--- projects/lcsim/trunk/detector-framework/src/main/java/org/lcsim/geometry/compact/converter/lcdd/HPSTestRunTracker2014.java	2014-05-08 23:45:20 UTC (rev 3120)
+++ projects/lcsim/trunk/detector-framework/src/main/java/org/lcsim/geometry/compact/converter/lcdd/HPSTestRunTracker2014.java	2014-05-09 23:01:45 UTC (rev 3121)
@@ -1,18 +1,19 @@

 package org.lcsim.geometry.compact.converter.lcdd;
 

+import static java.lang.Math.PI;

 import hep.physics.vec.BasicHep3Matrix;
 import hep.physics.vec.BasicHep3Vector;
 import hep.physics.vec.Hep3Matrix;
 import hep.physics.vec.Hep3Vector;
 import hep.physics.vec.VecOp;
 

-

 import java.util.ArrayList;
 import java.util.HashMap;
 import java.util.Iterator;
 import java.util.List;
 import java.util.Map;
 

+import org.apache.commons.math3.geometry.euclidean.threed.Vector3D;

 import org.jdom.Element;
 import org.jdom.JDOMException;
 import org.lcsim.detector.ITransform3D;

@@ -185,19 +186,38 @@

 		VolWrapper trackingWrap = new VolWrapper();
 		trackingWrap.name = "trackingVolume";
 		trackingWrap.vol = trackingVolume;

-	

+		CoordSysDef coord_tracking = new CoordSysDef(new BasicHep3Vector(0,0,0),new BasicHep3Vector(1,0,0),new BasicHep3Vector(0,1,0),new BasicHep3Vector(0,0,1));
+		trackingWrap.coord = coord_tracking;
+		trackingWrap.center = new BasicHep3Vector(0,0,0);
+		
+		
+		if(_debug) {
+			print(String.format("coord_tracking:\n%s", coord_tracking.toString()));
+		}
+		
+		

 		// Surveyed position of the base plate in the JLab/tracking volume

-		// Use edges of plate instead of real survey balls
-		Hep3Vector ball_pos_base_plate = new BasicHep3Vector(-1*this.base_plate_width/2.0, -1.0*this.base_height/2.0+this.base_plate_thickness,this.base_length/2.0);
-		Hep3Vector vee_pos_base_plate = new BasicHep3Vector(ball_pos_base_plate.x()+this.base_plate_width,ball_pos_base_plate.y(),ball_pos_base_plate.z());
-		Hep3Vector flat_pos_base_plate = new BasicHep3Vector(ball_pos_base_plate.x(),ball_pos_base_plate.y(),ball_pos_base_plate.z()-this.base_plate_length);

+		// Use edges of plate instead of real survey balls for now
+		// Defined so that the local coordinate system of the base plate is oriented as
+		// width - u - global x
+		// length - v - global -z
+		// thickness - w - global y	

+		Hep3Vector ball_pos_base_plate = new BasicHep3Vector(0,0,0);
+		Hep3Vector vee_pos_base_plate = new BasicHep3Vector(base_plate_width,ball_pos_base_plate.y(),ball_pos_base_plate.z());
+		Hep3Vector flat_pos_base_plate = new BasicHep3Vector(ball_pos_base_plate.x(), ball_pos_base_plate.y(), ball_pos_base_plate.z() - base_plate_length);
+
+		//		Hep3Vector ball_pos_base_plate = new BasicHep3Vector(-1*this.base_plate_width/2.0, -1.0*this.base_height/2.0+this.base_plate_thickness,this.base_length/2.0);
+//		Hep3Vector vee_pos_base_plate = new BasicHep3Vector(ball_pos_base_plate.x()+this.base_plate_width,ball_pos_base_plate.y(),ball_pos_base_plate.z());
+//		Hep3Vector flat_pos_base_plate = new BasicHep3Vector(ball_pos_base_plate.x(),ball_pos_base_plate.y(),ball_pos_base_plate.z()-this.base_plate_length);

