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GeomConverter/test/org/lcsim/detector

Transform3DTest.java 1.1 -> 1.2

diff -u -r1.1 -r1.2
--- Transform3DTest.java	30 Mar 2007 23:26:54 -0000	1.1
+++ Transform3DTest.java	7 Aug 2007 18:11:39 -0000	1.2
@@ -1,7 +1,10 @@

 package org.lcsim.detector;
 
 import org.lcsim.detector.Transform3D;

-import org.lcsim.detector.Rotation3D;

+import org.lcsim.detector.ITranslation3D;
+import org.lcsim.detector.Translation3D;
+import org.lcsim.detector.IRotation3D;
+import org.lcsim.detector.RotationPassiveXYZ;

 
 import hep.physics.vec.BasicHep3Vector;
 import hep.physics.vec.VecOp;

@@ -29,12 +32,11 @@

     
     public void testSimpleTransform()
     {

-        Rotation3D r1 = new Rotation3D();
-        r1.setPassiveXYZ(0, 0, PI/2);

+        IRotation3D r1 = new RotationPassiveXYZ(0, 0, PI/2);

-        Hep3Vector v1 = new BasicHep3Vector(10,0,0);

+        ITranslation3D v1 = new Translation3D(10,0,0);

-        Transform3D t1 = new Transform3D(v1,r1);

+        ITransform3D t1 = new Transform3D(v1,r1);

         
         Hep3Vector point = new BasicHep3Vector(1,0,0);

@@ -73,7 +75,7 @@

         double random_y = random.nextDouble();
         double random_z = random.nextDouble();

-    	Transform3D transformation = new Transform3D(new BasicHep3Vector(random_x,random_y,random_z));

+    	Transform3D transformation = new Transform3D(new Translation3D(random_x,random_y,random_z));

     	Hep3Vector point = new BasicHep3Vector(1.0,2.0,3.0);
 
     	Hep3Vector transformed_point = transformation.transformed(point);

@@ -93,16 +95,15 @@

     {
     	System.out.println("CoordinateTransformation3DTest.testSimpleRotationX");

-    	Rotation3D rotateX = new Rotation3D();
-        
-    	rotateX.setPassiveXYZ(Math.PI / 2, 0, 0);
-    	Transform3D transformation = new Transform3D(rotateX);

+    	IRotation3D rotateX = new RotationPassiveXYZ(Math.PI / 2, 0, 0);
+
+        ITransform3D transformation = new Transform3D(rotateX);

 
     	Hep3Vector point = new BasicHep3Vector(0.0,0.0,1.0);
     	Hep3Vector result = transformation.transformed(point);
 
 //    	System.out.println("Transform");

-    	transformation.getRotation().printOut(System.out);

+    	((Rotation3D)transformation.getRotation()).printOut(System.out);

 //    	System.out.printf("new point = ( %.4f %.4f %.4f )\n",result.x(),result.y(),result.z());
     	//CoordinateTransformation3D.mult(point, transform);
     	//Hep3Rotation rotation = result.getRotation();

@@ -124,23 +125,21 @@

     	
         Random random = new Random();

-        Rotation3D rotation_1 = new Rotation3D();
-        rotation_1.setPassiveXYZ(random.nextDouble(),random.nextDouble(),random.nextDouble());
-        Hep3Vector translation_1 = new BasicHep3Vector(random.nextDouble(),random.nextDouble(),random.nextDouble());
-        
-        Rotation3D rotation_2 = new Rotation3D();
-        rotation_2.setPassiveXYZ(random.nextDouble(),random.nextDouble(),random.nextDouble());
-        Hep3Vector translation_2 = new BasicHep3Vector(random.nextDouble(),random.nextDouble(),random.nextDouble());

