R3 D DLL

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// THE PDF VERSION OF THIS FILE DOES NOT DISPLAY UNDERSCORE CHARACTERS CORRECTLY,
// EXCEPT WHEN MAGNIFICATION IS INCREASED TO 125% ... 150%. WHEN IN DOUBT ABOUT
// EMPTY SPACES BETWEEN ADJACENT LETTERS IN AN IDENTIFIER, INCREASE THE MAG VALUE.
using
using
using
using
using
using
using
using
System;
System.Collections.Generic;
System.ComponentModel;
System.Data;
System.Drawing;
System.Linq;
System.Text;
System.Windows.Forms;
// R3dDLL.cs --- COPYRIGHT Glenn A. Merritt / CQvis, 2011

namespace R3dDLL
{
#region STATIC CLASS Ro - Rotator field r
public static class Ro
{
public static Rotator r = new Rotator(); public static bool valid=true;
}
#endregion
#region STATIC CLASS Rho
public static class Rho
{
public static IndexTriple[,] MI =
{{new IndexTriple(0,0,0),new IndexTriple(0,0,0),new IndexTriple(0,0,0),new
IndexTriple(0,0,0)},
{new IndexTriple(0,0,0),new IndexTriple(1,1,1),new IndexTriple(3,4,5),new
IndexTriple(5,5,5)}};
public static int II=0,JJ=0,KK=0,LL=0,MM=0;
public static void SetKL(int m, int i, int j)
{
SetJKL(m,i);
Rho3RotateTo(j,ref JJ,ref KK,ref LL);
}
public static void SetJKL(int m, int i)
{
MM = m; II = i; MM = ((MM-1)%5)+1; II = ((II-1)%5)+1;
JJ = MI[MM,II].J; KK = MI[MM,II].K; LL = MI[MM,II].L;
}
public static void SetIJKL(int m)
{
MM = m; II = m+1; MM = ((MM-1)%5)+1; II = ((II-1)%5)+1;
JJ = MI[MM,II].J; KK = MI[MM,II].K; LL = MI[MM,II].L;
}
public static void Rho3RotateTo(int U, ref int u, ref int v, ref int w)
{
IndexTriple(0,0,0),new IndexTriple(0,0,0),new
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int t=u,i=1,u1=u,v1=v,w1=w;
while ((i <= 3) & (u1 != U))
{
t = u1; u1 = v1; v1 = w1; w1 = t;
i++;
}
if (i > 1)
{
if (u1 == U) { u = u1; v = v1; w = w1; }
}
}
}
#endregion
#region IndexPair CLASS
/// <summary>
/// For use with the RhoJK table internal to the D3tetra class
/// </summary>
public struct IndexPair
{
int k,l;
public IndexPair(int i, int j)
{
k = i; l = j;
}
public int K { get { return k; } }
public int L { get { return l; } }
}
#endregion
#region IndexTriple CLASS
public struct IndexTriple
{
int j,k,l;
public IndexTriple(int jj, int kk, int ll)
{
j = jj; k = kk; l = ll;
}
public int J { get { return j; } }
public int K { get { return k; } }
public int L { get { return l; } }
}
#endregion
#region Numeric 3-tuple CLASSES
public class D3tuple
{
double xx; double yy; double zz;
public D3tuple() { xx = 0; yy = 0; zz = 0; }
public D3tuple(double x, double y, double z) { xx = x; yy = y; zz = z; }
public void Set(double x, double y, double z) { xx = x; yy = y; zz = z; }
public void Get(ref double x, ref double y, ref double z) { x = xx; y = yy; z = zz; }
/// <summary> X = a[0] = a4[1] = Numer
/// </summary>
public double X { get { return xx; } set { xx = (double)value; } }
/// <summary> Y = a[1] = a4[2] = Denom
/// </summary>
public double Y { get { return yy; } set { yy = (double)value; } }
/// <summary> Z = a[2] = a4[3] = Ratio
/// </summary>
public double Z { get { return zz; } set { zz = (double)value; } }
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/// <summary> Numer = X = a[0] = a4[1]

/// </summary>
public double Numer { get { return xx; } set { xx = (double)value; } }
/// <summary> Denom = Y = a[1] = a4[2]
/// </summary>
public double Denom { get { return yy; } set { yy = (double)value; } }
/// <summary> Ratio = Z = a[2] = a4[3]
/// </summary>
public double Ratio { get { return zz; } set { zz = (double)value; } }
/// <summary>
/// This accessor returns a component of the D3tuple.
/// </summary>
/// <param name="i">Index of component (1..3)</param>
/// <returns>X, Y, or Z when i = 1, 2, or 3</returns>
public double this[int i]
{
get
{
double res = new double();
if ((i >= 1) & (i <= 3)) res = a4[i];
return res;
}
}
/// <summary> a = [X,Y,Z] = [Numer,Denom,Ratio] = [a4[1],a4[2],a4[3]]
/// </summary>
public double[] a
{
get { double[] v = new double[3]; v[0] = xx; v[1] = yy; v[2] = zz; return v; }
set
{
double[] v = value;
if (value.Length == 4) { xx = v[1]; yy = v[2]; zz = v[3]; }
else if (value.Length == 3) { xx = v[0]; yy = v[1]; zz = v[2]; }
}
}
/// <summary><para> a4 = [0,X,Y,Z] = [0,Numer,Denom,Ratio] = [0,a[0],a[1],a[2]]</para>
/// <para>
/// The a4 accessor is provided to allow an array of length 4 with elements
/// 1..3 containing the X,Y,Z values to be used to get and set 3tuples.</para>
/// </summary>
public double[] a4
{
get { double[] v = new double[4]; v[1] = xx; v[2] = yy; v[3] = zz; return v; }
set
{
double[] v = value;
}
}
public D3tuple Square()
{
D3tuple res = new D3tuple();
res.X = X*X; res.Y = Y*Y; res.Z = Z*Z;
return res;
}
public double Sum()
{
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res = X+Y+Z;
return res;
}
/// <summary>
/// ZeroRef() sets the components X,Y,Z of a D3tuple to zero.
/// </summary>
public void Zero() { xx = 0; yy = 0; zz = 0; }
/// <summary>
/// IsZero() returns true if the current instance is the zero vector.
/// </summary>
/// <returns>True if this instance is the zero vector</returns>
public bool IsZero()
{
return ((X*X+Y*Y+Z*Z) == 0);
}
/// <summary> ~ Norm (Vector Length) Operator: ~(A) = |A|
/// </summary>
public static double operator~(D3tuple d1)
{
double d; d = Math.Sqrt(d1.X*d1.X+d1.Y*d1.Y+d1.Z*d1.Z);
return d;
}
/// <summary> ! Unit Vector Operator: !A = A/|A|
/// </summary>
public static D3tuple operator!(D3tuple d1)
{
D3tuple d = new D3tuple();
double L = ~d1; if (L != 0) { d.X = d1.X / L; d.Y = d1.Y / L; d.Z = d1.Z / L; }
return d;
}
/// <summary> - Pole Reversal Operator: A' = -A
/// </summary>
public static D3tuple operator-(D3tuple d1)
{
return new D3tuple(-d1.X, -d1.Y, -d1.Z);
}
/// <summary> + Addition Operator C = A + B
/// </summary>
public static D3tuple operator+(D3tuple d1, D3tuple d2)
{
return new D3tuple(d1.X+d2.X, d1.Y+d2.Y, d1.Z+d2.Z);
}
/// <summary> - Subtraction Operator C = B - A
/// </summary>
public static D3tuple operator-(D3tuple d1, D3tuple d2)
{
return new D3tuple(d1.X-d2.X, d1.Y-d2.Y, d1.Z-d2.Z);
}
/// <summary> * Scalar (Dot) Product Operator: A*B = a1*b1+a2*b2+a3*b3
/// </summary>
public static double operator*(D3tuple d1, D3tuple d2)
{
double d = new double();
d = d1.xx*d2.xx+d1.yy*d2.yy+d1.zz*d2.zz;
return d;
}
/// <summary> * Scalar Component Multiplication Operator: h*A = [h*a1,h*a2,h*a3]
/// </summary>
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/// <param name="h">Scalar multiplier h</param>

/// <param name="d1">Vector A to be multiplied by h</param>
/// <returns>C = [h*d1.X,h*d1.Y,h*d1.Z]</returns>
public static D3tuple operator*(double h, D3tuple d1)
{
D3tuple dr = new D3tuple(h*d1.X,h*d1.Y,h*d1.Z);
return dr;
}
/// <summary> / Length Division Operator: A/B = A / |B| or [0,0,0]
/// </summary>
/// <param name="d1">Vector A whose components are to be divided</param>
/// <param name="d2">Vector B whose length provides the divisor L</param>
/// <returns>C = [d1.X/L,d1.Y/L,d1.Z/L]</returns>
public static D3tuple operator/(D3tuple d1, D3tuple d2)
{
D3tuple d = new D3tuple(); double L = Math.Sqrt(d2.X*d2.X+d2.Y*d2.Y+d2.Z*d2.Z);
if (L != 0) { d.X = d1.X / L; d.Y = d1.Y / L; d.Z = d1.Z / L; }
return d;
}
/// <summary> / Scalar Divide Components Operator: A/h = [a1/h,a2/h,a3/h]
/// </summary>
/// <param name="d1">Vector A whose components are to be divided</param>
/// <param name="v">Scalar divisor v</param>
/// <returns>C = [a1/v,a2/v,a3/v]</returns>
public static D3tuple operator/(D3tuple d1, double v)
{
D3tuple d = new D3tuple(d1.X,d1.Y,d1.Z);
if (v != 0) { d.X = d1.X / v; d.Y = d1.Y / v; d.Z = d1.Z / v; }
return d;
}
/// <summary> ^ Vector Product Operator: A^B = [a2b3-a2b3,a3b1-a3b1,a1b2-a1b2] <para>
/// Operator ^ is the vector (cross) product operator</para>
/// </summary>
/// <param name="d1">Vector A</param>
/// <param name="d2">Vector B</param>
/// <returns>CrossProd(A,B)</returns>
public static D3tuple operator^(D3tuple d1, D3tuple d2)
{
return new D3tuple(d1.yy*d2.zz-d2.yy*d1.zz, d1.zz*d2.xx-d2.zz*d1.xx, d1.xx*d2.yy-d2.xx*d1.yy);
}
/// <summary> & Carrot Product Operator: A&B = [a1*b1,a2*b2,a3*b3]
/// <para>Operator & is the Carrot Product operator, which multiplies
/// the components of vector A with those of vector B</para>
/// </summary>
/// <param name="d1">Vector A = [a1,a2,a3]</param>
/// <param name="d2">Vector B = [b1,b2,b3]</param>
/// <returns>[a1*b1,a2*b2,a3*b3]</returns>
public static D3tuple operator&(D3tuple d1, D3tuple d2)
{
return new D3tuple(d1.X*d2.X, d1.Y*d2.Y, d1.Z*d2.Z);
}
/// <summary> >> Right-shift Indexes Operator <para>
/// The right shift operator shifts component indexing to the right
/// in the 3-component ring. A shift count of +1 will cause the Y
/// component to be the first component of the result vector, with
/// the Z and X components following it in cyclic order. A shift count
/// of 2 would place the Z component in the first component position
/// in the result vector, with the X and Y components following it.
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/// Shift counts of 1 and -2 are equivalent, as are 2 and -1.</para>

/// </summary>
/// <param name="d1">The vector whose components are to be rotated.</param>
/// <param name="k">The rotation count</param>
/// <returns>The rotated vector</returns>
public static D3tuple operator>>(D3tuple d1, int k)
{
int c = k % 3; D3tuple d = new D3tuple(d1.X,d1.Y,d1.Z);
if ((c == 1)|(c == -2)) d.Set(d1.Y, d1.Z, d1.X);
else if ((c == 2)|(c == -1)) d.Set(d1.Z, d1.X, d1.Y);
return d;
}
/// <summary> << Left-shift Indexes Operator <para>
/// The left shift operator shifts component indexing to the left
/// in the 3-component ring. A shift count of +1 would cause the Z
/// component to be the first component of the result vector, with
/// the X and Y components following it in cyclic order.</para>
/// </summary>
public static D3tuple operator<<(D3tuple d1, int k)
{
int c = k % 3; D3tuple d = new D3tuple(d1.X,d1.Y,d1.Z);
if ((c == -1)|(c == 2)) d.Set(d1.Y, d1.Z, d1.X);
else if ((c == -2)|(c == 1)) d.Set(d1.Z, d1.X, d1.Y);
return d;
}
bool WriteSquare = false;
string sf(double d)
{
string res = ""; if (WriteSquare) d = d * d;
res = string.Format("{0,18:F15}", d);
int p = res.IndexOf(' '),pm=res.IndexOf('-'),L=res.Length;
if (p >= 0)
{
while ((p < L) & (res[p] == ' ')) p++;
if ((p > 0) & (p == pm)) { res.Remove(p-1, 1); }
else if (pm < 0) { }
}
else if (pm < 0) { res = " " + res; }
return res;
}
/// <summary>
/// The ToString() override produces the form "[xxxxxx,yyyyyy,zzzzzz]" as a
/// string containing the numeric values of the components of the D3tuple.
/// </summary>
/// <returns></returns>
public override string ToString()
{
string s="";//,sf="{0,20:F16}";// s= "["+xx.ToString()+","+yy.ToString()+","+zz.ToString()+"]";
//s= "["+string.Format(sf,xx)+","+string.Format(sf,yy)+","+string.Format(sf,zz)+"]";
s= "["+sf(xx)+","+sf(yy)+","+sf(zz)+"]";
return s;
}
public string ToSqString()
{
WriteSquare = true; string s=this.ToString(); WriteSquare = false;
return s;
}
}
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public class F3tuple

{
float xx; float yy; float zz;
public F3tuple() { xx = 0; yy = 0; zz = 0; }
public F3tuple(float x, float y, float z) { xx = x; yy = y; zz = z; }
public void Set(float x, float y, float z) { xx = x; yy = y; zz = z; }
public void Get(ref float x, ref float y, ref float z) { x = xx; y = yy; z = zz; }
public float X { get { return xx; } set { xx = (float)value; } }
public float Y { get { return yy; } set { yy = (float)value; } }
public float Z { get { return zz; } set { zz = (float)value; } }
public float Numer { get { return xx; } set { xx = (float)value; } }
public float Denom { get { return yy; } set { yy = (float)value; } }
public float Ratio { get { return zz; } set { zz = (float)value; } }
public float this[int i]
{
get
{
float res = new float();
if ((i >= 1) & (i <= 3)) res = a4[i];
return res;
}
}
public float[] a
{
get { float[] v = new float[3]; v[0] = xx; v[1] = yy; v[2] = zz; return v; }
set
{
float[] v = value;
}
}
/// <summary>
/// The a4 accessor is designed to allow an array of length 4 with elements
/// 1..3 containing the X,Y,Z values to be used to get and set 3tuples.
/// </summary>
public float[] a4
{
get { float[] v = new float[4]; v[1] = xx; v[2] = yy; v[3] = zz; return v; }
set
{
float[] v = value;
}
}
public static float operator~(F3tuple f1)
{
float f; f = (float)Math.Sqrt(f1.X*f1.X+f1.Y*f1.Y+f1.Z*f1.Z);
return f;
}
public static F3tuple operator!(F3tuple f1)
{
F3tuple f = new F3tuple();
float L = ~f1; if (L != 0) { f.X = f1.X / L; f.Y = f1.Y / L; f.Z = f1.Z / L; }
return f;
}
public static F3tuple operator-(F3tuple f1)
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{
return new F3tuple(-f1.X, -f1.Y, -f1.Z);
}
public static F3tuple operator +(F3tuple f1, F3tuple f2)
{
return new F3tuple(f1.X+f2.X, f1.Y+f2.Y, f1.Z+f2.Z);
}
public static F3tuple operator -(F3tuple f1, F3tuple f2)
{
return new F3tuple(f1.X-f2.X, f1.Y-f2.Y, f1.Z-f2.Z);
}
public static float operator*(F3tuple f1, F3tuple f2)
{
float f = new float();
f = f1.xx*f2.xx+f1.yy*f2.yy+f1.zz*f2.zz;
return f;
}
public static F3tuple operator*(float f, F3tuple f1)
{
F3tuple fr = new F3tuple(f*f1.X,f*f1.Y,f*f1.Z);
return fr;
}
public static F3tuple operator/(F3tuple f1, F3tuple f2)
{
F3tuple f = new F3tuple(); float L = (float)Math.Sqrt(f2.X*f2.X+f2.Y*f2.Y+f2.Z*f2.Z);
if (L != 0) { f.X = f1.X / L; f.Y = f1.Y / L; f.Z = f1.Z / L; }
return f;
}
public static F3tuple operator/(F3tuple f1, float v)
{
F3tuple f = new F3tuple(f1.X,f1.Y,f1.Z);
if (v != 0) { f.X = f1.X / v; f.Y = f1.Y / v; f.Z = f1.Z / v; }
return f;
}
public static F3tuple operator^(F3tuple f1, F3tuple f2)
{
return new F3tuple(f1.yy*f2.zz-f2.yy*f1.zz, f1.zz*f2.xx-f2.zz*f1.xx, f1.xx*f2.yy-f2.xx*f1.yy);
}
//public static bool operator==(F3tuple f1, F3tuple f2)
//{
// return ((f1.X==f2.X) & (f1.Y==f2.Y) & (f1.Z==f2.Z));
//}
//public static bool operator!=(F3tuple f1, F3tuple f2)
//{
// return ((f1.X!=f2.X) & (f1.Y!=f2.Y) & (f1.Z!=f2.Z));
//}
public static F3tuple operator>>(F3tuple f1, int k)
{
int c = k % 3; F3tuple f = new F3tuple(f1.X,f1.Y,f1.Z);
if ((c == 1)|(c == -2)) f.Set(f1.Y, f1.Z, f1.X);
else if ((c == 2)|(c == -1)) f.Set(f1.Z, f1.X, f1.Y);
return f;
}
public static F3tuple operator<<(F3tuple f1, int k)
{
int c = k % 3; F3tuple f = new F3tuple(f1.X,f1.Y,f1.Z);
if ((c == -1)|(c == 2)) f.Set(f1.Y, f1.Z, f1.X);
else if ((c == -2)|(c == 1)) f.Set(f1.Z, f1.X, f1.Y);
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return f;
}
{
string s= "["+xx.ToString()+","+yy.ToString()+","+zz.ToString()+"]";
return s;
}
}
public class I3tuple
{
int xx; int yy; int zz;
public I3tuple() { xx = 0; yy = 0; zz = 0; }
public I3tuple(int x, int y, int z) { xx = x; yy = y; zz = z; }
public void Set(int x, int y, int z) { xx = x; yy = y; zz = z; }
public void Get(ref int x, ref int y, ref int z) { x = xx; y = yy; z = zz; }
public int X { get { return xx; } set { xx = (int)value; } }
public int Y { get { return yy; } set { yy = (int)value; } }
public int Z { get { return zz; } set { zz = (int)value; } }
public int this[int i]
{
get
{
int res = new int();
if ((i >= 1) & (i <= 3)) res = a4[i];
return res;
}
}
public int[] a
{
get { int[] v = new int[3]; v[0] = xx; v[1] = yy; v[2] = zz; return v; }
set
{
int[] v = value;
}
}
/// <summary>
/// </summary>
public int[] a4
{
get { int[] v = new int[4]; v[1] = xx; v[2] = yy; v[3] = zz; return v; }
set
{
int[] v = value;
}
}
public static I3tuple operator-(I3tuple i1)
{
return new I3tuple(-i1.X, -i1.Y, -i1.Z);
}
public static I3tuple operator+(I3tuple i1, I3tuple i2)
{
return new I3tuple(i1.X+i2.X, i1.Y+i2.Y, i1.Z+i2.Z);
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}
public static I3tuple operator-(I3tuple i1, I3tuple i2)
{
return new I3tuple(i1.X-i2.X, i1.Y-i2.Y, i1.Z-i2.Z);
}
public static double operator*(I3tuple i1, I3tuple i2)
{
int i = new int();
i = i1.xx*i2.xx+i1.yy*i2.yy+i1.zz*i2.zz;
return i;
}
public static I3tuple operator^(I3tuple i1, I3tuple i2)
{
return new I3tuple(i1.yy*i2.zz-i2.yy*i1.zz, i1.zz*i2.xx-i2.zz*i1.xx, i1.xx*i2.yy-i2.xx*i1.yy);
}
//public static bool operator==(I3tuple i1, I3tuple i2)
//{
// return ((i1.X==i2.X) & (i1.Y==i2.Y) & (i1.Z==i2.Z));
//}
//public static bool operator!=(I3tuple i1, I3tuple i2)
//{
// return ((i1.X!=i2.X) & (i1.Y!=i2.Y) & (i1.Z!=i2.Z));
//}
public static I3tuple operator>>(I3tuple i1, int k)
{
int c = k % 3; I3tuple i = new I3tuple(i1.X,i1.Y,i1.Z);
if ((c == 1)|(c == -2)) i.Set(i1.Y, i1.Z, i1.X);
else if ((c == 2)|(c == -1)) i.Set(i1.Z, i1.X, i1.Y);
return i;
}
public static I3tuple operator<<(I3tuple i1, int k)
{
int c = k % 3; I3tuple i = new I3tuple(i1.X,i1.Y,i1.Z);
if ((c == -1)|(c == 2)) i.Set(i1.Y, i1.Z, i1.X);
else if ((c == -2)|(c == 1)) i.Set(i1.Z, i1.X, i1.Y);
return i;
}
{
return s;
}
}
public class US3tuple
{
ushort xx; ushort yy; ushort zz;
public US3tuple() { xx = 0; yy = 0; zz = 0; }
public US3tuple(ushort x, ushort y, ushort z) { xx = x; yy = y; zz = z; }
public void Set(ushort x, ushort y, ushort z) { xx = x; yy = y; zz = z; }
public void Get(ref ushort x, ref ushort y, ref ushort z) { x = xx; y = yy; z = zz; }
public ushort X { get { return xx; } set { xx = value; } }
public ushort Y { get { return yy; } set { yy = value; } }
public ushort Z { get { return zz; } set { zz = value; } }
public ushort this[int i]
{
get
{
ushort res = new ushort();
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if ((i >= 1) & (i <= 3)) res = a4[i];

return res;
}
}
public ushort[] a
{
get { ushort[] v = new ushort[3]; v[0] = xx; v[1] = yy; v[2] = zz; return v; }
set
{
ushort[] v = value;
}
}
/// <summary>
/// </summary>
public ushort[] a4
{
get { ushort[] v = new ushort[4]; v[1] = xx; v[2] = yy; v[3] = zz; return v; }
set
{
ushort[] v = value;
}
}
public static US3tuple operator-(US3tuple u1)
{
return new US3tuple((ushort)(-u1.X), (ushort)(-u1.Y), (ushort)(-u1.Z));
}
public static US3tuple operator +(US3tuple u1, US3tuple u2)
{
return new US3tuple((ushort)(u1.X+u2.X), (ushort)(u1.Y+u2.Y), (ushort)(u1.Z+u2.Z));
}
public static US3tuple operator -(US3tuple u1, US3tuple u2)
{
return new US3tuple((ushort)(u1.X-u2.X), (ushort)(u1.Y-u2.Y), (ushort)(u1.Z-u2.Z));
}
public static ushort operator*(US3tuple u1, US3tuple u2)
{
ushort u = new ushort();
u = (ushort)(u1.xx*u2.xx+u1.yy*u2.yy+u1.zz*u2.zz);
return u;
}
/// <summary>
/// This operator override causes ^ to calculate the vector product of two vectors.
/// </summary>
/// <param name="u1"></param>
/// <param name="u2"></param>
public static US3tuple operator^(US3tuple u1, US3tuple u2)
{
return new US3tuple((ushort)(u1.yy*u2.zz-u2.yy*u1.zz), (ushort)(u1.zz*u2.xx-u2.zz*u1.xx), (ushort)(u1.xx*u2.yy-u2.xx*u1.yy))
;
}
//public static bool operator==(US3tuple u1, US3tuple u2)
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//{
// return ((u1.X==u2.X) & (u1.Y==u2.Y) & (u1.Z==u2.Z));
//}
//public static bool operator!=(US3tuple u1, US3tuple u2)
//{
// return ((u1.X!=u2.X) & (u1.Y!=u2.Y) & (u1.Z!=u2.Z));
//}
public static US3tuple operator>>(US3tuple u1, int k)
{
int c = k % 3; US3tuple u = new US3tuple(u1.X,u1.Y,u1.Z);
if ((c == 1)|(c == -2)) u.Set(u1.Y, u1.Z, u1.X);
else if ((c == 2)|(c == -1)) u.Set(u1.Z, u1.X, u1.Y);
return u;
}
public static US3tuple operator<<(US3tuple u1, int k)
{
int c = k % 3; US3tuple u = new US3tuple(u1.X,u1.Y,u1.Z);
if ((c == -1)|(c == 2)) u.Set(u1.Y, u1.Z, u1.X);
else if ((c == -2)|(c == 1)) u.Set(u1.Z, u1.X, u1.Y);
return u;
}
{
return s;
}
}
#endregion
#region D3line CLASS
public class D3line
{
D3tuple[] x_ij = null; D3tuple xij = null; double len = 0; bool valid=false;
public D3line()
{
Init();
}
public D3line(D3tuple d1, D3tuple d2)
{
Init(); x_ij[1] = d1; x_ij[2] = d2; calcLen();
}
public D3line(D3tuple[] D)
{
Init();
if (D != null)
{
if (D.Length > 2)
{
if (D[1] != null) x_ij[1] = D[1];
if (D[2] != null) x_ij[2] = D[2];
calcLen();
}
}
}
/// <summary>
/// This constructor allows the use of arrays of length 2 to be
/// used to define the endpoints of a new D3line; and it also
/// provides for setting those points from two consecutive
/// elements located at offset Dofs in an arbitrarily long
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/// D3tuple array

/// </summary>
/// <param name="res">Array of D3tuples of length at least 2</param>
/// <param name="Dofs">Offset of first of two elements in array D</param>
public D3line(D3tuple[] D, int Dofs)
{
Init();
if (D == null) return;
int L = D.Length;
if (L == 2) Dofs = 0;
if ((L >= 2) & (Dofs < L-1))
{
setXij(D[Dofs], D[Dofs+1]); calcLen();
}
}
void Init()
{
x_ij = new D3tuple[3]; x_ij[1] = new D3tuple(); x_ij[2] = new D3tuple();
xij = new D3tuple();
}
void calcLen()
{
xij = x_ij[2] - x_ij[1]; len = ~xij; valid = (len != 0);
}
void setXij(D3tuple d1, D3tuple d2)
{
if (d1 == null) x_ij[1].Zero(); else x_ij[1] = d1;
if (d2 == null) x_ij[2].Zero(); else x_ij[2] = d2;
calcLen();
}
/// Valid <summary>
/// This accessor returns true if the D3line is a valid instance of its class.
/// </summary>
public bool Valid { get { return valid; } }
/// Vec <summary>
/// This accessor returns the two defining points of the D3line
/// in a D3tuple array of length 3, with elements 1 and 2 containing
/// the endpoints Xij[1] and Xij[2].
/// </summary>
public D3tuple Vec { get { return xij; } }
/// <summary>
/// This accessor returns one of the endpoints of the D3line if i=1..2<para>
/// Otherwise, it returns the vector from the first endpoint to the second.</para>
/// </summary>
/// <param name="i">Endpoint number (1..2) or zero.</param>
/// <returns>An endpoint of the line segment if i=1..2, or the displacement vector if i=0</returns>
public D3tuple this[int i]
{
get
{
if ((i >= 1) & (i <= 2)) { res = x_ij[i]; }
else res = xij;
return res;
}
set
{
D3tuple res = value;
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if ((i >= 1) & (i <= 2)) { x_ij[i] = res; calcLen(); }

}
}
/// Xij <summary>
/// This accessor returns an array of three D3tuples, of which
/// elements at offsets 1 and 2 contain the defining points of
/// the D3line, and element 0 is normally not changed after the
/// D3line constructor is called, so it will contain any value
/// you have stored there. However, if you attempt to use an
/// array of length less than 3 to set these values, the D3line
/// will be zeroed and the values will not be stored.
/// </summary>
public D3tuple[] Xij
{
get { return x_ij; }
set
{
D3tuple[] v = value;
if (v == null) Zero();
else
{
if (v.Length < 3) Zero();
else { setXij(v[1], v[2]); }
}
}
}
/// Length
/// <summary>
/// This accessor returns the length of the D3line.
/// </summary>
public double Length { get { return len; } }
/// Zero()
/// <summary>
/// This routine sets both endpoints of the D3line to the zero vector.
/// </summary>
public void Zero() { x_ij[1].Zero(); x_ij[2].Zero(); calcLen(); }
/// IsZero()
/// <summary>
/// This function returns true if the length of the D3line is zero.
/// </summary>
public bool IsZero() { return (len == 0); }
/// SetAB()
/// <summary>
/// This routine sets the defining points of the D3line.
/// </summary>
/// <param name="D">D3tuple vector defining the first point</param>
/// <param name="D2">D3tuple vector defining the second point</param>
public void SetAB(D3tuple D1, D3tuple D2) { setXij(D1, D2); }
/// SignedAngle() <summary>
/// This function provides a signed angle measured counterclockwise
/// about an axis running from line DL1 to line DL2 (or about the
/// D3plane normal to their plane if they are coplanar). Note that
/// if the angle from DL1 to DL2 would be negative, the line from
/// DL1 to DL2 is opposite in direction to the normal of the D3plane
/// constructed by "new D3plane(DL1,DL2)". This condition is detected
/// by calculating both DL1|DL2, which finds the line-of-shortest/// distance, and DL1&DL2, which constructs a plane with DL1 defining
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/// edge 12 and DL2 defining edge 13 and oriented such that N = 123
/// gives the direction of the plane normal, and then using the sign
/// of the scalar product of the vectors in these two directions to
/// determine the sign of the angle.
/// </summary>
/// <param name="DL1">Axis which angle is to be measured from</param>
/// <param name="DL2">Axis which angle is to be measured to</param>
/// <returns>Signed angle in degrees (-180..+180)</returns>
public double SignedAngle(D3line DL1, D3line DL2)
{
D3plane DP = DL1|DL2; D3line DL = DL1&DL2;
if ((DP != null) & (DL != null))
{
double s = DP.N * DL.xij;
if (s < 0) s = -1; else s = 1;
d = DP.Angle(1) * 180.0 / Math.PI; d = s*d;
}
return d;
}
#region D3line OPERATORS
/// ~ Length Operator ~A = |A|
/// <summary>
/// The ~ operator produces the length of a D3line: ~A = |A|
/// </summary>
/// <param name="DL"></param>
public static double operator~(D3line DL)
{
return DL.Length;
}
/// ! Unit Vector Operator !A = A / |A|
/// <summary>
/// The ! operator produces a SignOnly vector from A: !A = A / |A|
/// </summary>
public static D3tuple operator!(D3line DL)
{
D3tuple d = new D3tuple(); d = DL.x_ij[2] - DL.x_ij[1];
double L = ~d; if (L != 0) d = d / L;
return d;
}
/// - Pole Reversal Operator C = -A
/// <summary>
/// This produces a D3line C equal to and oriented in
/// the reverse direction to the D3line A. If A=ij
/// then C=ji.
/// </summary>
public static D3line operator-(D3line DL)
{
D3line D = new D3line(DL.x_ij[2], DL.x_ij[1]);
return D;
}
/// + Addition Operator C = A+B
/// <summary>
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/// The + operator produces the sum of two D3lines. If A=ij

