def display_steps(expr, string_msg="", is_ipython=False):
if string_msg != "":
pp(string_msg)
if is_ipython:
display(expr)
else:
pp(expr)
def translate():
"""
Using col3 for the translation as opposed to glm/OpenGL approach
of row3 for the translation is a transpose of the translation matrix,
which means need to transpose the point for shape consistency
and multiply in other order.
"""
print("P1")
pp(P1)
print("T")
pp(T)
P1_T = P1 * T
print("P1*T")
pp(P1_T)
print("P1*T*T")
pp(P1 * T * T)
P1_T_reverse_transpose_check = (T.T * P1.T).T
print("(T.T*P1.T).T")
pp(P1_T_reverse_transpose_check)
assert P1_T_reverse_transpose_check == P1_T
def rotateY():
"""
This demonstrates that HepRotation::rotateY is multiplying to the rhs::
Rxyz*Ry
079 HepRotation & HepRotation::rotateY(double a){
80 double c1 = std::cos(a);
81 double s1 = std::sin(a);
82 double x1 = rzx, y1 = rzy, z1 = rzz;
83 rzx = c1*x1 - s1*rxx;
84 rzy = c1*y1 - s1*rxy;
85 rzz = c1*z1 - s1*rxz;
86 rxx = s1*x1 + c1*rxx;
87 rxy = s1*y1 + c1*rxy;
88 rxz = s1*z1 + c1*rxz;
89 return *this;
90 }
"""
x1, y1, z1 = sp.symbols("x1,y1,z1")
v_rz = [(rzx, x1), (rzy, y1), (rzz, z1)]
Ylhs = (Ry * R).subs(v_rz)
Yrhs = (R * Ry).subs(v_rz)
print(rotateY.__doc__)
print("\nR")
pp(R)
print("\nv_rz")
pp(v_rz)
print("\nYrhs = (R*Ry).subs(v_rz) ")
pp(Yrhs)
def rotateX():
"""
This demonstrates that HepRotation::rotateX is multiplying to the rhs::
Rxyz*Rx
66 HepRotation & HepRotation::rotateX(double a) { // g4-cls Rotation
67 double c1 = std::cos(a);
68 double s1 = std::sin(a);
69 double x1 = ryx, y1 = ryy, z1 = ryz;
70 ryx = c1*x1 - s1*rzx;
71 ryy = c1*y1 - s1*rzy;
72 ryz = c1*z1 - s1*rzz;
73 rzx = s1*x1 + c1*rzx;
74 rzy = s1*y1 + c1*rzy;
75 rzz = s1*z1 + c1*rzz;
76 return *this;
77 }
"""
pass
x1, y1, z1 = sp.symbols("x1,y1,z1")
v_ry = [(ryx, x1), (ryy, y1), (ryz, z1)]
Xlhs = (Rx * R).subs(v_ry)
Xrhs = (R * Rx).subs(
v_ry) # HepRotation::rotateX is multiplying on the rhs
print(rotateX.__doc__)
print("\nR")
pp(R)
print("\nv_ry")
pp(v_ry)
print("\nXrhs = (R*Rx).subs(v_ry) ")
pp(Xrhs)
def rotateZ():
"""
This demonstrates that HepRotation::rotateZ is multiplying to the rhs::
Rxyz*Rz
092 HepRotation & HepRotation::rotateZ(double a) {
93 double c1 = std::cos(a);
94 double s1 = std::sin(a);
95 double x1 = rxx, y1 = rxy, z1 = rxz;
96 rxx = c1*x1 - s1*ryx;
97 rxy = c1*y1 - s1*ryy;
98 rxz = c1*z1 - s1*ryz;
99 ryx = s1*x1 + c1*ryx;
100 ryy = s1*y1 + c1*ryy;
101 ryz = s1*z1 + c1*ryz;