+        IRotation3D rotation_1 = new RotationPassiveXYZ(random.nextDouble(),random.nextDouble(),random.nextDouble());
+        ITranslation3D translation_1 = new Translation3D(random.nextDouble(),random.nextDouble(),random.nextDouble());
+        
+        IRotation3D rotation_2 = new RotationPassiveXYZ(random.nextDouble(),random.nextDouble(),random.nextDouble());
+        ITranslation3D translation_2 = new Translation3D(random.nextDouble(),random.nextDouble(),random.nextDouble());

-    	Transform3D transformation_1 = new Transform3D(translation_1,rotation_1);
-    	Transform3D transformation_2 = new Transform3D(translation_2,rotation_2);

+    	ITransform3D transformation_1 = new Transform3D(translation_1,rotation_1);
+    	ITransform3D transformation_2 = new Transform3D(translation_2,rotation_2);

        
         Hep3Vector point = new BasicHep3Vector(1.0,2.0,3.0);
         
         Hep3Vector transformed_point_1 = transformation_1.transformed(point);
         transformed_point_1 = transformation_2.transformed(transformed_point_1);

-        Transform3D transformation_product = Transform3D.multiply(transformation_2,transformation_1);

+        ITransform3D transformation_product = Transform3D.multiply(transformation_2,transformation_1);

         Hep3Vector transformed_point_2 = transformation_product.transformed(point);
         
         System.out.println("x_1: "+transformed_point_1.x()+"  x_2: "+transformed_point_2.x());

@@ -161,13 +160,11 @@

     	
         Random random = new Random();

-        Rotation3D rotation_1 = new Rotation3D();
-        rotation_1.setPassiveXYZ(random.nextDouble(),random.nextDouble(),random.nextDouble());
-        Hep3Vector translation_1 = new BasicHep3Vector(random.nextDouble(),random.nextDouble(),random.nextDouble());
-        
-        Rotation3D rotation_2 = new Rotation3D();
-        rotation_2.setPassiveXYZ(random.nextDouble(),random.nextDouble(),random.nextDouble());
-        Hep3Vector translation_2 = new BasicHep3Vector(random.nextDouble(),random.nextDouble(),random.nextDouble());

+        IRotation3D rotation_1 = new RotationPassiveXYZ(random.nextDouble(),random.nextDouble(),random.nextDouble());
+        ITranslation3D translation_1 = new Translation3D(random.nextDouble(),random.nextDouble(),random.nextDouble());
+        
+        IRotation3D rotation_2 = new RotationPassiveXYZ(random.nextDouble(),random.nextDouble(),random.nextDouble());
+        ITranslation3D translation_2 = new Translation3D(random.nextDouble(),random.nextDouble(),random.nextDouble());

 
     	Transform3D transformation_1 = new Transform3D(translation_1,rotation_1);
     	Transform3D transformation_2 = new Transform3D(translation_2,rotation_2);

@@ -199,9 +196,8 @@

     	
         Random random = new Random();

-        Rotation3D rotation = new Rotation3D();
-        rotation.setPassiveXYZ(random.nextDouble(),random.nextDouble(),random.nextDouble());
-        Hep3Vector translation = new BasicHep3Vector(random.nextDouble(),random.nextDouble(),random.nextDouble());

+        IRotation3D rotation = new RotationPassiveXYZ(random.nextDouble(),random.nextDouble(),random.nextDouble());
+        ITranslation3D translation = new Translation3D(random.nextDouble(),random.nextDouble(),random.nextDouble());

     	Transform3D transformation = new Transform3D(translation,rotation);
         
         Hep3Vector point = new BasicHep3Vector(1.0,2.0,3.0);

@@ -228,9 +224,8 @@

     	
         Random random = new Random();

-        Rotation3D rotation = new Rotation3D();
-        rotation.setPassiveXYZ(random.nextDouble(),random.nextDouble(),random.nextDouble());
-        Hep3Vector translation = new BasicHep3Vector(random.nextDouble(),random.nextDouble(),random.nextDouble());

+        IRotation3D rotation = new RotationPassiveXYZ(random.nextDouble(),random.nextDouble(),random.nextDouble());
+        ITranslation3D translation = new Translation3D(random.nextDouble(),random.nextDouble(),random.nextDouble());