/// and B=kl then C = j - i + l - k = ij + kl
/// </summary>
/// <param name="DL1"></param>
/// <returns>The vector sum of the two displacements formed by DL1 and DL2</returns>
public static D3line operator+(D3line DL1, D3line DL2)
{
D3tuple x0 = new D3tuple();
D3tuple x1 = DL1.x_ij[2] - DL1.x_ij[1] + DL2.x_ij[2] - DL2.x_ij[1];
return new D3line(x0, x1);
}
/// - Subtraction Operator C = A-B
/// <summary>
/// The - operator produces the difference of two D3lines.
/// If A=ij and B=kl then
/// C = j - i - l + k = ij - kl
/// </summary>
/// <returns>The vector sum of the displacements formed by DL1 and -DL2</returns>
public static D3line operator-(D3line DL1, D3line DL2)
{
D3tuple x0 = new D3tuple();
D3tuple x1 = DL1.x_ij[2] - DL1.x_ij[1] - DL2.x_ij[2] + DL2.x_ij[1];
return new D3line(x0, x1);
}
/// * Scalar (Dot) Product Operator D = A*B
/// <summary><para>
/// The * operator produces the scalar product of two D3lines.
/// If A=ij and B=kl then </para><para>
/// A*B = j*l + i*k - i*l - j*k = (j - i)*(l - k)</para>
/// </summary>
public static double operator*(D3line DL1, D3line DL2)
{
return DL1.xij*DL2.xij;
}
/// * Scalar Component Multiplication Operator C = h*A
/// <summary><para>
/// The * scalar multiplication operator produces a D3line
/// with length h times the length of A:</para><para>
/// |C| = |h*A| = |h(a2 - a1)| </para><para>
/// and with its endpoints such that c1 = a1 and</para>
/// c2 = a1 + h(a2 - a1)
/// </summary>
/// <param name="d"></param>
public static D3line operator*(double d, D3line DL)
{
D3line D = new D3line();
D.x_ij[1] = DL.x_ij[1]; D.xij = d * DL.xij; D.x_ij[2] = D.x_ij[1] + D.xij;
return D;
}
/// / Scalar Divide Components Operator A' = A / D
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/// <summary><para>
/// The / scalar multiplication operator produces a D3line
/// with length 1/D times the length of A:</para><para>
/// |C| = |(1/D)*A| = |(1/D)(a2 - a1)| </para><para>
/// and with its endpoints such that c1 = a1 and</para>
/// c2 = a1 + (1/D)(a2 - a1)
/// </summary>
/// <param name="d"></param>
public static D3line operator/(D3line DL, double d)
{
D.x_ij[1] = DL.x_ij[1]; D.xij = DL.xij / d; D.x_ij[2] = D.x_ij[1] + D.xij;
return D;
}
/// ^ Vector Product Operator C = A x B
/// <summary><para>
/// The ^ operator produces the vector product of two D3lines</para><para>
/// as a D3tuple C = A ^ B = (a2 - a1) x (b2 - b1)</para><para>
/// = a2xb2 + a1xb1 - a2xb1 - a1xb2</para><para>
/// = a2xb2 + b2xa1 + a1xb1 + b1xa2 </para><para>
/// =
(a2) (b2) (a1) (b1) </para><para>
/// =
(a1) (b1) (a2) (b2) </para>
/// </summary>
public static D3tuple operator^(D3line DL1, D3line DL2)
{
D3tuple D = new D3tuple();
D = DL1.xij ^ DL2.xij;
return D;
}
/// | Plane Constructor Operator for two D3lines <summary>
/// The plane constructor operator returns a D3plane defined by
/// placing the first endpoint of DL2 at the first endpoint of DL1
/// to provide the first point defining the plane, and then using
/// the second endpoints of DL1 and DL2 to, respectively, specify
/// the second and third points defining the D3plane.
/// </summary>
public static D3plane operator|(D3line DL1, D3line DL2)
{
D3plane DP = null;
if ((DL1 != null) & (DL2 != null))
{
DP = new D3plane(DL1.Xij[1], DL1.Xij[2], DL1.Xij[1]+DL2.Vec);
}
return DP;
}
///
Altitude Vector Product Operator - OmegaIKJL
/// <summary><para>
/// The & operator produces a D3line using the Rotator
/// function OmegaIKJL() which returns the endpoint on each
/// line a2 - a1 and b2 - b1 of the vector defined by</para>
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/// <para> (a1) (b1) (a2) (b2) </para>
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/// </summary>
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public static D3line operator&(D3line DL1, D3line DL2)
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{
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//Rotator r = new Rotator(); D3line D = null;
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//return new D3line(r.OmegaIKJL(DL1.x_ij[1], DL1.x_ij[2], DL2.x_ij[1], DL2.x_ij[2]));
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return new D3line(Ro.r.OmegaIKJL(DL1.x_ij[1], DL1.x_ij[2], DL2.x_ij[1], DL2.x_ij[2]));
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}
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#endregion End D3line OPERATORS
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}
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#endregion
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#region D3plane CLASS
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public class D3plane
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{
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D3tuple[] V_ijk = null; // LENGTH 4
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D3tuple nn = null; double aa = 0; int ii=0,jj=0,kk=0; bool valid=false;
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public D3plane()
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{
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Init();
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}
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public D3plane(D3tuple d1, D3tuple d2, D3tuple d3)
1004
{
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Init();
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if (d1 != null) V_ijk[1] = d1;
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calcNormal();
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}
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public D3plane(D3tuple locus, D3tuple anyNormal)
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{
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Init();
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setPoints(locus, anyNormal);
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}
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public D3plane(D3tuple[] D, int Dofs)
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{
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Init();
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int L = D.Length;
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if (L == 3) Dofs = 0;
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if ((L >= 3) & (Dofs < L-2))
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{
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if (D[Dofs] != null) V_ijk[1] = D[Dofs]; else valid = false;
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if (D[Dofs+1] != null) V_ijk[2] = D[Dofs+1]; else valid = false;
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if (D[Dofs+2] != null) V_ijk[3] = D[Dofs+2]; else valid = false;
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}
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calcNormal();
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}
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void Init()
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{
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Rp = new Rotator();
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V_ijk = new D3tuple[4]; nn = new D3tuple();
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for (int i = 1; (i<=3); i++) { V_ijk[i] = new D3tuple(); }
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}
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void modd3(ref int i) { i = Math.Abs(i); i = (((i-1)%3)+1); }
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void setJK(int i)
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{
ii = i; jj = i+1; kk = i+2; modd3(ref ii); modd3(ref jj); modd3(ref kk);
}
/// <summary>
/// The operation performed by setPoints() is very similar to the Gramm-Schmidt
/// process of finding a normalized orthogonal set of coordinates. The inputs
/// are a point on the expected plane and the plane normal vector, and the output,
/// consisting of the input point and the two points at the endpoints of the axes,
/// is placed in the three D3plane[1..3] vectors.
/// </summary>
/// <param name="ptOn">Point on plane</param>
/// <param name="NormalVec">Plane normal vector</param>
void setPoints(D3tuple ptOn, D3tuple NormalVec)
{
D3tuple u = new D3tuple(),v = new D3tuple();
if (NormalVec == null) return;
bool ok = false; int i = 0;
if (NormalVec.IsZero()) NormalVec = Ro.r.Axes[0];//Rp.Axes[0];
nn = !NormalVec;
u = ptOn^NormalVec; if (u.IsZero()) u = NormalVec;
v = NormalVecû;
if (v.IsZero())
{
while ((i <= 3) & (!ok))
{
u = !(Ro.r.ProjSin(Ro.r.Axes[i], NormalVec)); //u = !(Rp.ProjSin(Rp.Axes[j], NormalVec));
v = !(NormalVecû);
if (~(u^v) != 0) ok = true;
}
}
if (ok)
{
V_ijk[1] = ptOn; V_ijk[2] = ptOn + u; V_ijk[3] = ptOn + v; valid = true;
}
nn = Ro.r.CVPS3(V_ijk[1], V_ijk[2], V_ijk[3]); //nn = Rp.CVPS3(V_ijk[1], V_ijk[2], V_ijk[3]);
aa = ~(nn) / 2;
}
void setVijk(D3tuple[] D)
{
D3tuple[] v = D; valid = false;
if (v != null)
{
if (v.Length >= 4)
{
valid = true;
if (v[1] != null) V_ijk[1] = v[1]; else valid = false;
calcNormal();
}
}
}
void calcNormal()
{
nn = Ro.r.CVPS3(V_ijk[1], V_ijk[2], V_ijk[3]); //nn = Rp.CVPS3(V_ijk[1], V_ijk[2], V_ijk[3]);
aa = ~nn / 2;
}
/// <summary>
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/// This accessor gets or sets either the normal vector (if i = 0) or one of
/// the defining points of the D3plane (if i=1..3).
/// </summary>
/// <param name="i">Vector index</param>
/// <returns>The normal or one of the defining points</returns>
{
get
{
if ((i >= 1) & (i <= 3))
{
res = V_ijk[i];
}
return res;
}
set
{
D3tuple d = value;
if (d != null)
{
if ((i >= 1) & (i <= 3)) { V_ijk[i] = d; }
else nn = d;
calcNormal();
}
}
}
public bool Valid { get { return valid; } }
/// A
/// <summary>
/// This accessor returns the area of the triangle defined by the
/// three vertex points V_ijk[1], V_ijk[2], and V_ijk[3].
/// </summary>
public double A { get { if (!valid) aa = 0; return aa; } }
/// Lvijk
/// <summary>
/// This function returns the length of the Cyclic Vector Product Sum
/// formed from the three defining vertex vectors of the D3plane.
/// Since the normal vector stored in the D3plane N field is calculated
/// from the CVPS3 of these points, this value is the length of the
/// normal vector N returned by the D3plane accessors N and Normal.
/// </summary>
public double LVijk { get { if (!valid) nn.Zero(); return ~nn; } }
/// STP
/// <summary>
/// This function returns the Scalar Triple Product [123] of the
/// vectors to the three vertices defining the D3plane triangle,
/// V_ijk[1], V_ijk[2], and V_ijk[3].
/// </summary>
public double STP { get { return V_ijk[1]*(V_ijk[2]^V_ijk[3]); } }
public double CosPhi(int i)
{
double d; D3tuple v1 = new D3tuple(),v2 = new D3tuple();
setJK(i); v1 = V_ijk[jj]-V_ijk[ii]; v2 = V_ijk[kk]-V_ijk[ii]; d = ~(v1)*~(v2);
if (d != 0) d = ((v1)*(v2)) / (d);
return d;
}
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public double Angle(int i)

{
double d = new double(); modd3(ref i); d = Math.Acos(CosPhi(i)); return d;
}
/// UnitNormal
/// <summary>
/// This accessor returns the SignOnly normal to the plane represented
/// by the D3plane. The normal vector stored in the D3plane instance
/// is NOT normalized as a result of a call to this accessor.
/// </summary>
public D3tuple UnitNormal { get { if (!valid) nn.Zero(); return !nn; } }
/// Normal
/// <summary>
/// This accessor returns the D3plane's normal vector, which is NOT
/// normalized to be a SignOnly vector.
/// </summary>
public D3tuple Normal { get { if (!valid) nn.Zero(); return nn; } }
/// N
/// <summary>
/// This accessor returns the D3plane's normal vector, which is NOT
/// normalized to be a SignOnly vector.
/// </summary>
public D3tuple N { get { if (!valid) nn.Zero(); return nn; } }
/// Loci
/// <summary>
/// This accessor gets and sets the three defining points of the plane
/// represented by the D3plane instance. These points are the vertices
/// of a triangle in the general case. Loci and Vijk are equivalent.
/// </summary>
public D3tuple[] Loci { get { return V_ijk; } set { setVijk(value); } }
/// Vijk
/// <summary>
/// This accessor gets and sets the three defining points of the plane
/// represented by the D3plane instance. These points are the vertices
/// of a triangle in the general case. Loci and Vijk are equivalent.
/// </summary>
public D3tuple[] Vijk { get { return V_ijk; } set { setVijk(value); } }
/// SetD3plane()
/// <summary>
/// The routine sets the three defining points of the plane, given one
/// of those points and a plane normal vector. The second and third
/// points are calculated using the cross product of the locus vector
/// and the normal if possible; otherwise their directions are based
/// on the [1,1,1] direction or one or more of the axes.
/// </summary>
/// <param name="locus">A point lying on the plane being defined</param>
/// <param name="anyNormal">The normal vector to the plane</param>
public void SetD3plane(D3tuple locus, D3tuple anyNormal)
{
setPoints(locus, anyNormal);
}
/// Edge()
/// <summary><para>
/// The edges of the D3plane are indexed by the index of the
/// opposite vertex, and are returned by this function in cyclic
/// order; m.e.:</para><para> Edge(1)= 23 </para><para> Edge(2)= 31
/// </para><para>Edge(3)= 12 </para>
/// </summary>
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/// <param name="i">Index of vertex opposite the edge to be returned</param>

/// <returns>A D3line containing the points defining the edge</returns>
public D3line Edge(int i)
{
D3line DL = new D3line(); i++;
i = ((i-1)%3)+1; int j = i + 1; j = ((j-1)%3)+1;
DL.SetAB(V_ijk[i], V_ijk[j]);
return DL;
}
/// Equation()
/// <summary><para>
/// This function returns a value of zero to 3 if the plane of
/// the D3plane is one of the default Rotator axes. The values
/// 1..3 represent the X,Y,Z axis planes and 0 the [1,1,1] plane
/// (although in this case 0 may signify any plane).</para>
/// <para>
/// The coefficients of a scalar plane equation in standard form are
/// returned in the ref parameters to this function so that the form
/// Ax + By + Cz + res = 0 can be constructed from any D3plane if required.
/// </para>
/// </summary>
/// <param name="A">Coefficient of x in the plane equation</param>
/// <param name="B">Coefficient of y in the plane equation</param>
/// <param name="C">Coefficient of z in the plane equation</param>
/// <param name="res">Origin distance factor in the plane equation</param>
/// <returns>The Rotator index of the plane, or zero</returns>
public int Equation(ref double A, ref double B, ref double C, ref double D)
{
int res = 0,i=3; double d=0;
A = nn.X; B = nn.Y; C = nn.Z; D = V_ijk[1] * (V_ijk[2]^V_ijk[3]);
while ((res==0) & (i > 0))
{
d = ~(nn^Ro.r.Axes[i]); //D = ~(nn^Rp.Axes[j]);
if (d == 0) res = i;
i--;
}
return res;
}
/// InterceptForm()
/// <summary><para>
/// This function returns a value of zero to 3 if the plane of
/// the D3plane is one of the default Rotator axes. The values
/// 1..3 represent the X,Y,Z axis planes and 0 the [1,1,1] plane.</para>
/// <para>
/// The axis intercepts are returned as ref parameters; and if
/// any axis intercept is greater than 1/ the value of 1/ is
/// returned for that parameter.</para>
/// </summary>
/// <param name="a">Returns first axis intercept or 1/</param>
/// <param name="b">Returns second axis intercept or 1/</param>
/// <param name="c">Returns third axis intercept or 1/</param>
/// <returns>The Rotator index of the plane, or zero</returns>
public int InterceptForm(ref double a, ref double b, ref double c)
{
int res = 0,i=3; double d=0; double D = V_ijk[1] * (V_ijk[3]^V_ijk[2]);
while ((res==0) & (i > 0))
{
d = ~(nn^Ro.r.Axes[i]); //D = ~(nn^Rp.Axes[j]);
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if (d == 0) res = i;
i--;
}
if (nn.X != 0) a = D / nn.X; else a = 1 / Ro.r.Eta; //Rp.Eta;
if (nn.Y != 0) b = D / nn.Y; else b = 1 / Ro.r.Eta; //Rp.Eta;
if (nn.Z != 0) c = D / nn.Z; else c = 1 / Ro.r.Eta; //Rp.Eta;
return res;
}
#region D3plane OPERATORS
/// ~ Norm (Vector Length) Operator ~A = |A|
/// <summary>
/// This operator performs the same computation on the normal
/// vector of the D3plane as the D3tuple ~ operator does on
/// any D3tuple in general.
/// </summary>
/// <param name="DP">A D3plane</param>
/// <returns>Length of the D3plane normal vector</returns>
public static double operator~(D3plane DP) { return ~DP.nn; }
/// ! Unit Vector Operator A' = A / |A|
/// <summary>
/// vector of the D3plane as the D3tuple ! operator does on
/// </summary>
/// <returns>The unit normal vector to the D3plane</returns>
public static D3tuple operator!(D3plane DP)
{ D3tuple D = new D3tuple(); D = !DP.nn; return D; }
/// - Pole Reversal Operator A' = -A
/// <summary>
/// vector of the D3plane as the D3tuple - operator does on
/// </summary>
/// <returns>A vector equal and opposite to the D3plane normal</returns>
public static D3tuple operator-(D3plane DP)
{ D3tuple D = new D3tuple(); D = -DP.nn; return D; }
/// + Addition Operator C = A+B
/// <summary>
/// vector of the D3plane as the D3tuple + operator does on
/// any two D3tuples in general.
/// </summary>
/// <param name="DP1">First D3plane</param>
/// <param name="DP2">Second D3plane</param>
/// <returns>Sum of the two D3plane normal vectors</returns>
public static D3tuple operator+(D3plane DP1, D3plane DP2)
{
D3tuple D = new D3tuple(); D = DP1.nn+DP2.nn; return D;
}
/// - Subtraction Operator C = A-B
/// <summary>
/// vector of the D3plane as the D3tuple - operator does on
/// </summary>
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/// <returns>Sum of the first D3plane's normal vector and the vector equal to and
/// opposite the second D3plane's normal vector.</returns>
public static D3tuple operator-(D3plane DP1, D3plane DP2)
{
D3tuple D = new D3tuple(); D = DP1.nn-DP2.nn; return D;
}
/// * Scalar (Dot) Product Operator D = A*B
/// <summary>
/// vector of the D3plane as the D3tuple * operator does on
/// </summary>
/// <param name="DP1">A D3plane</param>
/// <param name="DP2">A D3plane</param>
/// <returns>The scalar product of the two D3plane normal vectors</returns>
public static double operator*(D3plane DP1, D3plane DP2)
{
double d = DP1.nn*DP2.nn; return d;
}
/// * Scalar Component Multiplication Operator A' = hA
/// <summary>
/// vector of the D3plane as the D3tuple * operator does on
/// </summary>
/// <param name="d">Scalar multiplier</param>
/// <returns>The D3plane normal vector multiplied by the given scalar</returns>
public static D3tuple operator*(double d, D3plane DP)
{
D3tuple D = new D3tuple(); D = d*DP.nn; return D;
}
/// / Length Division Operator A' = A / |B|
/// <summary>
/// vector of the D3plane as the D3tuple / operator does with
/// </summary>
/// <returns>The first D3plane normal vector divided by the length
/// of the second D3plane normal vector</returns>
public static D3tuple operator/(D3plane DP1, D3plane DP2)
{
D3tuple D = new D3tuple(); D = DP1.nn/~(DP2.nn); return D;
}
/// / Scalar Divide Components Operator A' = A / h
/// <summary>
/// vector of the D3plane as the D3tuple / operator does on
/// </summary>
/// <param name="d">A scalar divisor</param>
public static D3tuple operator/(D3plane DP, double d)
{
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D3tuple D = new D3tuple(); D = DP.nn/d; return D;

}
/// ^ Vector Product Operator C = A x B
/// <summary>
/// This operator performs the numerical computation A x B which is equivalent to
/// 123 x 456
/// given that 123 and 456 are the defining points of two D3planes. The result
/// is not analytically equivalent in a symbolic algebraic sense in that the
/// individual points cannot be extracted from the result, although the value of
/// the result is the same analytically as it is computationally. For this
/// reason, the computation is performed on the normal vector fields of the
/// D3planes rather than on the defining points themselves, because it is more
/// efficient.
/// </summary>
/// <returns>The vector product of the normal vectors of the two D3planes</returns>
public static D3tuple operator^(D3plane DP1, D3plane DP2)
{
return new D3tuple((DP1.nn^DP2.nn).X, (DP1.nn^DP2.nn).Y, (DP1.nn^DP2.nn).Z);
}
/// | Intersection Operator - Line Segment
/// <summary><para>
/// This operator projects the first point of each D3plane onto the line
/// of intersection and returns a D3line FROM the point projected from DP1
/// TO that projected from DP2. The location of these points on the line
/// will vary depending on how the points are enumerated in each plane.</para><para>
/// </para><para>
/// If the planes were each defined by a single point P and a normal N,
/// then P is the first point in each D3plane and the other two are
/// more or less arbitrary, having been determined by the D3plane
/// constructor; and therefore this situation is clearly nothing more
/// than determining the line of intersection of the two planes and
/// projecting the defining locus P of each plane onto that line such that
/// the direction of projection is perpendicular to the line of intersection.</para>
/// </summary>
/// <param name="DP1">First plane</param>
/// <param name="DP2">Second plane</param>
/// <returns>A directed segment on the line of intersection</returns>
public static D3line operator|(D3plane DP1, D3plane DP2)
{
D3tuple u12 = new D3tuple(), nxn = new D3tuple(),
v1 = new D3tuple(),v2 = new D3tuple();
double L = 0;
nxn = (DP1.UnitNormal^DP2.UnitNormal); L = nxn*nxn;
if (L != 0)
{
nxn = nxn/L;
u12 = DP1.V_ijk[1]-DP2.V_ijk[1];
v1 = DP1.V_ijk[1] + (u12*DP2.UnitNormal)*(nxn^DP1.UnitNormal);
v2 = DP2.V_ijk[1] + (u12*DP1.UnitNormal)*(nxn^DP2.UnitNormal);
}
return new D3line(v1, v2);
}
/// Right-shift Indexes Operator
/// <summary>
/// The operator provides the same functionality as the D3tuple
/// Index Right-Shift Operator, but it does not apply the operation
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/// to the vertices of the defining triangle of the D3plane. The

/// shift is performed on the components of the normal vector to
/// the plane, and the result returned without affecting the state
/// of the D3plane normal or its defining points.
/// </summary>
/// <param name="DP">First operand of DPk</param>
/// <param name="k">Second operand of DPk (k = shift count)</param>
public static D3tuple operator>>(D3plane DP, int k)
{
int c = k % 3; D3tuple d = new D3tuple(DP.nn.X, DP.nn.Y, DP.nn.Z);
if ((c == 1)|(c == -2)) d.Set(DP.nn.Y, DP.nn.Z, DP.nn.X);
else if ((c == 2)|(c == -1)) d.Set(DP.nn.Z, DP.nn.X, DP.nn.Y);
return d;
}
/// Left-shift Indexes Operator
/// <summary>
/// The operator provides the same functionality as the D3tuple
/// Index Left-Shift Operator, but it does not apply the operation
/// to the vertices of the defining triangle of the D3plane. The
/// shift is performed on the components of the normal vector to
/// the plane, and the result returned without affecting the state
/// of the D3plane normal or its defining points.
/// </summary>
/// <param name="DP">First operand of DPk</param>
/// <param name="k">Second operand of DPk (k = shift count)</param>
public static D3tuple operator<<(D3plane DP, int k)
{
int c = k % 3; D3tuple d = new D3tuple(DP.nn.X, DP.nn.Y, DP.nn.Z);
if ((c == -1)|(c == 2)) d.Set(DP.nn.Y, DP.nn.Z, DP.nn.X);
else if ((c == -2)|(c == 1)) d.Set(DP.nn.Z, DP.nn.X, DP.nn.Y);
return d;
}
#endregion End D3plane OPERATORS
}
#endregion
#region D3tetra CLASS
public class D3tetra
{
D3tuple[] pts = null; int ii=0,jj=0,kk=0,ll=0; bool valid=false;
IndexPair[,] rhoIJ =
{{new IndexPair(0,0),new IndexPair(0,0),new IndexPair(0,0),new IndexPair(0,0),new
{new IndexPair(0,0),new IndexPair(1,1),new IndexPair(3,4),new IndexPair(4,2),new
public D3tetra() { Init(); }
public D3tetra(D3tuple d1, D3tuple d2, D3tuple d3, D3tuple d4)
{
Init();
if (d1 != null) pts[1] = d1;
if (d2 != null) pts[2] = d2;
if (d3 != null) pts[3] = d3;
if (d4 != null) pts[4] = d4;
reCalc();
}
public D3tetra(D3tuple[] D, int Dofs)
IndexPair(0,0)},
IndexPair(2,3)},
IndexPair(3,1)},
IndexPair(1,2)},
IndexPair(4,4)}};
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{
Init();
int L = D.Length;
if (L == 4) Dofs = 0;
if ((L >= 4) & (Dofs < L-3))
{
if (D[Dofs] != null)
pts[1]
if (D[Dofs+1] != null) pts[2]
}
reCalc();
=
=
=
=
D[Dofs]; else valid =

D[Dofs+1]; else valid
false;
= false;
= false;
= false;
}
void Init()
{
pts = new D3tuple[6]; for (int i=1; (i<=5); i++) { pts[i] = new D3tuple(); }
valid=true;
}
void reCalc() { }
bool indexOK(int i) { return ((i >= 1) & (i <= 4)); }
D3tuple ensure(ref D3tuple d) { if (d == null) d = new D3tuple(); return d; }
void setKL(int i, int j)
{
ii=i; jj=j; ii = ((ii-1)%4)+1; jj = ((jj-1)%4)+1; kk = rhoIJ[ii,jj].K; ll = rhoIJ[ii,jj].L;
}
public void IJtoKL(int i, int j, ref int k, ref int l)
{
i = ((i-1)%4)+1; j = ((j-1)%4)+1; k = rhoIJ[i,j].K; l = rhoIJ[i,j].L;
}
void setJKL(int i)
{
ii = i; jj = ii + 1; ii = ((ii-1)%4)+1; jj = ((jj-1)%4)+1; kk = rhoIJ[ii,jj].K; ll = rhoIJ[ii,jj].L;
}
public void ItoJKL(int i, ref int j, ref int k,ref int l )
{
j = i + 1; i = ((i-1)%4)+1; j = ((j-1)%4)+1; k = rhoIJ[i,j].K; l = rhoIJ[i,j].L;
}
/// RhoIJ() <summary>
/// This function returns an IndexPair kl corresponding to
/// the indexes ij supplied as parameters to this function.<para>
/// </para>
/// <para>
/// Note that if k=j the function returns II rather than null.</para>
/// </summary>
/// <param name="i"></param>
/// <param name="j"></param>
public IndexPair RhoIJ(int i, int j)
{
IndexPair IP = new IndexPair();
if ((indexOK(i)) & (indexOK(j))) { IP = rhoIJ[i, j]; }
return IP;
}
/// Pt() <summary>
/// This function returns a D3tetra vertex point, given
/// its index (1..4).
/// </summary>
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/// <param name="i">Index of vertex to return</param>

public D3tuple Pt(int i)
{
D3tuple D = new D3tuple(); if (indexOK(i)) D = pts[i];
return D;
}
/// SetPt() <summary>
/// This routine sets an individual point of the D3tetra,
/// given an index in the range 1..4
/// </summary>
/// <param name="res">D3tuple containing value to be stored</param>
/// <param name="i">Point index in D3tetra where value is to be stored</param>
public void SetPt(D3tuple D, int i)
{
if (D == null) return; if (indexOK(i)) { pts[i] = D; reCalc(); }
}
/// PtsIJ() <summary>
/// This function returns a D3line from Pts[i] to Pts[j], whereas
/// the Edge(i,j) method returns the edge from Pts[k] to Pts[l]
/// </summary>
/// <param name="i">Index of point to store as first point in the D3line</param>
/// <param name="j">Index of point to store as second point in the D3line</param>
public D3line PtsIJ(int i, int j)
{
D3line DL = new D3line();
if ((indexOK(i)) & (indexOK(j)))
{
DL.SetAB(pts[i], pts[j]);
}
return DL;
}
/// SetPtsIJ() <summary>
/// This routine sets the D3tetra points in pairs by the
/// actual array indexes of the points (1..4), given a D3line
/// provided as the first parameter.
/// </summary>
/// <param name="DL">A D3line instance containing two point values</param>
/// <param name="i">Destination index of first point of the D3line</param>
/// <param name="j">Destination index of second point of the D3line</param>
public void SetPtsIJ(D3line DL, int i, int j)
{
if ((DL != null) & (indexOK(i)) & (indexOK(j)))
{
pts[i] = DL.Xij[1]; pts[j] = DL.Xij[2]; reCalc();
}
}
/// <summary>
/// This accessor returns one of the four defining points of the D3tetra if i=1..4<para>
/// Otherwise, it returns the vector from edge 12 to edge 34</para>
/// </summary>
/// <param name="i">Vertex index (1..4), or zero</param>
/// <returns>A vertex (if i=1..4) or the diagonal from edge 12 to edge 34</returns>
{
get
{
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if (indexOK(i)) { res = pts[i]; }
else res = Ro.r.CVPS4(pts[1], pts[3], pts[2], pts[4]);
return res;
}
set
{
D3tuple d = value;
if (d != null)
{
if (indexOK(i))
{
pts[i] = d;
}
}
}
}
/// Pts <summary>
/// This accessor returns an array of length 6 containing the four
/// tetrahedron vertices in elements 1..4 and a possible fifth point
/// in element 5. The array returned can be used with Rotator class
/// methods for sphere and D5 calculations.
///
/// Used to set the vertices, this accessor accepts any array of
/// D3tuples, but only stores elements 1..4 (or elements 0..3 if the
/// array length is 4) in Pts[1..4].
/// </summary>
public D3tuple[] Pts
{
get { return pts; }
set
{
D3tuple[] d = value; int L = d.Length; int k0=0;
if (L > 4) k0 = 1;
if (k0+3 <= L)
{
int i = 1;
while (i <= 4)
{
pts[i] = d[k0];
i++; k0++;
}
reCalc();
}
}
}
/// SetPts() <summary>
/// This routine sets all four points from four D3tuples
/// provided as parameters.
/// </summary>
/// <param name="d1">Value to store in Pts[1]</param>
public void SetPts(D3tuple d1, D3tuple d2, D3tuple d3, D3tuple d4)
{
if (valid)
{
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pts[1] = d1; pts[2] = d2; pts[3] = d3; pts[4] = d4; reCalc();

