Fix angle problems in Root importer

cern-root-loader/src/commonMain/kotlin/ru/mipt/npm/root/DObject.kt

@@ -42,7 +42,7 @@ public open class DObject(public val meta: Meta, public val refCache: DObjectCac
     }
 
     internal fun <T : DObject> tObjectArray(
-        builder: (Meta, DObjectCache) -> T
+        builder: (Meta, DObjectCache) -> T,
     ): ReadOnlyProperty<Any?, List<T>> = ReadOnlyProperty { _, property ->
         meta.getIndexed(Name.of(property.name, "arr")).values.mapNotNull {
             resolve(builder, it)
@@ -51,9 +51,9 @@ public open class DObject(public val meta: Meta, public val refCache: DObjectCac
 
     internal fun <T : DObject> dObject(
         builder: (Meta, DObjectCache) -> T,
-        key: Name? = null
+        key: Name? = null,
     ): ReadOnlyProperty<Any?, T?> = ReadOnlyProperty { _, property ->
-        meta[key ?: property.name.asName()]?.let { resolve(builder, it) }
+        meta[key ?: property.name.asName()]?.takeIf { it.value != Null }?.let { resolve(builder, it) }
     }
 }
 
@@ -62,8 +62,7 @@ public open class DNamed(meta: Meta, refCache: DObjectCache) : DObject(meta, ref
     public val fTitle: String by meta.string("")
 }
 
-public class DGeoMaterial(meta: Meta, refCache: DObjectCache) : DNamed(meta, refCache) {
-}
+public class DGeoMaterial(meta: Meta, refCache: DObjectCache) : DNamed(meta, refCache)
 
 public class DGeoMedium(meta: Meta, refCache: DObjectCache) : DNamed(meta, refCache) {
     public val fMaterial: DGeoMaterial? by dObject(::DGeoMaterial)
@@ -90,27 +89,69 @@ public class DGeoNode(meta: Meta, refCache: DObjectCache) : DNamed(meta, refCach
     public val fVolume: DGeoVolume? by dObject(::DGeoVolume)
 }
 
-public open class DGeoMatrix(meta: Meta, refCache: DObjectCache) : DNamed(meta, refCache)
+public sealed class DGeoMatrix(meta: Meta, refCache: DObjectCache) : DNamed(meta, refCache)
 
-public open class DGeoScale(meta: Meta, refCache: DObjectCache) : DGeoMatrix(meta, refCache) {
+public class DGeoIdentity(meta: Meta, refCache: DObjectCache) : DGeoMatrix(meta, refCache)
+
+public class DGeoScale(meta: Meta, refCache: DObjectCache) : DGeoMatrix(meta, refCache) {
     public val fScale: DoubleArray by meta.doubleArray(1.0, 1.0, 1.0)
     public val x: Double get() = fScale[0]
     public val y: Double get() = fScale[1]
     public val z: Double get() = fScale[2]
 }
 
+public class DGeoRotation(meta: Meta, refCache: DObjectCache) : DGeoMatrix(meta, refCache) {
+    public val fRotationMatrix: DoubleArray by meta.doubleArray()
+}
+
+public class DGeoTranslation(meta: Meta, refCache: DObjectCache) : DGeoMatrix(meta, refCache) {
+    public val fTranslation: DoubleArray by meta.doubleArray()
+}
+
+public open class DGeoCombiTrans(meta: Meta, refCache: DObjectCache) : DGeoMatrix(meta, refCache) {
+    public val fRotation: DGeoRotation? by dObject(::DGeoRotation)
+    public val fTranslation: DoubleArray by meta.doubleArray()
+}
+
+public class DGeoGenTrans(meta: Meta, refCache: DObjectCache) : DGeoCombiTrans(meta, refCache) {
+    public val fScale: DoubleArray by meta.doubleArray()
+}
+
+public class DGeoHMatrix(meta: Meta, refCache: DObjectCache) : DGeoMatrix(meta, refCache) {
+    public val fRotation: DGeoRotation? by dObject(::DGeoRotation)
+    public val fTranslation: DoubleArray by meta.doubleArray()
+    public val fScale: DoubleArray by meta.doubleArray()
+}
+
+/**
+ * Create a specialized version of [DGeoMatrix]
+ */
+internal fun dGeoMatrix(
+    meta: Meta,
+    refCache: DObjectCache,
+): DGeoMatrix = when (val typename = meta["_typename"].string) {
+    null -> error("Type name is undefined")
+    "TGeoIdentity" -> DGeoIdentity(meta, refCache)
+    "TGeoScale" -> DGeoScale(meta, refCache)
+    "TGeoRotation" -> DGeoRotation(meta, refCache)
+    "TGeoTranslation" -> DGeoTranslation(meta, refCache)
+    "TGeoCombiTrans" -> DGeoCombiTrans(meta, refCache)
+    "TGeoGenTrans" -> DGeoGenTrans(meta, refCache)
+    "TGeoHMatrix" -> DGeoHMatrix(meta, refCache)
+    else -> error("$typename is not a member of TGeoMatrix")
+}
 