 
     	Transform3D transformation = new Transform3D(translation,rotation);  
         Hep3Vector point = new BasicHep3Vector(1.0,2.0,3.0);

GeomConverter/src/org/lcsim/detector

Rotation3D.java 1.10 -> 1.11

diff -u -r1.10 -r1.11
--- Rotation3D.java	2 May 2007 01:58:19 -0000	1.10
+++ Rotation3D.java	7 Aug 2007 18:11:40 -0000	1.11
@@ -4,455 +4,220 @@

 import hep.physics.vec.BasicHep3Vector;
 import hep.physics.vec.Hep3Matrix;
 import hep.physics.vec.Hep3Vector;

+import hep.physics.vec.VecOp;

 
 import java.io.PrintStream;
 
 /**
  * Implementation of the @see IRotation3D interface.

- *

+ *

  * @author Tim Nelson <[log in to unmask]>
  * @author Jeremy McCormick <[log in to unmask]>

- * @version $Id: Rotation3D.java,v 1.10 2007/05/02 01:58:19 jeremy Exp $

+ * @version $Id: Rotation3D.java,v 1.11 2007/08/07 18:11:40 tknelson Exp $

  */
 public class Rotation3D implements IRotation3D
 {

-	/**
-	 * The 3x3 rotation matrix representing the state of this Rotation3D.
-	 */
-	private BasicHep3Matrix matrix = BasicHep3Matrix.identity();
-	
-	/**
-	 * Cache an immutable copy of the identity matrix.
-	 */
-	private static final BasicHep3Matrix identityMatrix = BasicHep3Matrix.identity();
-	
-	/**
-	 * Construct a Rotation3D with the identity matrix.
-	 */
-	public Rotation3D()
-	{}
-	
-	/**
-	 * Construct a Rotation3D from a BasicHep3Matrix.
-	 * @param matrix
-	 */
-	public Rotation3D(BasicHep3Matrix matrix)
-	{
-		setRotationMatrix(matrix);
-	}
-
-	/**
-	 * Construct a Rotation3D from a Hep3Matrix interface.
-	 * @param matrix
-	 */
-	public Rotation3D(Hep3Matrix matrix)
-	{
-		setRotationMatrix((BasicHep3Matrix)matrix);
-	}
-	
-	/**
-	 * Construct a Rotation3D from the individual components.
-	 * @param xx
-	 * @param xy
-	 * @param xz
-	 * @param yx
-	 * @param yy
-	 * @param yz
-	 * @param zx
-	 * @param zy
-	 * @param zz
-	 */
-	public Rotation3D(double xx, double xy, double xz, double yx, double yy, double yz, double zx, double zy, double zz)	
-	{	
-		setComponents(xx,xy,xz,yx,yy,yz,zx,zy,zz);
-	}
-
-	/**
-	 * Set the rotation matrix from a Hep3Matrix.
-	 */
-	public void setRotationMatrix(Hep3Matrix matrix)
-	{
-		this.matrix = (BasicHep3Matrix)matrix;
-	}
-	
-	public void setRotationMatrix(double[] components)
-	{
-		if (components.length < 9)
-		{
-			throw new IllegalArgumentException("Cannot construct matrix from less than 9 components.");
-		}
-	}
-
-	public void setPassiveXYZ(double alpha, double beta, double gamma)
-	{
-		matrix = passiveXYZ(alpha,beta,gamma);
-	}
-
-	public void setPassiveEuler(double phi, double theta, double psi)
-	{
-		matrix.setPassiveEuler(phi,theta,psi); 
-	}
-
-	public void setActiveEuler(double phi, double theta, double psi)
-	{
-		matrix.setActiveEuler(phi,theta,psi);
-	}
-
-	public void invert()
-	{
-		matrix.transpose();
-	}
-
-	public IRotation3D inverse()
-	{
-		BasicHep3Matrix inversematrix = new BasicHep3Matrix(matrix);
-		inversematrix.transpose();
-		return new Rotation3D(inversematrix);
-	}
-
-	public double xx()
-	{
-		return matrix.e(XRow,XCol);
-	}
-
-	public double xy()
-	{
-		return matrix.e(XRow,YCol);
-	}
-
-	public double xz()
-	{
-		return matrix.e(XRow,ZCol);
-	}
-
-	public double yx()
-	{
-		return matrix.e(YRow,XCol);
-	}
-
-	public double yy()
-	{
-		return matrix.e(YRow,YCol);
-	}
-
-	public double yz()
-	{
-		return matrix.e(YRow,ZCol);
-	}
-
-	public double zx()
-	{
-		return matrix.e(ZRow,XCol);
-	}
-
-	public double zy()
-	{
-		return matrix.e(ZRow,YCol);
-	}
-
-	public double zz()
-	{
-		return matrix.e(ZRow,ZCol);
-	}
-
-	public void printOut(PrintStream ps)
-	{
-		ps.print("[");
-		ps.println();