}
}
/// Datum <summary>
/// This accessor gets and sets the fifth point stored in the
/// D3tetra field Pts[5], which is a datum point used in those
/// D3tetra methods which calculate face distances, etc. Setting
/// this point to a valid value also allows the Pts[] array of
/// D3tuples returned by the Pts accessor to be used in Rotator
/// methods which require an array of at least five entries as input.
/// </summary>
public D3tuple Datum
{
get { return pts[5]; }
set { D3tuple D = value; if (D != null) { pts[5] = D; } }
}
/// GetAxisSet() <summary>
/// This function returns an AxisSet with origin Pts[i] and
/// axis points Pts[j], Pts[k], and Pts[l], where jkl = RhoJKL(i).
/// </summary>
public AxisSet GetAxisSet(int i)
{
setJKL(i);
AxisSet AS = new AxisSet(pts[ii], pts[jj], pts[kk], pts[ll]);
return AS;
}
/// Edge() <summary>
/// Edge(i,j) returns the edge from point j to point k
/// </summary>
/// <param name="i">First index (1..4)</param>
/// <param name="j">Second index (1..4)</param>
public D3line Edge(int i, int j)
{
D3line E = new D3line();
{
if (i != j)
{
E.SetAB(pts[i], pts[j]);
}
}
return E;
}
/// OppEdge() <summary>
/// OppEdge(i,j) returns the edge kl opposite vertex j in plane P(i) = jkl
/// </summary>
/// <param name="i">Plane index (1..4)</param>
/// <param name="j">Vertex index (1..4)</param>
public D3line OppEdge(int i, int j)
{
D3line E = new D3line();
{
if (i != j)
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{
int J=j,K=j,L=j;
ItoJKL(i, ref J, ref K, ref L);
Rho.Rho3RotateTo(j, ref J, ref K, ref L);
E.SetAB(pts[K], pts[L]);
}
}
return E;
}
/// Face() <summary>
/// Face() returns the plane defined by face i of the tetrahedron.
/// Note that when the points are stored in dextrochiral order in
/// the D3tetra Pts array, the D3plane returned by this function
/// will contain an outward normal of the tetrahedron.
/// </summary>
/// <param name="i">Face index (1..4)</param>
/// <returns>The plane defined by face i of the tetrahedron</returns>
public D3plane Face(int i)
{
D3plane D = new D3plane(); D3tuple[] D3 = new D3tuple[4];
int c = 1;
setJKL(i);
while (c <= 3) { D3[c] = new D3tuple(); c++; }
D3[1] = pts[jj]; D3[2] = pts[kk]; D3[3] = pts[ll];
D.Vijk = D3;
return D;
}
/// FaceNormal() <summary>
/// This function returns the outward face normal of the
/// tetrahedron face with index i if the points stored in
/// the D3tetra are in dextrochiral order; otherwise, the
/// normal points into the interior of the tetrahedron.
/// </summary>
/// <param name="i">Face index (1..4)</param>
/// <returns>Outward face normal to plane i</returns>
public D3tuple FaceNormal(int i)
{
setJKL(i); D = Ro.r.CVPS3(pts[jj], pts[kk], pts[ll]); //Tp.CVPS3(pts[JJ], pts[KK], pts[LL]);
return D;
}
#region REFERENCE COMMENTS
// Altitude vector definitions:
// http://cqvis.zxq.net/C4/VQC117.html
#endregion
/// FaceAltitude() <summary>
/// Each face of the tetrahedron being bounded by three edges,
/// the FaceAltitude function returns a vector lying in face i
/// directed toward vertex j from edge kl and which has the
/// length of the altitude of the triangle measured from the
/// base kl.
/// </summary>
/// <param name="i">Face index</param>
/// <param name="j">Altitude vector index</param>
public D3tuple FaceAltitude(int i, int j)
{
D3tuple D = new D3tuple(); D3tuple kl = new D3tuple();
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{
double d = 0; setKL(i, j); kl = pts[ll] - pts[kk]; d = kl*kl;
if (d != 0)
{
D = (kl ^ Ro.r.CVPS3(pts[jj],pts[kk],pts[ll])) / d; //D = (kl ^ Tp.CVPS3(pts[JJ],pts[KK],pts[LL])) / D;
}
}
return D;
}
/// Diagonal() <summary>
/// This function returns a diagonal vector of the tetrahedron
/// which begins on edge ij and ends on edge kl. The
/// DiagonalSegment() function returns the actual endpoints of
/// this vector in a D3line, whereas this function returns only
/// the vector, whose magnitude equals the distance from one
/// edge of the tetrahedron to the opposite edge.
/// </summary>
/// <param name="i">First vertex on edge</param>
/// <param name="j">Second vertex on edge</param>
/// <returns>Edge connecting the remaining two vertexes</returns>
public D3tuple Diagonal(int i, int j)
{
D3tuple D = new D3tuple(); D3tuple ikjl = new D3tuple();
{
setKL(i, j); double d = 0,d5=0;
d5 = Ro.r.Dk(pts[ii], pts[jj], pts[kk], pts[ll]); //D5 = Tp.Dk(pts[II], pts[JJ], pts[KK], pts[LL]);
ikjl = (pts[jj]-pts[ii])^(pts[ll]-pts[kk]);
d = ikjl*ikjl;
if ((d != 0) & (d5 != 0))
{
D = -d5 * (ikjl / d);
}
}
return D;
}
/// DiagonalSegment() <summary>
/// This function returns a D3line containing the endpoints
/// of a diagonal running from one edge of the tetrahedron
/// to the opposite edge.
/// </summary>
/// <param name="i">First vertex on edge</param>
/// <param name="j">Second vertex on edge</param>
/// <returns>The diagonal connecting edge ij with the opposite edge</returns>
public D3line DiagonalSegment(int i, int j)
{
{
setKL(i, j); D3line DL1 = new D3line(pts[ii],pts[jj]), Dl2 = new D3line(pts[kk],pts[ll]);
D = DL1 & Dl2; // This uses the D3line OmegaIKJL operator &
}
return D;
}
/// Parax() <summary>
/// This function returns the same value as that in the D3penta class,
/// but the calculations here use the equation written in terms of the
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/// vertex points and a displacement point rather than the normal vectors
/// as in the D3penta Parax() function (q.v.).
/// <see>TranslateToPlane()</see>
/// </summary>
/// <param name="d1">First vertex</param>
/// <param name="d2">Second vertex</param>
/// <param name="d1">Third vertex</param>
/// <param name="d4">Fourth vertex</param>
/// <param name="d5">A point on a translation vector originating at the fourth vertex</param>
/// <returns>Zero if the four vertexes lie on a right circular cylinder with its axis parallel to
/// the translation direction</returns>
public double Parax(D3tuple d1, D3tuple d2, D3tuple d3, D3tuple d4, D3tuple d5)
{
double d = new double(); ensure(ref d1);ensure(ref d2);ensure(ref d3);ensure(ref d4);ensure(ref d5);
d = ((D3SQP(d5,d1,d2,d4)
) * (Ro.r.CVPS4(d4,d3,d5,d1)*Ro.r.CVPS4(d4,d3,d5,d2)))
- (D3SQP(d5,d1,d3,d2)+D3SQP(d4,d1,d2,d3)) * (Ro.r.CVPS3(d5,d4,d2)
*Ro.r.CVPS3(d5,d1,d4));
return d;
}
/// PointToPlane() <summary>
/// This function returns the locus of a point res after translation
/// along the normal to a D3plane DP onto that plane.
/// </summary>
/// <param name="res">Point to be 'shadowed' directly onto a plane</param>
/// <param name="DP">The D3plane onto which res is to be projected</param>
public D3tuple PointToPlane(D3tuple D, D3plane DP)
{
if ((D != null) & (DP != null))
{
res = D + Ro.r.ProjCos(DP.Vijk[1]-D, DP.UnitNormal);
}
return res;
}
/// TranslateToPlane() <summary><para>
/// This function returns a scalar under certain conditions which indicates
/// whether the points involved in the computation lie on a cylinder. If the
/// length of the return array provided as the ref parameter D is at least 5,
/// then this scalar will be computed and returned.</para><para>
/// </para><para>
/// The calculation of this scalar is rather complex, involving four CVPs and
/// three SQPs:</para><para>
/// P = ( mijl )(
lkmi
*
lkmj
) - ( mikj + lijk )(
mlj
*
mil
)</para><para>
/// </para><para>
/// The points provided by the array D[] are projected onto the plane defined
/// by p[] during this routine; the number of values returned depending on the
/// length of the array D[]. The array p[] is interpreted differently by this
/// routine dpending on its length, as follows:</para><para>
/// L = 2</para><para>
/// p[1] is interpreted as a displacement vector, and is added to the fourth
/// point to provide the fifth required point.</para><para>
/// p[2]-p[1] is interpreted as a displacement, which is added to the fourth
/// point to provide the fifth required point.</para><para>
/// p[1],p[2], and p[3] are used in forming a CVPS3 which is then used as a
/// displacement vector, and added to point 4 to provide the fifth required point.</para><para>
/// </para><para>
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/// The calculation of the Paraxial Equation value P requires four points ijkl
/// in conjunction with a fifth point m to form a translation bundle which is
/// translated to a plane through the origin along the direction lm. The fifth
/// point m is thus derived from the given displacement provided by p[] by
/// adding it to the vector l before the calculation of P is carried out. The
/// translation implied by this calculation is not actually carried out on the
/// vectors supplied by D[], although if the length of D[] is less than 5 the
/// points supplied in D[] will be translated to the origin.</para>
/// </summary>
/// <param name="res">Array to hold five result vectors; this may supply the points to be translated</param>
/// <param name="p">Array defining plane and/or normal vector for translation</param>
/// <returns>The scalar value of the paraxial equation; zero if the points are on a cylinder
/// with axis in the translation direction, or if they are invalid</returns>
public double TranslateToPlane(ref D3tuple[] D, D3tuple[] p)
{
double res = 0;
if (D != null)
{
int L = D.Length,pL = 0; D3tuple trD = new D3tuple();
D3tuple[] tmpD = new D3tuple[6];
for (int i = 1; (i <= 5); i++)
{ tmpD[i] = new D3tuple(); if (i < L) tmpD[i] = D[i]; else tmpD[i] = pts[i]; }
trD = tmpD[5] - tmpD[4];
if (p != null)
{
pL = p.Length;
if (pL == 2)
{
tmpD[5] = p[1] + tmpD[4];
}
else if (pL == 3) { tmpD[5] = (p[2]-p[1]) + tmpD[4]; }
else if (pL >= 4) { tmpD[5] = Ro.r.CVPS3(p[1], p[2], p[3]) + tmpD[4]; } //{ tmpD[5] = Tp.CVPS3(p[1], p[2], p[3]) + tmpD
[4]; }
}
D3plane tmpP = new D3plane(tmpD[4], tmpD[5]-tmpD[4]);
if (L >= 2) D[1] = PointToPlane(tmpD[1], tmpP);
if (L >= 5)
{ D[4] = PointToPlane(tmpD[4], tmpP);
// P = ( mijl )(
lkmi
*
lkmj
) - ( mikj + lijk )(
mlj
*
mil
)
res = ((D3SQP(tmpD[5], tmpD[1], tmpD[2], tmpD[4]))
* (Ro.r.CVPS4(tmpD[4], tmpD[3], tmpD[5], tmpD[1]) * Ro.r.CVPS4(tmpD[4], tmpD[3], tmpD[5], tmpD[2])))
(D3SQP(tmpD[5], tmpD[1], tmpD[3], tmpD[2]) + D3SQP(tmpD[4], tmpD[1], tmpD[2], tmpD[3])
* (Ro.r.CVPS3(tmpD[5], tmpD[4], tmpD[2]) * Ro.r.CVPS3(tmpD[5], tmpD[1], tmpD[4])));
}
}
return res;
}
/// D3SQP() <summary><para>
/// This function returns the Scalar Quadruple Product,
ijkl , defined as: </para><para>
///
ijkl
= j *
jkl
- [jkl]</para><para>
/// This value is the signed distance from the point j to the plane jkl
/// as measured along the direction of the plane normal,
jkl . The value
/// is calculated by subtracting the plane's origin distance from the
/// component of vector j in the direction of the normal.</para>
/// </summary>
/// <returns>The Scalar Quadruple Product of four vectors</returns>
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public double D3SQP(D3tuple d1, D3tuple d2, D3tuple d3, D3tuple d4)
{
return (d1*Ro.r.CVPS3(d2, d4, d3)) - (d2*(d4^d3)); //(D*Tp.CVPS3(D2, D4, D)) - (D2*(D4^D));
}
/// LineToSphere() <summary><para>
/// You must check the length of the array returned by this function before attempting to use it.</para>
/// <para>
/// LineToSphere(DL,DT) calculates the intersection points, if any exist, of the line given by
/// the segment endpoints in DL.Xij[1] and DL.Xij[2] with the circumsphere of the tetrahedron
/// whose vertices are contained in DT.</para>
/// <para>
/// RETURN VALUES:</para><para>
/// :::: Roots are not real:</para><para>
/// Length of returned array is 1; element 0 contains the coefficients of the quadratic,
/// which can be analyzed if need be.</para><para>
/// :::: Roots real and equal:</para><para>
/// Length of returned D3tuple array is 2. Element 1 contains the intersection point.</para><para>
/// :::: Roots real and unequal:</para><para>
/// Length of returned D3tuple array is 3. Elements 1 and 2 contain the intersection points.</para><para>
/// ARRAY ELEMENT 0:</para><para>
/// This will contain the quadratic coefficients A,B,C.</para><para>
/// If the D3line point Xij[1] coincides with the sphere center, the linear term
/// vanishes, and thus the coefficient B will be zero or vanishingly small.
/// If it lies on the sphere surface, the constant term vanishes, and thus the
/// coefficient C will be zero or vanishingly small.</para>
/// <see>
/// http://cqvis.zxq.net/C3/VQC100.html
/// </see><para>
/// DEFINITION OF THE QUADRATIC:</para><para>
/// Q: x1 or some point q along vector u</para><para>
/// U: x1 x2 or some vector u</para><para>
/// : Quadratic solution; gives point(s) Q + U on the sphere, if any exist.</para><para>
/// D5, F5, G5: These are calculated from the tetrahedron vertices by Rotator.GetDvalues()</para><para>
/// QUADRATIC COEFFICIENTS:</para><para>
/// A = D5*(U*U)</para><para>
/// B = U * ( F5 + 2*D5*Q )</para><para>
/// C = D5*(Q*Q) + (Q*F5) - G5</para>
/// </summary>
/// <param name="DL">A D3line specifying the location and direction of the line</param>
/// <param name="DT">A D3tetra containing the four points which define the spherical surface</param>
/// <returns>Coefficients of, or one or two points given by solutions to, the equation
/// for the intersection of a line with a sphere</returns>
public D3tuple[] LineToSphere(D3line DL, D3tetra DT)
{
D3tuple[] res = new D3tuple[3];
if ((DL != null) & (DT != null))
{
double A=0,B=0,C=0,D5=0,G5=0,d=0;
D3tuple Q = new D3tuple(DL.Xij[1][1], DL.Xij[1][2], DL.Xij[1][3]);
D3tuple U = new D3tuple(DL.Vec[1], DL.Vec[2], DL.Vec[3]);
Ro.r.GetDvalues(DT.pts, 1);
D5 = Ro.r.D5[5]; G5 = Ro.r.G5[5];
D3tuple F5 = new D3tuple(Ro.r.F5[5][1], Ro.r.F5[5][2], Ro.r.F5[5][3]);
A = D5 * (Q*Q); B = U * (F5 + 2*D5*Q); C = D5 * (Q*Q) + (Q*F5) - G5;
d = B*B - 4*A*C;
if (d >= 0)
{
d = Math.Sqrt(d); double d1 = (-B + d) / (2.0*A),d2 = (-B - d) / (2.0*A);
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res[1] = new D3tuple(); res[1] = Q + d1*U;

if (d1 == d2) Array.Resize(ref res, 2);
else
{
res[2] = new D3tuple(); res[2] = Q + d2*U;
}
}
else Array.Resize(ref res, 1);
res[0] = new D3tuple(A, B, C);
}
return res;
}
}
#endregion
#region D3penta CLASS
public class D3penta
{
public D3tuple[] DQ = null; int ii=0,jj=0,kk=0,ll=0,mm=0; bool valid=false;
IndexTriple[,] rhoMI =
{{new IndexTriple(0,0,0),new IndexTriple(0,0,0),new IndexTriple(0,0,0),new IndexTriple(0,0,0),new
{new IndexTriple(0,0,0),new IndexTriple(1,1,1),new IndexTriple(3,4,5),new IndexTriple(2,5,4),new
IndexTriple(5,5,5)}};
public D3penta()
{
Init();
}
public D3penta(D3tuple d1, D3tuple d2, D3tuple d3, D3tuple d4, D3tuple d5)
{
Init();
if (d1 != null) DQ[1] = d1;
if (d2 != null) DQ[2] = d2;
if (d3 != null) DQ[3] = d3;
if (d4 != null) DQ[4] = d4;
if (d5 != null) DQ[5] = d5;
reCalc();
}
public D3penta(D3tuple[] D, int Dofs)
{
Init();
int L = D.Length;
if (L == 5) Dofs = 0;
if ((L >= 5) & (Dofs < L-4))
{
if (D[Dofs] != null)
DQ[1] = D[Dofs]; else valid = false;
if (D[Dofs+1] != null) DQ[2] = D[Dofs+1]; else valid = false;
IndexTriple(0,0,0),new
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reCalc();
}
}
void Init()
{
DQ = new D3tuple[6]; int i = 1;
while (i < 6) { DQ[i] = new D3tuple(); i++; }
valid=true;
}
void reCalc() { }
bool indexOK(int i) { return ((i >= 1) & (i <= 5)); }
public void modd5(ref int i) { if (i < 0) i = -i; i = (((i-1)%5)+1); }
{
get
{
if (indexOK(i)) { res = DQ[i]; }
return res;
}
set
{
D3tuple d = value;
if (d != null)
{
if (indexOK(i))
{
DQ[i] = d;
}
}
}
}
/// Rho3RotateTo() <summary><para>
/// This routine rotates the index permutation uvw so that the
/// first element has the value U, provided that</para>
/// U
uvw
/// </summary>
/// <param name="U">One of the parameters u,v,w</param>
/// <param name="u">On input, the index u. Returns U</param>
/// <param name="v">On input, the index v. Returns the parameter cyclically following U</param>
/// <param name="w">On input, the index w. Returns the parameter cyclically preceding U</param>
public void Rho3RotateTo(int U, ref int u, ref int v, ref int w)
{
int t=u,i=1,u1=u,v1=v,w1=w;
while ((i <= 3) & (u1 != U))
{
t = u1; u1 = v1; v1 = w1; w1 = t;
i++;
}
if (i > 1)
{
if (u1 == U) { u = u1; v = v1; w = w1; }
}
}
void setKL(int m, int i, int j)
{
setJKL(m,i);
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//
JJ = rhoMI[II,JJ].k; KK = rhoMI[II,JJ].K; LL = rhoMI[II,JJ].L;
Rho3RotateTo(j,ref jj,ref kk,ref ll);
}
void setJKL(int m, int i)
{
mm = m; ii = i; mm = ((mm-1)%5)+1; ii = ((ii-1)%5)+1;
jj = rhoMI[mm,ii].J; kk = rhoMI[mm,ii].K; ll = rhoMI[mm,ii].L;
}
void setIJKL(int m)
{
mm = m; ii = m+1; mm = ((mm-1)%5)+1; ii = ((ii-1)%5)+1;
jj = rhoMI[mm,ii].J; kk = rhoMI[mm,ii].K; ll = rhoMI[mm,ii].L;
}
public void SetPts(D3tuple d1, D3tuple d2, D3tuple d3, D3tuple d4, D3tuple d5)
{
ensure(ref d1); ensure(ref d2); ensure(ref d3); ensure(ref d4); ensure(ref d5);
DQ[1] = d1; DQ[2] = d2; DQ[3] = d3; DQ[4] = d4; DQ[5] = d5;
}
/// RhoMI() <summary>
/// This function returns an IndexTriple jkl corresponding to
/// the indexes mi supplied as parameters to this function.<para>
/// </para>
/// <para>
/// Note that if m=i the function returns iii rather than null.</para>
/// </summary>
/// <param name="m"></param>
public IndexTriple RhoMI(int m, int i)
{
IndexTriple IT = new IndexTriple();
if ((indexOK(m)) & (indexOK(i))) { IT = rhoMI[m, i]; }
return IT;
}
/// RhoMIJ() <summary>
/// This function returns an IndexPair kl corresponding to
/// the indexes mij supplied as parameters to this function.<para>
/// </para>
/// <para>
/// Note that if m=i the function returns JJ rather than null.</para>
/// </summary>
/// <param name="m">First index</param>
/// <param name="i">Second index</param>
/// <param name="j">Third index</param>
/// <returns>The remaining two indexes k' and l', in an order such that the
/// parity of mijk'l' is even</returns>
public IndexPair RhoMIJ(int m, int i, int j)
{
int JJ,KK,LL;
m = ((m-1)%5)+1; i = ((i-1)%5)+1; j = ((j-1)%5)+1;
JJ = rhoMI[mm,ii].J; KK = rhoMI[mm,ii].K; LL = rhoMI[mm,ii].L;
Rho3RotateTo(j, ref JJ, ref KK, ref LL);
IndexPair IP = new IndexPair(KK, LL);
return IP;
}
/// GetTetra() <summary>
/// This routine returns the data for a D3tetra in its ref parameter T.
/// T must be a valid D3tetra. The ordering of the four points in the
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/// D3tetra follows the index order of SetIJKL().

/// </summary>
/// <param name="T">A valid D3tetra</param>
/// <param name="m">Sphere index (1..5)</param>
public void GetTetra(ref D3tetra T, int m)
{
if (T != null)
{
int L = T.Pts.Length;
if (L > 4)
{
setIJKL(m); T.SetPts(DQ[ii], DQ[jj], DQ[kk], DQ[ll]);
}
}
}
public int TetraIndex(int m, int t)
{
setIJKL(m); int res = t;
if (t==ii) res = 1; else if (t==jj) res = 2; else if (t==kk) res = 3; else if (t==ll) res = 4;
return res;
}
public int PlaneIndex(int m, int t, int u)
{
setJKL(m,t); int res = u;
if (u==jj) res = 1; else if (u==kk) res = 2; else if (u==ll) res = 3;
return res;
}
/// Vmi() <summary><para>
/// This function returns a plane normal vector indexed as</para>
/// <para>_</para>
/// <para>m</para>
/// <para>i</para>
/// <para>
/// which is discussed in Vector Quintets. The vMoI() function,
/// "m over i", also returns this vector.
/// </para>
/// </summary>
/// <param name="m">Upper index</param>
/// <param name="i">Lower index</param>
public D3tuple Vmi(int m, int i)
{
setJKL(m, i); D = (DQ[kk]-DQ[jj])^(DQ[ll]-DQ[kk]);
return D;
}
/// Di() <summary>
/// This function returns D_k for N=5 as discussed in Vector Quintets.
/// </summary>
/// <param name="m">Index of the chirality matrix, m=1..5</param>
/// <returns>Determinant of the chirality matrix</returns>
public double Di(int m)
{
if (valid) setIJKL(m); int I=ii,J=jj,K=kk,L=ll,M=mm;
d = DQ[I]*Vmi(I,M) - DQ[J]*(DQ[L]^DQ[K]);
return d;
}
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/// Parax() <summary>

/// This function returns the same value as that in the D3tetra class,
/// but the calculations here use the equation written in terms of the
/// normal vectors rather than the vertex points and a displacement
/// point as in the D3tetra Parax() function (q.v.). The equation
/// is given in the comment for Parax2() in this class.
/// </summary>
/// <param name="res">An array of at least five D3tuple vectors</param>
/// <param name="Dofs">Offset into the array of the first vector of the five</param>
/// <returns>Scalar value of the paraxial equation</returns>
public double Parax(D3tuple[] D, int Dofs)
{
double d = new double(); int L = D.Length;
if (L >= Dofs+4)
{
SetPts(D[Dofs], D[Dofs+1], D[Dofs+2], D[Dofs+3], D[Dofs+4]);
double dk=Di(3),dlm=Di(4)+Di(5);
if (dk*dlm != 0)
{
dk = (Vmi(1, 3)*Vmi(2, 3)) / dk;
dlm = ((Vmi(1,4)+Vmi(1,5))*(Vmi(2,4)+Vmi(2,5))) / dlm;
d = dk + dlm;
}
}
return d;
}
// [ (lm)ikj ][ mli * mlj ] + [mijl][ lkmi * lkmj ] = 0
public double Parax2(D3tuple[] D, int Dofs)
{
if (L >= Dofs+4)
{
SetPts(D[Dofs], D[Dofs+1], D[Dofs+2], D[Dofs+3], D[Dofs+4]);
D3tuple LM = new D3tuple(); LM = DQ[5]-DQ[4];
double t1=0,t2=0,t3=0,t4=0;
t1 = LM*((DQ[1]^DQ[3])+(DQ[3]^DQ[2])+(DQ[2]^DQ[1]));
t2 = ((DQ[5]^DQ[4])+(DQ[4]^DQ[2])+(DQ[2]^DQ[5]))*((DQ[5]^DQ[4])+(DQ[4]^DQ[1])+(DQ[1]^DQ[5]));
t3 = DQ[5]*((DQ[1]^DQ[2])+(DQ[2]^DQ[4])+(DQ[4]^DQ[1])) - DQ[1]*(DQ[2]^DQ[4]);
t4 = ((DQ[4]^DQ[3])+(DQ[3]^DQ[5])+(DQ[5]^DQ[1])+(DQ[1]^DQ[4]))*((DQ[4]^DQ[3])+(DQ[3]^DQ[5])+(DQ[5]^DQ[2])+(DQ[2]^DQ[4]));
d = t1*t2 + t3*t4;
}
return d;
}
// (Di<li>+Dj<lj>+Dk<lk>)*(_Di*MoIsJK+_Dj*MoJsKI+_Dk*MoKsJI) = 0
public double Parax3(D3tuple[] D, int Dofs)
{
if (L >= Dofs+4)
{
Ro.r.GetDvalues(D, Dofs); SetPts(D[Dofs], D[Dofs+1], D[Dofs+2], D[Dofs+3], D[Dofs+4]);
double Di=Ro.r.D5[1],Dj=Ro.r.D5[2],Dk=Ro.r.D5[3],sgn = Ro.r.D5[5];
if ((Di*Dj*Dk) != 0)
{
if (sgn < 0) sgn = 1; else sgn = -1;
D3tuple V1=new D3tuple(),V2=new D3tuple();
V1 = Di*(DQ[1]-sgn*DQ[4])+Dj*(DQ[2]-sgn*DQ[4])+Dk*(DQ[3]-sgn*DQ[4]);
V2 = vMoIsJK(5, 1, 2, 3)/Di + vMoIsJK(5, 2, 3, 1)/Dj + vMoIsJK(5, 3, 1, 2)/Dk;
d = (!V1)*(!V2);
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}
}
return d;
}
// The following table gives the notations for the scalar and vector
// quantities associated with the "M over I" indexing scheme, followed
// by the names of the functions which calculate these quantities:
//
_
_
_
//
m
m
m
m
m
m
//
jk
jk
j
j
//
i
i
i
i
i
i
//
vMoIsJK
vMoIsJ
vMoI
The 'v' means "vector",
// MoIsJK
MoIsJ
MoI
and 's' means "suffix"
//
/// MoI() - M over I <summary>
/// This function returns the Scalar Triple Product of the vectors
/// indexed by Rho3(m,i) = jkl, which is defined as [ X_j X_k X_l ].
/// </summary>
/// <param name="m">Sphere index</param>
/// <param name="i">Plane index</param>
/// <returns>Scalar Triple Product jkl</returns>
public double MoI(int m, int i)
{
double d = new double(); setJKL(m, i); d = DQ[jj]*(DQ[kk]^DQ[ll]); return d;
}
/// vMoI() - Vector M over I <summary>
/// This function returns the plane normal indexed by Rho3(m,i) = jkl
/// which is defined as the Cyclic Vector Product Sum V(m,i) = jkl
/// </summary>
/// <returns>Normal to plane jkl</returns>
public D3tuple vMoI(int m, int i)
{
D3tuple D = new D3tuple(); setJKL(m, i); D = Ro.r.CVPS3(DQ[jj], DQ[kk], DQ[ll]); return D;
}
/// MoIsJ() - M over I, suffix J <summary>
/// This function returns the Scalar Product of the vector ij with
/// the vector indexed by Rho2(i,j) = kl from the set ijkl.
/// The product is calculated as ij * kl = (X_j-X_i)*(X_l-X_k).
/// </summary>
/// <param name="i">First vector index</param>
/// <param name="j">Second vector index (the suffix to the operator)</param>
public double MoIsJ(int m, int i, int j)
{
double d = new double(); // m_i~j = m_l~kj - m_k~jl
setJKL(m, i); d = (DQ[jj]-DQ[ii])*(DQ[ll]-DQ[kk]);
return d;
}
/// vMoIsJ - Vector M over I, suffix J<summary>
/// This function returns the vector product of the vector with
/// index j and the normal vector to the plane indexed by Rho3(m,i).
/// This is defined as j X uvw where Rho3(m,i) = uvw.
/// </summary>
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/// <param name="j">First operand of vector product (the suffix to the operator)</param>
public D3tuple vMoIsJ(int m, int i, int j)
{
D3tuple D = new D3tuple(); setJKL(m, i); D = DQ[i]^Ro.r.CVPS3(DQ[jj], DQ[kk], DQ[ll]); return D;
}
/// MoIsJK() - M over I, suffix JK <summary><para>
/// This function returns the scalar product of two vectors indexed
/// from the set Rho3(m,i) = jkl by the suffixes on the operator.
/// Each suffix indexes the two vectors following it, cyclically,
/// in the permutation jkl, so that the terms in the product are,
/// for example, kl and lj, given the suffix jk.</para>
/// <para>
/// The value returned is proportional to the angle between two edges
/// of the triangle defined by jkl, so that, for instance, the sum</para><para>
/// MoIsJK(m,i,j,k)+MoIsJK(m,i,k,l)+MoIsJK(m,i,l,j) =</para><para>
/// MoIsJK(m,j,k,i)+MoIsJK(m,k,l,i)+MoIsJK(m,l,j,i) =</para><para>
/// MoIsJK(m,k,i,j)+MoIsJK(m,l,i,k)+MoIsJK(m,j,i,l) =</para><para>
/// -(1/2)(MoIsJK(m,i,j,j)+MoIsJK(m,i,k,k)+MoIsJK(m,i,l,l))</para>
/// </summary>
/// <param name="j">First vertex indexer</param>
/// <param name="k">Second vertex indexer</param>
public double MoIsJK(int m, int i, int j, int k)
{
double d = new double(); D3tuple d1 = new D3tuple(),d2 = new D3tuple();
setJKL(m, i); int j1=jj,k1=kk,l1=ll;
Rho3RotateTo(j, ref j1, ref k1, ref l1); d1 = DQ[l1] - DQ[k1];
Rho3RotateTo(k, ref j1, ref k1, ref l1); d2 = DQ[l1] - DQ[k1];
d = d1*d2;
return d;
}
/// vMoIsJK() - Vector M over I suffix JK <summary><para>
/// This function returns the vector product of the vector from X[k] to X[k]
/// with the normal vector indexed by Rho3(m,i) = uvw. If uvw = JKL
/// then an outward normal to the triangle JKL will be returned if jk is
/// JK, KL, or LJ, or an inward normal will be returned if jk is JL,
/// LK, or KJ. </para>
/// <para>
/// For any vector V = uv the sum of vectors vMoIsJK() obtained by cyclic
/// permutation has the following identity: </para><para>
/// vMoIsJK(m,i,u,v) = (V*j)kl + (V*k)lj + (V*l)jk </para><para>
/// = - (V*jk)l - (V*kl)j - (V*lj)k </para><para>
/// Note here that m,i specify jkl but that there are no restrictions on u or v.</para>
/// </summary>
/// <param name="j">First point defining vector jk</param>
/// <param name="k">Second point defining vector jk</param>
/// <returns>The outward normal to edge jk of triangle jkl</returns>
public D3tuple vMoIsJK(int m, int i, int j, int k)
{
D3tuple D = new D3tuple(); // jk X m_i
setJKL(m, i); D = (DQ[k]-DQ[j])^Ro.r.CVPS3(DQ[jj], DQ[kk], DQ[ll]);
return D;
}
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/// MbarIJ() - M bar IJ <summary>