102 return *this;
103 }
"""
x1, y1, z1 = sp.symbols("x1,y1,z1")
v_rx = [(rxx, x1), (rxy, y1), (rxz, z1)]
Zlhs = (Rz * R).subs(v_rx)
Zrhs = (R * Rz).subs(v_rx)
print(rotateZ.__doc__)
print("\nR")
pp(R)
print("\nv_rx")
pp(v_rx)
print("\nZrhs = (R*Rz).subs(v_rx) ")
pp(Zrhs)
(b) $\begin{pmatrix}
3 & 1 & -4 \\
4 & 3 & 1 \\
1 & 4 & -3
\end{pmatrix}
and \begin{pmatrix}
2 & 7 & -5 \\
-2 & 1 & 0 \\
6 & 3 & 4
\end{pmatrix}$
###**Solution/Code/Answer**
"""
# (a) Solution
pp('(a)\n\t')
A = Matrix([[2, -1], [-7, 4]])
B = Matrix([[-3, 0], [7, -4]])
C = A + B
display(C)
pp('\n\t')
# (b) Solution
pp('(b)\n\t')
D = Matrix([[3, 1, -4], [4, 3, 1], [1, 4, -3]])
E = Matrix([[2, 7, -5], [-2, 1, 0], [6, 3, 4]])
F = D + E
display(F)
"""###**Problem 2.**
Subtract
from sympy import pretty_print as pp
from sympy.abc import a, b, n
expr = (a * b)**n
pp(expr)
print("===========")
a, b, n = 2, 1, 5
expr = (a * b)**n
pp(expr)
c[j][i] = ((((rho[j])**2)*((a[i])**2))+((rho[j])*gamma*(a[i])))*((1-((rho[j])**2)-(gamma**2)-(2*(rho[j])*gamma*(a[i])))**0.5)
plt.plot(rho,c[:,7],'r--')
plt.show()
#SYMPY
import sympy
from sympy import expand, symbols
from sympy import pretty_print as pp, latex
s,d,c = sympy.symbols('s d c')
delete = ((s**2)+(2*s*d*c))
pp(delete.expand(), use_unicode=True)
-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------
# WC2 Odd or Even
a =50
phi = np.linspace(0, 2*np.pi, 1000)
WC2 = (np.sin(phi))*((a-(np.cos(phi)))**0.5)
plt.plot(phi,WC2,'r--')
plt.show()
def translate_rotate():
"""
P1
x y z 1
TR
rxx ryx rzx 0
rxy ryy rzy 0
rxz ryz rzz 0
tx ty tz tw
P*TR
rxx x + rxy y + rxz z + tx w ryx x + ryy y + ryz z + ty w rzx x + rzy y + rzz z + tz w tw w
P*TR.subs(v_rid)
tx w + x ty w + y tz w + z tw w
"""
print("R")
pp(R)
print("T")
pp(T)
print(
"T*R : row3 has translation and rotation mixed up : ie translation first and then rotation which depends "
)
pp(T * R)
print(
"R*T : familiar row3 as translation : that means rotate then translate "
)
pp(R * T)
print("RT")
pp(RT)
assert RT == R * T
print("P1")
pp(P1)
print(
"P*RT : notice that the translation just gets added to rotated coordinates : ie rotation first and then translation"
)
pp(P * RT)
P_RT = P * RT
print("P*RT.subs(v_rid) : setting rotation to identity ")
pp(P_RT.subs(v_rid))
def G4GDMLReadStructure():
"""
289 void G4GDMLReadStructure::
290 PhysvolRead(const xercesc::DOMElement* const physvolElement,
291 G4AssemblyVolume* pAssembly)
292 {
...
