// -*- mode: c++ -*- 
#ifndef BRAT_BrRotMatrix
#define BRAT_BrRotMatrix
 
//  $Id: BrRotMatrix.h,v 1.5 2002/02/26 08:59:08 cholm Exp $

//////////////////////////////////////////////////////////////////////////
//                                                                      //
// BrRotMatrix                                                          //
//                                                                      //
// Rotation Matrix for 3-D geometry objects.                            //
// Copied  from ROOT source but modified to make simpler. See R.Brun    //
// copyright notice in BrRotMatrix.cxx source code.                     // 
//                                                                      //
//////////////////////////////////////////////////////////////////////////
 
#ifndef ROOT_TObject
#include "TObject.h"
#endif
#include <iostream.h>
 
enum {
   kBrReflection = BIT(23)    //  "Reflection" bit
};
 
 
class BrRotMatrix  : public TObject {
private:
  void  SetReflection();   // Set the "reflection" flag if det < 0
 
private:
   Int_t        fType;        //Type of matrix (0=identity, 1=reflection, 2=otherwise)
   Double_t     fTheta;       // theta angle
   Double_t     fPhi;         // phi angle
   Double_t     fPsi;         // psi angle
   Double_t     fMatrix[9];   // Rotation matrix

   void         UpdateAngles();//Method to set angles if constructed with
                               //rotation matrix
 
public:
  BrRotMatrix();
  //   BrRotMatrix(const BrRotMatrix&);
  BrRotMatrix& operator=(const BrRotMatrix&);
  
  BrRotMatrix( Double_t *matrix);
  BrRotMatrix( Double_t theta, Double_t phi, Double_t psi);
  BrRotMatrix( Double_t theta1, Double_t phi1,
	       Double_t theta2, Double_t phi2,
	       Double_t theta3, Double_t phi3);
  BrRotMatrix(const BrRotMatrix* mat1, const BrRotMatrix* mat2 );
  virtual ~BrRotMatrix();
  Double_t  Determinant();   // returns the determinant of this matrix
  const Double_t* GetMatrix() const { return &fMatrix[0];}
  Double_t* GetMatrix()    { return &fMatrix[0];}
  Int_t     GetType()      { return fType;}
  const Double_t  GetTheta()  const   { return fTheta;}
  const Double_t  GetPhi()    const   { return fPhi;}
  const Double_t  GetPsi()    const   { return fPsi;}
  const Bool_t    IsReflection() const { return TestBit(kBrReflection);}  // Return
  // kTRUE if this matrix defines the reflection 
  void      SetMatrix(const Double_t *matrix);
   BrRotMatrix GetInverse();
   
   friend BrRotMatrix operator*(BrRotMatrix &r1, BrRotMatrix &r2);

  // friend ostream& operator<< (ostream & ,BrRotMatrix&);
  // friend ostream& operator<< (ostream & ,BrRotMatrix*);
   
   ClassDef(BrRotMatrix,1)  //Rotation Matrix for 3-D geometry objects
};
 
extern BrRotMatrix operator*(const BrRotMatrix &r1, const BrRotMatrix &r2);

extern ostream& operator<< (ostream &, const BrRotMatrix&);
extern ostream& operator<< (ostream & ,const BrRotMatrix*);
   
#endif
 

//  $Log: BrRotMatrix.h,v $
//  Revision 1.5  2002/02/26 08:59:08  cholm
//  Added const'ness to many methods - needed by ISO C++
//
//  Revision 1.4  2002/02/08 22:43:41  hagel
//  Added more funcationality for debugging processes as well as GetInverse()
//
//  Revision 1.3  2002/01/16 15:05:01  hagel
//  Added method to calculate Inverse matrix
//
//  Revision 1.2  2001/11/05 23:42:24  hagel
//  Added ostream stuff as well as UpdateAngles method to calculate angles from matrix
//
//  Revision 1.1.1.1  2001/06/21 14:55:20  hagel
//  Initial revision of brat2
//
//  Revision 1.8  2000/10/10 18:10:15  videbaek
//  Changed the method name GetRotMatrix to GetMatrix to be symmetric
//  with SetMatrix and to distinguish from BrCoorDianteSystem->GetRotMatrix
//  that return a BrRotMatrix.
//
//  Revision 1.7  2000/09/18 21:25:59  videbaek
//  Modified internal structure of BrDetectorvolume
//  Associated changes.
//
//  Revision 1.6  2000/07/16 19:46:12  videbaek
//  Addition for declaring a new rotmatrix by means of two exsisting.
//  Fixing of errors in inverse matrix fro non-simple rotations, and constructor for
//  Rotmatrix using Euler angles. All thanks to Trine Tveter.
//
//  Revision 1.5  1999/12/23 15:55:40  videbaek
//  Added the SetRelativeSystem
//  Fully debugged.
//
//  Revision 1.4  1999/01/21 23:23:24  hagel
//  1. Changed convention for checking includes.  Current convention is:
//     BRAT_Br...... eg BRAT_BrModule ala ROOT.
//  2. Added CVS logs to .h files that didn't have them.
//  3. Moved checking of include definition to first line for easier reading
//  4. Put checks before all includes in the include files as per BRAT specifications
//  5. Added BrGeantHeader to Geant Makefile
//  6. All changes have been checked to compile on NT ala Cygnus
//
//  Revision 1.3  1998/12/21 20:32:04  videbaek
//  coordinate system changes mainly
//
//  Revision 1.2  1998/12/08 20:44:08  hagel
//  Change kReflection to kBrReflection to avoid conflicts with TRotMatrix in TNode
//
//  Revision 1.1  1998/12/01 20:49:58  videbaek
//  Added several classes to Geometry. Updated source and makefile(s)
//  - BrLine3D
//  - BrCoordinateSystem
//  - BrRotMatrix
//
//