+		makeExample(lcdd,sens);
+		

 		makeBase(trackingWrap, ball_pos_base_plate, vee_pos_base_plate, flat_pos_base_plate, lcdd, sens );
 				
 		
 		

-		org.apache.commons.math3.geometry.euclidean.threed.Rotation dummyrot = new org.apache.commons.math3.geometry.euclidean.threed.Rotation(3.0,1.0,1.0,1.0,true);

+		

@@ -208,6 +228,126 @@

+	
+	
+	private void makeExample(LCDD lcdd, SensitiveDetector sens) throws JDOMException {
+	
+	
+	if(_debug) {
+		print("--- makeExample ----");
+		
+	}
+
+	
+	
+	String volName = "example";
+	Box box = new Box(volName + "Box", base_width, base_length , base_height/4.0);
+	lcdd.add(box);
+	Volume baseVolume = new Volume(volName + "_volume", box, lcdd.getMaterial("Vacuum"));
+	
+	
+	
+	 org.apache.commons.math3.geometry.euclidean.threed.Vector3D axisX = new org.apache.commons.math3.geometry.euclidean.threed.Vector3D(1., 0., 0.);
+     org.apache.commons.math3.geometry.euclidean.threed.Vector3D axisY = new org.apache.commons.math3.geometry.euclidean.threed.Vector3D(0., 1., 0.);
+     org.apache.commons.math3.geometry.euclidean.threed.Vector3D axisZ = new org.apache.commons.math3.geometry.euclidean.threed.Vector3D(0., 0., 1.);
+
+     double alpha1 = PI / 4.;
+     double alpha2 = PI / 4.;
+     double alpha3 = -PI / 4.;
+
+     //set up a rotation by alpha1 about the X axis
+     org.apache.commons.math3.geometry.euclidean.threed.Rotation r1 = new org.apache.commons.math3.geometry.euclidean.threed.Rotation(axisX, alpha1);
+
+     // find y' and z'
+     org.apache.commons.math3.geometry.euclidean.threed.Vector3D axisYPrime = r1.applyTo(axisY);
+     //org.apache.commons.math3.geometry.euclidean.threed.Vector3D axisZPrime = r1.applyTo(axisZ);
+
+     if(_debug) System.out.println("axisYPrime: " + axisYPrime);
+     //if(_debug) System.out.println("axisZPrime: " + axisZPrime);
+
+     //set up a rotation by alpha2 about the Y' axis
+     org.apache.commons.math3.geometry.euclidean.threed.Rotation r2 = new org.apache.commons.math3.geometry.euclidean.threed.Rotation(axisYPrime, alpha2);
+
+     //find z''
+     //org.apache.commons.math3.geometry.euclidean.threed.Vector3D axisZPrimePrime = r2.applyTo(axisZPrime);
+     //if(_debug) System.out.println("axisZPrimePrime: " + axisZPrimePrime);
+
+     
+     
+     //set up a rotation by alpha3 about the Z'' axis
+     //org.apache.commons.math3.geometry.euclidean.threed.Rotation r3 = new org.apache.commons.math3.geometry.euclidean.threed.Rotation(axisZPrimePrime, alpha3);
+     
+     if(_debug) System.out.println("r1 (XYZ): " + r1.toString());
+     
+     org.apache.commons.math3.geometry.euclidean.threed.Rotation r12 = r2.applyTo(r1);
+     
+     //find z''
+     org.apache.commons.math3.geometry.euclidean.threed.Vector3D axisZPrimePrime = r12.applyTo(axisZ);
+     if(_debug) System.out.println("axisZPrimePrime: " + axisZPrimePrime);
+     org.apache.commons.math3.geometry.euclidean.threed.Rotation r3 = new org.apache.commons.math3.geometry.euclidean.threed.Rotation(axisZPrimePrime, alpha3);
+     
+     
+     org.apache.commons.math3.geometry.euclidean.threed.Rotation r123 = r3.applyTo(r12);
+     