-
-		BasicHep3Matrix m = getRotationMatrix();
-
-		for (int i=0; i<3; i++)
-		{
-			ps.printf("%.5f %.5f %.5f", m.e(i,0), m.e(i,1), m.e(i,2));
-			ps.println();
-		}    	    	    	    	    
-
-		ps.print("]");
-		ps.println('\n');
-	}
-	
-	public String toString()
-	{
-		StringBuffer buff = new StringBuffer();
-		buff.append("[");
-		buff.append('\n');
-		buff.append(xx() + " " + xy() + " " + xz() + '\n');
-		buff.append(yx() + " " + yy() + " " + yz() + '\n');
-		buff.append(zx() + " " + zy() + " " + zz() + '\n');
-		buff.append('\n');
-		buff.append("]");
-		return buff.toString();
-	}
-
-	// This setColumn is where the error handling should go.
-	public void setColumn(int col, double[] arr)
-	{
-		if (col < 0 || col > 2)
-		{
-			throw new IllegalArgumentException("col must be between 0 and 2 inclusive.");
-		}
-		if (arr.length<3)
-		{
-			throw new IllegalArgumentException("not enough values in array to fill column.");
-		}
-		for (int i=0; i<3; i++)
-		{
-			setComponent(i,col,arr[i]);
-		}
-	}
-
-	public void setColumn(int col, Hep3Vector vec)
-	{
-		setColumn(col,vec.v());
-	}
-
-	public void setRow(int row, double[] arr)
-	{
-		if (row < 0 || row > 2)
-		{
-			throw new IllegalArgumentException("row must be between 0 and 2 inclusive.");
-		}
-		if (arr.length<3)
-		{
-			throw new IllegalArgumentException("not enough values in array to fill row.");
-		}
-		for (int i=0; i<3; i++)
-		{
-			setComponent(row, i, arr[i]);
-		}
-	}    
-
-	public void setRow(int row, Hep3Vector vec)
-	{
-		setRow(row,vec.v());
-	}
-
-	public void setComponent(int row, int col, double v)
-	{
-		matrix.setElement(row,col,v);
-	}
-
-	public void setColumn(int col, double x, double y, double z) 
-	{
-		setColumn(col, new double[]{x,y,z});
-	}
-
-	public void setRow(int row, double a, double b, double c) 
-	{
-		setRow(row,new double[]{a,b,c});
-	}
-
-	public void setComponents(double xx, double xy, double xz, double yx, double yy, double yz, double zx, double zy, double zz) 
-	{
-		setRowX(xx,xy,xz);
-		setRowY(yx,yy,yz);
-		setRowZ(zx,zy,zz);
-	}		
-
-	public double[] getComponents()
-	{
-		double[] arr = new double[9];
-		int c=0;
-		for (int i=0; i<3; i++)
-		{
-			for (int j=0; j<3; j++)
-			{
-				arr[c]=matrix.e(i,j);
-				c++;
-			}
-		}
-		return arr;
-	}
-
-	public void setRowX(double xx, double xy, double xz)
-	{		
-		setComponent(XRow,XCol,xx);
-		setComponent(XRow,YCol,xy);
-		setComponent(XRow,ZCol,xz);
-	}
-
-	public void setRowY(double yx, double yy, double yz)
-	{
-		setComponent(YRow,XCol,yx);
-		setComponent(YRow,YCol,yy);
-		setComponent(YRow,ZCol,yz);
-	}
-
-	public void setRowZ(double zx, double zy, double zz)
-	{
-		setComponent(ZRow,XCol,zx);
-		setComponent(ZRow,YCol,zy);
-		setComponent(ZRow,ZCol,zz);
-	}
-
-	public void resetToIdentity()
-	{
-		matrix = BasicHep3Matrix.identity();
-	}
-
-	public double trace()
-	{
-		return matrix.trace();
-	}
-
-	public BasicHep3Matrix getRotationMatrix()
-	{
-		return this.matrix;
-	}
-
-	public void setRotationMatrix(BasicHep3Matrix matrix)
-	{
-		this.matrix = matrix;
-	} 
-
-	public double getComponent(int row, int col)
-	{
-		return matrix.e(row,col);
-	}
-
-	public double getComponent(int i)
-	{
-		switch (i)
-		{
-		case XX:
-			return xx();
-		case XY:
-			return xy();
-		case XZ:
-			return xz();
-		case YX:
-			return yx();
-		case YY:
-			return yy();
-		case YZ:
-			return yz();
-		case ZX:
-			return zx();
-		case ZY:
-			return zy();
-		case ZZ:
-			return zz();
-		default:
-			throw new IllegalArgumentException("Invalid matrix element : " + i );					
-		}
-	}
-	
-	public void multiplyBy(IRotation3D rotation)