/// This function returns a vector kl indexed by one of the five 4x4 RhoIJ
/// tables indexed by m. Table 5 contains indexes 1234, and the pair ij
/// is referenced to kl by this table such that 12=34, 13=42, 14=23,
/// etc. MbarIJ(5,1,4) would return the vector 23 = DQ[3]-DQ[2], for instance.
/// </summary>
/// <param name="j">Row index into table</param>
/// <param name="i">Column index into table</param>
/// <returns>A vector kl such that the concatenation of the indexes mji and
/// kl into the form mjikl has even parity</returns>
public D3tuple MbarIJ(int m, int j, int i)
{
setJKL(m, j); D = DQ[ll]-DQ[kk];
return D;
}
// The following tables, with the table index parenthesizes, give Rho3:
//
//(1) 2 3 4 5 (2) 1 3 4 5 (3) 1 2 4 5 (4) 1 2 3 5 (5) 1 2 3 4
// 2 -- 45 53 34 1 -- 54 35 43 1 -- 45 52 24 1 -- 53 25 32 1 -- 34 42 23
// 3 54 -- 25 42 3 45 -- 51 14 2 54 -- 15 41 2 35 -- 51 13 2 43 -- 14 31
// 4 35 52 -- 23 4 53 15 -- 31 4 25 51 -- 12 3 52 15 -- 21 3 24 41 -- 12
// 5 43 24 32 -- 5 34 41 13 -- 5 42 14 21 -- 5 23 31 12 -- 4 32 13 21 -//
// If a permutation <Tbl><Row><Col><V> denotes a table entry having two
// digits and <V>, the ordering is always such that the number of inversions
// in this indexing permutation is even. For instance, 41253 has four inversions
// and 42135 has four inversions. Thus, <Row><Col> and <Col><Row> would always
// produce <V> and <V>; and it is to be noted that any vector functions
// which are derived from this indexing method will also have sign inversion
// symmetries in their indexes.
/// vMcIJ - M comma IJ <summary><para>
/// This function returns the vector sum of two plane normals
/// indexed by m,k and m,l where m_ij = kl provides the same
/// indexing as used in MbarIJ(). Note that the sum of the
/// normals indexed by m,j and m,k is equal and opposite in sign
/// to this value.</para><para>
/// </para><para>
/// The following identity holds under cyclic permutation of the
/// indexes u,v,w:</para><para>
/// vMcIJ(u,v,w) + vMcIJ(v,w,u) + vMcIJ(w,u,v) = 0</para><para>
/// Note also that vMcIJ() also is equal to the CVPS4 of ikjl:</para><para>
/// vMcIJ(m,i,j) = CVPS4(Xi[i],Xi[k],Xi[j],Xi[l]) = ij X kl</para>
/// </summary>
/// <param name="i">First point of ij</param>
/// <param name="j">Second point of ij</param>
public D3tuple vMcIJ(int m, int i, int j)
{
setKL(m, i, j); // DA = (DQ[jj]-DQ[ii])^(DQ[ll]-DQ[kk]); // An alternate method of calculation
int K = kk,L = ll; D = vMoI(m, K) + vMoI(m, L);
return D;
}
}
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#endregion
#region Identities and scale factor proportionalities
// The G matrices transform from one basis to another; for instance,
// G_<st> transforms from basis (s) to basis (t). The double affix
// above G represents the two axis set basis vector types from which
// G is formed. The notation ~k maps the index k from a value in
// <123456> to the value in the same position in <216543>.
//
// http://cqvis.zxq.net/PRG/R3D/TRANSID.html
//
// If
[ s<^~k|i^>t ] =
//
//
// i|~k
3
3
_
_
// G
= K
K
O ( e
) * O ( e
)
//
<st>
L=1 M=1
i
L
~k
M
//
<-i> <j>
(t)
(s)
//
//
// then
//
//
// i
i|~k k
k
// P = G
P
= [ s<^~k|i^>t ] P
// (t)
(s)
(s)
//
//
#endregion
#region AxisTriple CLASS
public class AxisTriple
{
public double[,] e = null; public AxisSet.Otyp Stype=AxisSet.Otyp.eNon,Ttype=AxisSet.Otyp.eNon;
#region CONSTRUCTORS / INITIALIZATION
public AxisTriple()
{
Init();
}
//
/// <summary>
/// This constructor creates a Zero matrix in a new AxisTriple,
/// which can be used for storage of subsidiary or temporary data.
/// The input and output types can be specified so that a record
/// is kept of the type of components which are being stored.
/// Values eCo,eCon,eUCo,eUCon,eNCo,eNCon,UCo,UCon are valid for
/// the stype and ttype parameters.
/// </summary>
/// <param name="stype">First (input) axis set type</param>
/// <param name="ttype">Second (output) axis set type</param>
public AxisTriple(AxisSet.Otyp stype, AxisSet.Otyp ttype)
{
Init(); Stype = stype; Ttype = ttype;
}
/// <summary>
/// This constructor creates a matrix from a single set of
/// basis vector components in an AxisSet. The input component
/// type field is set to the value you specify.
/// </summary>
/// <param name="AX">AxisSet defining the matrix</param>
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/// <param name="stype">The component type: eCo,eCon,UCo,UCon,NCo,NCon</param>

public AxisTriple(AxisSet AX, AxisSet.Otyp stype)
{
Init();
if (AX != null)
{
Stype = stype; int k = (int)stype;
e1i = AX.Oek[k, 1]; e2i = AX.Oek[k, 2]; e3i = AX.Oek[k, 3]; // Three vectors are assigned.
}
}
/// <summary>
/// This constructor creates a transformation matrix from the
/// basis vector components in two AxisSets. The input and output
/// component type fields are set by the values in AX1 and AX2 when
/// the current instance is initialized and the matrix is constructed.
/// </summary>
/// <param name="AX1">First AxisSet</param>
/// <param name="AX2">Second AxisSet</param>
public AxisTriple(AxisSet AX1, AxisSet AX2)
{
Init();
if ((AX1 != null) & (AX2 != null))
{
int j = 1,i = 1,k = 1; double ee = 0;
int k1 = (int)AX1.OpType,k2 = (int)AX2.OpType;
Stype = AX1.OpType; Ttype = AX2.OpType;
while (j <= 3)
{
i = 1;
while (i <= 3)
{
k = 1; ee = 0;
while (k <= 3)
{
ee = ee + AX2.Oek[k2, j].a4[k]*AX1.Oek[k1, i].a4[k];
k++;
}
e[j, i] = ee;
i++;
}
j++;
}
}
}
/// <summary>
/// This constructor creates a copy of an AxisTriple in the new
/// instance.
/// </summary>
/// <param name="T">A defining AxisTriple</param>
public AxisTriple(AxisTriple T)
{
Init();
if (T != null)
{
Stype = T.Stype; Ttype = T.Ttype;
for (int i = 1; (i <= 3); i++)
{
for (int j = 1; (j <= 3); j++)
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{
e[i, j] = T.e[i, j];
}
}
}
}
public AxisTriple(D3tuple d1, D3tuple d2, D3tuple d3)
{
Init();
e1i = d1; e2i = d2; e3i = d3; Stype = AxisSet.Otyp.eCo;
}
void Init()
{
e = new double[4, 4];
int i=1,j=1;
while (i <= 3)
{
while (j <= 3)
{
e[j, i] = new double();
j++;
}
i++;
}
}
#endregion
bool iOK(int i) { return ((i >= 1) & (i <= 3)); }
#region ACCESSORS
/ INDEXERS
/// this[] <summary>
/// This indexer returns the jth row of the AxisTriple matrix.
/// </summary>
/// <param name="j">Row index (1..3)</param>
/// <returns>A D3tuple containing the row elements as a vector</returns>
public D3tuple this[int j]
{
get
{
if (iOK(j)) res.Set(e[j, 1], e[j, 2], e[j, 3]);
return res;
}
}
/// this[,] <summary>
/// This indexer returns the element in the ith column of the jth row
/// of the AxisTriple matrix.
/// </summary>
/// <param name="j">Row index</param>
/// <param name="i">Column index</param>
public double this[int j, int i]
{
get
{
if ((iOK(j)) & (iOK(i))) res = this[j][i];
return res;
}
}
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public double e11 { get { return e[1, 1]; } set { e[1, 1] = value; } }
/// e1[] <summary>
/// This accessor gets and sets the first row of the AxisTriple matrix
/// using an array of doubles, of length 3 or 4. If the length is 4,
/// entries 1..3 contain the matrix elements; otherwise, entries 0..2 do.
/// The get accessor returns a double array of length 4.
/// </summary>
public double[] e1
{
get
{
return new double[] { 0, e[1, 1], e[1, 2], e[1, 3]};
}
set
{
double[] ev = value;
int L = ev.Length,i=1,k=1; if (L < 4) k = 0;
if (L >= 3)
{
while ((i <= 3) & (k < L))
{
e[1, i] = ev[k];
i++; k++;
}
}
}
}
/// e2[] <summary>
/// This accessor gets and sets the second row of the AxisTriple matrix
/// </summary>
public double[] e2
{
get
{
}
set
{
if (L >= 3)
{
while ((i <= 3) & (k < L))
{
e[1, i] = ev[k];
i++; k++;
}
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}
}
}
/// e3[] <summary>
/// This accessor gets and sets the third row of the AxisTriple matrix
/// </summary>
public double[] e3
{
get
{
}
set
{
if (L >= 3)
{
while ((i <= 3) & (k < L))
{
e[1, i] = ev[k];
i++; k++;
}
}
}
}
/// <summary>
/// This accessor gets and sets the first row of the AxisTriple matrix
/// using a D3tuple which stores the values.
/// </summary>
public D3tuple ej1
{
get { return new D3tuple(e[1,1],e[2,1],e[3,1]); }
set
{
D3tuple ev = value;
if (ev != null)
{
e[1, 1] = ev.X; e[2, 1] = ev.Y; e[3, 1] = ev.Z;
}
}
}
/// <summary>
/// This accessor gets and sets the second row of the AxisTriple matrix
/// </summary>
public D3tuple ej2
{
set
{
D3tuple ev = value;
if (ev != null)
{
e[1, 2] = ev.X; e[2, 2] = ev.Y; e[3, 2] = ev.Z;
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}
}
}
/// <summary>
/// This accessor gets and sets the third row of the AxisTriple matrix
/// </summary>
public D3tuple ej3
{
set
{
D3tuple ev = value;
if (ev != null)
{
e[1, 3] = ev.X; e[2, 3] = ev.Y; e[3, 3] = ev.Z;
}
}
}
/// e1i <summary>
/// This accessor gets and sets the first column of the AxisTriple matrix
/// </summary>
public D3tuple e1i
{
set
{
D3tuple ev = value;
if (ev != null)
{
e[1, 1] = ev.X; e[1, 2] = ev.Y; e[1, 3] = ev.Z;
}
}
}
/// e2i <summary>
/// This accessor gets and sets the second column of the AxisTriple matrix
/// </summary>
public D3tuple e2i
{
set
{
D3tuple ev = value;
if (ev != null)
{
e[2, 1] = ev.X; e[2, 2] = ev.Y; e[2, 3] = ev.Z;
}
}
}
/// e3i <summary>
/// This accessor gets and sets the third column of the AxisTriple matrix
/// </summary>
public D3tuple e3i
{
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set
{
D3tuple ev = value;
if (ev != null)
{
e[3, 1] = ev.X; e[3, 2] = ev.Y; e[3, 3] = ev.Z;
}
}
}
#endregion
#region ACCESS TO ROWS/COLS USING INDIVIDUAL D3tuples
public void SetRows(D3tuple d1, D3tuple d2, D3tuple d3)
{
e1i = d1; e2i = d2; e3i = d3;
}
public void GetRows(ref D3tuple d1, ref D3tuple d2, ref D3tuple d3)
{
d1 = e1i; d2 = e2i; d3 = e3i;
}
public void SetCols(D3tuple d1, D3tuple d2, D3tuple d3)
{
ej1 = d1; ej2 = d2; ej3 = d3;
}
public void GetCols(ref D3tuple d1, ref D3tuple d2, ref D3tuple d3)
{
d1 = ej1; d2 = ej2; d3 = ej3;
}
#endregion
/// Transpose() <summary>
/// This routine does not return the transposed matrix.
/// It actually performs the transposition on the current
/// AxisTriple instance. To find the transpose without
/// changing the current AxisTriple, use the Trans() function
/// to return the transposed matrix.
/// </summary>
public void Transpose()
{
double d;
for (int j = 1; (j <= 3); j++)
{
for (int i = j+1; (i <= 3); i++)
{
d = e[i, j]; e[i, j] = e[j, i]; e[j, i] = d;
}
}
}
/// Trans() <summary>
/// This function returns the transpose of the matrix contained
/// within the current AxisTriple without altering the current
/// instance.
/// </summary>
/// <returns>An AxisTriple containing the transposed matrix</returns>
public AxisTriple Trans()
{
AxisTriple TR = new AxisTriple(this);
TR.Transpose();
return TR;
}
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/// Tr() <summary>

/// This function returns the trace of the matrix contained
/// within the current AxisTriple instance.
/// </summary>
public double Tr()
{
return e[1, 1] + e[2, 2] + e[3, 3];
}
/// Invert() <summary>
/// This routine does not return the inverse of the AxisTriple matrix.
/// It actually performs the matrix inversion on the current instance.
/// To find the inverse without changing the matrix, use the Inv()
/// function to return the inverted matrix.
/// </summary>
public void Invert()
{
double det = e1i*(e2iê3i);
if (det != 0)
{
D3tuple[] D = new D3tuple[3];
int i = 0, j = 1;
while (i < 3)
{
D[i] = new D3tuple(e[1, j], e[2, j], e[3, j]);
i++; j++;
}
e1i = (D[1]^D[2]) / det; e2i = (D[2]^D[0]) / det; e3i = (D[0]^D[1]) / det;
}
AxisSet.Otyp to = Stype; Stype = Ttype; Ttype = to;
}
/// Inv() <summary>
/// This function returns the inverse of the AxisTriple matrix.
/// The current AxisTriple instance is unaffected.
/// </summary>
/// <returns>An AxisTriple containing the inverse matrix</returns>
public AxisTriple Inv()
{
AxisTriple TR = new AxisTriple(this);
TR.Invert();
return TR;
}
#region AxisTriple OPERATORS
/// * OPERATOR - Vector Pre-Multiplication by an AxisTriple matrix <summary>
/// This operator premultiplies a vector res by a matrix from AxisTriple AT.
/// </summary>
/// <param name="AT">Matrix premultiplier</param>
/// <param name="res">Column vector to be multiplied</param>
/// <returns>Column vector containing the matrix product</returns>
public static D3tuple operator*(AxisTriple AT, D3tuple D)
{
double[] res = new double[3];
if ((AT != null) & (D != null))
{
int j = 1,k = 1; double ee = 0;
while (j <= 3)
{
k = 1; ee = 0;
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while (k <= 3)
{
ee = ee + AT.e[j, k]*D.a4[k];
k++;
}
res[j-1] = ee;
j++;
}
}
return new D3tuple(res[0],res[1],res[2]);
}
/// * OPERATOR - Vector Post-Multiplication by an AxisTriple matrix <summary>
/// This operator postmultiplies a vector res by a matrix from AxisTriple AT.
/// </summary>
/// <param name="res">Row vector to be multiplied</param>
/// <param name="AT">Matrix postmultiplier</param>
/// <returns>Row vector containing the matrix product</returns>
public static D3tuple operator*(D3tuple D, AxisTriple AT)
{
int k = 1, i=1; double ee = 0;
if ((AT != null) & (D != null))
{
while (i <= 3)
{
k = 1;
while (k <= 3)
{
ee = ee + D.a4[k]*AT.e[k, i];
k++;
}
res[i-1] = ee;
i++;
}
}
return new D3tuple(res[0],res[1],res[2]);
}
/// * OPERATOR - Matrix multiplication for AxisTriples <summary>
/// This function performs matrix multiplication AT1.e*AT2.e such that
/// each element RQmatrix.e[j,i] is the sum of AT1.e[j,k]*AT2.e[k,i]
/// for k=1..3 where the rows are indexed on j and columns on i.
/// </summary>
/// <param name="AT1">First AxisTriple matrix operand</param>
/// <param name="AT2">Second AxisTriple matrix operand</param>
/// <returns>The matrix product of AT1.e[] and AT2.e[]</returns>
public static AxisTriple operator*(AxisTriple AT1, AxisTriple AT2)
{
AxisTriple AT = new AxisTriple();
if ((AT1 != null) & (AT2 != null))
{
double ee = 0;
for (int i = 1; (i <= 3); i++)
{
for (int j = 1; (j <= 3); j++)
{
ee = 0;
for (int k = 1; (k <= 3); k++)
{
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ee = ee + AT1.e[j, k] * AT2.e[k, i];

}
AT.e[j, i] = ee;
}
}
}
return AT;
}
#endregion
}
#endregion
#region AxisSet CLASS
public class AxisSet
{
D3tuple[] X5 = null; // ARRAY [0..5]
public D3tuple[,] Oek = null; // ARRAY [0..6,0..3] - Six sets of three axes
double [] G = null; double[,] H = null;
static int[] kbar = { 0,2,1,6,5,4,3,6,5 };
/// <summary>
/// The Otyp enumeration contains the constants identifying vector component types.
/// The characters 'U' and 'N' represent "Unit" and "Normalized". 'Co' and 'Con'
/// represent "Covariant" and "Contravariant". 'e' is a prefix signifying that
/// the reference is to a basis vector type.
/// </summary>
public enum Otyp { eNon=0,eCo=1,eCon=2,eUCo=3,eUCon=4,eNCo=5,eNCon=6,UCo=7,UCon=8 };
Otyp opType=(Otyp)3;
#region CONSTRUCTORS / INITIALIZATION
public AxisSet() { Init(); }
public AxisSet(D3tuple[] D)
{
Init(); SetAxisPts(D);
}
public AxisSet(D3tuple d1, D3tuple d2, D3tuple d3)
{
Init(); D3tuple[] D = new D3tuple[4]; D[1] = d1; D[2] = d2; D[3] = d3; SetAxisPts(D);
}
public AxisSet(D3tuple d1, D3tuple d2, D3tuple d3, D3tuple d4)
{
Init(); D3tuple[] D = new D3tuple[5]; D[1] = d1; D[2] = d2; D[3] = d3; D[4] = d4; SetAxisPts(D);
}
void Init()
{
X5 = new D3tuple[6]; Oek = new D3tuple[7, 4]; G = new double[7]; H = new double[7, 4];
int i = 0,j=1;
while (i <= 5) { X5[i] = new D3tuple(); i++; }
i = 1;
while (i <= 6)
{
j=1;
while (j <= 3) { Oek[i, j] = new D3tuple(); H[i,j] = new double(); j++; }
G[i] = new double();
i++;
}
}
#endregion
public int kBar(int k) { return kbar[modd6(k)]; }
int modd3(int i) { if (i < 0) i = -i; return ((i-1) % 3)+1; }
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/// this[] <summary>
/// This accessor returns a covariant axis e_i as a D3tuple if i=1..3.<para>
/// Otherwise, it returns a D3tuple containing the lengths of these three axes.</para>
/// </summary>
/// <param name="i">Axis number (1..3) or zero</param>
/// <returns>The axis vector e_i = X[i+1]-X[1], or the lengths of the axes when i=0</returns>
{
get
{
if (iOK(i)) res = X5[i] - X5[1];
else res = X5[0];
return res;
}
}
/// this[,] <summary>
/// This accessor returns the jth component of axis e_i if i=1..3.<para>
/// Otherwise, it returns the length of the jth axis.</para>
/// </summary>
/// <param name="j">Index of component (1..3), or of axis (if i=0)</param>
/// <param name="i">Axis number (1..3) or zero</param>
/// <returns>The jth component of the axis X[i+1]-X[1], or the length of X[j+1]-X[1] when i=0</returns>
public double this[int j, int i]
{
get
{
if (iOK(j))
{
if (iOK(i)) res = this[i][j];
else res = X5[0][j];
}
return res;
}
}
/// AxisPts <summary>
/// This accessor returns the AxisSet's defining points as a D3tuple array of length 5.
/// The four axis points are in entries 1..4 of the returned array.
/// </summary>
public D3tuple[] AxisPts { get { return X5; } }
/// SetAxisPts() <summary><para>
/// This routine accepts four vectors specifying the locations of
/// the origin and three axis points, one for each axis. The scaling
/// of each axis depends on the distance between the origin and the
/// given axis point.</para><para>
/// </para><para>
/// If the array res[] has a length of 3 then the origin will be set to
/// [0,0,0] and the axis lengths will be the lengths of the vectors
/// supplied in array res[].</para><para>
/// </para><para>
/// If res[] has length 4 then elements 1..3 will be interpreted as
/// axis points; the origin will be zeroed, and res[0] will be ignored.
/// This interpretation is consistent with the D3plane functions
/// which return D3tuple arrays.</para><para>
/// </para><para>
/// If res[] has length 5 or greater, then elements 2..4 will be
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/// interpreted as axis points, and element 1 will be interpreted

/// as the origin. This interpretation is consistend with the D3tetra
/// functions which return D3tuple arrays.</para>
/// </summary>
/// <param name="res">Array of D3tuples, of length at least 3</param>
public void SetAxisPts(D3tuple[] D)
{
int L = D.Length,i=1,j=0;
if (L == 3) { i = 2; j = 1; X5[1].Zero(); }
else if (L == 4) { j=1; X5[1].Zero(); }
else if (L>= 5) { j=1; }
while ((i <= 4) & (j < L))
{
X5[i] = D[j];
i++; j++;
}
reCalc(false);
}
/// SetOe1() <summary><para>
/// This routine accepts an array of length at least 3 which
/// supplies three values for axis vectors. The origin is zeroed
/// and each axis point is set to be located at the head of its
/// direction vector. The distance between this point and the
/// origin is set to equal the length of the supplied vector.</para><para>
/// </para><para>
/// If the array res[] is of length 3, elements 0..2 are accepted
/// as axis vectors. If res[] has length greater than 3, elements
/// 1..3 are used as the axis vectors. Note that this does not
/// conform to the axis-point definition scheme, where elements
/// 2..4 usually represent axis points.</para><para>
/// </para><para>
/// This routine is named SetOe1() because the set of vectors e_i
/// for k=1..3 which are assigned values by this function are the
/// covariant set O_1(e) .</para><para>
/// This concept is discussed in detail in Vector Quintets.
/// </para>
/// </summary>
/// <param name="res">An array of D3tuples of length at least 3</param>
public void SetOe1(D3tuple[] D)
{
X5[1].Zero(); int L = D.Length,i=1,j=2;
if (L <= 3) i = 0;
while ((j <= 4) & (i < L))
{
X5[j] = D[i];
i++; j++;
}
reCalc(false);
}
#region PRIVATE
void reCalc(bool FromEi)
{
int i = 1;
if (FromEi) { while (i <= 6) { calcOek(i); i++; } }
i = 2;
while (i <= 4)
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{
if (FromEi) { X5[i] = Oek[1, i-1] + X5[1]; }
else { Oek[1, i-1] = X5[i] - X5[1]; }
i++;
}
if (!FromEi)
{
i = 1;
while (i <= 6) { calcOek(i); i++; }
}
X5[0].X = ~Oek[1, 1]; X5[0].Y = ~Oek[1, 2]; X5[0].Z = ~Oek[1, 3];
}
void calcOek(int k) // Calculates one of the six axis sets O_k(e_i) | j=1..3 & k=1..6
{
double stp = 0,gg=0; int i = 1;
if (k == 2)
{
stp = Oek[1, 1]*(Oek[1, 2]Ôek[1, 3]);
if (stp != 0)
{
Oek[2, 1] = (Oek[1, 2]Ôek[1, 3]) / stp;
Oek[2, 2] = (Oek[1, 3]Ôek[1, 1]) / stp;
Oek[2, 3] = (Oek[1, 1]Ôek[1, 2]) / stp;
}
}
else if (k == 3)
{
while (i <= 3){ Oek[3, i] = !Oek[1, i]; i++;}
}
else if (k == 4)
{
while (i <= 3){ Oek[4, i] = !Oek[2, i]; i++;}
}
else if (k == 5)
{
stp = Oek[4, 1]*(Oek[4, 2]Ôek[4, 3]); G[4] = stp;
if (stp != 0)
{
Oek[5, 1] = (Oek[4, 2]Ôek[4, 3]) / stp;
Oek[5, 2] = (Oek[4, 3]Ôek[4, 1]) / stp;
Oek[5, 3] = (Oek[4, 1]Ôek[4, 2]) / stp;
}
}
else if (k == 6)
{
stp = Oek[3, 1]*(Oek[3, 2]Ôek[3, 3]); G[3] = stp;
if (stp != 0)
{
Oek[6, 1] = (Oek[3, 2]Ôek[3, 3]) / stp;
Oek[6, 2] = (Oek[3, 3]Ôek[3, 1]) / stp;
Oek[6, 3] = (Oek[3, 1]Ôek[3, 2]) / stp;
}
}
gg = Oek[k, 1]*(Oek[k, 2]Ôek[k, 3]);
G[k] = gg; H[k, 1] = ~Oek[k, 1]; H[k, 2] = ~Oek[k, 2]; H[k, 3] = ~Oek[k, 3];
}
void calc21()
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{
double stp = Oek[2, 1]*(Oek[2, 2]Ôek[2, 3]);
if (stp != 0)
{
Oek[1, 1] = (Oek[2, 2]Ôek[2, 3]) / stp;
Oek[1, 2] = (Oek[2, 3]Ôek[2, 1]) / stp;
Oek[1, 3] = (Oek[2, 1]Ôek[2, 2]) / stp;
}
}
void calc54()
{
Oek[4, 1] = !((Oek[5, 2]Ôek[5, 3]));
Oek[4, 2] = !((Oek[5, 3]Ôek[5, 1]));
Oek[4, 3] = !((Oek[5, 1]Ôek[5, 2]));
}
void calc63()
{
Oek[3, 1] = !((Oek[6, 2]Ôek[6, 3]));
Oek[3, 2] = !((Oek[6, 3]Ôek[6, 1]));
Oek[3, 3] = !((Oek[6, 1]Ôek[6, 2]));
}
#endregion
public void Rescale()
{
reCalc(true);
}
#region CANONICAL OPERATIONS - IDENTITY, UNITY, RECIPROCITY
public Otyp OpType { get { return opType; } set { opType = value; } }
/// OpI() (IDENTITY) <summary><para>
/// IDENTITY OPERATION I(k) = k</para><para>
/// This function performs the identity operation on each element of
/// a vector array of arbitrary length > 2, and returns the result in a
/// D3tuple array of length 4 of which element 0 is the zero vector.</para>
/// </summary>
/// <param name="res"></param>
public D3tuple[] OpI(D3tuple[] D)
{
if (D != null)
{
int L = D.Length; int i=1,j=1;
if (L == 3) j = 0;
while ((i <= 3) & (j < L)) { res[i] = D[j]; i++; j++; }
}
return res;
}
/// OpU() (UNITY) <summary><para>
/// UNIT VECTOR OPERATION U(k) = k / |k|</para><para>
/// This function performs the unity operation on each element of a
/// vector array of length at least 3, and returns the result in a
/// D3tuple array of length 4 of which element 0 is the zero vector.</para>
/// </summary>
public D3tuple[] OpU(D3tuple[] D)
{
D3tuple[] res = new D3tuple[4]; int i = 1,j=1;
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if (D != null)
{
int L = D.Length;
if (L >= 3)
{
if (L == 3) j = 0;
while ((i <= 3) & (j < L))
{
res[i] = !D[j];
i++; j++;
}
}
}
return res;
}
/// OpX() (RECIPROCAL) <summary><para>
/// RECIPROCAL VECTOR OPERATION X(k) = ( j X k ) / [ k j k ]</para><para>
/// This function performs the reciprocity operation on each element
/// of a vector array of length at least 3, and returns the result in
/// a D3tuple array of length 4 of which element 0 is the zero vector.</para>
/// </summary>
public D3tuple[] OpX(D3tuple[] D)
{
D3tuple[] res = new D3tuple[4]; int j=1;
if (D != null)
{
int L = D.Length;
if (L >= 3)
{
if (L == 3) j = 0;
double stp = D[j]*(D[j+1]^D[j+2]);
if (stp != 0)
{
res[1] = (D[j+1]^D[j+2]) / stp;
res[2] = (D[j+2]^D[j ]) / stp;
res[3] = (D[j ]^D[j+1]) / stp;
}
}
}
return res;
}
#endregion
// Vectors e_i or e^j
eCo,eCon,eUCo,eUCon,eNCo,eNCon
#region SINGLE INDEXED (k=1..3) VECTORS
/// Co() <summary>
/// Returns a covariant vector by its index (1..3)
/// </summary>
public D3tuple Co(int i) { return Oek[1, modd3(i)]; }
/// Con() <summary>
/// Returns a contravariant vector by its index (1..3)
/// </summary>
public D3tuple Con(int i) { return Oek[2, modd3(i)]; }
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/// UCo() <summary>

/// Returns a covariant SignOnly vector by its index (1..3)
/// </summary>
public D3tuple UCo(int i) { return Oek[3, modd3(i)]; }
/// UCon() <summary>
/// Returns a contravariant SignOnly vector by its index (1..3)
/// </summary>
public D3tuple UCon(int i) { return Oek[4, modd3(i)]; }
/// NCo() <summary>
/// Returns a normalized covariant vector by its index (1..3)
/// </summary>
public D3tuple NCo(int i) { return Oek[5, modd3(i)]; }
/// NCon() <summary>
/// Returns a normalized contravariant vector by its index (1..3)
/// </summary>
public D3tuple NCon(int i) { return Oek[6, modd3(i)]; }
#endregion
#region INDIVIDUAL VECTOR ACCESSORS e1..E3 c1..C3 u1..U3 (GET/SET)
/// e1 <summary>
/// Gets and sets the covariant vector e_1
///
/// Setting a covariant vector causes all six sets to be
/// recalculated. Only the lengths of the three covariant
/// vectors and the SignOnly vectors will remain unchanged once
/// this vector is set. The lengths of the contravariant and
/// the normalized vectors are recalculated.
/// </summary>
public D3tuple e1
{
get { return Oek[1, 1]; }
set { D3tuple d = value; ensure(ref d); Oek[1, 1] = d; reCalc(true); }
}
/// e2 <summary>
///
/// </summary>
public D3tuple e2
{
}
/// e3 <summary>
///
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/// </summary>
public D3tuple e3
{
}
/// E1 <summary>
/// Gets and sets the contravariant vector e^1
///
/// Setting a contravariant vector causes all six sets to be
/// recalculated. Only the lengths of the three contravariant
/// this vector is set. The lengths of the covariant and
/// </summary>
public D3tuple E1
{
set { D3tuple d = value; ensure(ref d); Oek[2, 1] = d; calc21(); reCalc(true); }
}
/// E2 <summary>
///
/// </summary>
public D3tuple E2
{
set { D3tuple d = value; ensure(ref d); Oek[2, 2] = d; calc21(); reCalc(true);}
}
/// E3 <summary>
///
/// </summary>
public D3tuple E3
{
set { D3tuple d = value; ensure(ref d); Oek[2, 3] = d; calc21(); reCalc(true);}
}
/// c1 <summary>
/// Gets and sets the covariant SignOnly vector e_1
///
/// Setting a covariant SignOnly vector causes all six sets to be
/// recalculated. Only the lengths of the SignOnly vectors will
/// remain unchanged once this vector is set. The lengths of
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/// all other vectors are recalculated.

/// </summary>
public D3tuple c1
{
set { D3tuple d = value; ensure(ref d); Oek[1, 1] = H[1, 1]*d; reCalc(true);}
}
/// c2 <summary>
///
/// </summary>
public D3tuple c2
{
}
/// c3 <summary>
///
/// </summary>
public D3tuple c3
{
}
/// C1 <summary>
///
/// </summary>
public D3tuple C1
{
set { D3tuple d = value; ensure(ref d); Oek[2, 1] = H[2, 1]*d; calc21(); reCalc(true); }
}
/// C2 <summary>
/// Gets and sets the contravariant SignOnly vector e^2
///
/// </summary>
public D3tuple C2
{
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3530
3531
3532
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}
/// C3 <summary>
/// Gets and sets the contravariant SignOnly vector e^3
///
/// </summary>
public D3tuple C3
{
}
/// u1 <summary>
/// Gets and sets the normalized covariant vector u_1
///
/// Setting a normalized covariant vector causes all six sets to be
/// </summary>
public D3tuple u1
{
set { D3tuple d = value; ensure(ref d); Oek[5, 1] = d; calc54(); Oek[2, 1] = H[2, 1]*Oek[4,1]; reCalc(true); }
}
/// u2 <summary>
///
/// </summary>
public D3tuple u2
{
}
/// u3 <summary>
///
/// </summary>
public D3tuple u3
{
}
/// U1 <summary>
/// Gets and sets the normalized contravariant vector u^1
///
/// Setting a normalized contravariant vector causes all six
/// sets to be recalculated. Only the lengths of the SignOnly
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/// vectors will remain unchanged once this vector is set.

