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// -*- C++ -*-
// $Id: testTransform3D.cc,v 1.3 2003/10/24 21:39:45 garren Exp $
// ---------------------------------------------------------------------------
//
// This file is a part of the CLHEP - a Class Library for High Energy Physics.
//
// This is a test for the HepGeom::Transform3D class.
//
#include <assert.h>
#include "CLHEP/Geometry/Transform3D.h"
#include "CLHEP/Vector/Rotation.h"
#include "CLHEP/Vector/ThreeVector.h"
#include "CLHEP/Units/PhysicalConstants.h"
typedef HepGeom::Scale3D Scale;
typedef HepGeom::Rotate3D Rotation;
typedef HepGeom::Translate3D Translation;
typedef HepGeom::Transform3D Transformation;
typedef HepGeom::Point3D<double> Point;
typedef HepGeom::Vector3D<double> Vector;
typedef HepGeom::Normal3D<double> Normal;
#define DEL 10.e-16
int main() {
int i,k;
double E[4][4] = {
{ 1, 0, 0, 0},
{ 0, 1, 0, 0},
{ 0, 0, 1, 0},
{ 0, 0, 0, 1}
};
// Default constructor
Transformation M;
for (i=0; i<4; i++) {
for (k=0; k<4; k++) {
assert ( M[i][k] == E[i][k] );
}
}
assert ( M == Transformation::Identity );
// Rotation + Translation
HepRotation R;
double angA=CLHEP::pi/3, angB=CLHEP::pi/4, angC=CLHEP::pi/6;
R.rotateX(angA); R.rotateY(angB); R.rotateZ(angC);
const Hep3Vector D(1, 2, 3);
M = Transformation(R,D);
for (i=0; i<3; i++) {
for (k=0; k<3; k++) { assert ( M[i][k] == R[i][k] ); }
}
assert ( M(0,3) == D.x() );
assert ( M(1,3) == D.y() );
assert ( M(2,3) == D.z() );
// Transformation of point, vector, normal
const Point p0(1,1,1);
const Vector v0(1,1,1);
const Normal n0(1,1,1);
Point p1 = M * p0;
Point p2 = R*Hep3Vector(1,1,1) + D;
assert( std::abs(p1.x()-p2.x()) < DEL );
assert( std::abs(p1.y()-p2.y()) < DEL );
assert( std::abs(p1.z()-p2.z()) < DEL );
Vector v1 = M * v0;
Normal n1 = M * n0;
assert( std::abs(v1.x()-n1.x()) < DEL );
assert( std::abs(v1.y()-n1.y()) < DEL );
assert( std::abs(v1.z()-n1.z()) < DEL );
// Transformation of basis
p1 = Point(M[0][0]+D.x(), M[1][0]+D.y(), M[2][0]+D.z());
p2 = Point(M[0][1]+D.x(), M[1][1]+D.y(), M[2][1]+D.z());
Transformation T(Point(0,0,0), Point(1,0,0), Point(0,1,0), D, p1, p2);
for (i=0; i<4; i++) {
for (k=0; k<4; k++) { assert ( std::abs(M[i][k] - T[i][k]) < DEL ); }
}
// Set Identity
T.setIdentity();
for (i=0; i<4; i++) {
for (k=0; k<4; k++) { assert ( T[i][k] == E[i][k] ); }
}
// Assignment, fortran-style subscripting
T = M;
assert (T == M);
for (i=0; i<4; i++) {
for (k=0; k<4; k++) { assert ( T(i,k) == M[i][k] ); }
}
// Inversion
T = M.inverse();
assert (T != M);
T = M * T;
for (i=0; i<4; i++) {
for (k=0; k<4; k++) { assert ( std::abs(T[i][k] - E[i][k]) < DEL ); }
}
T = M.inverse();
T = T * M;
for (i=0; i<4; i++) {
for (k=0; k<4; k++) { assert ( std::abs(T[i][k] - E[i][k]) < DEL ); }
}
// Get Rotation
HepRotation Q;
Q = M.getRotation();
for (i=0; i<3; i++) {
for (k=0; k<3; k++) { assert ( R[i][k] == Q[i][k] ); }
}
// Get Translation
Hep3Vector C;
C = M.getTranslation();
assert ( C.x() == D.x() );
assert ( C.y() == D.y() );
assert ( C.z() == D.z() );
// Compound transformation
// Get Decomposition
Scale S(-2,3,4);
M = Transformation(R,D)*S;
Scale SS;
Rotation RR;
Translation TT;
M.getDecomposition(SS,RR,TT);
S = HepGeom::Scale3D(2,3,-4);
T = TT*RR*SS;
for (i=0; i<4; i++) {
for (k=0; k<4; k++) {
assert ( std::abs(S[i][k] - SS[i][k]) < DEL );
assert ( std::abs(M[i][k] - T[i][k]) < DEL );
}
}
// test for isNear()
assert ( T.isNear(M, DEL) );
S = HepGeom::Scale3D(2.01,3,-4);
T = TT*RR*S;
assert ( !T.isNear(M) );
// Different conversions
Hep3Vector www(1,2,3);
Vector vvv;
Point ppp(3,2,1);
Normal nnn;
vvv = www;
www = vvv;
nnn = ppp;
assert (vvv.x() == nnn.z());
assert (vvv.y() == nnn.y());
assert (vvv.z() == nnn.x());
nnn = Normal(ppp);
www = Hep3Vector(vvv);
return 0;
}
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