+     //double [] rotations = r12.getAngles(org.apache.commons.math3.geometry.euclidean.threed.RotationOrder.XYZ);
+     double [] rotations = r123.getAngles(org.apache.commons.math3.geometry.euclidean.threed.RotationOrder.XYZ);
+     
+     Position pos = new Position(volName + "_position",0,0,0);
+     Rotation rot = new Rotation(volName + "_rotation",rotations[0],rotations[1],rotations[2]);
+     lcdd.add(pos);
+     lcdd.add(rot);
+	
+	
+     PhysVol basePV = new PhysVol(baseVolume, lcdd.pickMotherVolume(this), pos, rot);
+
+	
+     lcdd.add(baseVolume);
+	
+	
+	
+	/*
+	
+	// Find distance to center in the local coordinate system 
+	Hep3Vector box_center_base_local = new BasicHep3Vector(base_width/2.0, base_length/2.0, base_height/2.0);
+	
+	Position pos = new Position(volName + "_position",0,0,0);
+	
+	
+	//org.apache.commons.math3.geometry.euclidean.threed.Vector3D u_3D = new org.apache.commons.math3.geometry.euclidean.threed.Vector3D(u.v());
+	//org.apache.commons.math3.geometry.euclidean.threed.Vector3D v_3D = new org.apache.commons.math3.geometry.euclidean.threed.Vector3D(v.v());
+	//org.apache.commons.math3.geometry.euclidean.threed.Vector3D u_prime_3D = new org.apache.commons.math3.geometry.euclidean.threed.Vector3D(u_prime.v());
+	//org.apache.commons.math3.geometry.euclidean.threed.Vector3D v_prime_3D = new org.apache.commons.math3.geometry.euclidean.threed.Vector3D(v_prime.v());
+	//org.apache.commons.math3.geometry.euclidean.threed.Vector3D u_3D = new org.apache.commons.math3.geometry.euclidean.threed.Vector3D(1,0,0);
+	//org.apache.commons.math3.geometry.euclidean.threed.Rotation rot = new org.apache.commons.math3.geometry.euclidean.threed.Rotation(u_3D,v_3D,u_prime_3D,v_prime_3D);
+	//double res[] = rot.getAngles(org.apache.commons.math3.geometry.euclidean.threed.RotationOrder.XYZ);
+	
+	//org.apache.commons.math3.geometry.euclidean.threed.Rotation rot_cardan = new org.apache.commons.math3.geometry.euclidean.threed.Rotation(org.apache.commons.math3.geometry.euclidean.threed.RotationOrder.XYZ,Math.PI/4.0,0,0);
+	
+	
+	//Find LCDD Euler rotation angles from coordinate system unit vectors
+	Hep3Vector lcdd_rot_angles = new BasicHep3Vector(0,0,0); 
+	getEulerAngles(new BasicHep3Vector(1,0,0),new BasicHep3Vector(0,1,0), new BasicHep3Vector(1,0,0),new BasicHep3Vector(0,1,0));
+	//Hep3Vector lcdd_rot_angles = getEulerAngles(new BasicHep3Vector(1,0,0),new BasicHep3Vector(0,1,0), new BasicHep3Vector(1,0,0),new BasicHep3Vector(0,1,0));
+	//Rotation rot = new Rotation(volName + "_rotation",lcdd_rot_angles.x(), lcdd_rot_angles.y(), lcdd_rot_angles.z());
+	//Rotation rot = new Rotation(volName + "_rotation",0,Math.PI/4.0,Math.PI/2.0);
+	Rotation rot = new Rotation(volName + "_rotation",0,0,0);
+	lcdd.add(pos);
+	lcdd.add(rot);
+	
+	// Create the physical volume
+	PhysVol basePV = new PhysVol(baseVolume, lcdd.pickMotherVolume(this), pos, rot);
+
+	
+	lcdd.add(baseVolume);
+	
+	*/
+	
+	}
+	
+	
+	
+	
+	

 	private void makeBase(VolWrapper trackingWrap,
 				Hep3Vector ball_pos_base_plate, Hep3Vector vee_pos_base_plate, Hep3Vector flat_pos_base_plate, 
 				LCDD lcdd, SensitiveDetector sens) throws JDOMException {

@@ -217,57 +357,88 @@

 			print("--- makeBase ----");
 			