/// The lengths of all other vectors are recalculated.
/// </summary>
public D3tuple U1
{
}
/// U2 <summary>
///
/// </summary>
public D3tuple U2
{
}
/// U3 <summary>
///
/// </summary>
public D3tuple U3
{
}
/// P <summary>
/// This accessor gets and sets the default data point vector for this axis set.
/// </summary>
public D3tuple P
{
get { return X5[5]; }
set { D3tuple d = value; if (d != null) X5[5] = d; }
}
#endregion
#region Scale factors h_i or h^j
hCo,hCon,hUCo,hUCon,hNCo,hNCon
/// hCo() <summary>
/// This function returns the length of an indexed covariant vector e_i
/// </summary>
public double hCo(int i)
{ double d = new double(); d = H[1,modd3(i)]; return d; }
/// hCon() <summary>
/// This function returns the length of an indexed contravariant vector e^k
/// </summary>
public double hCon(int i)
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/// hNCo() <summary>

/// This function returns the length of an indexed normalized covariant vector u_i
/// </summary>
public double hNCo(int i)
/// hNCon() <summary>
/// This function returns the length of an indexed normalized contravariant vector u^k
/// </summary>
public double hNCon(int i)
#endregion
#region Components Fi = P * e_i or P * e^j
FCo,FCon,FUCo,FUCon,FNCo,FNCon
public D3tuple UnitComponents(D3tuple V, Otyp o)
{
V = !V; return Components(V, o);
}
/// FCo() <summary>
/// This function returns the scalar product of a vector V with an
/// indexed covariant vector. The value returned is used as the
/// component associated with the contravariant vector with that index
/// when substituted into a vector equation.
/// </summary>
/// <param name="V"></param>
public double FCo(D3tuple V, int i)
{ double d = new double(); d = V*Oek[1,modd3(i)]; return d; }
/// FCon() <summary>
/// indexed contravariant vector. The value returned is used as the
/// component associated with the covariant vector with that index
/// </summary>
public double FCon(D3tuple V, int i)
/// FUCo() <summary>
/// indexed covariant SignOnly vector. The value returned is used as the
/// component associated with the normalized contravariant vector with
/// that index when substituted into a vector equation.
/// </summary>
public double FUCo(D3tuple V, int i)
/// FUCon() <summary>
/// indexed contravariant SignOnly vector. The value returned is used
/// as the component associated with the normalized covariant vector
/// with that index when substituted into a vector equation.
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/// </summary>
public double FUCon(D3tuple V, int i)
/// FNCo() <summary>
/// indexed normalized covariant vector. The value returned is used
/// as the component associated with the contravariant SignOnly vector with
/// that index when substituted into a vector equation.
/// </summary>
public double FNCo(D3tuple V, int i)
/// FNCon() <summary>
/// indexed contravariant vector. The value returned is used as the
/// component associated with the covariant SignOnly vector with that index
/// </summary>
public double FNCon(D3tuple V, int i)
#endregion
/// TetraCoords() <summary>
/// This function returns the tetradhedral coordinates of a point P
/// with respect to the planes of the current AxisSet instance. Each plane
/// is identified by its plane index (see Rho.SetJKL(5,k) for the vertices).
/// </summary>
/// <param name="P">Point for which tetrahedral coordinates are to be calculated</param>
/// <returns>An array of doubles of length 6 containing four coordinate values</returns>
public double[] TetraCoords(D3tuple P)
{
X5[5] = P; Ro.r.GetDvalues(X5, 1); double d = Ro.r.D5[5];
if (d != 0)
{
int i = 1;
while (i <= 4)
{
res[i] = Ro.r.D5[i] / d;
i++;
}
}
return res;
}
/// DotProduct() <summary>
/// This function returns the dot product of a vector V with an
/// indexed vector (i=1..3) from the set specified by the o
/// parameter. If o' = kBar(o) then the vector with index i in
/// the set indexed by o' is the vector written with the function
/// value as its coefficient when an equation for V is expressed
/// in terms of basis vectors from the o' set.
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/// </summary>
/// <param name="V">Vector for which a component is to be calculated</param>
/// <param name="o">Basis vector set type from which the scalar product is formed</param>
/// <param name="i">Index of component (1..3)</param>
/// <returns>Component calculated for vector V</returns>
public double DotProduct(D3tuple V, Otyp o, int i)
{
double d = new double(); if (V != null) { int k = modd6((int)o); d = V*Oek[k, modd3(i)]; } return d;
}
/// DotProducts() <summary>
/// This function returns a vector containing the dot products of a
/// vector V with the vectors from the basis set specified by the o
/// parameter. If o' = kBar(o) then the basis vectors are written
/// with the components of the returned vector as their coefficients
/// when an equation for V is expressed in terms of basis vectors
/// from the o' set.
/// </summary>
/// <param name="V">Vector whose components are to be calculated</param>
/// <param name="o">Basis vector set type from which the scalar products are formed</param>
/// <returns>The components of vector V</returns>
public D3tuple DotProducts(D3tuple V, Otyp o)
{
D3tuple res = new D3tuple(); int i = 1,k=modd6((int)o); double[] d = new double[4];
while (i <= 3)
{
//D3tuple v1 = new D3tuple(Oek[k, j].X, Oek[k, j].Y, Oek[k, j].Z);
d[i] = V.X*Oek[k, i].X+V.Y*Oek[k, i].Y+V.Z*Oek[k, i].Z;
i++;
}
res.a4 = d;
return res;
}
/// Component() <summary>
/// This function returns the component associated with an indexed
/// vector (i=1..3) from the set specified by the o parameter when
/// an equation for V is written in terms of basis vectors from the
/// set indexed by o. The component value returned is calculated
/// by forming the dot product of V with the vector with the same
/// index i from the set indexed by o' = kBar(o).
/// </summary>
/// <param name="o"></param>
public double Component(D3tuple V, Otyp o, int i)
{
double d = new double(); if (V != null) { int k=kbar[modd6((int)o)]; d = V*Oek[k, modd3(i)]; } return d;
}
/// Components() <summary>
/// This function returns the three components of a vector V with respect
/// to the set of axes specified by the Otyp parameter. The results are
/// returned in a D3tuple variable.
/// </summary>
/// <param name="V">Vector whose components are to be calculated</param>
/// <param name="o">The type of axis set (eCo,eCon,eUCo,eUCon,eNCo,eNCon)</param>
public D3tuple Components(D3tuple V, Otyp o)
{
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D3tuple res = new D3tuple(); int i = 1,k=kbar[modd6((int)o)]; double[] d = new double[4];

while (i <= 3)
{
d[i] = V.X*Oek[k, i].X+V.Y*Oek[k, i].Y+V.Z*Oek[k, i].Z;
i++;
}
res.a4 = d;
return res;
}
#region Metric Tensor values g, gK, and scalars g_ji, g_JI, g_Ji, g_jI
/// g() <summary>
/// This returns the square of the product of the Scalar Triple
/// Products of the three covariant vectors and the three normalized
/// contravariant vectors.
/// </summary>
public double g()
{ double d = new double(); d = G[1]*G[6]; return d*d; }
/// gK() <summary>
/// This function returns the Scalar Triple Product of the indexed
/// vectors (k=1..3) in the set indexed by k.
/// </summary>
/// <param name="k"></param>
public double gK(int k)
{ double d = new double(); d = G[modd6(k)]; return d; }
/// g_ji() <summary>
/// This function returns the dot product of two indexed covariant
/// vectors e_i and e_j.
/// </summary>
public double gij(int i,int j)
{ double d = new double(); d = Oek[1, modd3(i)]*Oek[1, modd3(j)]; return d; }
/// g_JI() <summary>
/// This function returns the dot product of two indexed contravariant
/// vectors, eî and e^j.
/// </summary>
public double gIJ(int i,int j)
/// g_Ji() <summary>
/// This function returns the dot product of a contravariant vector eî with
/// index i with a covariant vector e_j with index j. This is formally
/// equivalent to the Kronecker delta function.
/// </summary>
public double gIj(int i,int j)
/// g_jI() <summary>
/// This function returns the dot product of a covariant vector e_i with
/// index i with a contravariant vector e^j with index j. This is formally
/// equivalent to the Kronecker delta function.
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/// </summary>
public double giJ(int i,int j)
/// h_i() <summary>
/// This returns the covariant scale factor for the ith vector. Equivalent to
/// the value returned by h(eCo,i).
/// </summary>
/// <param name="i">Index of vector (1..3)</param>
/// <returns>Covariant scaling factor</returns>
public double hi(int i) { return H[1, modd3(i)]; }
/// h_I() <summary>
/// This returns the contravariant scale factor for the ith vector. Equivalent to
/// the value returned by h(eCon,i).
/// </summary>
/// <param name="i">Index of vector (1..3)</param>
/// <returns>Covariant scaling factor</returns>
public double hI(int i) { return H[2, modd3(i)]; }
/// <summary>
/// This returns the scaling factor for the ith vector from the set
/// specified by the Otyp parameter.
/// </summary>
/// <param name="o">Axis set type: eCo,eCon,eUCo,eUCon,eNCo, or eNCon</param>
/// <param name="i">Vector index (1..3)</param>
/// <returns>Vector scaling factor, equivalent to its basis-specific norm</returns>
public double h(AxisSet.Otyp o, int i) { return H[(int)o, modd3(i)]; }
#endregion
#region AxisSet OPERATORS
public static AxisTriple operator*(AxisSet A1, AxisSet A2)
{
if ((A1 != null) & (A2 != null))
{
int j = 1,i = 1,k = 1; double ee = 0;
int k1 = (int)A1.opType,k2 = (int)A2.opType;
AT.Stype = A1.OpType; AT.Ttype = A2.OpType;
while (j <= 3)
{
i = 1;
while (i <= 3)
{
k = 1; ee = 0;
while (k <= 3)
{
ee = ee + A2.Oek[k2, j].a4[k]*A1.Oek[k1, i].a4[k];
k++;
}
AT.e[j, i] = ee;
i++;
}
j++;
}
}
return AT;
}
/// AND Transform Matrix Operator <summary><para>
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/// The AND operator is designed to create a matrix which transforms components of
/// type Sj.OpType in basis (s) to components of type Ti.OpType in basis (t) when a
/// column vector of components in (s) is premultiplied by the AxisTriple returned
/// by this function.</para><para>
/// </para><para>
/// The OpType fields Stype and Ttype stored in the returned AxisTriple indicate
/// the type of component transformation which the matrix peforms. The actual
/// composition of the matrix is by dot products of Kbar[Stype] (s) basis vectors
/// indexed by j with Ttype (t) basis vectors indexed by i, where i,j is Row,Col
/// indexing.</para>
/// </summary>
/// <param name="S">Input basis AxisSet</param>
/// <param name="T">Output basis AxisSet</param>
/// <returns>Transform matrix for D5RQ.OpType to T.OpType from basis (s) to basis (t)</returns>
public static AxisTriple operator&(AxisSet S, AxisSet T)
{
if ((S != null) & (T != null))
{
int j = 1,i = 1,k = 1; double ee = 0;
int k1 = (int)S.opType,k2 = (int)T.opType;
AT.Stype = S.OpType; AT.Ttype = T.OpType;
k1 = kbar[k1];
while (j <= 3)
{
i = 1;
while (i <= 3)
{
k = 1; ee = 0;
while (k <= 3)
{
ee = ee + T.Oek[k2, j].a4[k]*S.Oek[k1, i].a4[k];
k++;
}
AT.e[j, i] = ee;
i++;
}
j++;
}
}
return AT;
}
#endregion
}
#endregion
#region AxTrans CLASS
public class AxTrans
{
AxisSet Sj = null; AxisSet Ti = null;
double[,] g_ji = null; double[,] g_JI = null; double[,] g_Ji = null; double[,] g_jI = null;
double[] h_i = null; double[] h_I = null; double[] h_j = null; double[] h_J = null;
static int[] kbar = { 0,2,1,6,5,4,3,6,5 };
/// <summary>
/// The AxTrans class has only one constructor, which requires that
/// both of the AxisSets from which the transformation matrices are
/// constructed are specified when the class is instantiated.
/// </summary>
/// <param name="A1">First AxisSet</param>
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/// <param name="A2">Second AxisSet</param>

public AxTrans(AxisSet A1, AxisSet A2)
{
Sj = A1; Ti = A2; Init();
}
void Init()
{
g_ji = new double[4, 4]; g_JI = new double[4, 4]; g_Ji = new double[4, 4]; g_jI = new double[4, 4];
h_i = new double[4]; h_I = new double[4]; h_j = new double[4]; h_J = new double[4];
int i = 1, j = 1;
while (i <= 3)
{
j = 1;
while (j <= 3)
{
g_ji[j,i] = new double(); g_JI[j,i] = new double(); g_Ji[j,i] = new double(); g_jI[j,i] = new double();
j++;
}
h_i[i] = new double(); h_I[i] = new double(); h_j[i] = new double(); h_J[i] = new double();
i++;
}
ReCalc();
}
void ReCalc()
{
int i = 1, j = 1;
while (i <= 3)
{
j = 1;
while (j <= 3)
{
g_ji[j, i] = Sj.Oek[1, j]*Ti.Oek[1, i];
g_JI[j, i] = Sj.Oek[2, j]*Ti.Oek[2, i];
g_Ji[j, i] = Sj.Oek[2, j]*Ti.Oek[1, i];
g_jI[j, i] = Sj.Oek[1, j]*Ti.Oek[2, i];
j++;
}
i++;
}
j = 1;
while (j <= 3)
{
h_j[j] = ~Sj.Oek[1, j]; h_J[j] = ~Sj.Oek[2, j];
h_i[j] = ~Ti.Oek[1, j]; h_I[j] = ~Ti.Oek[2, j];
j++;
}
}
public int kBar(int k) { return kbar[modd6(k)]; }
/// Left <summary>
/// This accessor gets and sets the first AxisSet. The name Left indicates
/// that it should be visualized as lying to the left of the 6x6 array of 36
/// matrices and that the index j associated with it and with the rows of
/// the array runs vertically from 1 to 6 downward.
/// </summary>
public AxisSet Left
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{
get { return Sj; }
set { AxisSet AX = value; if (AX != null) { Sj = AX; ReCalc(); } }
}
/// Top <summary>
/// This accessor gets and sets the second AxisSet. The name Top indicates
/// that it should be visualized as lying above the 6x6 array of 36 matrices
/// and that the index i associated with it and with the columns of the array
/// runs horizontally from 1 to 6 rightward.
/// </summary>
public AxisSet Top
{
get { return Ti; }
set { AxisSet AX = value; if (AX != null) { Ti = AX; ReCalc(); } }
}
/// gji[,] <summary>
/// This accessor returns a 3x3 array of scalar products between the
/// covariant vectors of the first axis set, and the covariant vectors
/// of the second axis set, involved in the transformation.
/// The j,i index case is lower for covariant, and upper for contravariant,
/// which by convention defines the case-sensitive name of the accessor.
/// </summary>
public double[,] gji { get { return g_ji; } }
/// gJI[,] <summary>
/// contravariant vectors of the first axis set, and the contravariant
/// vectors of the second axis set, involved in the transformation.
/// </summary>
public double[,] gJI { get { return g_JI; } }
/// gJi[,] <summary>
/// contravariant vectors of the first axis set, and the covariant vectors
/// </summary>
public double[,] gJi { get { return g_Ji; } }
/// gjI[,] <summary>
/// covariant vectors of the first axis set, and the contravariant vectors
/// each vector involved in the product.
/// </summary>
public double[,] gjI { get { return g_jI; } }
/// hi[] <summary>
/// This accessor returns an array of 3 scalar products, which are the
/// squared norms of the covariant basis vectors of the second axis set.
/// </summary>
public double[] hi { get { return h_i; } }
/// hI[] <summary>
/// squared norms of the contravariant basis vectors of the second axis set.
/// </summary>
public double[] hI { get { return h_I; } }
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/// hj[] <summary>

/// squared norms of the covariant basis vectors of the first axis set.
/// </summary>
public double[] hj { get { return h_j; } }
/// hJ[] <summary>
/// squared norms of the contravariant basis vectors of the first axis set.
/// </summary>
public double[] hJ { get { return h_J; } }
void MatCalc(ref AxisTriple T, AxisSet.Otyp sty, AxisSet.Otyp tty, bool trans)
{
int j = 1,i = 1,k = 1; double ee = 0;
int k1 = (int)sty,k2 = (int)tty;
T.Stype = sty; T.Ttype = tty;
if (trans) k1 = Sj.kBar(k1);
while (j <= 3)
{
i = 1;
while (i <= 3)
{
k = 1; ee = 0;
while (k <= 3)
{
if (trans)
{ ee = ee + Sj.Oek[k1, i].a4[k]*Ti.Oek[k2, j].a4[k]; }
else
{ ee = ee + Sj.Oek[k2, j].a4[k]*Ti.Oek[k1, i].a4[k]; }
k++;
}
T.e[j, i] = ee;
i++;
}
j++;
}
}
/// G[,] <summary>
/// This accessor returns 36 matrices with indexes j=1..6 and i=1..6<para>
/// </para><para>
/// These matrices are the Gst matrices composed by dot products between
/// two systems of basis vectors s and t, where s is indexed on j and
/// t is indexed on i, and where j is the row index and i the column index.</para>
/// </summary>
public AxisTriple[,] G
{
get
{
AxisTriple[,] res = new AxisTriple[7, 7];
int j = 1, i = 1;
while (j <= 6)
{
i = 1;
while (i <= 6)
{
res[j, i] = Gmatrix(j, i);
i++;
}
j++;
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}
return res;
}
}
/// Gmatrix() <summary>
/// This function returns one of 36 matrices G[kl]st constructed from the
/// dot products of two basis vector sets s and t which are indexed by
/// rows on j and columns on i, respectively.<para>
/// </para><para>
/// The indexes k,l give the row and column (k=j, l=i) in the 6x6 array of
/// matrices where the desired matrix appears. These indexes correspond to
/// the enumeration eCo,eCon,UCo,UCon,NCo,NCon, and the vector set selected
/// from the 6 sets for each basis involved in constructing the matrix G[kl]
/// is of the type indicated by one of the function parameters.
/// </para>
/// </summary>
public AxisTriple Gmatrix(int j, int i)
{
AxisTriple res = new AxisTriple(); i = modd6(i); j = modd6(j);
MatCalc(ref res, (AxisSet.Otyp)j, (AxisSet.Otyp)i, false);
return res;
}
/// T[,] <summary>
/// This accessor returns 36 transformation matrices with indexes j=1..6 and i=1..6<para>
/// </para><para>
/// These matrices are the G[kl]st matrices composed by dot products between
/// two systems of basis vectors s and t, where s is indexed on i and
/// t is indexed on j, and where j is the row index and i the column index.</para><para>
/// </para><para>
/// The indexes [kl] refer to input and output component set types, where k,l=1..6</para>
/// <para>
/// The purpose of the index k is to specify the type of component vector to which the
/// AxisTriple matrix will be premultiplied. This causes the matrix returned by this
/// accessor to have been calculated so as to perform that specific conversion of
/// component types from the specified input type to the specified output type.
/// </para>
/// </summary>
public AxisTriple[,] T
{
get
{
AxisTriple[,] res = new AxisTriple[7, 7];
int j = 1, i = 1, k = 1;
while (j <= 6)
{
i = 1;
while (i <= 6)
{
k = kBar(j);
AxisTriple tmp = new AxisTriple();
MatCalc(ref tmp, (AxisSet.Otyp)k, (AxisSet.Otyp)i, true);
res[j, i] = tmp;
i++;
}
j++;
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}
return res;
}
}
/// ST() <summary>
/// This function returns one of 36 transformation matrices, given the
/// input component and output component types. See the T accessor for
/// more information.
/// </summary>
/// <param name="stype">Input component type</param>
/// <param name="ttype">Output component type</param>
/// <returns>Transformation matrix which will premultiply an input vector</returns>
public AxisTriple ST(AxisSet.Otyp stype, AxisSet.Otyp ttype)
{
AxisTriple res = new AxisTriple();
MatCalc(ref res, stype, ttype, true);
return res;
}
/// <summary><para>
/// The DkMatrix function returns a Dmatrix type calculated from
/// the two defining AxisSets of the current AxTrans instance.</para>
/// <para>
/// The transformation matrix from basis S contravariant components to
/// basis T contravariant components is also calculated, and stored in
/// the RQmatrix field, which is of type AxisTriple.</para>
/// <para>
/// The tetrahedral coordinates of the S datum (Sj.P) are stored in the
/// D5T array of the Dmatrix, and the Dk ratios are stored in its D5RQ
/// array. See the following references for further information:
/// </para>
/// </summary>
public Dmatrix DkMatrix(D3tuple D)
{
Dmatrix DM = new Dmatrix(); double d=0;
Sj.P = D; Sj.AxisPts[5] = D;
int i=1,k=1; D3tuple savP = Ti.P;
while (i <= 5)
{
Ti.P = Sj.AxisPts[i];
Ro.r.GetDvalues(Ti.AxisPts, 1);
k = 1;
while (k <= 5)
{
DM.D5RQ[k, i] = Ro.r.D5[k];
k++;
}
i++;
}
int j = 1;
while (j <= 5)
{
k = 1; d = DM.D5RQ[j, j];
if (d != 0)
while (k <= 5)
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{
DM.D5T[j, k] = DM.D5RQ[j, k] / d;
k++;
}
j++;
}
Ti.P = savP;
DM.D5RQcalc();
return DM;
}
}
#endregion
#region Dmatrix CLASS
public class Dmatrix
{
public AxisTriple RQmatrix = null;
public double[,] D5RQ = null; public double[,] D5T = null;
public Dmatrix()
{
Init();
}
void Init()
{
RQmatrix = new AxisTriple(); D5RQ = new double[6, 6]; D5T = new double[6, 6];
int i=1,j=1;
while (i <= 5)
{
j = 1;
while (j <= 5)
{
D5RQ[j, i] = new double(); D5T[j, i] = new double();
j++;
}
i++;
}
}
public void D5RQcalc()
{
int i=1,k=1; double d = D5RQ[5, 1];
if (d == 0) return;
while (i <= 3)
{
k = 1;
while (k <= 3)
{
double d2 = D5RQ[k+1, i+1] - D5RQ[k+1, i];
RQmatrix.e[k, i] = d2 / d;
k++;
}
i++;
}
}
}
#endregion
#region Rotator CLASS
/// <summary><para>
/// The Rotator class uses the double numeric type, which is an 8-byte floating-point format
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/// having more than 15 decimal digits of precision. The radial measurements of points rotated
/// by the Rotator/RAxis/RAngle methods indicate that variations from 1E-16 to 9E-16 are common
/// when the radius returned is different from the radius to the unrotated point; m.e., the
/// difference is not exactly zero. How quickly cumulative error increases during iterative
/// multi-increment rotations applied to a successively to a point has not been measured.
/// However, the Preview() function can be used to get the coordinates of the endpoint of an arc
/// before the iterations along that arc begin, and the result compared with the endpoint of the
/// iteration if the amount of error needs to be determined.</para>
/// <para>
/// Use of the Rotator class at its simplest requires only a call to the Rotator() default
/// constructor; m.e., Rotator R3 = new Rotator(); This provides both an RAxis instance (in
/// R3.Axis) and an RAngle instance (in R3.Angle), which is sufficient to support all of the
/// calls to Rotator methods. For handling multiple trajectories, concatenated rotations with
/// different directions, or rotations about different points or axes, an RAxis instance can
/// be allocated directly by RAxis RX3[c] = new RAxis() and then RX3[c].SetLocation() and
/// RX3[c].SetDirection() called to orient the rotation axis for each case; and an RAngle
/// instance can be allocated directly by RAngle RA3[j] = new RAngle(RX3[c],Theta[j]), which
/// would provide a complete series of rotations which could be carried out by calls to
/// RA3[j].Rotate(pts[u].X,pts[u].Y,pts[u].Z) for any collection of points u = n1..n2 from
/// an array.</para>
/// <para>
/// The F3xyz accessors get and set float values, which have 7 decimal digits of precision,
/// and the integer type get and set accessors I3xyz and U3xyz have 0 digits of precision
/// and dynamic ranges of roughly [+|-]2^31 and 2^16 respectively. The I3xyz and U3xyz
/// accessors are provided only for use in converting to and from graphics world coordinates
/// and care should be taken not to allow inaccuracies resulting from their use to propagate
/// into successive applications of the rotation methods.</para>
/// <para>
/// The Microsoft.WindowsMobile.DirectX namespace contains classes and methods implementing
/// a matrix-oriented interface for 3-dimensional rotations, the System.Windows.Media.Media3D
/// namespace contains sophisticated 3-D rendering and animation methods, System.Windows.Media.
/// Imaging contains methods for 2-D rotations of bitmaps by multiples of 90 degrees, the GDI
/// functions provide for transformation of world coordinates in 2-D which can include rotation
/// as well as translation, and System.Windows.Controls provides a 3-D graphics context for
/// visuals. But if you only want to rotate points and don't need these interfaces for object
/// manipulation there isn't any simple, straighforward way to do that using their methods.
/// The Rotator class rotates points only; it simplifies axis, angle, and point definition
/// and data access; and it carries out the operations quickly. So it's a no-frills direct
/// rotation interface which doesn't need any graphics support at all, and can run in console
/// text mode as well as in bare-bones Windows Forms, without support from any of the DLLs
/// beyond what your application would otherwise require. That's its modus operandi, and
/// its raison D'etre is combined simplicity and speed.</para>
/// </summary>
public class Rotator
{
public const int XAxis = 1, YAxis = 2, ZAxis = 3, YZplane = 1, ZXplane = 2, XYplane = 3;
public double[,] AxisPlanes = {{1.0,1.0,1.0},{1.0,0.0,0.0},{0.0,1.0,0.0},{0.0,0.0,1.0}};
public D3tuple[] Axes = null;
bool valid=false,previewing=false; int planeNo=0;
double X,Y,Z,oldX,oldY,oldZ,newX,newY,newZ,prvX,prvY,prvZ;
public RAngle Angle=null,PVAngle=null;
public RAxis Axis=null;
public Rotator()
{
Axis = new RAxis();
if (Axis != null)
{
Angle = new RAngle(Axis); if (Angle != null)
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{ valid = true; ZeroRef(false);

PVAngle = new RAngle(Axis);
}
}
Axes = new D3tuple[4];
for (int i=0; (i <=3); i++)
{
Axes[i] = new D3tuple(AxisPlanes[i, 0], AxisPlanes[i, 1], AxisPlanes[i, 2]);
}
}
#region POINT ROTATION METHODS
/// Spin() <summary>
/// For any given point, call SetXYZ() or another method to set the X,Y,Z fields before calling Spin().
/// Each subsequent call to Spin() will rotate the point in X,Y,Z through successive rotations, and
/// if the rotation axis is unchanged the series of points will describe a circle. After N rotations,
/// a call to GetXYZ() will return a point X,Y,Z which has been rotated through an angle N*Theta,
/// where Theta is the angle initially set before calling Spin().
/// </summary>
public void Spin()
{
if ((valid)&(Angle != null)) { Angle.Rotate(ref X, ref Y, ref Z); }
}
/// ResetAngle() <summary>
/// Calling ResetAngle() before Spin() causes the new angle to be used by Spin(). Thus, if you set
/// the rotation angle to Pi/6, call Spin() twice and then ResetAngle(-Pi/3), the next Spin() call
/// will undo the two preceding rotations.
/// </summary>
/// <param name="Theta"></param>
public void ResetAngle(double Theta)
{
if ((valid) & (Angle != null))
{
if (Angle.Valid)
{
ZeroRef(false); Angle.SetAngle(Theta);
}
}
}
/// SetAxis() <summary>
/// SetAxis() sets the location and direction of the axis for the default RAxis instance
/// associated with this Rotator instance. If both the Location and Direction arguments
/// supplied to SetAxis() are valid and the Direction vector is nonzero, the values needed
/// by this Rotator instance are calculated and stored in the Rotator.Axis instance.
/// </summary>
/// <param name="Location"></param>
/// <param name="Direction"></param>
public void SetAxis(D3tuple Location, D3tuple Direction)
{
if (Axis == null) return; Axis.LocationOK = false; Axis.DirectionOK = false;
if (Location != null) { Axis.SetLocation(Location.X, Location.Y, Location.Z); }
if (Direction != null) { Axis.SetDirection(Direction.X, Direction.Y, Direction.Z); }
}
/// SetAngle() <summary>
/// SetAngle() does little more than calculate the coefficients depending on the rotation angle,
/// storing them internally in the RAngle class instance associated with this Rotator. Multiple
/// angle coefficients can be precalculated and stored in separate RAngle class instances by passing
/// a reference to an RAxis instance to the RAngle constructors (optionally with an included angle).
/// It is also possible to assign an RAxis instance to RAngle.Axis and then call RAngle.SetAngle()
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/// to calculate these values (and this could be immediately followed by a call to RAngle.Rotate()
/// to perform a rotation about the chosen axis of an arbitrary point).
/// </summary>
public void SetAngle(double Theta)
{
if (Angle == null) return;
Angle.SetAngle(Theta);
}
/// SetAxisPlane() <summary>
/// SetAxisPlane() is passed one of the values XAxis, YAxis, Xaxis, YZplane, ZXplane, or XYplane
/// to orient the rotation axis to one of the principal Cartesian axes and normal to its axis plane.
/// The axis affected is this Rotator class Axis instance.
/// </summary>
/// <param name="plane">Integer index of axis (0..3)</param>
public void SetAxisPlane(int plane)
{
if (Axis == null) return;
if ((plane <= 3) & (plane >= 0))
{
planeNo = plane;
Axis.AxDirX = AxisPlanes[plane, 0];
Axis.AxDirY = AxisPlanes[plane, 1];
Axis.AxDirZ = AxisPlanes[plane, 2];
}
}
/// Increment() <summary>
/// Successive calls to Increment() will perform successive rotations of the point X,Y,Z which
/// is defined before the first call. The rotated points are returned by GetXYZ() and the
/// other accessors (D3xyz, etc.).
/// </summary>
public void Increment(double Theta)
{
if ((valid) & (Angle != null))
{
if (Angle.Valid)
{
Angle.SetAngle(Theta);
Angle.Rotate(ref X, ref Y, ref Z);
}
}
}
/// ZeroRef() <summary><para>
/// The ZeroRef() function does not 'zero' any fields. What it does is to set both the old and new
/// points to the current point X,Y,Z in this Rotator instance. ZeroRef(true) sets X,Y,Z to the last
/// point calculated by Preview() before doing so.</para>
/// <para>
/// Calling ZeroRef(false) before Preview() does not change the current X,Y,Z values, so you can call
/// these two functions multiple times without changing the current point. Calling ZeroRef(true) will
/// cause Preview() to rotate starting at the current Preview point and to return a new Preview point
/// via GetXYZ(), and a second call to GetXYZ then will return the latest value stored by X,Y,Z which
/// is now the Preview point which the rotation started from.</para>
/// <para>
/// This allows you to utilize a preview point as the starting point for another rotation instead of
/// just reading the value for reference as you would when ZeroRef() is not called or ZeroRef(false)
/// is called. Sequences of ZeroRef(true); Preview(Theta); will then advance the rotation just as
/// Spin() does. The only differences are that the Old and New point fields are loaded with new values
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/// and that you can read both the preview point and the start point (in that order) by two calls to
/// GetXYZ() after Preview() returns.</para>
/// </summary>
public void ZeroRef(bool Preview)
{
if (Preview) { X = prvX; Y = prvY; Z = prvZ; }
oldX = X; oldY = Y; oldZ = Z; newX = X; newY = Y; newZ = Z;
}
/// Preview() <summary><para>
/// Call ZeroRef() after calling Preview() to set the current X,Y,Z as a reference datum from which
/// the rotated point calculated by Preview() will be advanced by the angle Theta. If you call ZeroRef()
/// before each of several successive calls to Preview() the datum and the calculated point will both
/// advance by the angle of rotation. This is almost equivalent to calling Spin() multiple times,
/// except for the fact that the datum does not advance until ZeroRef() is called.</para>
/// <para>
/// If you need a lookahead for accuracy measurement when incrementing by small angles using Spin()
/// you can call ZeroRef() and then Preview() beforehand to calculate a point which you should reach
/// after a cumulative angle of displacement has been reached; and comparing the point coordinates
/// as previewed with those of the point actually reached by multiple Spin() calls will give you a
/// good measure of whether cumulative error is influencing the Spin() cycle. This is especially
/// important when using integer, rather than floating-point, arguments as input to these functions.</para>
/// <para>
/// Calling GetXYZ(), D3xyz, F3xyz, U3xyz, or I3xyz immediately after Preview() returns the preview
/// point rather than the normal rotated point X,Y,Z. As long as Previewing returns true you can
/// still read this value at least once; after that you need to set Previewing=true before calling
/// one of these functions in order to obtain that point, because calls to these functions reset
/// the Previewing flag to false;</para>
/// </summary>
public void Preview(double Theta)
{
if (Angle == null) return;
if ((valid) & (PVAngle != null))
{
if (Angle.Axis == null) return;
if (PVAngle.Valid)
{
PVAngle.Axis = Angle.Axis;
PVAngle.SetAngle(Theta); prvX = X; prvY = Y; prvZ = Z;
PVAngle.Rotate(ref prvX, ref prvY, ref prvZ); previewing = true;
}
}
}
public bool Previewing
{
get { return previewing; }
set { previewing = value; }
}
#endregion
#region GET/SET POINT METHODS
public double OldX { get { return oldX; } set { oldX = value; } }
public double OldY { get { return oldY; } set { oldY = value; } }
public double OldZ { get { return oldZ; } set { oldZ = value; } }
public double NewX { get { return newX; } set { newX = value; } }
public double NewY { get { return newY; } set { newY = value; } }
public double NewZ { get { return newZ; } set { newZ = value; } }
public void SetXYZ(double inX, double inY, double inZ) { X = inX; Y = inY; Z = inZ; }
public void GetXYZ(ref double inX, ref double inY, ref double inZ)
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{
if (previewing) { inX = prvX; inY = prvY; inZ = prvZ; previewing = false; }
else { inX = X; inY = Y; inZ = Z; }
}
public D3tuple XYZ
{
get
{
D3tuple d3 = new D3tuple();
if (previewing) { d3.X = prvX; d3.Y = prvY; d3.Z = prvZ; previewing =false; }
else { d3.X = X; d3.Y = Y; d3.Z = Z; }
return d3;
}
set { D3tuple d3 = value; X = d3.X; Y = d3.Y; Z = d3.Z; }
}
public F3tuple F3xyz
{
get
{
F3tuple f3 = new F3tuple();
if (previewing) { f3.X = (float)prvX; f3.Y = (float)prvY; f3.Z = (float)prvZ; previewing = false; }
else { f3.X = (float)X; f3.Y = (float)Y; f3.Z = (float)Z; }
return f3;
}
set { F3tuple F3 = value; X = (double)F3.X; Y = (double)F3.Y; Z = (double)F3.Z; }
}
public I3tuple I3xyz
{
get
{
I3tuple i3 = new I3tuple();
if (previewing) { i3.X = (int)Math.Round(prvX); i3.Y = (int)Math.Round(prvY); i3.Z = (int)Math.Round(prvZ); previewing =
false; }
else { i3.X = (int)Math.Round(X); i3.Y = (int)Math.Round(Y); i3.Z = (int)Math.Round(Z); }
return i3;
}
set { I3tuple i3 = value; X = i3.X; Y = i3.Y; Z = i3.Z; }
}
public US3tuple U3xyz
{
get
{
US3tuple u3 = new US3tuple();
if (previewing) { u3.X = (ushort)Math.Round(prvX); u3.Y = (ushort)Math.Round(prvY); u3.Z = (ushort)Math.Round(prvZ);
previewing=false; }
else { u3.X = (ushort)Math.Round(X); u3.Y = (ushort)Math.Round(Y); u3.Z = (ushort)Math.Round(Z); }
return u3;
}
set { US3tuple u3 = value; X = u3.X; Y = u3.Y; Z = u3.Z; }
}
#endregion
public D3tuple[] OrthoAxes()
{
res[1] = new D3tuple(0, 0, 0);
res[2] = new D3tuple(1, 0, 0); res[3] = new D3tuple(0, 1, 0); res[4] = new D3tuple(0, 0, 1);
return res;
}
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/// NormalAxis <summary>

