// -*- C++ -*-
// $Id: Transform3D.icc,v 1.1 2003/07/17 09:05:28 garren Exp $
// ---------------------------------------------------------------------------

#include "CLHEP/Vector/ThreeVector.h"
#include "CLHEP/Vector/Rotation.h"
#include "CLHEP/Geometry/Point3D.h"
#include "CLHEP/Geometry/Vector3D.h"
#include "CLHEP/Geometry/Normal3D.h"

namespace HepGeom {

//   I N L I N E S   F O R   T R A N S F O R M A T I O N

inline
Transform3D::Transform3D_row::Transform3D_row
(const Transform3D & r, int i) : rr(r), ii(i) {}

inline
double Transform3D::Transform3D_row::operator[](int jj) const {
  return rr(ii,jj);
}

inline
const Transform3D::Transform3D_row Transform3D::operator[](int i) const {
  return Transform3D_row(*this, i);
}

inline
Transform3D::Transform3D(const CLHEP::HepRotation & m, const CLHEP::Hep3Vector & v) {
  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();
  dx_= v.x();  dy_= v.y();  dz_= v.z();
}

inline
CLHEP::HepRotation
Transform3D::getRotation() const {
  CLHEP::HepRotation m;
  return m.rotateAxes(CLHEP::Hep3Vector(xx_,yx_,zx_),
		      CLHEP::Hep3Vector(xy_,yy_,zy_),
                      CLHEP::Hep3Vector(xz_,yz_,zz_));
}

inline
CLHEP::Hep3Vector
Transform3D::getTranslation() const {
  return CLHEP::Hep3Vector(dx_,dy_,dz_); 
}

//   I N L I N E S   F O R   R O T A T I O N

inline
Rotate3D::Rotate3D(const CLHEP::HepRotation & m) {
  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();
  dx_= 0;      dy_= 0;      dz_= 0;
}

inline
Rotate3D::Rotate3D(double a, const Vector3D<double> & v) {
  *this =
    Rotate3D(a, Point3D<double>(0,0,0), Point3D<double>(v.x(),v.y(),v.z()));
}

inline
Rotate3D::Rotate3D(const Point3D<double> & fr1, const Point3D<double> & fr2,
		   const Point3D<double> & to1, const Point3D<double> & to2)
  : Transform3D(Point3D<double>(0,0,0),fr1,fr2,
		Point3D<double>(0,0,0),to1,to2) {}

//   I N L I N E S   F O R   T R A N S L A T I O N

inline
Translate3D::Translate3D(const CLHEP::Hep3Vector & v)
  : Transform3D(1,0,0,v.x(), 0,1,0,v.y(), 0,0,1,v.z()) {}

//   I N L I N E S   F O R   R E F L E C T I O N

inline
Reflect3D::Reflect3D(const Normal3D<double> & n, const Point3D<double> & p) {
  *this = Reflect3D(n.x(), n.y(), n.z(), -n*p);
}

} /* namespace HepGeom */
