/** Convert physical position to UV projection
*
* @param pos :: position in 3D
* @param u :: set to U
* @param v :: set to V
* @param uscale :: scaling for u direction
* @param vscale :: scaling for v direction
*/
void UnwrappedCylinder::project(const Mantid::Kernel::V3D &pos, double &u,
double &v, double &uscale,
double &vscale) const {
// projection to cylinder axis
v = pos.scalar_prod(m_zaxis);
double x = pos.scalar_prod(m_xaxis);
double y = pos.scalar_prod(m_yaxis);
u = applyUCorrection(-atan2(y, x));
uscale = 1. / sqrt(x * x + y * y);
vscale = 1.;
}
/** Convert physical position to UV projection
*
* @param u :: set to U
* @param v :: set to V
* @param uscale :: scaling for u direction
* @param vscale :: scaling for v direction
* @param pos :: position in 3D
*/
void UnwrappedSphere::project(double & u, double & v, double & uscale, double & vscale, const Mantid::Kernel::V3D & pos) const
{
// projection to cylinder axis
v = pos.scalar_prod(m_zaxis);
double x = pos.scalar_prod(m_xaxis);
double y = pos.scalar_prod(m_yaxis);
double r = sqrt(x*x+y*y+v*v);
uscale = 1./sqrt(x*x+y*y);
vscale = 1./r;
u = applyUCorrection( -atan2(y,x) );
v = -acos(v/r);
}
void UnwrappedSphere::calcUV(UnwrappedDetector& udet)
{
//static const double pi2 = 2*acos(-1.);
Mantid::Kernel::V3D pos = udet.detector->getPos() - m_pos;
// projection to cylinder axis
udet.v = pos.scalar_prod(m_zaxis);
double x = pos.scalar_prod(m_xaxis);
double y = pos.scalar_prod(m_yaxis);
double r = sqrt(x*x+y*y+udet.v*udet.v);
udet.uscale = 1./sqrt(x*x+y*y);
udet.vscale = 1./r;
udet.u = -atan2(y,x);
udet.v = -acos(udet.v/r);
calcSize(udet,Mantid::Kernel::V3D(-1,0,0),Mantid::Kernel::V3D(0,1,0));
}
void UnwrappedCylinder::rotate(const UnwrappedDetector &udet,
Mantid::Kernel::Quat &R) const {
// direction in which to look
Mantid::Kernel::V3D eye;
const auto &componentInfo = m_instrActor->componentInfo();
// rotation from the global axes to those where
// the z axis points to the detector
Mantid::Kernel::Quat R1;
eye = m_pos - componentInfo.position(udet.detIndex);
if (!eye.nullVector()) {
// eye must point towards the detector and be perpendicular to the
// cylinder's axis
Mantid::Kernel::V3D up = m_zaxis;
up.normalize();
eye = eye - up * eye.scalar_prod(up);
if (!eye.nullVector()) {
eye.normalize();
InstrumentActor::rotateToLookAt(eye, up, R1);
}
}
// add detector's own rotation
R = R1 * componentInfo.rotation(udet.detIndex);
}
/**
* Find a rotation from one orthonormal basis set (Xfrom,Yfrom,Zfrom) to
* another orthonormal basis set (Xto,Yto,Zto). Both sets must be right-handed
* (or same-handed, I didn't check). The method doesn't check the sets for orthogonality
* or normality. The result is a rotation quaternion such that:
* R.rotate(Xfrom) == Xto
* R.rotate(Yfrom) == Yto
* R.rotate(Zfrom) == Zto
* @param Xfrom :: The X axis of the original basis set
* @param Yfrom :: The Y axis of the original basis set
* @param Zfrom :: The Z axis of the original basis set
* @param Xto :: The X axis of the final basis set
* @param Yto :: The Y axis of the final basis set
* @param Zto :: The Z axis of the final basis set
* @param R :: The output rotation as a quaternion
* @param out :: Debug printout flag
*/
void InstrumentActor::BasisRotation(const Mantid::Kernel::V3D& Xfrom,
const Mantid::Kernel::V3D& Yfrom,
const Mantid::Kernel::V3D& Zfrom,
const Mantid::Kernel::V3D& Xto,
const Mantid::Kernel::V3D& Yto,
const Mantid::Kernel::V3D& Zto,
Mantid::Kernel::Quat& R,
bool out
)
{
// Find transformation from (X,Y,Z) to (XX,YY,ZZ)
// R = R1*R2*R3, where R1, R2, and R3 are Euler rotations
// std::cerr<<"RCRotation-----------------------------\n";
// std::cerr<<"From "<<Xfrom<<Yfrom<<Zfrom<<'\n';
// std::cerr<<"To "<<Xto<<Yto<<Zto<<'\n';
double sZ = Zfrom.scalar_prod(Zto);
if (fabs(sZ - 1) < m_tolerance) // vectors the same
{
double sX = Xfrom.scalar_prod(Xto);
if (fabs(sX - 1) < m_tolerance)
{
R = Mantid::Kernel::Quat();
}
else if (fabs(sX + 1) < m_tolerance)
{
R = Mantid::Kernel::Quat(180,Zfrom);
}
else
{
R = Mantid::Kernel::Quat(Xfrom,Xto);
}
}
else if(fabs(sZ + 1) < m_tolerance) // rotated by 180 degrees
{
if (fabs(Xfrom.scalar_prod(Xto)-1) < m_tolerance)
{
R = Mantid::Kernel::Quat(180.,Xfrom);
}
else if (fabs(Yfrom.scalar_prod(Yto)-1) < m_tolerance)
{
R = Mantid::Kernel::Quat(180.,Yfrom);
}
else
{
R = Mantid::Kernel::Quat(180.,Xto)*Mantid::Kernel::Quat(Xfrom,Xto);
}
}
else
{
// Rotation R1 of system (X,Y,Z) around Z by alpha
Mantid::Kernel::V3D X1;
Mantid::Kernel::Quat R1;
X1 = Zfrom.cross_prod(Zto);
X1.normalize();
double sX = Xfrom.scalar_prod(Xto);
if (fabs(sX - 1) < m_tolerance)
{
R = Mantid::Kernel::Quat(Zfrom,Zto);
return;
}
sX = Xfrom.scalar_prod(X1);
if (fabs(sX - 1) < m_tolerance)
{
R1 = Mantid::Kernel::Quat();
}
else if (fabs(sX + 1) < m_tolerance) // 180 degree rotation
{
R1 = Mantid::Kernel::Quat(180.,Zfrom);
}
else
{
R1 = Mantid::Kernel::Quat(Xfrom,X1);
}
if (out)
std::cerr<<"R1="<<R1<<'\n';
// Rotation R2 around X1 by beta
Mantid::Kernel::Quat R2(Zfrom,Zto); // vectors are different
if (out)
std::cerr<<"R2="<<R2<<'\n';
// Rotation R3 around ZZ by gamma
Mantid::Kernel::Quat R3;
sX = Xto.scalar_prod(X1);
if (fabs(sX - 1) < m_tolerance)
{
R3 = Mantid::Kernel::Quat();
}
else if (fabs(sX + 1) < m_tolerance) // 180 degree rotation
{
R3 = Mantid::Kernel::Quat(180.,Zto);
}
else
{
R3 = Mantid::Kernel::Quat(X1,Xto);
}
if (out)
std::cerr<<"R3="<<R3<<'\n';
// Combined rotation
R = R3*R2*R1;
}
}
