From 2e275ad1c6bc24012f8bc0ff593a797a13154b99 Mon Sep 17 00:00:00 2001
From: "Joachim Wuttke (laptop)" <j.wuttke@fz-juelich.de>
Date: Mon, 25 Mar 2013 21:41:35 +0100
Subject: [PATCH] broken intermediate state
---
Core/Geometry/inc/Transform3D.h | 129 +++++------------------
Core/Geometry/src/Transform3D.cpp | 166 ++++++++++++++----------------
2 files changed, 103 insertions(+), 192 deletions(-)
diff --git a/Core/Geometry/inc/Transform3D.h b/Core/Geometry/inc/Transform3D.h
index afcd75f5daf..6e406f30e32 100644
--- a/Core/Geometry/inc/Transform3D.h
+++ b/Core/Geometry/inc/Transform3D.h
@@ -43,8 +43,7 @@ namespace Geometry {
//! Transformations of 3D geometrical objects (points, vectors, normals).
-//! Uses a 4x3 double-precision transform matrix to rotate, translate,
-//! reflect and scale.
+//! Uses a 3x3 double-precision transform matrix to rotate vectors.
//!
//! Identity transformation:
//! Transform3D::Identity - global identity transformation;
@@ -69,30 +68,6 @@ namespace Geometry {
//! RotateY3D(ang) - rotation around Y-axis;
//! RotateZ3D(ang) - rotation around Z-axis;
//!
-//! Translations:
-//! Translate3D(v) - translation given by CLHEP::Hep3Vector "v";
-//! Translate3D(dx,dy,dz) - translation on vector (dx,dy,dz);
-//! TraslateX3D(dx) - translation along X-axis;
-//! TraslateY3D(dy) - translation along Y-axis;
-//! TraslateZ3D(dz) - translation along Z-axis;
-//!
-//! Reflections:
-//! Reflect3D(a,b,c,d) - reflection in the plane a*x+b*y+c*z+d=0;
-//! Reflect3D(normal,p) - reflection in the plane going through "p"
-//! and whose normal is equal to "normal";
-//! ReflectX3D(a) - reflect X in the plane x=a (default a=0);
-//! ReflectY3D(a) - reflect Y in the plane y=a (default a=0);
-//! ReflectZ3D(a) - reflect Z in the plane z=a (default a=0);
-//!
-//! Scalings:
-//! Scale3D(sx,sy,sz) - general scaling with factors "sx","sy","sz"
-//! along X, Y and Z;
-//! Scale3D(s) - scaling with constant factor "s" along all
-//! directions;
-//! ScaleX3D(sx) - scale X;
-//! ScaleY3D(sy) - scale Y;
-//! ScaleZ3D(sz) - scale Z;
-//!
//! Inverse transformation:
//! m.inverse() or - returns inverse transformation;
//!
@@ -100,44 +75,10 @@ namespace Geometry {
//! m3 = m2 * m1 - it is relatively slow in comparison with
//! transformation of a vector. Use parenthesis
//! to avoid this operation (see example below);
-//! Transformation of point:
-//! p2 = m * p1
-//!
-//! Transformation of vector:
-//! v2 = m * v1
-//!
-//! Transformation of normal:
-//! n2 = m * n1
-//!
-//! The following table explains how different transformations affect
-//! point, vector and normal. "+" means affect, "-" means do not affect,
-//! "*" meas affect but in different way than "+"
-//!
-//! Point Vector Normal
-//! -------------+-------+-------+-------
-//! Rotation ! + ! + ! +
-//! Translation ! + ! - ! -
-//! Reflection ! + ! + ! *
-//! Scaling ! + ! + ! *
-//! -------------+-------+-------+-------
-//!
-//! Example of the usage:
-//!
-//! Transform3D m1, m2, m3;
-//! BasicVector3D v2, v1(0,0,0);
-//!
-//! m1 = Rotate3D(angle, Vector3D(1,1,1));
-//! m2 = Translate3D(dx,dy,dz);
-//! m3 = m1.inverse();
-//!