-	{
-		this.setRotationMatrix(Rotation3D.mult(this.getRotationMatrix(), rotation.getRotationMatrix()));
-	}
-	
-	public static Rotation3D multiply(IRotation3D rot1, IRotation3D rot2)
-	{
-		return new Rotation3D(Rotation3D.mult(rot1.getRotationMatrix(), rot2.getRotationMatrix()));		
-	}
-
-	/**
-	 * Rewrite of hep.physics.vec.VecOp.mult by Tim Nelson.
-	 * 
-	 * TODO: Calls to this method should be replaced with the
-	 *       freehep method @see hep.physics.vec.VecOp#mult, 
-	 *       once this has been fixed!
-	 * 
-	 * @param m1 The left matrix.
-	 * @param m2 The right matrix.
-	 * @return The product of the two matrices.
-	 */
-	private static Hep3Matrix mult(Hep3Matrix m1, Hep3Matrix m2)
-	{
-		double e0 = m1.e(0,0) * m2.e(0,0) + m1.e(0,1) * m2.e(1,0) + m1.e(0,2) * m2.e(2,0);
-		double e1 = m1.e(0,0) * m2.e(0,1) + m1.e(0,1) * m2.e(1,1) + m1.e(0,2) * m2.e(2,1);
-		double e2 = m1.e(0,0) * m2.e(0,2) + m1.e(0,1) * m2.e(1,2) + m1.e(0,2) * m2.e(2,2);
-
-		double e3 = m1.e(1,0) * m2.e(0,0) + m1.e(1,1) * m2.e(1,0) + m1.e(1,2) * m2.e(2,0);
-		double e4 = m1.e(1,0) * m2.e(0,1) + m1.e(1,1) * m2.e(1,1) + m1.e(1,2) * m2.e(2,1);
-		double e5 = m1.e(1,0) * m2.e(0,2) + m1.e(1,1) * m2.e(1,2) + m1.e(1,2) * m2.e(2,2);
-
-		double e6 = m1.e(2,0) * m2.e(0,0) + m1.e(2,1) * m2.e(1,0) + m1.e(2,2) * m2.e(2,0);
-		double e7 = m1.e(2,0) * m2.e(0,1) + m1.e(2,1) * m2.e(1,1) + m1.e(2,2) * m2.e(2,1);
-		double e8 = m1.e(2,0) * m2.e(0,2) + m1.e(2,1) * m2.e(1,2) + m1.e(2,2) * m2.e(2,2);
-
-		return new BasicHep3Matrix(e0,e1,e2,e3,e4,e5,e6,e7,e8);
-	}
-	
-	public boolean equals(IRotation3D rotation)
-	{
-		boolean result=true;
-		for (int row=XRow; row<3; row++)
-		{
-			for (int col=YCol; col<3; col++)
-			{
-				if (this.getComponent(row,col) != rotation.getComponent(row,col))
-				{
-					result=false;
-					break;
-				}				
-			}			
-		}
-		return result;
-	}
-	
-	public boolean isIdentity()
-	{
-		return equals(identityMatrix);
-	}
-	
-	// Static Method
-	//===============
-	public static BasicHep3Matrix passiveEuler(double phi, double theta, double psi)
-	{
-		BasicHep3Matrix matrix = new BasicHep3Matrix();
-		matrix.setPassiveEuler(phi,theta,psi);
-		return matrix;
-	}
-
-	// Static Method
-	//===============
-	public static BasicHep3Matrix passiveXYZ(double alpha, double beta, double gamma)
-	{
-		return (BasicHep3Matrix)mult(passiveZRotation(gamma),mult(passiveYRotation(beta),passiveXRotation(alpha)));
-	}
-
-	// Static Method
-	//===============
-	public static BasicHep3Matrix passiveXRotation(double angle)
-	{
-		double sin = Math.sin(angle);
-		double cos = Math.cos(angle);
-		BasicHep3Matrix rotation = BasicHep3Matrix.identity();
-		rotation.setElement(1,1,cos);
-		rotation.setElement(1,2,sin);
-		rotation.setElement(2,1,-sin);
-		rotation.setElement(2,2,cos);
-		return rotation;
-	}
-
-	// Static Method
-	//===============
-	public static BasicHep3Matrix passiveYRotation(double angle)
-	{
-		double sin = Math.sin(angle);
-		double cos = Math.cos(angle);
-		BasicHep3Matrix rotation = BasicHep3Matrix.identity();
-		rotation.setElement(0,0,cos);
-		rotation.setElement(0,2,-sin);
-		rotation.setElement(2,0,sin);        
-		rotation.setElement(2,2,cos);
-		return rotation;
-	}
-
-	// Static Method
-	//===============
-	public static BasicHep3Matrix passiveZRotation(double angle)
-	{
-		double sin = Math.sin(angle);
-		double cos = Math.cos(angle);
-		BasicHep3Matrix rotation = BasicHep3Matrix.identity();
-		rotation.setElement(0,0,cos);
-		rotation.setElement(0,1,sin);
-		rotation.setElement(1,0,-sin);
-		rotation.setElement(1,1,cos);
-		return rotation;
-	}