372 G4Transform3D transform(GetRotationMatrix(rotation).inverse(),position);
373 transform = transform*G4Scale3D(scale.x(),scale.y(),scale.z());
132 G4RotationMatrix
133 G4GDMLReadDefine::GetRotationMatrix(const G4ThreeVector& angles)
134 {
135 G4RotationMatrix rot;
136
137 rot.rotateX(angles.x());
138 rot.rotateY(angles.y());
139 rot.rotateZ(angles.z());
140 rot.rectify(); // Rectify matrix from possible roundoff errors
141
142 return rot;
143 }
g4-cls Transform3D (icc)
029 inline
30 Transform3D::Transform3D(const CLHEP::HepRotation & m, const CLHEP::Hep3Vector & v) {
31 xx_= m.xx(); xy_= m.xy(); xz_= m.xz();
32 yx_= m.yx(); yy_= m.yy(); yz_= m.yz();
33 zx_= m.zx(); zy_= m.zy(); zz_= m.zz();
34 dx_= v.x(); dy_= v.y(); dz_= v.z();
35 }
NB the order (rotateX, rotateY, rotateZ).inverse()
In [18]: t[3218] # use the instance index to give the instance transform : rot matrix and tlate look familiar
Out[18]:
array([[ -0.1018, 0.2466, 0.9638, 0. ],
[ -0.9243, -0.3817, 0. , 0. ],
[ 0.3679, -0.8908, 0.2668, 0. ],
[-7148.948 , 17311.74 , -5184.257 , 1. ]], dtype=float32)
In [70]: pp((Rx*Ry*Rz).transpose().subs(v_rot)*T.subs(v_pos))
-0.101820513179743 0.24656591428434 0.963762332221457 0
-0.924290430171623 -0.381689927419044 8.32667268468867e-17 0
0.367858374634817 -0.890796300632177 0.266762379264878 0
-7148.9484 17311.741 -5184.2567 1
In [52]: (P*IT*R1).subs(v_hit+v_pos+v_rot) ### << MATCHES <<
Out[52]: Matrix([[-112.670723956843, 165.921754136086, 109.638786999275, 1.0]])
In [100]: (P*IT*Rx*Ry*Rz).subs(v_hit+v_pos+v_rot)
Out[100]: Matrix([[-112.670723956843, 165.921754136086, 109.638786999275, 1]])
In [101]: (P*Rx*Ry*Rz*IT).subs(v_hit+v_pos+v_rot)
Out[101]: Matrix([[7036.28119031864, -17145.8318197405, -14140.1045440872, 1]])
(gdb) p local_pos
$7 = {dx = -112.67072395684227, dy = 165.92175413608675, dz = 109.63878699927591, static tolerance = 2.22045e-14}
(gdb) p trans
## 4th row matches the GDML
71423 <physvol copynumber="11336" name="pLPMT_Hamamatsu_R128600x353fc90">
71424 <volumeref ref="HamamatsuR12860lMaskVirtual0x3290b70"/>
71425 <position name="pLPMT_Hamamatsu_R128600x353fc90_pos" unit="mm" x="-7148.9484" y="17311.741" z="-5184.2567"/>
71426 <rotation name="pLPMT_Hamamatsu_R128600x353fc90_rot" unit="deg" x="-73.3288783033161" y="-21.5835981926051" z="-96.2863976680901"/>
71427 </physvol>
{ rxx = -0.10182051317974285, rxy = -0.92429043017162327, rxz = 0.36785837463481702,
ryx = 0.24656591428433955, ryy = -0.38168992741904467, ryz = -0.89079630063217707,
rzx = 0.96376233222145669, rzy = 0, rzz = 0.26676237926487772,
tx = -0.0035142754759363015, ty = 0.012573876562782971, tz = 19434.000031086449}
THIS IS THE INVERSE TRANSFORM
From examples/UseGeant4/UseGeant.cc
dbg_affine_trans Transformation:
rx/x,y,z: -0.101821 -0.92429 0.367858
ry/x,y,z: 0.246566 -0.38169 -0.890796
rz/x,y,z: 0.963762 0 0.266762
tr/x,y,z: -0.00351428 0.0125739 19434
"""