 		}

+

+		// create the coordinate system of the SVT tracking box called "base" in the tracking volume
+		// since this is a dummy volume it is based on the position of the base plate coordinate system
+		// width - u
+		// length - v
+		// thickness - w
+		Hep3Vector ball_pos_base = ball_pos_base_plate;
+		Hep3Vector vee_pos_base = vee_pos_base_plate; 
+		Hep3Vector flat_pos_base = flat_pos_base_plate;		
+		CoordSysDef base_coord = new CoordSysDef(ball_pos_base_plate, vee_pos_base_plate, flat_pos_base_plate);		
+		Transform3D trans_base_to_tracking = getTransformation(base_coord);
+		

 		String volName = "base";

-		Box box = new Box(volName + "Box", this.base_width, this.base_height , this.base_length);

+		Box box = new Box(volName + "Box", base_width, base_length , base_height);

 		lcdd.add(box);
 		Volume baseVolume = new Volume(volName + "_volume", box, lcdd.getMaterial("Vacuum"));
 

-		
-		// create the coordinate system of the base plate
-		CoordSysDef base_plate_coord = new CoordSysDef(ball_pos_base_plate, vee_pos_base_plate, flat_pos_base_plate);		
-		Transform3D trans_base_plate_to_tracking = getTransformation(base_plate_coord);
-		
-		
-

 		if(_debug) {

-			print(String.format("ball_pos_base_plate %s", ball_pos_base_plate.toString()));
-			print(String.format("vee_pos_base_plate %s", vee_pos_base_plate.toString()));
-			print(String.format("flat_pos_base_plate %s", flat_pos_base_plate.toString()));
-			print(String.format("base_plate_coord:\n%s", base_plate_coord.toString()));

+			print(String.format("ball_pos_base %s", ball_pos_base.toString()));
+			print(String.format("vee_pos_base %s", vee_pos_base.toString()));
+			print(String.format("flat_pos_base %s", flat_pos_base.toString()));
+			print(String.format("base_coord:\n%s", base_coord.toString()));

 		}

+

+		// Find distance to center in the local coordinate system 
+		Hep3Vector box_center_base_local = new BasicHep3Vector(base_width/2.0, base_length/2.0, base_height/2.0 - base_plate_thickness);

-		
-		// Find distance to center in the local coordinate system 
-		Hep3Vector box_center_base_local = new BasicHep3Vector(base_width/2.0, base_length/2.0, base_height/2.0 - this.base_plate_thickness);
-		Hep3Vector box_center_base = trans_base_plate_to_tracking.transformed(box_center_base_local);

+		//translate to the mother coordinate system
+		Hep3Vector box_center_base = trans_base_to_tracking.transformed(box_center_base_local);

 				
 		print(String.format("box_center_base_local  %s", box_center_base_local.toString()));
 		print(String.format("box_center_base        %s", box_center_base.toString()));
 

-

+		// Create the LCDD position

 		Position pos = new Position(volName + "_position",box_center_base.x(), box_center_base.y(), box_center_base.z());

-		//Find LCDD rotation angles from coordinate system unit vectors
-		Hep3Vector lcdd_rot_angles = new BasicHep3Vector(0,0,0); //getLCDDRotation(support_plate_coord);

+		
+		//Find LCDD Euler rotation angles from coordinate system unit vectors
+		Hep3Vector lcdd_rot_angles = getEulerAngles(base_coord.v, base_coord.w, new BasicHep3Vector(0,1,0),new BasicHep3Vector(0,0,1));

 		Rotation rot = new Rotation(volName + "_rotation",lcdd_rot_angles.x(), lcdd_rot_angles.y(), lcdd_rot_angles.z());
 		lcdd.add(pos);
 		lcdd.add(rot);
 		

+		// Create the physical volume

 		PhysVol basePV = new PhysVol(baseVolume, trackingWrap.vol, pos, rot);

-		

+
+		// Crate the wrapper for this volume

 		VolWrapper baseWrap = new VolWrapper();
 		baseWrap.vol = baseVolume;
 		baseWrap.name = volName;
 		baseWrap.pos_vol = pos;
 		baseWrap.rot_vol = rot;