-//! v2 = m3*(m2*(m1*v1));
//!
//! Several specialized classes are derived from it:
//!
-//! TranslateX3D, TranslateY3D, TranslateZ3D, Translate3D,<br>
-//! RotateX3D, RotateY3D, RotateZ3D, Rotate3D, <br>
-//! ScaleX3D, ScaleY3D, ScaleZ3D, Scale3D, <br>
-//! ReflectX3D, ReflectY3D, ReflectZ3D, Reflect3D.
+//! RotateX3D, RotateY3D, RotateZ3D, Rotate3D.
//!
//! The idea behind these classes is to provide some additional constructors
//! for Transform3D, they normally should not be used as separate classes.
@@ -153,25 +94,25 @@ namespace Geometry {
class Transform3D {
protected:
// 4x3 Transformation Matrix
- double xx_, xy_, xz_, dx_,
- yx_, yy_, yz_, dy_,
- zx_, zy_, zz_, dz_;
+ double xx_, xy_, xz_,
+ yx_, yy_, yz_,
+ zx_, zy_, zz_;
//! Protected constructor.
- 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)
- : xx_(XX), xy_(XY), xz_(XZ), dx_(DX),
- yx_(YX), yy_(YY), yz_(YZ), dy_(DY),
- zx_(ZX), zy_(ZY), zz_(ZZ), dz_(DZ) {}
+ Transform3D(double XX, double XY, double XZ,
+ double YX, double YY, double YZ,
+ double ZX, double ZY, double ZZ)
+ : xx_(XX), xy_(XY), xz_(XZ),
+ yx_(YX), yy_(YY), yz_(YZ),
+ zx_(ZX), zy_(ZY), zz_(ZZ) {}
//! Sets transformation matrix.
- 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) {
- xx_ = XX; xy_ = XY; xz_ = XZ; dx_ = DX;
- yx_ = YX; yy_ = YY; yz_ = YZ; dy_ = DY;
- zx_ = ZX; zy_ = ZY; zz_ = ZZ; dz_ = DZ;
+ void setTransform(double XX, double XY, double XZ,
+ double YX, double YY, double YZ,
+ double ZX, double ZY, double ZZ) {
+ xx_ = XX; xy_ = XY; xz_ = XZ;
+ yx_ = YX; yy_ = YY; yz_ = YZ;
+ zx_ = ZX; zy_ = ZY; zz_ = ZZ;
}
public:
@@ -190,28 +131,20 @@ class Transform3D {
//! Default constructor - sets the Identity transformation.
Transform3D()
- : xx_(1), xy_(0), xz_(0), dx_(0),
- yx_(0), yy_(1), yz_(0), dy_(0),
- zx_(0), zy_(0), zz_(1), dz_(0) {}
+ : xx_(1), xy_(0), xz_(0),
+ yx_(0), yy_(1), yz_(0),
+ zx_(0), zy_(0), zz_(1) {}
- //! Constructor: transformation of basis (assumed - no reflection).
- 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);
-
//! Copy constructor.
Transform3D(const Transform3D& m)
- : xx_(m.xx_), xy_(m.xy_), xz_(m.xz_), dx_(m.dx_),
- yx_(m.yx_), yy_(m.yy_), yz_(m.yz_), dy_(m.dy_),
- zx_(m.zx_), zy_(m.zy_), zz_(m.zz_), dz_(m.dz_) {}
+ : xx_(m.xx_), xy_(m.xy_), xz_(m.xz_),
+ yx_(m.yx_), yy_(m.yy_), yz_(m.yz_),
+ zx_(m.zx_), zy_(m.zy_), zz_(m.zz_) {}
//! Destructor.
//! Virtual for now as some persistency mechanism needs that,
//! in future releases this might go away again.