+    /**
+     * The 3x3 rotation _matrix representing the state of this Rotation3D.
+     */
+    protected Hep3Matrix _matrix = BasicHep3Matrix.identity();
+   
+    /**
+     * Construct a Rotation3D with the identity _matrix.
+     */
+    public Rotation3D()
+    {}
+    
+    /**
+     * Construct a Rotation3D from a Hep3Matrix interface.
+     *
+     * @param _matrix
+     */
+    public Rotation3D(Hep3Matrix matrix)
+    {
+        setRotationMatrix(matrix);
+    }
+    
+    /**
+     * Construct a copy from a Rotation3D.
+     *
+     * @param _matrix
+     */
+    public Rotation3D(IRotation3D rotation)
+    {
+        setRotationMatrix(rotation.getRotationMatrix());
+    }
+    
+    /**
+     * Set the rotation _matrix from a Hep3Matrix.
+     */
+    public void setRotationMatrix(Hep3Matrix matrix)
+    {
+        this._matrix = (BasicHep3Matrix)matrix;
+    }
+    
+    public void invert()
+    {
+        ((BasicHep3Matrix)_matrix).transpose();
+    }
+    
+    public IRotation3D inverse()
+    {
+        BasicHep3Matrix inversematrix = new BasicHep3Matrix(_matrix);
+        inversematrix.transpose();
+        return new Rotation3D(inversematrix);
+    }
+    
+    public void printOut(PrintStream ps)
+    {
+        ps.print("[");
+        ps.println();
+        
+        BasicHep3Matrix m = (BasicHep3Matrix)getRotationMatrix();
+        
+        for (int i=0; i<3; i++)
+        {
+            ps.printf("%.5f %.5f %.5f", m.e(i,0), m.e(i,1), m.e(i,2));
+            ps.println();
+        }
+        
+        ps.print("]");
+        ps.println('\n');
+    }
+    
+    public String toString()
+    {
+        StringBuffer buff = new StringBuffer();
+        buff.append("[");
+        buff.append('\n');
+        buff.append(_matrix.e(0,0) + " " + _matrix.e(0,1) + " " + _matrix.e(0,2) + '\n');
+        buff.append(_matrix.e(1,0) + " " + _matrix.e(1,1) + " " + _matrix.e(1,2) + '\n');
+        buff.append(_matrix.e(2,0) + " " + _matrix.e(2,1) + " " + _matrix.e(2,2) + '\n');
+        buff.append('\n');
+        buff.append("]");
+        return buff.toString();
+    }
+    
+    public void resetToIdentity()
+    {
+        _matrix = BasicHep3Matrix.identity();
+    }
+    
+    public Hep3Matrix getRotationMatrix()
+    {
+        return this._matrix;
+    }
+    
+    public double getComponent(int row, int col)
+    {
+        return _matrix.e(row,col);
+    }
+    
+    public void multiplyBy(IRotation3D rotation)
+    {
+        this.setRotationMatrix(VecOp.mult(this.getRotationMatrix(), rotation.getRotationMatrix()));
+    }
+    
+    public void rotate(Hep3Vector coordinates)
+    {
+        Hep3Vector new_coordinates = VecOp.mult(_matrix,coordinates);
+        ((BasicHep3Vector)coordinates).setV(new_coordinates.x(),new_coordinates.y(),new_coordinates.z());
+    }
+    
+    public Hep3Vector rotated(Hep3Vector coordinates)
+    {
+        return VecOp.mult(_matrix,coordinates);
+    }
+    
+    public static Rotation3D multiply(IRotation3D rot1, IRotation3D rot2)