-		baseWrap.coord = base_plate_coord;

+		baseWrap.coord = base_coord;
+		baseWrap.mother = trackingWrap;
+		baseWrap.center = box_center_base_local;

-		

 		// create the base plate inside the support box 

-		makeBasePlate(baseWrap, ball_pos_base_plate, vee_pos_base_plate, flat_pos_base_plate, lcdd, sens );

+
+		// need to create new local survey points since it's w.r.t. to the base volume

+		if(_debug) {
+			print(String.format("ball_pos_base_plate %s", ball_pos_base_plate.toString()));
+			print(String.format("vee_pos_base_plate %s", vee_pos_base_plate.toString()));
+			print(String.format("flat_pos_base_plate %s", flat_pos_base_plate.toString()));
+		}
+		
+		Hep3Vector ball_pos_base_plate_2 = new BasicHep3Vector(0,0,0);
+		Hep3Vector vee_pos_base_plate_2 = new BasicHep3Vector(base_plate_width,ball_pos_base_plate_2.y(),ball_pos_base_plate_2.z());
+		Hep3Vector flat_pos_base_plate_2 = new BasicHep3Vector(ball_pos_base_plate_2.x(),base_plate_length,ball_pos_base_plate_2.z());
+		
+		if(_debug) {
+			print(String.format("ball_pos_base_plate_2 %s", ball_pos_base_plate_2.toString()));
+			print(String.format("vee_pos_base_plate_2 %s", vee_pos_base_plate_2.toString()));
+			print(String.format("flat_pos_base_plate_2 %s", flat_pos_base_plate_2.toString()));
+		}
+		
+		
+		
+		makeBasePlate(baseWrap, ball_pos_base_plate_2, vee_pos_base_plate_2, flat_pos_base_plate_2, lcdd, sens );
+		

 	
 		if(_debug) {
 			print("Make c-support positions on base plate for bottom");

@@ -306,7 +477,7 @@

 			print(String.format("flat_pos_csup %s", flat_pos_csup.toString()));
 		}
 		

-		makeSupport("bottom", baseWrap, ball_pos_csup, vee_pos_csup, flat_pos_csup, lcdd, sens );

+		//makeSupport("bottom", baseWrap, ball_pos_csup, vee_pos_csup, flat_pos_csup, lcdd, sens );

 				
 		
 		//baseVolume.setVisAttributes(lcdd.getVisAttributes("BasePlateVis"));