/// If you need to find an arbitrary rotation axis and know the coordinates of at least three points
/// in a plane or know two vectors lying in that plane or parallel to it, you can call NormalAxis()
/// to find the axis for rotation in that plane. For three points, call GetNormal() to return the
/// plane normal vector. If unit=true, the vector returned will be a SignOnly vector.
/// </summary>
/// <param name="D">First of two vectors defining the plane</param>
/// <param name="D2">Second of two vectors defining the plane</param>
/// <param name="res">Returns the plane normal vector</param>
/// <param name="unit"></param>
public void NormalAxis(D3tuple D1, D3tuple D2, ref D3tuple D, bool unit)
{
double d3x=0,d3y=0,d3z=0;
CrossProd(D1.X,D1.Y,D1.Z,D2.X,D2.Y,D2.Z, out d3x, out d3y, out d3z);
if (unit) ScaleVec(d3x,d3y,d3z,1, out d3x, out d3y, out d3z);
D.X = d3z; D.Y = d3y; D.Z = d3z;
}
/// GetNormal <summary>
/// Given three points in the D3tuple instances u1, u2, D, GetNormal() returns a
/// D3tuple containing the normal vector to the plane containing those three points.
/// If unit=true it returns a SignOnly normal vector.
/// </summary>
/// <param name="D">First point in plane</param>
/// <param name="D2">Second point in plane</param>
/// <param name="D3">Third point in plane</param>
/// <param name="unit">True if a unit normal is to be returned</param>
/// <returns>Normal vector of plane containing points D,D2,D3</returns>
public D3tuple GetNormal(D3tuple D1, D3tuple D2, D3tuple D3, bool unit)
{
D=D3Sum(D3CrossProd(D1,D2),D3CrossProd(D2,D3),1); D=D3Sum(D3CrossProd(D3,D1),D,1);
if (unit) { D3Scale(ref D, 1); }
return D;
}
/// GetVv() <summary>
/// This returns both the Cyclic Vector Product Sum and Scalar Triple Product for three Double3tuples.
/// </summary>
/// <param name="D">First vector</param>
/// <param name="D2">Second vector</param>
/// <param name="D3">Third vector</param>
/// <param name="stp">Return value of STP</param>
/// <param name="res">Return value of CVPS</param>
public void GetVv(D3tuple D1, D3tuple D2, D3tuple D3, ref double stp, ref D3tuple D)
{
if ((D1 != null) & (D2 != null) & (D3 != null) & (D != null))
{
D=D3Sum(D3CrossProd(D1, D2), D3CrossProd(D2, D3), 1); D=D3Sum(D3CrossProd(D3, D1), D, 1);
stp = D3STP(D1, D2, D3);
}
}
/// D3CrossProd <summary>
/// This returns a D3tuple containing the vector (cross) product of u1 and u2.
/// </summary>
/// <param name="D"></param>
/// <param name="D2"></param>
/// <returns>Vector product of vectors D and D2</returns>
public D3tuple D3CrossProd(D3tuple D1, D3tuple D2)
{
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D3tuple D = new D3tuple(); double d3x=0,d3y=0,d3z=0;

CrossProd(D1.X,D1.Y,D1.Z,D2.X,D2.Y,D2.Z, out d3x, out d3y, out d3z);
D.X = d3x; D.Y = d3y; D.Z = d3z;
return D;
}
/// D3DotProd <summary>
/// This returns a scalar which is the inner (dot) product of vectors D and D2.
/// </summary>
public double D3DotProd(D3tuple D1, D3tuple D2)
{
double d = 0;
if ((D1 != null) & (D2 != null)) d = D1.X*D2.X+D1.Y*D2.Y+D1.Z*D2.Z;
return d;
}
/// D3STP <summary>
/// This returns the Scalar Triple Product (STP) of three vectors D, D2, and D3.
/// </summary>
/// <param name="D">First vector</param>
/// <param name="D2">Second vector</param>
/// <param name="D3">Third vector</param>
/// <returns>The scalar triple product of three vectors</returns>
public double D3STP(D3tuple D1, D3tuple D2, D3tuple D3)
{
double d = 0;
if ((D1 != null) & (D2 != null) & (D3 != null)) d = D3DotProd(D1, D3CrossProd(D2, D3));
return d;
}
// TABLE OF RhoJK INDEX PERMUTATIONS
//
1
2
3
4
5
// 1 --- 345 254 235 243
// 2 354 --- 145 153 134
// 3 245 154 --- 125 142
// 4 253 135 152 --- 123
// 5 234 143 124 132 --// http://cqvis.zxq.net/C1/VQC012T.html
//
///
///
///
///
///
///
///
///
///
///
///
///
///
///
///
///
///
///
D3MISTP <summary><para>
D3MISTP() returns the Scalar Triple Product (STP) of three vectors from a set of 5 indexed by
the permutation selector ptOn(m,i)= jkl</para><para></para>
<para>
This quantity is formally known as the origin distance of the plane containing the three points
located by those vectors.</para>
<para>
Other more compact routines are present in this class. This one is included for debugging
purposes to allow stepping through individual applications of the STP to a set of vectors
while using debugger quick-tips to examine the vector values. For those unfamiliar with
the Rho3 indexing scheme, this might avoid confusion over which vectors from the set of 5
for each value of the indexes (m,i) are used in forming the product.
</para>
</summary>
<param name="D">Vector v1</param>
<param name="D2">Vector v2</param>
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/// <param name="D5">Vector v5</param>

/// <param name="i">Tetrahedron vertex index</param>
public double D3MISTP(D3tuple D1, D3tuple D2, D3tuple D3, D3tuple D4, D3tuple D5, int m, int i)
{
double res=0;
m = ((m-1)%5)+1; i = ((i-1)%5)+1;
if (m == 1)
{
if
(i==2) res = D3STP(D3, D4, D5); // Rho3(1,2) = 345
else if (i==3) res = D3STP(D2, D5, D4); // Rho3(1,3) = 254
}
else if (m==2)
{
if
(i==1) res = D3STP(D3, D5, D4); // Rho3(2,1) = 354
}
else if (m==3)
{
if
(i==1) res = D3STP(D2, D4, D5); // Rho3(3,1) = 245
}
else if (m==4)
{
if
(i==1) res = D3STP(D2, D5, D3); // Rho3(4,1) = 253
}
else if (m==5)
{
if
(i==1) res = D3STP(D2, D3, D4); // Rho3(5,1) = 234
}
return res;
}
/// D3MIvec <summary><para>
/// D3MIvec() returns the Cyclic Vector Product Sum (CVPS) of three vectors from a set of 5 indexed by
/// the permutation selector ptOn(m,i)= jkl</para>
/// <para>
/// This vector sum is formally known as the Vector Triple Product of a set of three vectors, but here
/// the concept of the cyclic sum is extended to four or more vectors (although only three vectors are
/// actually relevant to the D3MIvec() routine).</para>
/// </summary>
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/// <param name="m"></param>

public D3tuple D3MIvec(D3tuple D1, D3tuple D2, D3tuple D3, D3tuple D4, D3tuple D5, int m, int i)
{
D3tuple Dres= new D3tuple(); m = ((m-1)%5)+1; i = ((i-1)%5)+1;
if (m == 1)
{
if
(i==2) Dres = GetNormal(D3, D4, D5, false); // Rho3(1,2) = 345
else if (i==3) Dres = GetNormal(D2, D5, D4, false); // Rho3(1,3) = 254
}
else if (m==2)
{
if
}
else if (m==3)
{
if
}
else if (m==4)
{
if
}
else if (m==5)
{
if
}
return Dres;
}
/// GetD3M5Ivec <summary>
/// For a D3tuple array res[] of points, this returns a vector M(k,K) calculated from three of
/// the five elements of res[] starting at the index offs, where k,K = 1..5 and offs is less than
/// res.Length+1 - 4.
/// </summary>
/// <param name="res">Array of at least 5 D3tuple vectors</param>
/// <param name="offs">Offset into the array res[] of the first vector of the five</param>
/// <param name="k">Row index of the MI indexer</param>
/// <param name="K">Column index of the MI indexer</param>
/// <param name="O">The output vector is returned in this D3tuple</param>
public void GetD3M5Ivec(D3tuple[] D, int offs, int J, int K, out D3tuple O)
{
int lim = offs + 4; O = null; if ((D == null) | (J == K)) return;
if ((lim < D.Length)&(lim >= 4))
{
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O = new D3tuple(); byte[] B = RhoJK(5, J, K); int i = offs-1;

O = GetNormal(D[B[3]+i], D[B[4]+i], D[B[5]+i],false);
}
}
#region [*] METHODS REQUIRING D5/F5/G5/Vjk/vjk/LVjk/LsqXi/Radii/Spheres ARRAYS
// http://cqvis.zxq.net/C1/VQC011P2.html
//
/// [*] D5mIinit() <summary><para><para>[*]</para>
/// The methods in this section (marked with [*]) require use of the arrays
/// D5[], F5[], G5[], Spheres[], Radii[], Vjk[,], vjk[,], LVjk[,], or LsqXi[],
/// which store intermediate results for use in an extended series of calculations
/// involving the same set of five vectors and the plane normals they define.</para>
/// <para>
/// D5MIinit() is called by these routines if you do not explicitly do so.
/// Each of these arrays is of length 6 and the elements used are 1..5,
/// with element 0 being null in the case of F5, Spheres, and Vjk. You
/// are free to use any element with a zero index as you wish to store
/// intermediate or final results, because this class does not contain
/// any methods which will reference those entries.
/// </para>
/// </summary>
public void D5MIinit()
{
if (D5initialized) return;
int i = 1,k = 1; bool ok = true;
while ((ok) & (i <= 5))
{
F5[i] = new D3tuple(); if (F5[i] == null) ok = false;
if (ok)
{
Spheres[i] = new D3tuple(); if (Spheres[i] == null) ok = false;
if (ok) { Inspheres[i] = new D3tuple(); if (Inspheres[i] == null) ok = false; }
if (ok) { Xi[i] = new D3tuple(); if (Xi[i] == null) ok = false; }
}
k = 1;
if (Vjk != null)
while ((ok) & (k <= 5))
{
Vjk[i, k] = new D3tuple(); if (Vjk[i, k] == null) ok = false; else k++;
}
i++;
}
if (!FactTblValid) FactTblInit(5);
D5initialized = ok;
}
/// GetDvalues() <summary><para>
/// The call to GetD3MIvecs() calculates values for the following arrays of
/// vectors and scalars which are used in further tetrahedron, sphere, plane,
/// and vector calculations. Among them (array lengths are in brackets) are:</para><para>
/// D5[6] - (scalar) 4x4 matrix determinants (DA^5)_k proportional to tetrahedral volumes</para><para>
/// F5[6] - (vector) non-normalized direction vectors through curcumsphere centers</para><para>
/// G5[6] - (scalar) sums of lengths of face normals for each tetrahedron</para><para>
/// Spheres[6] - (vector) Tetrahedron circumsphere center locations</para><para>
/// Inspheres[6] - (vector) Tetrahedron insphere center locations</para><para>
/// Radii[6] - (scalar) Tetrahedron circumsphere radii</para><para>
/// Inradii[6] - (scalar) Tetrahedron insphere radii</para><para>
/// Vjk[6,6] - (vector) Indexed face normals; 10 directed inward, 10 outward</para><para>
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/// vjk[6,6] - (scalar) Indexed Scalar Triple Products of vertices for all faces of all tetrahedra</para><para>
/// LVjk[6,6] - (scalar) Lengths of the indexed face normals</para><para>
/// LsqXi[6] - (scalar) Lengths of the vertex position vectors</para><para>
/// Xi[6] - (vector) Vertex position vectors</para>
/// </summary>
public void GetDvalues(D3tuple[] D, int offs)
{
if (!D5initialized) D5MIinit();
int L = D.Length,i=offs,j=1,j2=1,k=1;
if (i+4 < L)
{
k = 1; D3penta P = new D3penta(D, i);
while ((k <= 5) & (i < L))
{
Degeneracies[k] = 0;
// Xi[k] LsqXi[k]
Xi[k] = D[i]; LsqXi[k] = Xi[k]*Xi[k];
// Vjk[k,j] vjk[k,j] LVjk[k,j]
j=1;
while (j <= 5)
{
if (j != k)
{
Vjk[k, j] = P.vMoI(k, j); LVjk[k, j] = Vjk[k, j]*Vjk[k, j];
vjk[k,j] = P.MoI(k, j);
}
j++;
}
k++; i++;
}
k = 1; i = offs; D3tuple[] CK = new D3tuple[6];
while ((k <= 5) & (i < L))
{
// D5[k] F5[k] G5[k]
j = 1; D5[k] = 0; G5[k] = 0; F5[k].Zero(); CK[k] = new D3tuple();
while (j <= 5)
{
if (j != k)
{
D5[k] = D5[k] + vjk[k, j]; F5[k] = F5[k] + LsqXi[j]*Vjk[k, j];
G5[k] = G5[k] + LsqXi[j]*vjk[k, j]; CK[k] = LVjk[k, j]*Xi[k];
}
j++;
}
i++; k++;
}
k = 1; i = offs; j = 1;
while ((k <= 5) & (i < L))
{
// Spheres[k] Inspheres[k] Radii[k] Inradii[k]
Spheres[k] = (-1/(2.0*D5[k]))*F5[k];
if (LVjk[k, j] != 0) Inspheres[k] = CK[k] / LVjk[k, j];
j = k+1; if (j > 5) j = 1;
Radii[k] = ~(Xi[j] - Spheres[k]);
if (D5[k] == 0) Degeneracies[k] = SphereIsPlane;
else if (Math.Abs(D5[k]) < Eta)
{
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if (Degeneracies[k] == 0) Degeneracies[k] = SphereMayBeTooLarge;

}
else if (Radii[k] == 0)
{
if (Degeneracies[k] == 0) Degeneracies[k] = SphereIsPoint;
}
else if (Math.Abs(Radii[k]) < Eta)
{
if (Degeneracies[k] == 0) Degeneracies[k] = SphereMayBeTooSmall;
}
j2 = 1;
while ((j2 == j) | (j2 == k)) { j2++; }
Inradii[k] = ~ProjSin(Xi[j2]-Inspheres[k], Vjk[k, j]);
k++; i++;
}
}
}
public bool D5initialized = false;
public double[] D5 = new double[6]; //double[] D5STP = new double[6];
public D3tuple[] F5 = new D3tuple[6];
public double[] G5 = new double[6]; //double[] LV5i = new double[6];
public D3tuple[] Spheres = new D3tuple[6];
public D3tuple[] Inspheres = new D3tuple[6];
public double[] Radii = new double[6];
public double[] Inradii = new double[6];
public D3tuple[,] Vjk = new D3tuple[6, 6];
public double[,] vjk = new double[6, 6];
public double[,] LVjk = new double[6, 6];
public double[] LsqXi = new double[6];
public D3tuple[] Xi = new D3tuple[6];
/// <summary>
/// Eta is an adjustable semi-constant which you can use as a limit
/// on how small 'vanishingly small' quantities have to be before you
/// benignly consider them as effectively zero. Most of the calculations
/// involving rotations produce variances from the ideal which are smaller
/// than this, and the demonstrations that quantities are zero which will
/// hold as such in algebraic equations won't need to be spoiled if you
/// trap for these variations, recalculate if necessary when variances
/// become larger than Eta, and find ways of reducing accumulated error.
/// </summary>
public double Eta = 1.0E-12;
public const int SphereIsPlane=-1,SphereIsPoint=-2,SphereMayBeTooSmall=1,SphereMayBeTooLarge=2;
public int SphereDegeneracy = 0;
public int[] Degeneracies = new int[6];
/// [*] Dk <summary><para>[*] </para>
/// Dk() returns the row 1 cofactor in column c of the matrix [ m1 m2 m3 m4 m5 ]
/// where mi = { 1 (xi*xi) xi1 xi2 xi3 } given the input vectors u1..D4 which are
/// modulus-index-consecutive in the matrix. Thus, to return cofactor c=2 you
/// would call Dk(D,D4,D5,u1); for c=3, Dk(D4,D5,u1,u2); etc.
/// </summary>
/// <param name="D4></param>
public double Dk(D3tuple D1, D3tuple D2, D3tuple D3, D3tuple D4)
{
double res = 0;
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if ((D1 != null) & (D2 != null) & (D3 != null) & (D4 != null))
{
res = -D3DotProd(D1,GetNormal( D2, D3, D4, false)) + D3STP(D2, D3, D4);
}
return res;
}
/// [*] GetD3M5Ivecs <summary><para>[*] </para>
/// For a D3tuple array res[] of points, this returns five vectors M(index,u) calculated from
/// five sets of three of the five elements of res[] starting at the index offs, where u = 1..5 and
/// offs is less than res.Length+1 - 4. The output array O[] contains vectors M(index,1), M(index,2),
/// ...,M(index,5) with the exception of M(index,index) which is undefined (and that element of O[]
/// will be the zero vector).<para>
/// Note that all of the Rotator storage arrays, F5[], G5[], Vjk[,], etc. will be given new values
/// by a call to this routine. The array O[] in which the face normal vectors are returned may
/// then be used in any fashion, and its values restored to those produced by GetD3MIvecs() by
/// retrieving the values for j=1..5 from the Vjk[k,j] array.
/// </para>
/// </summary>
/// <param name="res">Array of at least 5 D3tuple vectors</param>
/// <param name="offs">Offset into the array res[] of the first vector of the five</param>
/// <param name="index">Row index of the MI indexer</param>
/// <param name="O">The output vectors are returned in this D3tuple array</param>
public void GetD3M5Ivecs(D3tuple[] D, int offs, int index, out D3tuple[] O)
{
int lim = offs + 4; O = null; if (D == null) return;
if (index > 5) index = 5; if (index < 1) index = 1;
if ((lim < D.Length)&(lim >= 4))
{
int i = offs-1; int k = 1;
D3tuple[] DO = new D3tuple[6];
while (k <= 5)
{
DO[k] = new D3tuple();
DO[k] = D[i];
k++; i++;
}
GetDvalues(DO, 1);
if (O == null) O = new D3tuple[6];
k = 1;
while (k <= 5)
{
if (O[k] == null) O[k] = new D3tuple();
O[k] = Vjk[index, k];
k++;
}
}
}
/// [*] D5calcDemo <summary><para>[*] </para>
/// D5calc performs the same calculation as Dk(), but the input is from
/// five vectors located at a specified offset into an array res of Double3tuples,
/// and all five Dk values are calculated and stored in the array D5[].
/// </summary>
/// <param name="offs"></param>
public void D5calcDemo(D3tuple[] D, int offs)
{
int lim = offs + 4; if (D == null) return;
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if ((lim < D.Length)&(offs >= 0))
{
int i = offs - 1; int j; int index = 1; byte[] B = new byte[6];
D5.Initialize(); D3tuple V = new D3tuple(); double v=0;
while (index <= 5)
{
j = (int)((index-1) * 24);
B = RhoI(5, j); int sgn=1,ict = InversionCount(B, 1, 5,ref sgn);
GetVv(D[B[3]+i], D[B[4]+i], D[B[5]+i], ref v, ref V);
D5[index] = sgn*(v - D3DotProd(D[B[2]+i], V));
Xi[index] = D[index-1+offs];
index++;
}
}
}
public void D5calc(D3tuple[] D, int offs, ref double[] dD5, ref D3tuple[] dX5)
{
int lim = offs + 4; if (D == null) return;
if ((lim < D.Length)&(offs >= 0))
{
int i = offs - 1; int index = 1;
D3tuple V = new D3tuple(); double v=0;
while (index <= 5)
{
dX5[index] = D[index-1+offs];
index++;
}
index = 1;
while (index <= 5)
{
Rho.SetIJKL(index);
v = dX5[Rho.II]*CVPS3(dX5[Rho.JJ], dX5[Rho.KK], dX5[Rho.LL]) - dX5[Rho.JJ]*(dX5[Rho.KK]^dX5[Rho.LL]);
dD5[index] = -v;
index++;
}
}
}
/// [*] M5ISphereCenter <summary><para>[*] </para>
/// M5ISphereCenter() uses the data stored in the F5[], D5[], and LV5i[] arrays when
/// GetD3M5Ivecs() is called with the MakeD5 argument true, finding the center and radius
/// of one of five possible spheres.
/// </summary>
/// <param name="k">Sphere index, k = 1..5</param>
private void M5ISphereCenter(int k)
{
double d = D5[k];
if (d != 0)
{
int i=0,k1=k+1; double r; if (k1 > 5) k1 = 1;
try
{
Spheres[k] = F5[k]; D3Scale(ref Spheres[k], -D3Len(F5[k]) / (2*d));
}
catch { Degeneracies[k] = SphereMayBeTooLarge; i = -1; }
if (i < 0) { r = 1 / Eta; }
else
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{
r = ~(Xi[k1]-Spheres[k]);
Radii[k] = 0;
if (r != 0)
{
if (r < Eta) Degeneracies[k] = SphereMayBeTooSmall;
else Radii[k] = r;
}
else Degeneracies[k] = SphereIsPoint;
}
i=1; bool ok = true; double denom=0,lVi=0; Inspheres[k].Zero();
while ((i <= 5) & (ok))
{
try
{
lVi = LVjk[k,i];
if (i != k)
{
denom+=lVi; Inspheres[k] += lVi*Xi[i];
}
}
catch { ok=false; }
i++;
}
if ((ok) & (denom != 0))
{
Inspheres[k] = Inspheres[k] / denom; Inradii[k] = Math.Abs(d / denom);
}
}
else Degeneracies[k] = SphereIsPlane;
SphereDegeneracy = Degeneracies[k];
}
/// [*] CircleCenter <summary><para>[*] </para>
/// This function returns the center and radius of a circle given three
/// points in space d1, d2, and d3 which lie on the circle.
/// </summary>
/// <param name="d1">First point</param>
/// <param name="d2">Second point</param>
/// <param name="d3">Third point</param>
/// <param name="Radius">Radius of circle</param>
/// <returns>Center point of circle</returns>
public D3tuple CircleCenter(D3tuple d1, D3tuple d2, D3tuple d3, ref double Radius)
{
D3tuple C = new D3tuple(); D3tuple d = D3Sum(d1, d2, 1);
D3tuple v = new D3tuple();
C = GetNormal(d1, d2, d3, false); double m,c = D3DotProd(C,C);
Radius = 0;
// .5(j+c) + .5 * L^-2 * ( kijk )(ij x ijk)
//
u
m
c
if (c != 0)
{
D3Scale(ref d, 0.5*D3Len(d));
v = D3CrossProd(D3Sum(d2, d1, -1), C);
m = D3DotProd(D3Sum(d1, d3, -1), D3Sum(d3, d2, -1))/(2*c);
D3Scale(ref v, m*D3Len(v));
C = D3Sum(v, d, 1); Radius = D3Len(D3Sum(d1, C, -1));
}
return C;
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}
/// [*] SphereCenter <summary><para>[*] </para>
/// This function returns the center and radius of a sphere given four
/// points in space d1, d2, d3, and d4 which lie on the sphere.
/// </summary>
/// <param name="d1">First point</param>
/// <param name="d2">Second point</param>
/// <param name="d3">Third point</param>
/// <param name="d4">Fourth point</param>
/// <param name="Radius">Radius of sphere</param>
/// <returns>Center of sphere</returns>
public D3tuple SphereCenter(D3tuple d1, D3tuple d2, D3tuple d3, D3tuple d4, ref double Radius)
{
D3tuple[] S = new D3tuple[6];
S[1] = d1; S[2] = d2; S[3] = d3; S[4] = d4; S[5] = new D3tuple(); S[0] = S[5];
D3tuple[] S2 = new D3tuple[6]; bool ok = false;
GetD3M5Ivecs(S, 1, 5, out S2);
GetSphere(5,ref ok,ref S[5],ref Radius);
if (ok)
{
S[0].Set(S[5].X, S[5].Y, S[5].Z); Radius = D3Len(D3Sum(S[5], d1, -1));
}
else { S[0].Set(0, 0, 0); Radius = 0; }
return S[0];
}
/// [*] GetSpheres <summary><para>[*] </para>
/// GetSpheres() should be called only after GetD3M5Ivecs() is called with MakeD5=true.
/// This function calculates the centers and radii of the possible five spheres defined
/// by the five vectors passed to GetD3M5Ivecs() and stores the degeneracy flags in the
/// Degeneracies[] array. See also GetSphere().
/// </summary>
public void GetSpheres()
{
int k = 1;
while (k <= 5)
{
M5ISphereCenter(k);
k++;
}
}
/// [*] GetSphere <summary><para>[*] </para><para>
/// GetSphere() returns the center and radius of sphere k for k=1..5, as calculated from
/// a D3tuple array of points when GetD3M5Ivecs() is called with the MakeD5 argument true.</para>
/// <para>
/// If the radius is smaller than the value of Eta (default is 1E-12) this function sets the
/// SphereDegeneracy value to SphereMayBeTooSmall. If the radius is zero or infinite this value
/// is set to SphereIsPoint or SphereIsPlane. Otherwise, the valid flag will be true on return.</para>
/// <para>
/// In the case of infinite radius, D5[k]=0 and Degeneracies[k]=SphereIsPlane. A radius may not
/// be calculated if |F5[k]|/D5[k] is too small, and Degeneracies[k]=SphereMayBeTooLarge will
/// indicate that situation.</para>
/// <para>
/// If the default value of Eta is too large, you may find that setting it to as small a value
/// as 1E-15 will return good results, but be careful about making Eta any smaller than that.</para>
/// </summary>
/// <param name="k">Index (1..5) of sphere</param>
/// <param name="valid">Returns true if a valid sphere calculation was carried out</param>
/// <param name="Center">This D3tuple returns the center point of the sphere</param>
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/// <param name="Radius">This double returns the radius of the sphere</param>

public void GetSphere(int k, ref bool valid, ref D3tuple Center, ref double Radius)
{
valid = false; Radius = 0; if ((k < 1) | (k > 5)) return;
if (D5[k] == 0) SphereDegeneracy = SphereIsPlane;
else
{
M5ISphereCenter(k); Radius = Radii[k];
if (Radius == 0) { SphereDegeneracy = SphereIsPoint; }
else if (Center != null)
{
if (Math.Abs(Radius) < Eta) { SphereDegeneracy = SphereMayBeTooSmall; }
valid = true; Center = Spheres[k];
}
}
}
#endregion END OF METHODS REQUIRING D5/F5/G5/Vjk/vjk/LVjk/LsqXi/Radii/Spheres ARRAYS
/// SphereCI() <summary><para>
/// Given four vectors, SphereCI returns the center and radius of both
/// the circumsphere and insphere of the tetrahedron defined by those
/// four points. A three-element array is returned, with result[1] containing
/// the circumcenter and result[2] the incenter. The ref double[] parameter
/// must be at least of length 3 to hold the radii of these two spheres
/// in elements 1 and 2.</para>
/// <para>
/// This function and those following do not affect the contents of the
/// arrays D5[], F5[], G5[], Spheres[], Radii[], Vjk[,], vjk[,], LVjk[,],
/// or LsqXi[] used by the GetD3M5IVecs(), D5calc(), M5ISphereCenter(),
/// GetSpheres(), GetSphere(), or D5MIinit() routines.
/// </para>
/// </summary>
/// <param name="D">First point</param>
/// <param name="D2">Second point</param>
/// <param name="D3">Third point</param>
/// <param name="D4">Fourth point</param>
/// <param name="Radius">Array [0..1] of double to contain radii</param>
/// <returns>Array[0..1] of D3tuples containing the two centers</returns>
public D3tuple[] SphereCI(D3tuple D1, D3tuple D2, D3tuple D3, D3tuple D4, ref double[] Radius)
{
if (Radius == null) return null; if (Radius.Length < 3) return null;
D3tuple[] Dres = new D3tuple[3]; Dres[1] = new D3tuple(); Dres[2] = new D3tuple();
D3tuple[] D = new D3tuple[6]; double[] d = new double[6];
int i = 1; while (i <= 5) { D[i] = new D3tuple(); i++; }
D[1] = CVPS3(D2, D3, D4); d[1] = ~D[1]; // V_5,1 and its length
d[5] = d[1]+d[2]+d[3]+d[4];
double d5 = -(D1 * D[1]) - (D2 * (D4^D3)); // this is D_5
if (d[5] != 0)
{
try { d[0] = 1 / d[5]; }
catch { d[5] = 0; d[0] = 1; } // if overflow, no go!
}
if (d[5] != 0) // If nonzero, D[0] contains the sum of the CVPS3 lengths
{
D[5] = d[1]*D1+d[2]*D2+d[3]*D3+d[4]*D4;
// Insphere first - result goes to Dres[2]
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Dres[2] = d[0] * D[5];