- virtual ~Transform3D() { /* nop */ }
+ virtual ~Transform3D() {}
//! Returns object of the helper class for C-style subscripting r[i][j]
inline const Transform3D_row operator [] (int) const;
@@ -237,24 +170,18 @@ class Transform3D {
double zy() const { return zy_; }
//! Gets zz-element of the transformation matrix.
double zz() const { return zz_; }
- //! Gets dx-element of the transformation matrix.
- double dx() const { return dx_; }
- //! Gets dy-element of the transformation matrix.
- double dy() const { return dy_; }
- //! Gets dz-element of the transformation matrix.
- double dz() const { return dz_; }
//! Assignment.
Transform3D& operator=(const Transform3D&m) {
- xx_= m.xx_; xy_= m.xy_; xz_= m.xz_; dx_= m.dx_;
- yx_= m.yx_; yy_= m.yy_; yz_= m.yz_; dy_= m.dy_;
- zx_= m.zx_; zy_= m.zy_; zz_= m.zz_; dz_= m.dz_;
+ xx_= m.xx_; xy_= m.xy_; xz_= m.xz_;
+ yx_= m.yx_; yy_= m.yy_; yz_= m.yz_;
+ zx_= m.zx_; zy_= m.zy_; zz_= m.zz_;
return *this;
}
//! Sets the Identity transformation.
void setIdentity() {
- xy_= xz_= dx_= yx_= yz_= dy_= zx_= zy_= dz_= 0; xx_= yy_= zz_= 1;
+ xy_= xz_= yx_= yz_= zx_= zy_= 0; xx_= yy_= zz_= 1;
}
//! Returns the inverse transformation.
diff --git a/Core/Geometry/src/Transform3D.cpp b/Core/Geometry/src/Transform3D.cpp
index cd1d825facc..b0d6c02b809 100644
--- a/Core/Geometry/src/Transform3D.cpp
+++ b/Core/Geometry/src/Transform3D.cpp
@@ -37,22 +37,18 @@ double Transform3D::operator () (int i, int j) const
if (j == 0) { return xx_; }
if (j == 1) { return xy_; }
if (j == 2) { return xz_; }
- if (j == 3) { return dx_; }
} else if (i == 1) {
if (j == 0) { return yx_; }
if (j == 1) { return yy_; }
if (j == 2) { return yz_; }
- if (j == 3) { return dy_; }
} else if (i == 2) {
if (j == 0) { return zx_; }
if (j == 1) { return zy_; }
if (j == 2) { return zz_; }
- if (j == 3) { return dz_; }
} else if (i == 3) {
if (j == 0) { return 0.0; }
if (j == 1) { return 0.0; }
if (j == 2) { return 0.0; }
- if (j == 3) { return 1.0; }
}
std::cerr << "Transform3D subscripting: bad indeces "
<< "(" << i << "," << j << ")" << std::endl;
@@ -64,90 +60,15 @@ double Transform3D::operator () (int i, int j) const
Transform3D Transform3D::operator*(const Transform3D & b) const
{
return Transform3D
- (xx_*b.xx_+xy_*b.yx_+xz_*b.zx_, xx_*b.xy_+xy_*b.yy_+xz_*b.zy_,
- xx_*b.xz_+xy_*b.yz_+xz_*b.zz_, xx_*b.dx_+xy_*b.dy_+xz_*b.dz_+dx_,
- yx_*b.xx_+yy_*b.yx_+yz_*b.zx_, yx_*b.xy_+yy_*b.yy_+yz_*b.zy_,
- yx_*b.xz_+yy_*b.yz_+yz_*b.zz_, yx_*b.dx_+yy_*b.dy_+yz_*b.dz_+dy_,
- zx_*b.xx_+zy_*b.yx_+zz_*b.zx_, zx_*b.xy_+zy_*b.yy_+zz_*b.zy_,
- zx_*b.xz_+zy_*b.yz_+zz_*b.zz_, zx_*b.dx_+zy_*b.dy_+zz_*b.dz_+dz_);
-}
-
-//! Constructor: transformation of basis (assumed - no reflection).