@@ -356,6 +527,109 @@

+	
+	private void makeBasePlate(VolWrapper baseWrap,
+			Hep3Vector ball_pos_base_plate,
+			Hep3Vector vee_pos_base_plate,
+			Hep3Vector flat_pos_base_plate, LCDD lcdd, SensitiveDetector sens) throws JDOMException {
+
+		if(_debug) {
+			print("--- makeBasePlate----");
+		}
+
+		
+		
+		
+		
+
+		// create the coordinate system 
+		// width - u
+		// length - v
+		// thickness - w
+		// create the coordinate system
+		CoordSysDef base_plate_coord = new CoordSysDef(ball_pos_base_plate, vee_pos_base_plate, flat_pos_base_plate);
+		Transform3D trans_base_plate_to_base = getTransformation(base_plate_coord);
+
+		String volName = "baseplate";
+		Box box = new Box(volName + "Box", base_plate_width,base_plate_length, base_plate_thickness);
+		lcdd.add(box);
+		Volume basePlateVolume = new Volume(volName + "_volume", box, lcdd.getMaterial("Aluminum"));
+		
+
+		if(_debug) {
+			print(String.format("ball_pos_base_plate %s", ball_pos_base_plate.toString()));
+			print(String.format("vee_pos_base_plate %s", vee_pos_base_plate.toString()));
+			print(String.format("flat_pos_base_plate %s", flat_pos_base_plate.toString()));
+			print(String.format("base_plate_coord:\n%s", base_plate_coord.toString()));
+		}
+
+
+		
+		// Find distance to center in the local coordinate system 
+		Hep3Vector box_center_base_plate_local = new BasicHep3Vector(base_plate_width/2.0, base_plate_length/2.0, -base_plate_thickness/2.0);
+
+		//translate to the mother coordinate system
+		Hep3Vector box_center_base_plate = trans_base_plate_to_base.transformed(box_center_base_plate_local);
+
+		// find the displacement from the rotation around an arbitrary point in local coordinates
+		//Hep3Vector box_center_module_coord_rot = getRotationDisplacement(ball_pos_halfmod, box_center_module_coord, lcdd_rot_angles);
+
+		// find the position of the center in the mother coord
+		Hep3Vector box_center = VecOp.sub(box_center_base_plate, baseWrap.center);
+		
+		//Hep3Vector box_center_sub = VecOp.sub(box_center_module_coord_rot, moduleWrap.center);
+		//Hep3Vector box_center = transModuleToSupportCoord.rotated(box_center_sub);
+
+		// fix the rotation
+		//Hep3Vector lcdd_rot_angles_support = transModuleToSupportCoord.rotated(lcdd_rot_angles);
+
+
+		
+		print(String.format("box_center_base_plate_local  %s", box_center_base_plate_local.toString()));
+		print(String.format("box_center_base_plate        %s", box_center_base_plate.toString()));
+		print(String.format("baseWrap.center              %s", baseWrap.center.toString()));
+		print(String.format("box_center                   %s", box_center.toString()));
+		
+		// Create the LCDD position
+		Position pos = new Position(volName + "_position",box_center.x(), box_center.y(), box_center.z());
+		//Position pos = new Position(volName + "_position",box_center_base_plate.x(), box_center_base_plate.y(), box_center_base_plate.z());
+		//Position pos = new Position(volName + "_position",0,0,0);
+		
+		//Find LCDD Euler rotation angles from coordinate system unit vectors
+		Hep3Vector lcdd_rot_angles = getEulerAngles(new BasicHep3Vector(1,0,0),new BasicHep3Vector(0,1,0), base_plate_coord.u, base_plate_coord.v);
+		//Hep3Vector lcdd_rot_angles = new BasicHep3Vector(0,0,0); 
+		Rotation rot = new Rotation(volName + "_rotation",lcdd_rot_angles.x(), lcdd_rot_angles.y(), lcdd_rot_angles.z());
+		lcdd.add(pos);
+		lcdd.add(rot);
+
+		// Create the physical volume
+		PhysVol basePlatePV = new PhysVol(basePlateVolume, baseWrap.vol, pos, rot);
+		
+		// Crate the wrapper for this volume
+		VolWrapper basePlateWrap = new VolWrapper();
+		basePlateWrap.mother = baseWrap;
+		basePlateWrap.vol = basePlateVolume;
+		basePlateWrap.name = volName;
+		basePlateWrap.coord = base_plate_coord;
+		basePlateWrap.pos_vol = pos;
+		basePlateWrap.rot_vol = rot;		
+		baseWrap.daughters.add(basePlateWrap);
+		
+		
+		
+		// add volume to lcdd		
+		basePlateVolume.setVisAttributes(lcdd.getVisAttributes("BasePlateVis"));
+		lcdd.add(basePlateVolume);
+		
+		
+		
+		
+	}
+
+	
+	
+	
+	

 	private void makeSupport(String name, VolWrapper baseWrap, 
 							Hep3Vector ball_pos_csup, Hep3Vector vee_pos_csup, Hep3Vector flat_pos_csup,
 							LCDD lcdd, SensitiveDetector sens) throws JDOMException {