 public class DGeoBoolNode(meta: Meta, refCache: DObjectCache) : DObject(meta, refCache) {
     public val fLeft: DGeoShape? by dObject(::DGeoShape)
-    public val fLeftMat: DGeoMatrix? by dObject(::DGeoMatrix)
+    public val fLeftMat: DGeoMatrix? by dObject(::dGeoMatrix)
 
     public val fRight: DGeoShape? by dObject(::DGeoShape)
-    public val fRightMat: DGeoMatrix? by dObject(::DGeoMatrix)
+    public val fRightMat: DGeoMatrix? by dObject(::dGeoMatrix)
 }
 
 
 public class DGeoManager(meta: Meta, refCache: DObjectCache) : DNamed(meta, refCache) {
-    public val fMatrices: List<DGeoMatrix> by tObjectArray(::DGeoMatrix)
+    public val fMatrices: List<DGeoMatrix> by tObjectArray(::dGeoMatrix)
 
     public val fShapes: List<DGeoShape> by tObjectArray(::DGeoShape)
 

cern-root-loader/src/commonMain/kotlin/ru/mipt/npm/root/dRootToSolid.kt

@@ -1,16 +1,23 @@
 package ru.mipt.npm.root
 
-import space.kscience.dataforge.meta.*
+import space.kscience.dataforge.meta.Meta
+import space.kscience.dataforge.meta.double
+import space.kscience.dataforge.meta.int
 import space.kscience.dataforge.names.Name
 import space.kscience.dataforge.names.parseAsName
 import space.kscience.dataforge.names.plus
 import space.kscience.dataforge.names.withIndex
+import space.kscience.kmath.complex.Quaternion
+import space.kscience.kmath.geometry.fromRotationMatrix
+import space.kscience.kmath.linear.VirtualMatrix
 import space.kscience.visionforge.MutableVisionContainer
 import space.kscience.visionforge.isEmpty
 import space.kscience.visionforge.set
 import space.kscience.visionforge.solid.*
 import space.kscience.visionforge.solid.SolidMaterial.Companion.MATERIAL_COLOR_KEY
-import kotlin.math.*
+import kotlin.math.PI
+import kotlin.math.cos
+import kotlin.math.sin
 
 private val volumesName = Name.EMPTY //"volumes".asName()
 
@@ -28,12 +35,10 @@ private data class RootToSolidContext(
     val colorCache: MutableMap<Meta, String> = mutableMapOf(),
 )
 
-// converting to XYZ to Tait–Bryan angles according to https://en.wikipedia.org/wiki/Euler_angles#Rotation_matrix
+// apply rotation from a matrix
 private fun Solid.rotate(rot: DoubleArray) {
-    val xAngle = atan2(-rot[5], rot[8])
-    val yAngle = atan2(rot[2], sqrt(1.0 - rot[2].pow(2)))
-    val zAngle = atan2(-rot[1], rot[0])
-    rotation = Float32Vector3D(xAngle, yAngle, zAngle)
+    val matrix = VirtualMatrix(3, 3) { i, j -> rot[i * 3 + j] }
+    quaternion = Quaternion.fromRotationMatrix(matrix)
 }
 
 private fun Solid.translate(trans: DoubleArray) {
@@ -41,39 +46,32 @@ private fun Solid.translate(trans: DoubleArray) {
     position = Float32Vector3D(x, y, z)
 }
 
-private fun Solid.useMatrix(matrix: DGeoMatrix?) {
-    if (matrix == null) return
-    when (matrix.typename) {
-        "TGeoIdentity" -> {
-            //do nothing
+private fun Solid.scale(s: DoubleArray) {
+    scale = Float32Vector3D(s[0], s[1], s[2])
+}
+
+private fun Solid.useMatrix(matrix: DGeoMatrix?): Unit {
+    when (matrix) {
+        null -> {}
+        is DGeoIdentity -> {}
+        is DGeoTranslation -> translate(matrix.fTranslation)
+        is DGeoRotation -> rotate(matrix.fRotationMatrix)
+        is DGeoScale -> scale(matrix.fScale)
+        is DGeoGenTrans -> {
+            translate(matrix.fTranslation)
+            matrix.fRotation?.fRotationMatrix?.let { rotate(it) }
+            scale(matrix.fScale)
         }
 
-        "TGeoTranslation" -> {
-            val fTranslation by matrix.meta.doubleArray()
-            translate(fTranslation)
+        is DGeoCombiTrans -> {
+            translate(matrix.fTranslation)
+            matrix.fRotation?.fRotationMatrix?.let { rotate(it) }
         }
 