-
-//! Transformation from coordinate system defined by its origin "fr0"
-//! and two axes "fr0->fr1", "fr0->fr2" to another coordinate system
-//! "to0", "to0->to1", "to0->to2"
-//!
-//! @author E. Chernyaev 1996-2003
-
-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)
- : xx_(1), xy_(0), xz_(0), dx_(0),
- yx_(0), yy_(1), yz_(0), dy_(0),
- zx_(0), zy_(0), zz_(1), dz_(0)
-{
- Vector3D<double> x1,y1,z1, x2,y2,z2;
- x1 = (fr1 - fr0).unit();
- y1 = (fr2 - fr0).unit();
- x2 = (to1 - to0).unit();
- y2 = (to2 - to0).unit();
-
- // -- Check angles --
-
- double cos1, cos2;
- cos1 = x1.dot(y1);
- cos2 = x2.dot(y2);
-
- if (std::abs(1.0-cos1) <= 0.000001 || std::abs(1.0-cos2) <= 0.000001) {
- std::cerr << "Transform3D: zero angle between axes" << std::endl;
- setIdentity();
- } else {
- if (std::abs(cos1-cos2) > 0.000001) {
- std::cerr << "Transform3D: angles between axes are not equal"
- << std::endl;
- }
-
- // -- Find rotation matrix --
-
- z1 = (x1.cross(y1)).unit();
- y1 = z1.cross(x1);
-
- z2 = (x2.cross(y2)).unit();
- y2 = z2.cross(x2);
-
- double detxx = (y1.y()*z1.z() - z1.y()*y1.z());
- double detxy = -(y1.x()*z1.z() - z1.x()*y1.z());
- double detxz = (y1.x()*z1.y() - z1.x()*y1.y());
- double detyx = -(x1.y()*z1.z() - z1.y()*x1.z());
- double detyy = (x1.x()*z1.z() - z1.x()*x1.z());
- double detyz = -(x1.x()*z1.y() - z1.x()*x1.y());
- double detzx = (x1.y()*y1.z() - y1.y()*x1.z());
- double detzy = -(x1.x()*y1.z() - y1.x()*x1.z());
- double detzz = (x1.x()*y1.y() - y1.x()*x1.y());
-
- double txx = x2.x()*detxx + y2.x()*detyx + z2.x()*detzx;
- double txy = x2.x()*detxy + y2.x()*detyy + z2.x()*detzy;
- double txz = x2.x()*detxz + y2.x()*detyz + z2.x()*detzz;
- double tyx = x2.y()*detxx + y2.y()*detyx + z2.y()*detzx;
- double tyy = x2.y()*detxy + y2.y()*detyy + z2.y()*detzy;
- double tyz = x2.y()*detxz + y2.y()*detyz + z2.y()*detzz;
- double tzx = x2.z()*detxx + y2.z()*detyx + z2.z()*detzx;
- double tzy = x2.z()*detxy + y2.z()*detyy + z2.z()*detzy;
- double tzz = x2.z()*detxz + y2.z()*detyz + z2.z()*detzz;
-
- // -- set transformation --
-
- double dx1 = fr0.x(), dy1 = fr0.y(), dz1 = fr0.z();
- double dx2 = to0.x(), dy2 = to0.y(), dz2 = to0.z();
-
- setTransform(txx, txy, txz, dx2-txx*dx1-txy*dy1-txz*dz1,
- tyx, tyy, tyz, dy2-tyx*dx1-tyy*dy1-tyz*dz1,
- tzx, tzy, tzz, dz2-tzx*dx1-tzy*dy1-tzz*dz1);
- }
+ (xx_*b.xx_+xy_*b.yx_+xz_*b.zx_,
+ xx_*b.xy_+xy_*b.yy_+xz_*b.zy_,
+ xx_*b.xz_+xy_*b.yz_+xz_*b.zz_,
+ yx_*b.xx_+yy_*b.yx_+yz_*b.zx_,
+ yx_*b.xy_+yy_*b.yy_+yz_*b.zy_,
+ yx_*b.xz_+yy_*b.yz_+yz_*b.zz_,
+ zx_*b.xx_+zy_*b.yx_+zz_*b.zx_,
+ zx_*b.xy_+zy_*b.yy_+zz_*b.zy_,
+ zx_*b.xz_+zy_*b.yz_+zz_*b.zz_ );
}
//! Returns the inverse transformation.