@@ -703,74 +977,8 @@

-	private void makeBasePlate(VolWrapper baseWrap,
-			Hep3Vector ball_pos_base_plate,
-			Hep3Vector vee_pos_base_plate,
-			Hep3Vector flat_pos_base_plate, LCDD lcdd, SensitiveDetector sens) throws JDOMException {
-
-		if(_debug) {
-			print("--- makeBasePlate----");
-		}
-		// create the coordinate system
-		CoordSysDef base_plate_coord = new CoordSysDef(ball_pos_base_plate, vee_pos_base_plate, flat_pos_base_plate);
-		Transform3D trans_base_plate_to_base = getTransformation(base_plate_coord);
-
-		
-		if(_debug) {
-			print(String.format("ball_pos_base_plate %s", ball_pos_base_plate.toString()));
-			print(String.format("vee_pos_base_plate %s", vee_pos_base_plate.toString()));
-			print(String.format("flat_pos_base_plate %s", flat_pos_base_plate.toString()));
-			print(String.format("base_plate_coord:\n%s", base_plate_coord.toString()));
-		}
-		
-		
-		Hep3Vector box_dim_local = new BasicHep3Vector(base_plate_width,base_plate_length,this.base_plate_thickness);
-		Hep3Vector box_dim = trans_base_plate_to_base.rotated(box_dim_local);
-		
-		if(_debug) {
-			print(String.format("box_dim_local %s", box_dim_local.toString()));
-			print(String.format("box_dim %s", box_dim.toString()));
-		}
-		
-		String volName = "baseplate";
-		Box box = new Box(volName + "Box", box_dim.x(), box_dim.y(), box_dim.z());
-		lcdd.add(box);
-		Volume basePlateVolume = new Volume(volName + "_volume", box, lcdd.getMaterial("Aluminum"));
-		
-		
-		// Find distance to center in the local coordinate system 
-		Hep3Vector box_center_base_plate_local = new BasicHep3Vector(base_plate_width/2.0, base_plate_length/2.0, -1.0 * base_plate_thickness/2.0);
-		Hep3Vector box_center_base_plate = trans_base_plate_to_base.transformed(box_center_base_plate_local);
-		
-		print(String.format("box_center_base_plate_local  %s", box_center_base_plate_local.toString()));
-		print(String.format("box_center_base_plate        %s", box_center_base_plate.toString()));
-		
-		
-		Position pos = new Position(volName + "_position",box_center_base_plate.x(), box_center_base_plate.y(), box_center_base_plate.z());
-		Hep3Vector lcdd_rot_angles = new BasicHep3Vector(0,0,0); //getLCDDRotation(support_plate_coord);
-		Rotation rot = new Rotation(volName + "_rotation",lcdd_rot_angles.x(), lcdd_rot_angles.y(), lcdd_rot_angles.z());
-		lcdd.add(pos);
-		lcdd.add(rot);
-		PhysVol basePlatePV = new PhysVol(basePlateVolume, baseWrap.vol, pos, rot);
-		// add volume to lcdd
-		
-		basePlateVolume.setVisAttributes(lcdd.getVisAttributes("BasePlateVis"));
-		
-		lcdd.add(basePlateVolume);
-		
-		VolWrapper basePlateWrap = new VolWrapper();
-		basePlateWrap.mother = baseWrap;
-		basePlateWrap.vol = basePlateVolume;
-		basePlateWrap.name = volName;
-		basePlateWrap.pos_vol = pos;
-		basePlateWrap.rot_vol = rot;		
-		baseWrap.daughters.add(basePlateWrap);
-		
-		
-		
-	}
-

+	

 
 	private void makeModule(String name, VolWrapper supportWrap, Hep3Vector ball_pos_mod, Hep3Vector vee_pos_mod, Hep3Vector flat_pos_mod, LCDD lcdd, SensitiveDetector sens) throws JDOMException 
     {

@@ -1770,7 +1978,86 @@

 	}
 			
 