Radius[2] = d5 / d[0];
// Circumsphere next - result goes to D[0]
d[0] = -1 / (2*d5); // factor -1/2D_5 is required
D[5].Zero(); i = 1;
while (i <= 4)
{
D[5] = D[5] + ((D[i]*D[i]) * D[i]); // summing (L^2)_i * V_5,m
i++;
}
// D[5] now contains the vector quantity <F_5>
Dres[1] = d[0] * D[5]; // Mul by factor -1/2D_5 to get circumcenter
Radius[1] = ~(D1 - Dres[1]); // Just find radius by vector subtraction
}
return Dres;
}
/// GetDk() <summary>
/// GetDk() returns an array of length 6 containing five D_k values if
/// the input array res has length >= 6, or containing one value in
/// result[5] if res has length 5. These values are calculated directly
/// from the CVPS3 and STP of sets of four vectors as defined by the
/// equation for D_k | c = 1..5 given in Vector Quintets (q.v.).
/// </summary>
/// <param name="res">An array of D3tuples with length of at least 5</param>
/// <returns>An array of doubles of length 6 with entries 1..5 or 5 filled</returns>
public double[] GetDk(D3tuple[] D)
{
if (D == null) return null; if (D.Length < 5) return null;
double[] dk = new double[6];
if (D.Length >= 6)
{
dk[1] = (D[5] * CVPS3(D[2], D[3], D[4])) - (D[2] * (D[3]^D[4]));
dk[2] = (D[5] * CVPS3(D[1], D[4], D[3])) - (D[1] * (D[4]^D[3]));
dk[3] = (D[5] * CVPS3(D[1], D[2], D[4])) - (D[1] * (D[2]^D[4]));
dk[4] = (D[5] * CVPS3(D[1], D[3], D[2])) - (D[1] * (D[3]^D[2]));
}
if (D.Length >= 5)
{
dk[5] = (D[1] * CVPS3(D[2], D[4], D[3])) - (D[2] * (D[4]^D[3]));
}
return dk;
}
/// Intercepts() <summary><para>
/// This function returns the axis intercepts of planes containing
/// a point ptOn given a set of four vectors which define the origin
/// and points on three axes extending from that origin. The axes
/// are defined by (res[2]-res[1]), (res[3]-res[1]), and (res[4]-res[1]), and
/// may be oblique. The result array contains res[1]=[0,0,0],
/// res[2]..res[4]=Intercepts, and res[5]=Coords, where the X,Y,Z
/// components of res[5] contain the corrdinates of ptOn with respect
/// to the given origin and axis points. If res[1] is the zero vector
/// then res[2] to res[4] will be direction vectors for the three axes.</para>
/// <para>
/// Take care to note that the coordinates in res[5] of the point ptOn
/// are global coordinates calculated with respect to the same origin
/// and with the same basis as the expressed coordinates of the
/// origin and axis points supplied in res[1]..res[4]. The result which
/// is returned in res[5] is relative to the given origin res[1] and
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/// basis determined by (res[2]-res[1]), (res[3]-res[1]), and (res[4]-res[1]).</para>

/// </summary>
/// <param name="res">Array of D3tuples containing the origin, axis points, and point ptOn</param>
/// <returns>ZeroRef origin and relative intercepts and coordinates of ptOn</returns>
public D3tuple[] Intercepts(D3tuple[] D)
{
if (D == null) return null; if (D.Length < 6) return null;
D3tuple[] Dres = new D3tuple[6]; int j = 0;
while (j <= 5) { Dres[j] = new D3tuple(); j++; }
j = 2; Dres[0] = D[5]-D[1];
while (j <= 4)
{
Dres[j] = ProjSec(Dres[0],D[j]-D[1]);
Dres[5].a[j-2] = (Dres[0])*(!(D[j]-D[1]));
j++;
}
return Dres;
}
#region TRIANGLE FUNCTIONS
/// eTriIJ <summary>
/// eTriIJ() returns one of three symmetry indicators for a triangle defined by points
/// Xi,Xj,Xk. eTri() returns all three. The returned values sum to zero (calculations
/// will show the sum to be vanishingly small).
/// <para>∎</para>
/// e_ij = - [ ⋉ijk⋊ <ci> <ij> ]
/// <para>where incenter=m, circumcenter=c, normal=⋉ijk⋊, and
/// opposite edge=<ij>.</para>
/// </summary>
/// <param name="Xi"></param>
/// <param name="Xj"></param>
/// <param name="Xk"></param>
public double eTriIJ( D3tuple Xi, D3tuple Xj, D3tuple Xk)
{
double Lij = ~(Xj - Xi), Ljk = ~(Xk - Xj), Lki = ~(Xi - Xk),
Kjk = (Xi - Xk)*(Xj - Xi), Kki = (Xj - Xi)*(Xk - Xj),
Kij = (Xk - Xj)*(Xi - Xk), Kkk = (Xj - Xi)*(Xj - Xi);
double P = Lij + Ljk + Lki, res = 0, Lsq = Kjk*Kki - Kij*Kkk;
if (P != 0)
{
double Q = Lsq*(P-2*Lij) - P*Kjk*Kki; res = Q / (2*P);
}
return res;
}
/// eTri() <summary>
/// eTri returns all three symmetry indicators e_jk, e_ki, and e_ij
/// in the three components of a D3tuple vector.
/// </summary>
/// <param name="res">A D3tuple array containing the triangle vertices</param>
/// <param name="offs">Offset (zero-based) into the array where the
/// three vertices are found</param>
public D3tuple eTri(D3tuple[] D, int offs)
{
D3tuple Dres = new D3tuple();
if (D != null)
{
int lim = offs + 2, i = offs;
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if ((D.Length >= lim) & (i >= 0))

{
Dres.X = eTriIJ2(D[i], D[i+1], D[i+2]);
Dres.Y = eTriIJ2(D[i+2], D[i], D[i+1]);
Dres.Z = eTriIJ2(D[i+1], D[i+2], D[i]);
}
}
return Dres;
}
public double eTriIJ2(D3tuple D1, D3tuple D2, D3tuple D3)
{
double res=0,inR=0; D3tuple i = Incenter(D1, D2, D3, ref inR);
double R=0;
D3tuple c = CircleCenter(D1, D2, D3, ref R);
D3tuple cvps = CVPS3(D1, D2, D3);
D3tuple ij = D2 - D1;
res = cvps * D3CrossProd((c-i),ij);
return res;
}
#endregion
/// OmegaIKJL() <summary><para>
/// OmegaIKJL() returns the intersection point of two intersecting lines, or if
/// the lines do not intersect and are not (anti)parallel, it returns the point
/// on each line closest to the other line. If the lines are (anti)parallel, both
/// points returned will be (0,0,0).</para>
/// <para>
/// The first two points are on line 1, and the second two are on line two.</para>
/// http://cqvis.zxq.net/C4/VQC118.thml
/// </summary>
/// <param name="Di">First point on line 1</param>
/// <param name="Dj">Second point on line 1</param>
/// <param name="Dk">First point on line 2</param>
/// <param name="Dl">Second point on line 2</param>
public D3tuple[] OmegaIKJL(D3tuple Di, D3tuple Dj, D3tuple Dk, D3tuple Dl)
{
D3tuple[] D = new D3tuple[3]; D[1] = new D3tuple(); D[2] = new D3tuple();
if ((Di != null) & (Dk != null) & (Dj != null) & (Dl != null))
{
D3tuple d1 = (Dj-Di)^(Dl-Dk); double l1sq = d1*d1;
if (l1sq != 0)
{
double alpha1 = (d1*(GetNormal(Di, Dk, Dl,false))) / l1sq;
d1 = -d1;
double alpha2 = (d1*(GetNormal(Dk, Di, Dj,false))) / l1sq;
D[1] = Di + alpha1*(Dj-Di); D[2] = Dk + alpha2*(Dl-Dk);
}
}
return D;
}
/// Incenter() <summary>
/// Incenter() returns the center of the inscribed circle of a triangle.
/// </summary>
/// <param name="Xi">First triangle vertex</param>
/// <param name="Xj">Second triangle vertex</param>
/// <param name="Xk">Third triangle vertex</param>
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/// <param name="inRadius">Returns radius of inscribed circle</param>

/// <returns>Location of center of inscribed circle</returns>
public D3tuple Incenter(D3tuple Xi, D3tuple Xj, D3tuple Xk, ref double inRadius)
{
if ((Xi != null) & (Xj != null) & (Xk != null))
{
double Lij = ~(Xj - Xi), Ljk = ~(Xk - Xj), Lki = ~(Xi - Xk),
Kjk = (Xi - Xk)*(Xj - Xi), Kki = (Xj - Xi)*(Xk - Xj),Kij = (Xk - Xj)*(Xi - Xk),
Kii = ~(Xk-Xj),Kjj= ~(Xi - Xk),Kkk = ~(Xj - Xi);
double P = Lij + Ljk + Lki;
if (P != 0)
{
//
double Qi = Math.Sqrt(Kjk)/ptOn,Qj = Math.Sqrt(Kki)/ptOn,Qk = Math.Sqrt(Kij)/ptOn;
//
h = Qi*Xi + Qj*Xj + Qk*Xk;
D = (Kii*Xi + Kjj*Xj + Kkk*Xk) / P;
inRadius = ~(Xi-D);
}
}
return D;
}
/// Chirality() <summary>
/// <para>Chirality() returns the determinant of the chirality matrix of four points if the SignOnly
/// parameter is false; if true, it returns only its sign.</para>
/// <para></para><para>
/// The concept of chirality here is based upon the enumerational order X Y Z ptOn with the
/// progression X Y Z being right-handed and the sign associated therewith being positive.
/// In such an enumerational order a tetrahedron whose vertices are expressed in this set
/// of X, Y, Z coordinates will have a positive chirality if a right-handed enumeration
/// p1 p2 p3 p4 results in the matrix [ Cp1 Cp2 Cp3 Cp4 ] having a positive determinant,
/// where Cp_i is a column matrix { 1 px py pz } giving the coordinates of point p_i.
/// The results of choosing the order of enumeration arbitrarily may be difficult to
/// interpret when it comes to distinguishing between inward and outward normals to
/// the bounding planes, so you need to be able to refer to the sign of the chirality
/// matrix when adopting a geometric convention for the signs of those quantities.</para>
/// </summary>
/// <param name="D">1st point</param>
/// <param name="D2">2nd point</param>
/// <param name="D3">3rd point</param>
/// <param name="D4">4th point</param>
/// <param name="SignOnly">Set to true if only the sign of the determinant is to be returned</param>
public double Chirality(D3tuple D1, D3tuple D2, D3tuple D3, D3tuple D4, bool SignOnly)
{
double res = 1; // [2-1][3x4] + [4-3][1x2]
res = D3STP(D3Sum(D2, D1, -1), D3, D4) + D3STP(D3Sum(D4, D3, -1), D1, D2);
if (SignOnly) res = Math.Sign(res);
return res;
}
#region VECTOR FUNCTIONS
/// D3Sum <summary>
/// D3Sum() adds two vectors in D and D2 if sgn=1. If sgn=-1 it subtracts D2 from D.
/// The resulting D3tuple is returned in the function result;
/// </summary>
/// <param name="D">First term of sum/difference</param>
/// <param name="D2">Second term; this is added to or subtracted from the first term</param>
/// <param name="sgn">Set to 1 to form the sum, or -1 to form the difference, of the terms</param>
/// <returns>Vector sum or difference D=D+D2 or D=D-D2</returns>
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public D3tuple D3Sum(D3tuple D1, D3tuple D2, double sgn)

{
D3tuple D3 = new D3tuple();
D3.X = D1.X + sgn*D2.X; D3.Y = D1.Y + sgn*D2.Y; D3.Z = D1.Z + sgn*D2.Z;
return D3;
}
/// D3Len() <summary>
/// This returns the length of a D3tuple vector.
/// </summary>
/// <param name="D">The vector for which the length is to be found</param>
/// <returns>Length of vector res</returns>
public double D3Len(D3tuple D) { double L= Math.Sqrt(D.X*D.X+D.Y*D.Y+D.Z*D.Z); return L; }
/// D3Mul() <summary>
/// D3Mul() multiples the components of a vector by a scalar, mulfact. In general the length
/// of the resultant vector will not equal mulfact except when D is a unit vector. To set the
/// magnitude of a vector of arbitrary length to a value specified by a scalar, use D3Scale(),
/// which returns a vector with length equal to the scale argument.
/// </summary>
/// <param name="D">Vector whose components are to be multiplied</param>
/// <param name="mulfact">Scalar multiplier</param>
public D3tuple D3Mul(D3tuple D, double mulfact)
{
if (D != null) { res.X=D.X*mulfact; res.Y=D.Y*mulfact; res.Z=D.Z*mulfact; }
return res;
}
/// D3Scale() <summary>
/// D3Scale() scales a vector. If the scale parameter is 1, the vector will become a unit vector.
/// </summary>
/// <param name="D">The vector to be scaled</param>
/// <param name="scale">The desired final vector length</param>
public void D3Scale(ref D3tuple D, double scale)
{
double L = D3Len(D); if (L != 0) { D.X=D.X*scale/L; D.Y=D.Y*scale/L; D.Z=D.Z*scale/L; }
}
#endregion
#region ANGLE FUNCTIONS
/// D3Angle() <summary><para>
/// D3Angle() returns the angle, in radian measure, between two vectors whose
/// components are provided in the Double3tuples D1 and D2. This angle is known
/// as a direct angle.</para>
/// <para>
/// Aside from its use in calculation per se, it is recommended that this function
/// also be used in comparing points rotated using integer and floating-point input
/// values at critical stages where accumulated error in successive integer inputs
/// to the rotation routines may adversely affect the accuracy of the outputs, and
/// a calculated set of floating-point inputs injected into the stream to compensate
/// for the error introduced.</para>
/// </summary>
/// <returns>The direct angle between vectors D1 and D2</returns>
public double D3Angle(D3tuple D1, D3tuple D2)
{
double res = D3Len(D1)*D3Len(D2);
if (res != 0) res = Math.Acos(D3DotProd(D1, D2) / res);
return res;
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}
/// D3Cos() <summary>
/// D3Cos() returns the cosine of an angle between two vectors.
/// </summary>
/// <param name="D1">1st vector</param>
/// <param name="D2">2nd vector</param>
/// <returns>COS() = (D1*D2)/(|D1||D2|)</returns>
public double D3Cos(D3tuple D1, D3tuple D2)
{
if (res != 0) res = D3DotProd(D1, D2) / res;
return res;
}
/// D3Sin() <summary><para>
/// D3Sin() returns the sine of an angle between two vectors. However, this value is
/// not a signed quantity and should be supplemented with calculation of the cosine
/// of the angle whenever possible.</para>
/// <para>
/// In three dimensions it is possible to define a reference axis perpendicular to the
/// plane of the two vectors and which points in the direction chosen for which all
/// angles measured with a given chirality will be considered positive; and then to
/// use the scalar product of [RefAxis,D1,D2] as a chirality matrix to provide the sign of
/// the sine returned by this function. This consistently provides signed angles
/// from 0 to [+|-]PI based on the unsigned value of D3Sin() and the value of D3Cos().</para>
/// </summary>
/// <returns>|SIN()| = |D1^D2|/(|D1||D2|)</returns>
public double D3Sin(D3tuple D1, D3tuple D2)
{
D3tuple D = D3CrossProd(D1, D2); double res = D3Len(D1)*D3Len(D2);
if (res != 0) { res = Math.Asin(D3Len(D) / res); }
return res;
}
/// D3Tan() <summary><para>
/// D3Tan() returns the tangent of an angle between two vectors provided
/// that an independent reference axis RefAxis is supplied as a parameter
/// to this function. RefAxis must not depend on the relation between D1
/// and D2 (that is, it must not be a linear combination of D1 and D2, and
/// supplying RefAxis as D1 X D2 is thus an unworkable approach).</para>
/// <para>
/// The quadrant signs being COS:PMMP SIN:PPMM TAN:PMPM it is necessary to
/// know the sign of the SIN() value returned by D3Sin() in order to have
/// the TAN() result positive in the 1st and 3rd quadrants and negative in
/// the 2nd and 4th quadrants. Since the cross product is used in the D3Sin()
/// function and cannot return a signed value, the direction of D1^D2 has to
/// be referred to an independent reference axis which must not lie in the
/// plane of D1 and D2. A value of RefAxis which coincidentally happens to
/// equal D1^D2 could of course be supplied, but if the value is calculated
/// from D1 and D2 it will fail to provide the correct sign for the tangent
/// because D1^D2 points in the opposite direction in cases where the tangent
/// would be negative AS VIEWED FROM THE SAME DIRECTION as when the tangent
/// would be positive.</para>
/// <para>
/// The RefAxis direction, then, should be arbitrary, and chosen to point
/// toward the VP (view point), as it is called in a graphical coordinate
/// scheme in 3 dimensions. With respect to this observation point, the
/// counterclockwise rotations will always progress from D1 toward some
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/// angle at which the vector D2 is located, and if this angle is greater
/// than 180 degrees the vector D1^D2 will point away from the observer,
/// so that [ RefAxis D1 D2 ] returns a negative value and the sign can
/// be imputed to the cross product SIN function irrespective of the fact
/// that it does not return a sign. In this way, the signs of both COS
/// and SIN are available to provide the proper sign in the ratio
/// TAN=SIN/COS as long as degeneracy is not introduced by allowing
/// RefAxis to be calculated from D1 or D2. If RefAxis should fall in
/// the plane D1^D2 the sign calculation will fail to return any negative
/// values.</para>
/// </summary>
/// <param name="RefAxis">Arbitrary viewpoint axis direction in which
/// dextrochiral counterclockwise rotation is positive</param>
/// <returns>TAN() = SIN()/COS()</returns>
public double D3Tan(D3tuple D1, D3tuple D2, D3tuple RefAxis)
{
double res = D3Cos(D1, D2);
if (res != 0)
{
double sgn = RefAxis * (D1^D2); if (sgn < 0) sgn = -1; else sgn = 1;
res = Math.Atan(sgn*D3Sin(D1, D2) / res);
}
return res;
}
/// ObliqueAngle() <summary>
/// ObliqueAngle() returns an angle formed by the projections onto a plane P with
/// normal PNormal which contains point ptOnPlane, of two vectors from the point
/// ptOnPlane to the two points PtA and PtB in arbitrary locations in space.
/// The angle is called oblique because it is measured, not between the vectors
/// to those points, but is measured in plane P between the perpendicular
/// projections onto P of those two vectors.
/// </summary>
/// <param name="PtA">A point, not necessarily on plane P</param>
/// <param name="PtB">A second point, not necessarily on plane P</param>
/// <param name="PtOnPlane">A point lying on plane P</param>
/// <param name="PNormal">Normal vector to plane P specifying its orientation</param>
/// <returns>The angle measured in plane P</returns>
public double ObliqueAngle(D3tuple PtA, D3tuple PtB, D3tuple PtOnPlane, D3tuple PNormal)
{
double res=0;
res = D3Angle(ProjSin(D3Sum(PtA, PtOnPlane, -1),PNormal), ProjSin(D3Sum(PtB, PtOnPlane, -1),PNormal));
return res;
}
/// FacetAngle() <summary><para>
/// FacetAngle() returns the angle between two plane normals, which is called
/// a facet angle. It is measured about the line of intersection of the two planes,
/// from the direction of the normal to the first to the direction of the normal to
/// the second. Since D1 x D2 defines the direction of the intersection vector,
/// the chirality matrix formed by enumerating four distinct points, of which two
/// lie in both planes and the other two in one plane only, determines the value to
/// use for a signed angle 0 to [+|-]PI or an unsigned angle 0 to 2PI.</para>
/// <para>
/// Chirality(p1,p2,p3,p4,true) generates the value of this chirality matrix as
/// [+|-]1. Note that the order of enumeration must be consistent in your scheme
/// of measurement for all points involved in order to be able to depend on knowing
/// the meaning of the chiralities supplied by this function.</para>
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/// <para>
/// Note that for the same two planes, different angles may be returned, depending
/// on whether the plane normals are both given with directionality in the same
/// chiral sense of rotation.</para>
/// </summary>
/// <param name="D1">Normal of plane from which angle is measured</param>
/// <param name="D2">Normal of plane toward which angle is measured</param>
/// <returns>Signed angle between two planes</returns>
public double FacetAngle(D3tuple D1, D3tuple D2)
{
if (res != 0) res = Math.Acos(D3DotProd(D1, D2) / res);
return res;
}
#endregion
#region COMPONENT-WISE VECTOR FUNCTIONS
/// CrossProd() <summary>
/// This function takes six vector components, computes the cross product of the first and
/// second set of three components, and returns the result as a third set of three components.
/// </summary>
/// <param name="x1a">X[1,1]</param>
/// <param name="x1b">X[2,1]</param>
/// <param name="x1c">X[1]</param>
public void CrossProd(double x1a, double x2a, double x3a, double x1b, double x2b, double x3b, out double x1c, out double
x2c, out double x3c)
{ x1c=(x2a*x3b)-(x3a*x2b); x2c=(x3a*x1b)-(x1a*x3b); x3c=(x1a*x2b)-(x2a*x1b); }
/// VecLen() <summary>
/// VecLen() returns the norm of a vector given its three components.
/// </summary>
/// <returns>Length of vector X[1]</returns>
public double VecLen(double x1a, double x2a, double x3a)
{ double L = Math.Sqrt((x1a*x1a)+(x2a*x2a)+(x3a*x3a)); return L; }
/// ScaleVec() <summary>
/// ScaleVec() scales a vector to the length of a vector X[1].
/// If the scale parameter is 1, the vector will be a unit vector.
/// The resultant vector is collinear with X[1].
/// </summary>
/// <param name="scale">The desired length of the output vector</param>
/// <param name="x1res">Resulting X-component</param>
/// <param name="x2res">Resulting Y-component</param>
/// <param name="x3res">Resulting Z-component</param>
public void ScaleVec(double x1a, double x2a, double x3a, double scale, out double x1res, out double x2res, out double x3res)
{
double L = VecLen(x1a, x2a, x3a); x1res=0; x2res=0; x3res=0;
if (L != 0) { x1res=x1a*scale/L; x2res=x2a*scale/L; x3res=x3a*scale/L; }
}
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#endregion
#region IMPLEMENTATION OF PROJECTION OPERATORS
//
/// ProjCos() <summary>
/// ProjCos(u,v) returns the projection of vector u onto vector v, which has the
/// length of u and the direction of [+|-]v. Since AB = |A||B|cos() the length
/// of the projection is |u|cos() and it is always less than or equal to the
/// length of u.
/// </summary>
/// <param name="u">Vector to be projected</param>
/// <param name="v">Vector which u is projected onto</param>
/// <returns>The projection of u onto v</returns>
public D3tuple ProjCos(D3tuple u, D3tuple v)
{
// ( uc / cc ) <c>
double V = D3Len(v);
if (V != 0) { V = D3DotProd(u, v) / V; res = V*!v; //D3Scale(ref res, V);
}
return res;
}
/// ProjSec() <summary>
/// ProjSec(u,v) returns the extension of vector u on vector v, which has the
/// length of u divided by the cosine of the angle between u and v, and the
/// direction of [+|-]v. The length of this vector is |u|sec() and is thus
/// always greater than or equal to the length of u.
/// </summary>
/// <param name="u">Vector to be extended</param>
/// <param name="v">Vector which u is extended onto</param>
/// <returns>The extension of u onto v</returns>
public D3tuple ProjSec(D3tuple u, D3tuple v)
{
// ( uu / uc ) <c>
double V = D3DotProd(u,v);
if (V != 0) { V = D3Len(v)*D3DotProd(u, u)/V; res = V*!v; //D3Scale(ref res, V);
}
return res;
}
/// ProjTan() <summary>
/// ProjTan(u,v) returns a vector beginning at the head of u and ending on v,
/// and which is perpendicular to u. When u is extended onto v by ProjSec(u,v),
/// this vector extends from the head of u to the head of ProjSec(u,v) on v.
/// Its length is |u|tan() and its direction is from u to v. Note that in
/// unit circular measure this vector is tangent to the unit circle at u and
/// extends to the x-axis at the head of v', where v' = ProjSec(u,v). The
/// length of v' is |u|/cos().
/// </summary>
/// <param name="u">Vector u at the head of which a tangent vector is to be extended to v</param>
/// <param name="v">Vector to which tangent is to be extended</param>
/// <returns>Extended tangent vector t such that v' = u + t</returns>
public D3tuple ProjTan(D3tuple u, D3tuple v)
{
// ( ProjSec(u,c) - )
res = D3Sum(ProjSec(u,v),u,-1);
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return res;
}
/// ProjSin() <summary>
/// ProjSin(u,v) returns a vector beginning on v and ending on u at its head,
/// and which is perpendicular to v. It is analogous to the altitude of the
/// right triangle in circular measure which has its base and hypoteneuse meeting
/// at the origin. Its length is |u|sin(). This vector is the perpendicular
/// component of u with respect to v, and v' = ProjCos(u,v) is the collinear component
/// of u with respect to v.
/// </summary>
/// <param name="u">Vector u from which a perpendicular to v is to be dropped</param>
/// <param name="v">Vector on which the perpendicular to the head of u originates</param>
/// <returns>Perpendicular component vector p such that v' = u - p</returns>
public D3tuple ProjSin(D3tuple u, D3tuple v)
{
// - ( ProjCos(u,c) )
res = D3Sum(u,ProjCos(u,v),-1);
return res;
}
#endregion End of IMPLEMENTATION OF PROJECTION OPERATORS
#region CVPS - Cyclic Vector Product Sums
/// CVPS3() <summary>
/// This function returns a D3tuple containing the Cyclic Vector Product Sum
/// of three vectors.
/// </summary>
public D3tuple CVPS3(D3tuple D1, D3tuple D2, D3tuple D3)
{
D3tuple D = new D3tuple(); D = (D1^D2) + (D2^D3) + (D3^D1); return D;
}
/// CVPS4() <summary>
/// of four vectors.
/// </summary>
public D3tuple CVPS4(D3tuple D1, D3tuple D2, D3tuple D3, D3tuple D4)
{
D = D3CrossProd(D1, D2) + D3CrossProd(D2, D3) + D3CrossProd(D3, D4) + D3CrossProd(D4, D1);
D = D3CrossProd(D3Sum(D3, D1, -1), D3Sum(D4, D2, -1));
D = GetNormal(D1, D2, D3, false) + GetNormal(D1, D3, D4, false);
D = GetNormal(D2, D3, D4, false) + GetNormal(D1, D2, D4, false);
return D;
}
/// CVPSn() <summary>
/// of n vectors contained in the array D[] beginning at element Dofs.
/// </summary>
public D3tuple CVPSn(D3tuple[] D, int Dofs, int n)
{
int L = D.Length,lim=Dofs+n-1,k=Dofs; if (n < 3) k = L; // Exit if D=0
while ((k < L) & (k <= lim))
{
if (k == lim) { res = res + (D[k]^D[Dofs]); }
else
{
res = res + (D[k]^D[k+1]);
}
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k++;
}
return res;
}
#endregion
#region AUXILIARY SCALAR FUNCTIONS
/// TenX <summary>
/// This function returns the inverse function of the base ten logarithm function.
/// </summary>
/// <param name="n">The base 10 logarithm of a number, N</param>
/// <returns>The number, N</returns>
public double TenX(int n)
{
double res=0;
try
{
res = Math.Pow(10, n);
}
catch { }
return res;
}
public double[] FactTbl = null; public bool FactTblValid=false; public int FactTblLimit=0,FactTblAbsLimit=17;
/// FactTblInit <summary>
/// FactTblInit initializes a table of n! values in the array FactTbl[]. The maximum allowed
/// value of n will be in FactTblAbsLimit, and the highest value of n for which n! has been
/// calculated and stored in FactTbl so far will be given by FactTblLimit.
/// </summary>
/// <param name="n">The desired value of n</param>
/// <returns>The value of n-factorial</returns>
public int FactTblInit(int n)
{
int res = 0; bool initializing = false; int kM = (n / 16 + 1) * 16;
if (FactTblValid)
{
if (FactTbl.Length < kM) { FactTblValid = false; }
}
if (!FactTblValid) { FactTbl = new double[kM+1]; initializing = true; FactTblValid = true; FactTblLimit = 0; }
if ((n > FactTblLimit) & (FactTblValid)) initializing = true;
if (initializing)
{
int k = FactTblLimit+1; FactTbl[0] = 1;
bool ok = true, ints = true; double F = FactTbl[k-1]; int L = FactTbl.Length;
while ((ok) & (k <= n) & (k <= L))
{
try
{
F = F * k;
FactTbl[k] = F;
if (FactTblAbsLimit < k) FactTblAbsLimit = k;
if (ints)
{
if (Frac(F) == 0.0)
{
if (FactTblLimit < k) FactTblLimit = k;
}
else
{
ints = false; FactTblLimit = k - 1;
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}
}
}
catch { ok = false; FactTblAbsLimit = k - 1; FactTblLimit = k-1; }
if (ok) k++;
}
}
res = FactTblLimit;
return res;
}
/// iFact <summary>
/// If you aren't sure whether FactTbl[] has been initialized by a call to FactTblInit() yet,
/// call iFact(k) to retrieve the factorial. If you're sure that FactTblLimit >= k you can
/// read the value of k! directly from the table; but you must call FactTblInit() at least once.
/// </summary>
/// <param name="k">The value of k</param>
/// <returns>The value of k!</returns>
public double iFact(int k)
{
double res = 1; int lim=FactTblLimit;
if (k > lim) lim = FactTblInit(k);
if (k <= lim) res = FactTbl[k];
return res;
}
/// iS1 <summary>
/// Returns 1 if v is non-negative; 0 otherwise.
/// </summary>
/// <param name="v"></param>
public int iS1(double v)
{
int res = (int)Math.Truncate(Math.Abs((v+1)/(Math.Abs(v)+1)));
return res;
}
/// iS0 <summary>
/// Returns 0 if v is non-negative; -1 otherwise.
/// </summary>
public int iS0(double v)
{
int res = (int)Math.Truncate(Math.Abs((v+1)/(Math.Abs(v)+1)))-1;
return res;
}
/// iSign <summary>
/// Returns 1 if v is non-negative; -1 otherwise.
/// </summary>
public int iSign(double v)
{
int res =0; double d=Math.Truncate(Math.Abs((v+1)/(Math.Abs(v)+1)))-1;
d = Math.Pow(-1, d); res = (int)d;
return res;
}
/// ieXinAB <summary>
/// Returns 1 if x lies in the interval [a,b], and 0 otherwise.
/// </summary>
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/// <param name="a"></param>