R0 = Rx * Ry * Rz
R0T = (Rx * Ry * Rz).T
R1 = Rz * Ry * Rx
R1T = (Rz * Ry * Rx).T
print(G4GDMLReadStructure.__doc__)
if 0:
print("\nR0 = Rx*Ry*Rz \n")
pp(R0)
pp(R)
pp(R0.subs(va))
pass
print(
"\nR0T = (Rx*Ry*Rz).T THIS MATCHES THE ROTATION PART OF THE ITRANSFORM \n"
)
pp(R0T)
pp(R)
pp(R0T.subs(v_rot))
if 0:
print("\nR1 = Rz*Ry*Rx\n")
pp(R1)
pp(R)
pp(R1.subs(va))
pass
T2 = sp.Matrix([[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, 0], [tx, ty, tz, 1]])
assert T == T2, (T, T2)
IT = sp.Matrix([[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, 0], [-tx, -ty, -tz, 1]])
"""
71423 <physvol copynumber="11336" name="pLPMT_Hamamatsu_R128600x353fc90">
71424 <volumeref ref="HamamatsuR12860lMaskVirtual0x3290b70"/>
71425 <position name="pLPMT_Hamamatsu_R128600x353fc90_pos" unit="mm" x="-7148.9484" y="17311.741" z="-5184.2567"/>
71426 <rotation name="pLPMT_Hamamatsu_R128600x353fc90_rot" unit="deg" x="-73.3288783033161" y="-21.5835981926051" z="-96.2863976680901"/>
71427 </physvol>
"""
if 0:
print("\nRx")
pp(Rx)
print("\nRy")
pp(Ry)
print("\nRz")
pp(Rz)
def rotateX():
"""
This demonstrates that HepRotation::rotateX is multiplying to the rhs::
Rxyz*Rx
66 HepRotation & HepRotation::rotateX(double a) { // g4-cls Rotation
67 double c1 = std::cos(a);
68 double s1 = std::sin(a);
## for Palatino and other serif fonts use:
rc('font', **{'family': 'Computer Modern Roman'})
rc('text', usetex=True)
print("\n\n---------------- 1 ----------------\n\n")
# year_of_birth will be matrix A
year_of_birth = np.array([[1, 1920], [1, 1930], [1, 1940], [1, 1950],
[1, 1960], [1, 1970], [1, 1980], [1, 1990]])
# life_expectancy will be matrix b
life_expectancy = np.array([[54.1], [59.7], [62.9], [68.2], [69.7], [70.8],
[73.7], [75.4]])
# Pretty-Printing A matrix
print("Matrix A will be: \n")
pp(sp.Matrix(year_of_birth))
# Pretty-Printing b matrix
print("\n\nMatrix b will be: \n")
pp(sp.Matrix(life_expectancy))
# Normal Equations
equation_1 = (
A**T * A
)**T # I'm using (A^T * A)^T to Pretty-Print in the correct format i.e. A^T*A instead of A*A^T which is de default in sp.pprint()
equation_2 = (A**T * b)
At = year_of_birth.transpose()
AtA = np.dot(At, year_of_birth)
Atb = np.dot(At, life_expectancy)
# Pretty-Printing Normal Equations
# Base of power x
n_value = make_non_zero_num(-4, 4)
while n_value == 1 or n_value == -1:
n_value = make_non_zero_num(-4, 4)
# Constant after x
c_value = make_non_zero_num(-3, 3)
while c_value == 1 or c_value == -1:
c_value = make_non_zero_num(-3, 3)
# Vertical shift
d_value = random.randint(-10, 10)
# Base of the function of x
n_value = random.randint(2, 3)
c = c_value
d = d_value
n = n_value
x_value = random.randint(-c_value, 4 - c_value)
solution = (n_value**(x_value + c_value)) + d_value
equation = n**(x + c) + d
print("Solve the following exponential equation for x = {}.\n\n".format(x_value))
pp(equation)
print("\nSolution: {}".format(solution))
