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File indexing completed on 2026-05-21 08:29:59
0001 //------------------------------- -*- C++ -*- -------------------------------// 0002 // Copyright Celeritas contributors: see top-level COPYRIGHT file for details 0003 // SPDX-License-Identifier: (Apache-2.0 OR MIT) 0004 //---------------------------------------------------------------------------// 0005 //! \file orange/g4org/Transformer.hh 0006 //---------------------------------------------------------------------------// 0007 #pragma once 0008 0009 #include <G4AffineTransform.hh> 0010 #include <G4RotationMatrix.hh> 0011 #include <G4ThreeVector.hh> 0012 #include <G4Transform3D.hh> 0013 0014 #include "geocel/Types.hh" 0015 #include "orange/transform/VariantTransform.hh" 0016 0017 #include "Scaler.hh" 0018 0019 namespace celeritas 0020 { 0021 namespace g4org 0022 { 0023 //---------------------------------------------------------------------------// 0024 /*! 0025 * Return an ORANGE transformation from a Geant4 transformation. 0026 * 0027 * In Geant4, "object" or "direct" transform refers to daughter-to-parent, how 0028 * to place the daughter object in the parent. The "frame" transform (raw \c 0029 * GetTransform or the \c fPtrTransform object) is how to transform from parent 0030 * to daughter and is the inverse of that transform. 0031 * 0032 * Even though the affine transform's matrix has a \c operator() which does a 0033 * matrix-vector multiply (aka \c gemv), this is *not* the same as the affine 0034 * transform's rotation, which applies the *inverse* of the stored matrix. 0035 * 0036 * All ORANGE/Celeritas transforms are "daughter to parent". The transforms 0037 * returned from this function \em must be daughter-to-parent! 0038 */ 0039 class Transformer 0040 { 0041 public: 0042 //!@{ 0043 //! \name Type aliases 0044 using Real3 = Array<double, 3>; 0045 //!@} 0046 0047 public: 0048 // Construct with a scale 0049 inline explicit Transformer(Scaler const& scale); 0050 0051 // Convert a translation 0052 inline Translation operator()(G4ThreeVector const& t) const; 0053 0054 // Convert a pure rotation 0055 inline Transformation operator()(G4RotationMatrix const& rot) const; 0056 0057 // Convert a translation + rotation 0058 inline Transformation 0059 operator()(G4ThreeVector const& t, G4RotationMatrix const& rot) const; 0060 0061 // Convert a more general transform (includes reflection) 0062 inline Transformation operator()(G4Transform3D const& tran) const; 0063 0064 // Convert an affine transform 0065 inline Transformation operator()(G4AffineTransform const& at) const; 0066 0067 private: 0068 //// DATA //// 0069 0070 Scaler const& scale_; 0071 }; 0072 0073 //---------------------------------------------------------------------------// 0074 // FREE FUNCTIONS 0075 //---------------------------------------------------------------------------// 0076 // Convert a rotation matrix 0077 inline SquareMatrixReal3 convert_from_geant(G4RotationMatrix const& rot); 0078 0079 //---------------------------------------------------------------------------// 0080 // Get the transpose/inverse of a rotation matrix 0081 inline SquareMatrixReal3 transposed_from_geant(G4RotationMatrix const& rot); 0082 0083 //---------------------------------------------------------------------------// 0084 // INLINE DEFINITIONS 0085 //---------------------------------------------------------------------------// 0086 /*! 0087 * Construct with a scaling function. 0088 */ 0089 Transformer::Transformer(Scaler const& scale) : scale_{scale} {} 0090 0091 //---------------------------------------------------------------------------// 0092 /*! 0093 * Create a transform from a translation. 0094 */ 0095 auto Transformer::operator()(G4ThreeVector const& t) const -> Translation 0096 { 0097 return Translation{scale_.to<Real3>(t[0], t[1], t[2])}; 0098 } 0099 0100 //---------------------------------------------------------------------------// 0101 /*! 0102 * Create a transform from a translation plus rotation. 0103 */ 0104 auto Transformer::operator()(G4ThreeVector const& trans, 0105 G4RotationMatrix const& rot) const 0106 -> Transformation 0107 { 0108 return Transformation{convert_from_geant(rot), scale_.to<Real3>(trans)}; 0109 } 0110 0111 //---------------------------------------------------------------------------// 0112 /*! 0113 * Convert a more general transform (including possibly reflection). 0114 */ 0115 Transformation Transformer::operator()(G4Transform3D const& tran) const 0116 { 0117 SquareMatrixReal3 rot{Real3{{tran.xx(), tran.xy(), tran.xz()}}, 0118 Real3{{tran.yx(), tran.yy(), tran.yz()}}, 0119 Real3{{tran.zx(), tran.zy(), tran.zz()}}}; 0120 0121 return Transformation{rot, 0122 scale_.to<Real3>(tran.dx(), tran.dy(), tran.dz())}; 0123 } 0124 0125 //---------------------------------------------------------------------------// 0126 /*! 0127 * Create a transform from an affine transform. 0128 * 0129 * The affine transform's stored rotation matrix is \em inverted! 0130 */ 0131 auto Transformer::operator()(G4AffineTransform const& affine) const 0132 -> Transformation 0133 { 0134 return Transformation{transposed_from_geant(affine.NetRotation()), 0135 scale_.to<Real3>(affine.NetTranslation())}; 0136 } 0137 0138 //---------------------------------------------------------------------------// 0139 /*! 0140 * Convert a rotation matrix. 0141 */ 0142 SquareMatrixReal3 convert_from_geant(G4RotationMatrix const& rot) 0143 { 0144 return {Real3{{rot.xx(), rot.xy(), rot.xz()}}, 0145 Real3{{rot.yx(), rot.yy(), rot.yz()}}, 0146 Real3{{rot.zx(), rot.zy(), rot.zz()}}}; 0147 } 0148 0149 //---------------------------------------------------------------------------// 0150 /*! 0151 * Get a transposed rotation matrix. 0152 */ 0153 SquareMatrixReal3 transposed_from_geant(G4RotationMatrix const& rot) 0154 { 0155 return {Real3{{rot.xx(), rot.yx(), rot.zx()}}, 0156 Real3{{rot.xy(), rot.yy(), rot.zy()}}, 0157 Real3{{rot.xz(), rot.yz(), rot.zz()}}}; 0158 } 0159 0160 //---------------------------------------------------------------------------// 0161 } // namespace g4org 0162 } // namespace celeritas
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