/// <param name="b"></param>
/// <param name="x"></param>
public int ieXinAB(double x, double a, double b)
{
int res=0;
res = (1+iS0(x-a))*(1+iS0(b-x));
return res;
}
/// LabI <summary>
/// Returns b-a if i is even, and returns b+a if i is odd.
/// </summary>
/// <param name="a"></param>
public double LabI(double a, double b, double i)
{
double res=0;
res = a*Math.Pow(-1, 3*i)+b*Math.Pow(-1, -2*i);
return res;
}
/// L2i <summary>
/// Returns 2 if i is even; otherwise 0.
/// </summary>
public double L2i(double i)
{
double res = 0;
res = LabI(1, 1, i);
return res;
}
/// L1i <summary>
/// Returns 1 if i is even; otherwise 0.
/// </summary>
public double L1i(double i)
{
double res = 0;
res = LabI(1, 1, i)/2;
return res;
}
/// RoundXtoNearestIthPowerOfR <summary><para>
/// For r greater than 1 and I less than 0, this function rounds the fractional portion
/// of a value to the nearest multiple of the Ith power of r. Thus, the sequence in the
/// example here arises, where c = RoundXtoNearestIthPowerOfR(x,2,-2):</para>
/// <para>
///
x 0.0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1.0 1.1 1.2 1.3 1.4 1.5</para> <para>
///
c 0.0 0.0 0.25 0.25 0.5 0.5 0.5 0.75 0.75 1.0 1.0 1.0 1.25 1.25 1.5 1.5</para>
/// <para>
/// The concept of exponentiation of non-integer negative r to negative fractional powers of I
/// is not supported. The absolute value of r is used as the base of exponentiation, although
/// any values of x, r, and I can be supplied as arguments to this function. ZeroRef is returned
/// if a value r=0 is supplied.</para>
/// <para>
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/// Cases may arise in multiple rotations where you may want to round values consistently to
/// some decimal fraction or multiple thereof which is not a pure binary fraction; and this
/// function directly provides that capability. It is thus possible to partition error (with
/// the aid of Rotator.Preview() to provide checkpoint values) into small neighborhoods rather
/// than allowing it to directly propagate into successive rotations.</para>
/// </summary>
/// <param name="x">Value to be rounded</param>
/// <param name="r">Base of rounded value</param>
/// <param name="i">Exponent of base for rounding</param>
public double RoundXtoNearestIthPowerOfR(double x, double r, double i)
{
double res=0; r = Math.Abs(r);
if (r > 0)
{
double rr = x*Math.Pow(r, -i); double flrr = Math.Truncate(rr);
res = Math.Pow(r, i)*(flrr-Math.Truncate(2*flrr - 2*rr));
}
return res;
}
/// GetRational <summary>
/// When scaling to integer coordinates (especially pixel coordinates) or using rounding
/// to binary fractions or to powers of some approximate differential length, you can use
/// GetRational() to return an array of candidate rational values Q and R such that Q/R
/// offers the scaling you require. This function returns if Ndigits decimal digits
/// to the right of the decimal point in the check-value calculated at each iteration
/// are all zeros or all nines, which is normally the case when the ratio approaches
/// closely to integer Q and R. If that proves unsatisfactory, you can increase Ndigits.
/// </summary>
/// <param name="X">Real value to be given a rational approximation</param>
/// <param name="ArrayItems">Length of array to be returned</param>
/// <param name="Ndigits">Number of digits expected</param>
public D3tuple[] GetRational(double X, int ArrayItems, int Ndigits)
{
int d = ArrayItems+1;
D3tuple[] res = new D3tuple[d]; res[0] = new D3tuple();
int I; double A,E,F,G,W; double localEta = Math.Pow(10.0,-Math.Abs(Ndigits));
I = 0; F = 0; G = 1;
E = Math.Abs(X); A = E;
if (X != E) { G = -1; }
while ((I < d) & (F <= 23))
{
W = A - Math.Truncate(A);
if ((W <= localEta) | ((1.0-W) < localEta))
{
return res;
}
else
{
A = 1 / W;
if (A > Eta)
{
F = F + Math.Log(A);
if (F > 23) { return res; }
else if (I < d)
{
I++; res[0].Ratio = (double)I;
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res[I] = new D3tuple();

res[I].Numer = G*Math.Exp(F + Math.Log(E)); res[I].Denom = Math.Exp(F);
if (F > 0) res[I].Ratio = res[I].Numer / res[I].Denom;
}
}
else { return res; }
}
}
return res;
}
public double Frac(double v)
{
double res = v; int sgn = 1; if (v < 0) sgn = -1; v = Math.Abs(v);
v = v - Math.Truncate(v); res = v*sgn; return res;
}
#endregion
#region PERMUTATION INDEX FUNCTIONS
// The permutation functions are used to index sets of D3tuple vectors.
// The motivation for this approach stems from the Laplace development
// of the determinant for matrices of rank 4 and 5.
internal void RemoveByte(ref byte[] b, int k)
{
if (b != null)
{
if (k < b.Length)
{
int j = k;
while (j < b.Length-1)
{
b[j] = b[j+1];
j++;
}
b[b.Length-1] = 0;
}
}
}
/// RhoJK() <summary><para>
/// RhoJK() returns a byte array containing a permutation ptOn = {f(i)}(0) where f(i) is the Ith
/// permutation rule from the set i=1..N! and 0 = {f(0)}(p) = p with (p)=N.</para><para>
/// A subpermutation ^{5}_{t=3..5}(p_t) is used to index the arrays V5[], F5[], etc. when calculating
/// MI vectors or related scalars.</para>
/// <para>
/// This function provides selected signed elementary product index permutations from the space
/// of N! such permutations. The selection is made based on an a priori matrix factorization
/// scheme which underlies the formulation of the equations used by GetSphere() and the other
/// M5I functions.</para>
/// </summary>
/// <param name="N">Cardinality of the permutation</param>
/// <param name="j">Row index</param>
/// <param name="k">Column index</param>
public byte[] RhoJK(int N, int j, int k)
{
byte[] d = new byte[N+1]; d.Initialize(); byte[] D = new byte[N+1];
if (!FactTblValid) FactTblInit(N);
double res=0; if (N < 2) return d;
double x = k-j; double y = iS1(x); double z = j+k-1-y; z = ((Math.Pow(-1, 3*z) - Math.Pow(-1, -2*z)) / 2);
res = (FactTbl[N-2])*(j*N-N+x-y) + z + 1; if (res < 0) res = 0;
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int i = (int)res; double w,u; byte[] b = new byte[N+1];

for (byte ii = 0; (ii <= N); ii++) { b[ii] = (byte)(ii+1); }
//
//
u: 0 1 2 3 4 5 6 ...
b[u]: 1 2 3 4 5 6 ...
int L = N; y = 0;
while (L >= 1)
{
w = FactTbl[L];
u = Math.Truncate(i / w);
d[N-L] = (byte)u;
i = i - (int)(u * w);
L--;
}
//
u:
0 1 2 3 4 5 6 ...
// u[u]: 0 4 3 2 1
----->> 51243
i = 0; byte kk=1,jj=1;
while (i < N)
{
kk = d[i+1]; jj = b[kk]; RemoveByte(ref b, kk);
D[i+1] = jj;
i++;
}
D[0] = (byte)0;
return D;
}
byte[] RhoTbl = null; bool RhoTblValid = false;
private void RhoTblInit()
{
RhoTbl = new byte[842]; byte[] b = new byte[6];
int i = 1, k = 1, c = 0, p = 0;
while (i <= 120)
{
b = RhoI(5, i-1); c = InversionCount(b, 1, 5, ref p); p++;
RhoTbl[k] = (byte)p; RhoTbl[k+1] = (byte)c;
Buffer.BlockCopy(b, 1, RhoTbl, k+2, 5);
i++; k += 7;
}
RhoTblValid = true;
}
/// Rho5I() <summary>
/// Rho5I() returns a permutation of length N=5 with permutation index i.
/// The count of inversions and the sign are returned in the last two
/// arguments. The permutation is in bytes 1..5 of the returned array.
/// </summary>
/// <param name="i">Permutation index</param>
/// <param name="InvCt">Inversion count</param>
/// <param name="sgn">Sign of permutation</param>
/// <returns>A byte array of length 6</returns>
public byte[] Rho5I(int i, ref int InvCt, ref int sgn)
{
byte[] b = new byte[6];
if (!RhoTblValid) RhoTblInit();
if ((RhoTblValid) & (i >= 1) & (i <= 120))
{
int k = 7*(i-1) + 1; sgn = (int)RhoTbl[k] - 1; InvCt = RhoTbl[k+1];
Buffer.BlockCopy(RhoTbl, k+2, b, 1, 5);
b[0] = (byte)5;
}
return b;
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}
/// RhoI() <summary>
/// RhoI() returns a byte array containing apermutation of length N
/// and with permutation index u, from a possible range of N! such
/// permutations. Byte 0 of the returned array contains the value N.
/// </summary>
/// <param name="N">Length of permutation</param>
/// <param name="index">Permutation index, u = 1..N!</param>
/// <returns>An array of N+1 bytes in length</returns>
public byte[] RhoI(int N, double index)
{
byte[] d = new byte[N+1]; d.Initialize(); byte[] D = new byte[N+1];
if (!FactTblValid) FactTblInit(N);
if (N < 2) return d; if (index < 0) index = 0; if (index > FactTbl[N]) index = (int)FactTbl[N];
double w,u; byte[] b = new byte[N+1];
for (byte ii = 0; (ii <= N); ii++) { b[ii] = (byte)(ii+1); }
int L = N;
while (L >= 1)
{
w = FactTbl[L];
u = Math.Truncate(index / w);
d[N-L] = (byte)u;
index = index - (int)(u * w);
L--;
}
int i = 0; byte kk=1,jj=1;
while (i < N)
{
kk = d[i+1]; jj = b[kk]; RemoveByte(ref b, kk);
D[i+1] = jj;
i++;
}
D[0] = (byte)N;
return D;
}
/// InversionCount() <summary>
/// This function counts the inversions in an array of bytes, starting at
/// a specified offset and including a specified number of bytes. The
/// sign associated with an elementary product is returned in sgn.
/// </summary>
/// <param name="b">A byte array</param>
/// <param name="offs">Position of first byte in the permutation</param>
/// <param name="len">Length of the permutation</param>
/// <param name="sgn">Returns (-1)^(InversionCount)</param>
public int InversionCount(byte[] b, int offs, int len, ref int sgn)
{
int c = 0; sgn = 1;
if (b != null)
{
int k = offs; int j = k; int lim = offs + len - 1; if (lim > b.Length) lim = b.Length;
while (k < lim)
{
j = k + 1;
while (j <= lim)
{
if (b[j] < b[k]) { c++; sgn = -sgn; }
j++;
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}
k++;
}
}
return c;
}
/// PermString() <summary>
/// PermString() creates a string containing characters representing
/// the bytes of the input array. The values in b are limited to the
/// ranges 1 to 9 and 65 to 90. These values are converted to string
/// characters '1'..'9' and 'A'..'Z'.
/// </summary>
public string PermString(byte[] b)
{
string s="",s2=""; char[] c= { 'A' }; byte[] cb = new byte[2];
if (b != null)
{
int L = b.Length;
if (b[0] == (L-1))
{
int i = 1; L--;
while (i <= L)
{
s2 = b[i].ToString();
if (s2.Length > 1)
{
if (b[i] >= 10)
{
b[i] += 55;
if ((b[i] > 64) & (b[i] <= 90)) b[i] -= 64;
s2 = b[i].ToString();
c = s2.ToCharArray(0, 1); Buffer.BlockCopy(c, 0, cb, 0, 1);
if (cb[0] > 48)
{
if ((cb[0] > 48) & (cb[0] <= 74)) cb[0] = (byte)(cb[0] + 16);
Buffer.BlockCopy(cb, 0, c, 0, 1); s2 = c[0].ToString();
}
else s2 = cb[0].ToString();
}
}
s = s + s2;
i++;
}
}
}
return s;
}
/// PermBytes() <summary>
/// PermBytes() returns a byte array containing the values of the
/// digits in a string s, if there are any '0'..'9' characters in it.
/// Any other characters in s only survive as byte values, and if
/// they are less than 48 or greater than 57 they will be unchanged
/// in the output array.
/// </summary>
/// <param name="s">An input string containing a permutation</param>
/// <returns>A byte array of length = s.Length+1</returns>
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public byte[] PermBytes(string s)

{
byte[] b = null;
if (s != null)
{
int lim = s.Length;
if ((lim > 0) & (lim <= 255))
{
b = new byte[lim+1]; char[] c = s.ToCharArray();
int i = 0; byte[] bch = new byte[1]; byte v = 0;
while (i < lim)
{
Buffer.BlockCopy(c, i<<1, bch, 0, 1); v = bch[0];
if ((v > 48) & (v <= 57)) b[i+1] = (byte)(v-48);
else { if (v == 48) v = 64; if ((v >= 64) & (v < 90)) b[i+1] = (byte)(v+1); }
i++;
}
b[0] = (byte)s.Length;
}
}
return b;
}
#endregion
// REFERENCE LINKS:
#region PERMUTATION SHIFT FUNCTIONS
/// PiShift() <summary>
/// This string function cyclically rotates the substring of
/// string s beginning at offet Dofs. The rotation count is k,
/// and all characters from Dofs to the end of s are affected.
/// </summary>
/// <param name="s">String to undergo Pi shift rotation</param>
/// <param name="Dofs">Offset of first character to be shifted</param>
/// <param name="k">Count of positions to shift</param>
/// <returns>The string s with some portion of it rotated</returns>
public string PiShift(string s, int Dofs, int k)
{
string res = s; int L=s.Length;
if (L > 0)
{
L--;
res = PiShiftAB(s, Dofs, L, k);
}
return res;
}
/// PiShiftAB() <summary>
/// PiShiftAB() cyclically rotates a substring of s beginning
/// with the character at A and ending with that at B. The
/// rotation count is ct, and other characters in s are not
/// affected. The entire string is returned after rotation.
/// </summary>
/// <param name="s">String within which a substring is to be rotated</param>
/// <param name="A">Start position of substring</param>
/// <param name="B">End position of substring</param>
/// <param name="ct">Rotation count</param>
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public string PiShiftAB(string s, int A, int B, int ct)

{
string res = s; ct = Math.Abs(ct); int i = A,j = A+ct,L=s.Length;
if ((A < 0) | (B < A) | (B >= L)) return res;
j = mod(j-A, B-A+1)+A;
while ((i <= B) & (i < L))
{
if (j > B) j = A;
res = res.Remove(i, 1); res = res.Insert(i, s[j]+"");
i++; j++;
}
return res;
}
/// D3PiShift() <summary>
/// This array function cyclically rotates a sequence of elements
/// in array D[] beginning at offet Dofs. The rotation count is ct,
/// and all elements from Dofs to the end of D[] are affected.
/// </summary>
/// <param name="D">Array containing a sequence of elements to be rotated</param>
/// <param name="Dofs">Offset of first element in D[]</param>
public D3tuple[] D3PiShift(D3tuple[] D, int Dofs, int ct)
{
D3tuple[] res = new D3tuple[ct+1]; int L=D.Length;
if (L > 0)
{
L--;
res = D3PiShiftAB(D, Dofs, L, ct);
}
return res;
}
/// D3PiShiftAB() <summary>
/// D3PiShiftAB() cyclically rotates a sequence of elements
/// of array D[] beginning with the element at A and ending
/// with that at B. The rotation count is ct, and other
/// elements in D[] are not affected. The entire array is
/// returned after rotation.
/// </summary>
/// <param name="D">Array in which a sequence of elements is to be rotated</param>
/// <param name="A">Position of first element in sequence</param>
/// <param name="B">Position of last element in sequence</param>
public D3tuple[] D3PiShiftAB(D3tuple[] D, int A, int B, int ct)
{
ct = Math.Abs(ct); int i = 0,j = A+ct,L=D.Length;
D3tuple[] res = new D3tuple[L];
if ((A < 0) | (B < A) | (B >= L)) return res;
while (i <= ct) { res[i] = new D3tuple(); i++; }
// 0 1 2 3 4 5 6 7
// . . A - - - B L
//
m
//
j
i = 0;
while ((i < A) & (i < L)) { res[i] = D[i]; i++; } // Copy up to D[A] to D[]
j = mod(j-A, B-A+1)+A;
while ((i <= B) & (i < L)) // Copy shifted range
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{
if (j > B) j = A;
res[i] = D[j];
i++; j++;
}
while (i < L) { res[i] = D[i]; i++; } // Copy remaining entries
return res;
}
#endregion
/// mod() <summary>
/// This integer function returns an 'adjusted' modulus which
/// differs from the % operator by producing a result in the
/// range 1..M instead of 0..(M-1) as the ordinary modulus
/// function does. This is of primary importance in some rather
/// unusual number-theoretical demonstrations which have never
/// been in vogue; and it is used here because of an array-indexing
/// method which is not considered to be in vogue, either.
/// </summary>
/// <param name="k">Value the residue of which modulo M is required</param>
/// <param name="M">Modulus to which k is to be resolved</param>
public int mod(int k, int M)
{
int res = Math.Abs(k);
res = ((res - 1) % M) + 1; if (k < 0) res = -res;
return res;
}
private Random rnd = new Random();
public void RandomizePoint(ref D3tuple d)
{
if (d == null) return;
double v1,v2,v3;
int sgn1=rnd.Next(2),i1=rnd.Next(1000),sgn2=rnd.Next(2),i2=rnd.Next(1000),sgn3=rnd.Next(2),i3=rnd.Next(1000);
v1 = (double)Math.Pow(-1, sgn1)*(double)i1 / 100.0;
d.Set(v1, v2, v3);
}
}
#endregion End Rotator CLASS
#region RAngle CLASS
/// <summary>
/// The RAngle class provides storage of coefficients and methods for their calculation
/// to efficiently implement stage 2 of the Rotator implementation, which involves only
/// the angular parameter as a variable quantity. The stage 3 method, Rotate(), is in
/// this class, and it involves only the coordinates of a point as variable quantities.
/// All other calculations are complete by the time the stage 3 method is called, so
/// the remaining work left to do is minimal.
/// </summary>
public class RAngle
{
bool valid=false;
public double UX,UY,UZ,US,VX,VY,VZ,VS,WX,WY,WZ,WS,M,N,M1,Theta;
public RAxis Axis=null;
#region CONSTRUCTORS
/// <summary>
/// Four RAngle class constructors are provided. The first two initialize the rotation
/// angle to zero. The second two require that an RAxis instance be provided to the
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/// constructor, and the first allocates an RAxis instance and stores its reference in
/// the RAngle.Axis field where it can be accessed later to set the rotation axis and
/// initialize rotations about it. The fourth differs from the first only in that it
/// initializes the angle to a value supplied to the consructor. Note that the default
/// axis direction when no RAxis instance is supplied to an RAngle constructor is the
/// X-axis, and the axis location is at the origin.
/// </summary>
public RAngle()
{
Axis = new RAxis(); Init(Axis, 0);
}
public RAngle(RAxis RotationAxis)
{
Init(RotationAxis, 0);
}
public RAngle(RAxis RotationAxis, double AngleInRadians)
{
Init(RotationAxis, AngleInRadians);
}
public RAngle(double AngleInRadians)
{
Axis = new RAxis(); Init(Axis, AngleInRadians);
}
private void Init(RAxis RotationAxis, double AngleInRadians)
{
if (RotationAxis == null) return;
Axis = RotationAxis;
SetAngle(AngleInRadians); valid = true;
}
#endregion
/// SetAngle <summary><para>
/// The SetAngle() method calculates the coefficients required by the Rotate() method
/// by calling an RAxis.ReturnParameters() method instance to initialize a rotation
/// about the axis which it defines. The design of the classes and methods is such that
/// the number of multiplication and division operations during repeated rotations using
/// the same axis and angle is nearly minimal; and this is achieved by separating the
/// work of calculation into three distinct stages, with the relevant sets of coefficients
/// required by each stage being partitioned into the classes where they are generated
/// and used. The stages are determined by (1) axis definition, (2) angle specification,
/// and (3) data point input followed by rotation and then output of the result. Any
/// set of parameters at one stage can be temporarily or permanently changed by use of
/// methods in (1) the RAxis class, (2) the RAngle class, and (3) the Rotator class.</para>
/// <para>
/// For garden-variety rotations and the simplest approach, use the Rotator() class
/// constructor and its SetAngle() and SetAxis() or SetAxisPlane() methods to set up
/// all three stages and their class instances, and carry out rotations and data access
/// using the Rotator methods Spin() and GetXYZ() or SetXYZ().</para>
/// </summary>
/// <param name="AngleInPiRadians">Rotation angle in radian measure</param>
public void SetAngle(double AngleInPiRadians)
{
Theta = AngleInPiRadians; M = Math.Cos(Theta); N = Math.Sin(Theta); M1 = M - 1;
if (valid)
{
if (Axis != null)
{
if (Axis.LocationOK & Axis.DirectionOK)
{
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Axis.ReturnParameters(M,N,ref UX,ref UY,ref UZ,ref US,

ref VX,ref VY,ref VZ,ref VS,
ref WX,ref WY,ref WZ,ref WS);
}
}
}
}
/// <summary><para>
/// The Rotate() method requires three multiplications and four additions for each
/// component of a general rotation, and only five multiplications and five additions
/// for a ZX-p rotation. By the time Rotate() is called, 15 (or 7 for ZX-p)
/// multiplications at the angle specification stage have already been performed and
/// do not need to be repeated unless the rotation axis or the magnitude of the angle
/// need to be changed (for an angle of 2 degrees, for instance, eighteen calls to
/// Rotate() or to Rotator.Spin() can rotate a point by 36 degrees total without any
/// axis or angle recalculation, and this would only require 180 multiplcations and
/// 180 additions).</para>
/// <para>
/// Passing a set of X,Y,Z coordinates to Rotate() each time a rotation is performed
/// may be too involved for some cases, so the use of the Rotator methods Increment(),
/// Preview(), and Spin() is recommended if a simplistic approach is desired.</para>
/// <para>
/// See the following web page for a detailed derivation of the equations upon which
/// these calculation methods are based:</para>
/// <para>
/// http://cqvis.zxq.net/PRG/R3D1.html </para>
/// <para> </para>
/// </summary>
/// <param name="inX">X-coord of point to be rotated</param>
/// <param name="inY">Y-coord of point to be rotated</param>
/// <param name="inZ">Z-coord of point to be rotated</param>
public void Rotate(ref double inX, ref double inY, ref double inZ)
{
if (!valid) return;
double X = inX, Y = inY, Z = inZ;
if (Axis.vNonZero)
{
inX = UX*X + UY*Y + UZ*Z + US + Axis.AxPtX;
inY = VX*X + VY*Y + VZ*Z + VS + Axis.AxPtY;
inZ = WX*X + WY*Y + WZ*Z + WS + Axis.AxPtZ;
}
else
{
inX = UX*X +
UZ*Z - US;
inY =
VY*Y + VZ;
inZ = WX*X +
WZ*Z + WS;
}
}
public bool Valid
{
get { return valid; }
}
}
#endregion End RAngle CLASS
#region RAxis CLASS
/// <summary>
/// The RAxis class provides storage of coefficients and methods for their calculation
/// for stage 1 of the Rotator implementation, which involves only the location and
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/// direction of the axis of rotation as variable quantities. Calculations in this

/// class do not have the value of any rotation angle to work with, and the work done
/// involves only making the angular calculations in stage 2 independent of the details
/// of axis location and orientation so that the point-transformation coefficients can
/// be generated for use in stage 3 without having to recalculate any quantities which
/// are constant for a given rotation axis.
///
/// If you should by some chance decide to manually rotate points, you can call SetLocation(),
/// SetDirection(), Calculate(), and ReturnParameters() and use the 12 coefficients returned
/// to construct a matrix or set of equations with which to perform the transformation.
/// If that isn't the case, use the Rotator or RAngle class methods, which will do all of
/// the work for you; and just ignore the Calculate() and ReturnParameters() methods, which
/// are used internally by the RAngle class methods.
///
/// If you allocate instances of the RAxis class, use SetLocation() and SetDirection() to
/// define (initialize) the rotation axis. It doesn't matter which is called first. As soon
/// as both have been called, RAxis.Calculate() will generate the coefficients needed by the
/// calls to the Rotator or RAngle classes during stage 2. If you don't define axes yourself
/// or redefine axis positions or directions, you won't need to call any methods in this class.
/// </summary>
public class RAxis
{
bool LocOK=false,DirOK=false,vnonzero=false;
public double AxPtX,AxPtY,AxPtZ,AxDirX,AxDirY,AxDirZ;
private double sgnE;
private double II,JJ,JL,GHx_JJm1,HHpGG_xJ,HHpGG_xJJ;
private double EG,EI,HK,GI,GK,EH,HI,IK,mJHI,mJGI,GKpEHJ,GHII,EGmHKJ,GGpHHJJ,HHpGGJJ,EHpGKJ,HKmEGJ;
private double GGII,HHII,LGI,LHI;
public RAxis()
{
SetLocation(0, 0, 0); SetDirection(1, 0, 0);
}
public void SetLocation(double LocationX, double LocationY, double LocationZ)
{
AxPtX = LocationX; AxPtY = LocationY; AxPtZ = LocationZ; LocOK = true;
if (DirOK) Calculate();
}
public void SetDirection(double DirectionX, double DirectionY, double DirectionZ)
{
AxDirX = DirectionX; AxDirY = DirectionY; AxDirZ = DirectionZ; DirOK = true;
if (LocOK) Calculate();
}
/// <summary>
/// The operations carried out (stage 1) by Calculate() only need to be performed when an axis
/// of rotation is defined or its position or direction is changed. Once these calculations
/// are completed, setting or changing a rotation angle (stage 2) does not require any
/// recalculation of the coefficients generated by this method.
/// </summary>
public void Calculate()
{
double s,v,E,F,G,H,I,J,K,L;
double GG,HH,GH,JH,IL,HHpGG;
v = Math.Sqrt(AxDirX*AxDirX+AxDirZ*AxDirZ); vnonzero = (v != 0);
s = Math.Sqrt(AxDirX*AxDirX+AxDirY*AxDirY+AxDirZ*AxDirZ);
if (s == 0) { DirOK = false; return; }
if (vnonzero) { G=AxDirZ/v; H=AxDirX/v; }
else { G=0; H=0; }
I=v/s; J=AxDirY/s; if (AxDirY<0) sgnE=-1; else sgnE=1;
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E=AxPtZ*H-AxPtX*G; F=-AxPtX*H-AxPtZ*G;
K=-AxPtY*I-F*J;
GG=G*G; HH=H*H; II=I*I; JJ=J*J; HHpGG=HH+GG;
GH=G*H; GI=G*I; JH=J*H; EG=E*G; HK=H*K; HI=H*I;
GHx_JJm1=GH*(JJ-1); HHpGG_xJ=HHpGG*J; HHpGG_xJJ=HHpGG_xJ*J;
mJHI=-J*HI; mJGI=-J*GI; GHII=GI*HI; HHII=HI*HI;
EI=E*I; IK=I*K; GK=G*K; EH=E*H; GKpEHJ=GK+EH*J;
EGmHKJ=EG-HK*J; GGpHHJJ=GG+HH*JJ; HHpGGJJ=HH+GG*JJ; EHpGKJ=EH+GK*J;
HKmEGJ=HK-EG*J; GGII=GI*GI;
L=-AxPtY*J+F*I; IL=I*L; LGI=L*GI; LHI=L*HI; JL=L*J;
}
/// <summary>
/// ReturnParameters() is called by the RAngle class, and in most instances you won't
/// need to call it directly, so you might as well forget about it once you know what it
/// does.
///
/// In the general case this routine performs 15 multiplications and 18 additions (or 7
/// multiplications and 3 additions for ZX-p rotation) which constitute stage 2 of
/// a rotation. These calculations only need to be carried out when a new angle of
/// rotation is specified as long as the axis of rotation is unchanged.
/// </summary>
/// <param name="M">Cosine of the rotation angle</param>
/// <param name="N">Sine of the rotation angle</param>
public void ReturnParameters(double M, double N,
ref double UX,ref double UY,ref double UZ,ref double US,
ref double VX,ref double VY,ref double VZ,ref double VS,
ref double WX,ref double WY,ref double WZ,ref double WS)
{
if (vNonZero) // 15 multiplications and 18 additions here
{
double M1=M-1,HHpGG_xJxN=HHpGG_xJ*N, mJGIxM1=mJGI*M1, HIxN=HI*N, GIxN=GI*N;
double mJHIxM1=mJHI*M1, GHx_JJm1_xM=GHx_JJm1*M;
UX=GGpHHJJ*M+HHII; UY=mJHIxM1-GIxN; UZ=GHx_JJm1_xM+HHpGG_xJxN+GHII; US=EGmHKJ*M-GKpEHJ*N+LHI;
VX=mJHIxM1+GIxN; VY=II*M+JJ; VZ=mJGIxM1-HIxN; VS=IK*M+EI*N+JL;
WX=GHx_JJm1_xM-HHpGG_xJxN+GHII; WY=HIxN+mJGIxM1; WZ=HHpGGJJ*M+GGII; WS=HKmEGJ*N-EHpGKJ*M+LGI;
}
else // 7 multipications and 3 additions here
{
double MsgnE=M*sgnE,NsgnE=N*sgnE;
UX=M; UY=0.0; UZ=NsgnE; US=AxPtX*M+AxPtZ*NsgnE;
VX=0; VY=sgnE; VZ=-AxPtY*sgnE;
WX=-N; WY=0.0; WZ=MsgnE; WS=AxPtX*N-AxPtZ*MsgnE;
}
}
public bool LocationOK
{
get { return LocOK; }
set { LocOK = false; }
}
public bool DirectionOK
{
get { return DirOK; }
set { DirOK = false; }
}
public bool vNonZero
{
get { return vnonzero; }
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}
}
#endregion
End RAxis class

R3 D DLL

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// R3dDLL.cs --- COPYRIGHT Glenn A. Merritt / CQvis, 2011

/// <summary> Numer = X = a[0] = a4[1]

/// <param name="h">Scalar multiplier h</param>

/// Shift counts of 1 and -2 are equivalent, as are 2 and -1.</para>

public class F3tuple

if ((i >= 1) & (i <= 3)) res = a4[i];

/// D3tuple array

if ((i >= 1) & (i <= 2)) { x_ij[i] = res; calcLen(); }

/// The + operator produces the sum of two D3lines. If A=ij

public double Angle(int i)

/// <param name="i">Index of vertex opposite the edge to be returned</param>

/// <param name="DP2">Second D3plane</param>

D3tuple D = new D3tuple(); D = DP.nn/d; return D;

/// to the vertices of the defining triangle of the D3plane. The

D[Dofs]; else valid =

/// <param name="i">Index of vertex to return</param>

D3tuple res = new D3tuple();

pts[1] = d1; pts[2] = d2; pts[3] = d3; pts[4] = d4; reCalc();

if ((indexOK(i)) & (indexOK(j)))

res[1] = new D3tuple(); res[1] = Q + d1*U;

/// D3tetra follows the index order of SetIJKL().

/// Parax() <summary>

/// MbarIJ() - M bar IJ <summary>

/// <param name="stype">The component type: eCo,eCon,UCo,UCon,NCo,NCon</param>

/// Tr() <summary>

ee = ee + AT1.e[j, k] * AT2.e[k, i];

int modd6(int i) { if (i < 0) i = -i; return ((i-1) % 6)+1; }

/// interpreted as axis points, and element 1 will be interpreted

/// UCo() <summary>

/// recalculated. Only the lengths of the three covariant

/// all other vectors are recalculated.

/// vectors will remain unchanged once this vector is set.

/// hNCo() <summary>

D3tuple res = new D3tuple(); int i = 1,k=kbar[modd6((int)o)]; double[] d = new double[4];

/// <param name="A2">Second AxisSet</param>

/// hj[] <summary>

{ valid = true; ZeroRef(false);

/// NormalAxis <summary>

D3tuple D = new D3tuple(); double d3x=0,d3y=0,d3z=0;

/// <param name="D5">Vector v5</param>

/// <param name="m"></param>

O = new D3tuple(); byte[] B = RhoJK(5, J, K); int i = offs-1;

if (Degeneracies[k] == 0) Degeneracies[k] = SphereMayBeTooLarge;

/// <param name="Radius">This double returns the radius of the sphere</param>

Dres[2] = d[0] * D[5];

/// basis determined by (res[2]-res[1]), (res[3]-res[1]), and (res[4]-res[1]).</para>

if ((D.Length >= lim) & (i >= 0))

/// <param name="inRadius">Returns radius of inscribed circle</param>

public D3tuple D3Sum(D3tuple D1, D3tuple D2, double sgn)

/// <param name="a"></param>

res[I] = new D3tuple();

int i = (int)res; double w,u; byte[] b = new byte[N+1];

public byte[] PermBytes(string s)

public string PiShiftAB(string s, int A, int B, int ct)

Axis.ReturnParameters(M,N,ref UX,ref UY,ref UZ,ref US,

/// direction of the axis of rotation as variable quantities. Calculations in this

End RAxis class

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