+	private Hep3Vector getEulerAngles(Hep3Vector u, Hep3Vector v, Hep3Vector u_prime, Hep3Vector v_prime) {
+		// Convert to correct API
+		org.apache.commons.math3.geometry.euclidean.threed.Vector3D u_3D = new org.apache.commons.math3.geometry.euclidean.threed.Vector3D(u.v());
+		org.apache.commons.math3.geometry.euclidean.threed.Vector3D v_3D = new org.apache.commons.math3.geometry.euclidean.threed.Vector3D(v.v());
+		org.apache.commons.math3.geometry.euclidean.threed.Vector3D u_prime_3D = new org.apache.commons.math3.geometry.euclidean.threed.Vector3D(u_prime.v());
+		org.apache.commons.math3.geometry.euclidean.threed.Vector3D v_prime_3D = new org.apache.commons.math3.geometry.euclidean.threed.Vector3D(v_prime.v());
+		//Get the generic rotation
+		org.apache.commons.math3.geometry.euclidean.threed.Rotation rot = new org.apache.commons.math3.geometry.euclidean.threed.Rotation(u_3D,v_3D,u_prime_3D,v_prime_3D);
+		//Get the angles
+		double res[] = rot.getAngles(org.apache.commons.math3.geometry.euclidean.threed.RotationOrder.XYZ);
+		Hep3Vector euler = new BasicHep3Vector(res);
+		print("u " + u_3D.toString() + " v " + v_3D.toString() + " u' " + u_prime_3D.toString() + " v' " + v_prime_3D.toString());
+		print("rot matrix:");
+		double[][] mat = rot.getMatrix();
+		for(int r=0;r<3;++r) {
+			String row = "";
+			for(int c=0;c<3;++c) {
+				row += String.format(" %f",mat[r][c]);
+			}
+			System.out.println(row);
+		}
+		print("XYZ angles " + euler.toString());
+		//euler = VecOp.mult(-1.0, euler);
+		print("XYZ angles " + euler.toString() + " (passive)");
+		
+		
+		
+		/*
+		if(true) {
+			print("test2");
+			org.apache.commons.math3.geometry.euclidean.threed.Rotation rot2 = new org.apache.commons.math3.geometry.euclidean.threed.Rotation(v_3D,v_prime_3D);
+			double res2[] = rot2.getAngles(org.apache.commons.math3.geometry.euclidean.threed.RotationOrder.XYZ);
+			Hep3Vector euler2 = new BasicHep3Vector(res2);
+			print("u " + u_3D.toString() + " v " + v_3D.toString() + " u' " + u_prime_3D.toString() + " v' " + v_prime_3D.toString());
+			print("rot matrix:");
+			double[][] mat2 = rot2.getMatrix();
+			for(int r=0;r<3;++r) {
+				String row = "";
+				for(int c=0;c<3;++c) {
+					row += String.format(" %f",mat2[r][c]);
+				}
+				System.out.println(row);
+			}
+			print("XYZ angles " + euler2.toString());
+			euler2 = VecOp.mult(-1.0, euler2);
+			print("XYZ angles " + euler2.toString() + " (passive)");
+			
+			
+			print("test3");
+			//org.apache.commons.math3.geometry.euclidean.threed.Rotation rot3 = new org.apache.commons.math3.geometry.euclidean.threed.Rotation(org.apache.commons.math3.geometry.euclidean.threed.RotationOrder.XYZ,0,0,0);
+			org.apache.commons.math3.geometry.euclidean.threed.Rotation rot3 = new org.apache.commons.math3.geometry.euclidean.threed.Rotation(org.apache.commons.math3.geometry.euclidean.threed.RotationOrder.XYZ,-3.1416,0,-3.1416);
+			double res3[] = rot3.getAngles(org.apache.commons.math3.geometry.euclidean.threed.RotationOrder.XYZ);
+			Hep3Vector euler3 = new BasicHep3Vector(res3);
+			print("rot matrix:");
+			double[][] mat3 = rot3.getMatrix();
+			for(int r=0;r<3;++r) {
+				String row = "";
+				for(int c=0;c<3;++c) {
+					row += String.format(" %f",mat3[r][c]);
+				}
+				System.out.println(row);
+			}
+			print("XYZ angles " + euler3.toString());
+			euler3 = VecOp.mult(-1.0, euler3);
+			print("XYZ angles " + euler3.toString() + " (passive)");
+			
+			
+			
+		}
+*/

+		
+		
+		
+		
+		return euler;
+	}
+			
+	
+	

 	private static class CoordSysDef {
 		private Hep3Vector origin;
 		private Hep3Vector u;