+    {
+        return new Rotation3D(VecOp.mult(rot1.getRotationMatrix(), rot2.getRotationMatrix()));
+    }
+    
+    public boolean equals(IRotation3D rotation)
+    {
+        boolean result=true;
+        for (int row=XRow; row<3; row++)
+        {
+            for (int col=YCol; col<3; col++)
+            {
+                if (this.getComponent(row,col) != rotation.getComponent(row,col))
+                {
+                    result=false;
+                    break;
+                }
+            }
+        }
+        return result;
+    }
+    
+    public boolean isIdentity()
+    {
+        return equals(BasicHep3Matrix.identity());
+    }
+
+    // Static Methods
+    //===============
+    public static IRotation3D passiveXRotation(double angle)
+    {
+        double sin = Math.sin(angle);
+        double cos = Math.cos(angle);
+        BasicHep3Matrix rotation_matrix = BasicHep3Matrix.identity();
+        rotation_matrix.setElement(1,1,cos);
+        rotation_matrix.setElement(1,2,sin);
+        rotation_matrix.setElement(2,1,-sin);
+        rotation_matrix.setElement(2,2,cos);
+        return new Rotation3D(rotation_matrix);
+    }
+    
+    public static IRotation3D passiveYRotation(double angle)
+    {
+        double sin = Math.sin(angle);
+        double cos = Math.cos(angle);
+        BasicHep3Matrix rotation_matrix = BasicHep3Matrix.identity();
+        rotation_matrix.setElement(0,0,cos);
+        rotation_matrix.setElement(0,2,-sin);
+        rotation_matrix.setElement(2,0,sin);
+        rotation_matrix.setElement(2,2,cos);
+        return new Rotation3D(rotation_matrix);
+    }
+    
+    public static IRotation3D passiveZRotation(double angle)
+    {
+        double sin = Math.sin(angle);
+        double cos = Math.cos(angle);
+        BasicHep3Matrix rotation_matrix = BasicHep3Matrix.identity();
+        rotation_matrix.setElement(0,0,cos);
+        rotation_matrix.setElement(0,1,sin);
+        rotation_matrix.setElement(1,0,-sin);
+        rotation_matrix.setElement(1,1,cos);
+        return new Rotation3D(rotation_matrix);
+    }
+    
+    public static IRotation3D passiveAxisRotation(double angle, Hep3Vector axis)
+    {
+        if (axis.magnitude() == 0.0)
+        {
+            // FIXME: throw exception
+        }
+        
+        Hep3Vector unit_axis = VecOp.unit(axis);
+        double dx = unit_axis.x();
+        double dy = unit_axis.y();
+        double dz = unit_axis.z();
+
+        double sa = Math.sin(angle);
+        double ca = Math.cos(angle);
+
+        BasicHep3Matrix rotation_matrix = new BasicHep3Matrix
+                (
+                ca+(1-ca)*dx*dx,        (1-ca)*dx*dy-sa*dz,     (1-ca)*dx*dz+sa*dy,
+                (1-ca)*dy*dx+sa*dz,     ca+(1-ca)*dy*dy,        (1-ca)*dy*dz-sa*dx,
+                (1-ca)*dz*dx-sa*dy,     (1-ca)*dz*dy+sa*dx,     ca+(1-ca)*dz*dz 
+                );
+
+        return new Rotation3D(rotation_matrix);
+        
+    }
+