@@ -172,9 +93,72 @@ Transform3D Transform3D::inverse() const
double detzy = (xx_*yz_ - xz_*yx_)*det;
double detzz = (xx_*yy_ - xy_*yx_)*det;
return Transform3D
- (detxx, -detyx, detzx, -detxx*dx_+detyx*dy_-detzx*dz_,
- -detxy, detyy, -detzy, detxy*dx_-detyy*dy_+detzy*dz_,
- detxz, -detyz, detzz, -detxz*dx_+detyz*dy_-detzz*dz_);
+ (detxx, -detyx, detzx,
+ -detxy, detyy, -detzy,
+ detxz, -detyz, detzz );
+}
+
+//! Difference between corresponding matrix elements less than tolerance?
+
+bool Transform3D::isNear(const Transform3D & t, double tolerance) const
+{
+ return ( (std::abs(xx_ - t.xx_) <= tolerance) &&
+ (std::abs(xy_ - t.xy_) <= tolerance) &&
+ (std::abs(xz_ - t.xz_) <= tolerance) &&
+ (std::abs(yx_ - t.yx_) <= tolerance) &&
+ (std::abs(yy_ - t.yy_) <= tolerance) &&
+ (std::abs(yz_ - t.yz_) <= tolerance) &&
+ (std::abs(zx_ - t.zx_) <= tolerance) &&
+ (std::abs(zy_ - t.zy_) <= tolerance) &&
+ (std::abs(zz_ - t.zz_) <= tolerance) );
+}
+
+//! Test for equality.
+
+bool Transform3D::operator==(const Transform3D & t) const
+{
+ return (this == &t) ? true :
+ (xx_==t.xx_ && xy_==t.xy_ && xz_==t.xz_ &&
+ yx_==t.yx_ && yy_==t.yy_ && yz_==t.yz_ &&
+ zx_==t.zx_ && zy_==t.zy_ && zz_==t.zz_ );
+}
+
+
+//! Construct rotation by angle a around axis p1->p2.
+//!
+//! @author E. Chernyaev 1996
+
+Rotate3D::Rotate3D(double a,
+ const Point3D<double> & p1,
+ const Point3D<double> & p2)
+ : Transform3D()
+{
+ if (a == 0) return;
+
+ double cx = p2.x()-p1.x(), cy = p2.y()-p1.y(), cz = p2.z()-p1.z();
+ double ll = std::sqrt(cx*cx + cy*cy + cz*cz);
+ if (ll == 0) {
+ std::cerr << "Rotate3D: zero axis" << std::endl;
+ } else {
+ double cosa = std::cos(a), sina = std::sin(a);
+ cx /= ll; cy /= ll; cz /= ll;
+
+ double txx = cosa + (1-cosa)*cx*cx;
+ double txy = (1-cosa)*cx*cy - sina*cz;
+ double txz = (1-cosa)*cx*cz + sina*cy;
+
+ double tyx = (1-cosa)*cy*cx + sina*cz;
+ double tyy = cosa + (1-cosa)*cy*cy;
+ double tyz = (1-cosa)*cy*cz - sina*cx;
+
+ double tzx = (1-cosa)*cz*cx - sina*cy;
+ double tzy = (1-cosa)*cz*cy + sina*cx;
+ double tzz = cosa + (1-cosa)*cz*cz;
+
+ setTransform(txx, txy, txz,
+ tyx, tyy, tyz,
+ tzx, tzy, tzz);
+ }
}
} // namespace Geometry
--
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