa ) );
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| 75 |
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| 76 | } // HepAxisAngle::howNear()
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| 77 |
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| 78 |
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| 79 | //-********************
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| 80 | //
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| 81 | // Global methods
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| 82 | //
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| 83 | //-********************
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| 84 |
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| 85 |
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| 86 | std::ostream & operator<<(std::ostream & os, const HepAxisAngle & aa) {
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| 87 | os << '(' << aa.axis() << ", " << aa.delta() << ')';
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| 88 | return os;
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| 89 | } // operator<<()
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| 90 |
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| 91 |
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| 92 | void ZMinputAxisAngle ( std::istream & is,
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| 93 | double & x, double & y, double & z,
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| 94 | double & delta );
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| 95 |
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| 96 | std::istream & operator>>(std::istream & is, HepAxisAngle & aa) {
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| 97 | Hep3Vector axis;
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| 98 | double delta;
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| 99 | double x,y,z;
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| 100 | ZMinputAxisAngle ( is, x, y, z, delta );
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| 101 | axis.set(x,y,z);
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| 102 | aa.set ( axis, delta );
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| 103 | return is;
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| 104 | } // operator>>()
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| 105 |
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| 106 | } // namespace CLHEP
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