\ No newline at end of file

Commit in `GeomConverter` on MAIN
`test/org/lcsim/detector/ShapeRotateTest.java`	+4	-6	1.6 -> 1.7
`/Rotation3DTest.java`	+6	-9	1.5 -> 1.6
`/Transform3DTest.java`	+29	-34	1.1 -> 1.2
`/SimpleDetectorTest.java`	+2	-2	1.15 -> 1.16
`src/org/lcsim/detector/converter/compact/CylindricalEndcapCalorimeterConverter.java`	+8	-9	1.8 -> 1.9
`/SiTrackerBarrelConverter.java`	+16	-14	1.20 -> 1.21
`/DiskTrackerConverter.java`	+7	-8	1.10 -> 1.11
`test/org/lcsim/detector/solids/TrdTest.java`	+10	-7	1.2 -> 1.3
`src/org/lcsim/detector/ITranslation3D.java`	+33		added 1.1
`/RotationGeant.java`	+48		added 1.1
`/RotationPassiveXYZ.java`	+35		added 1.1
`/Translation3D.java`	+68		added 1.1
`/RotationPassiveEuler.java`	+35		added 1.1
`/PhysicalVolume.java`	+1	-1	1.8 -> 1.9
`/IRotation3D.java`	+51	-107	1.8 -> 1.9
`/Transform3D.java`	+35	-36	1.4 -> 1.5
`/Rotation3D.java`	+206	-441	1.10 -> 1.11
`/ITransform3D.java`	+64	-6	1.1 -> 1.2
Commit in `lcsim/src/org/lcsim/contrib/SiStripSim` on MAIN
`CDFSiSensorSim.java`	+3	-3	1.4 -> 1.5
Commit in `GeomConverter` on MAIN
`src/org/lcsim/detector/tracker/silicon/SiSensor.java`	+1	-2	1.11 -> 1.12
	+662	-685