-        "TGeoRotation" -> {
-            val fRotationMatrix by matrix.meta.doubleArray()
-            rotate(fRotationMatrix)
-        }
-
-        "TGeoCombiTrans" -> {
-            val fTranslation by matrix.meta.doubleArray()
-
-            translate(fTranslation)
-            matrix.meta["fRotation.fRotationMatrix"]?.value?.let {
-                rotate(it.doubleArray)
-            }
-        }
-
-        "TGeoHMatrix" -> {
-            val fTranslation by matrix.meta.doubleArray()
-            val fRotationMatrix by matrix.meta.doubleArray()
-            val fScale by matrix.meta.doubleArray()
-            translate(fTranslation)
-            rotate(fRotationMatrix)
-            scale = Float32Vector3D(fScale[0], fScale[1], fScale[2])
+        is DGeoHMatrix -> {
+            translate(matrix.fTranslation)
+            matrix.fRotation?.fRotationMatrix?.let { rotate(it) }
+            scale(matrix.fScale)
         }
     }
 }
@@ -96,10 +94,10 @@ private fun SolidGroup.addShape(
             }
             smartComposite(compositeType, name = name) {
                 addShape(node.fLeft!!, context, null) {
-                    this.useMatrix(node.fLeftMat)
+                    useMatrix(node.fLeftMat)
                 }
                 addShape(node.fRight!!, context, null) {
-                    this.useMatrix(node.fRightMat)
+                    useMatrix(node.fRightMat)
                 }
             }.apply(block)
         }
@@ -283,7 +281,7 @@ private fun SolidGroup.addRootNode(obj: DGeoNode, context: RootToSolidContext) {
     addRootVolume(volume, context, obj.fName) {
         when (obj.typename) {
             "TGeoNodeMatrix" -> {
-                val fMatrix by obj.dObject(::DGeoMatrix)
+                val fMatrix by obj.dObject(::dGeoMatrix)
                 this.useMatrix(fMatrix)
             }
 

demo/playground/src/jvmMain/kotlin/antenna.kt

@@ -15,13 +15,13 @@ import kotlin.math.sin
 
 fun main() = serve {
 
-    val azimuth = 60.degrees
-    val inclination = 15.degrees
+//    val azimuth = 60.degrees
+//    val inclination = 15.degrees
 
-    val direction = with(QuaternionField) {
-        Quaternion.fromRotation(-azimuth, Euclidean3DSpace.zAxis) *
-                Quaternion.fromRotation(Angle.piDiv2 - inclination, Euclidean3DSpace.yAxis)
-    }
+//    val direction = with(QuaternionField) {
+//        Quaternion.fromRotation(-azimuth, Euclidean3DSpace.zAxis) *
+//                Quaternion.fromRotation(Angle.piDiv2 - inclination, Euclidean3DSpace.yAxis)
+//    }
 
     //val direction2 = Quaternion.fromEuler(Angle.zero, Angle.piDiv2 - inclination, -azimuth, RotationOrder.ZYX)
 
@@ -43,7 +43,7 @@ fun main() = serve {
                 solidGroup("frame") {
                     z = 60
 
-                    val antenna = solidGroup("antenna") {
+                    solidGroup("antenna") {
                         axes(200)
                         tube(40, 10, 30)
                         sphereLayer(100, 95, theta = PI / 6) {

visionforge-solid/src/commonMain/kotlin/space/kscience/visionforge/solid/Solid.kt

@@ -206,7 +206,7 @@ public var Solid.rotationZ: Number by float(Z_ROTATION_KEY, 0f)
 /**
  * Raw quaternion value defined in properties
  */
-public var Solid.quaternionValue: Quaternion?
+public var Solid.quaternionOrNull: Quaternion?
     get() = properties.getValue(ROTATION_KEY)?.list?.let {
         require(it.size == 4) { "Quaternion must be a number array of 4 elements" }
         Quaternion(it[0].float, it[1].float, it[2].float, it[3].float)
@@ -229,14 +229,14 @@ public var Solid.quaternionValue: Quaternion?
  * Quaternion value including information from euler angles
  */
 public var Solid.quaternion: Quaternion
-    get() = quaternionValue ?: Quaternion.fromEuler(
+    get() = quaternionOrNull ?: Quaternion.fromEuler(
         rotationX.radians,
         rotationY.radians,
         rotationZ.radians,
         rotationOrder
     )
     set(value) {
-        quaternionValue = value
+        quaternionOrNull = value
     }
 
 public var Solid.scaleX: Number by float(X_SCALE_KEY, 1f)

visionforge-threejs/src/main/kotlin/space/kscience/visionforge/solid/three/ThreeFactory.kt

@@ -41,7 +41,7 @@ public fun Object3D.updatePosition(vision: Vision) {
     if (vision is Solid) {
         position.set(vision.x, vision.y, vision.z)
 
-        val quaternion = vision.quaternionValue
+        val quaternion = vision.quaternionOrNull
 
         if (quaternion != null) {
             setRotationFromQuaternion(