KFParticleBaseSIMD.cxx

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//---------------------------------------------------------------------------------
// Implementation of the KFParticleBaseSIMD class
// .
// @author  S.Gorbunov, I.Kisel, I.Kulakov, M.Zyzak
// @version 1.0
// @since   13.05.07
// 
// Class to reconstruct and store the decayed particle parameters.
// The method is described in CBM-SOFT note 2007-003, 
// ``Reconstruction of decayed particles based on the Kalman filter'', 
// http://www.gsi.de/documents/DOC-2007-May-14-1.pdf
//
// This class describes general mathematics which is used by KFParticle class
// 
//  -= Copyright &copy ALICE HLT and CBM L1 Groups =-
//_________________________________________________________________________________
 
 
#include "KFParticleBaseSIMD.h"
 
#include <iostream>
 
static const fvec Zero = 0;
static const fvec One = 1;
static const fvec small = 1.e-20;
 
KFParticleBaseSIMD::KFParticleBaseSIMD() :fQ(0), fNDF(-3), fChi2(0), fSFromDecay(0), fAtProductionVertex(0), fIsVtxGuess(0), fIsVtxErrGuess(0), fIsLinearized(0), fConstructMethod(2), SumDaughterMass(0), fMassHypo(-1), fId(-1), fDaughterIds(), fPDG(0)
{ 
  //* Constructor 
 
  Initialize();
}
 
void KFParticleBaseSIMD::Initialize( const fvec Param[], const fvec Cov[], Int_t Charge, fvec Mass )
{
  // Constructor from "cartesian" track, particle mass hypothesis should be provided
  //
  // Param[6] = { X, Y, Z, Px, Py, Pz } - position and momentum
  // Cov [21] = lower-triangular part of the covariance matrix:
  //
  //                (  0  .  .  .  .  . )
  //                (  1  2  .  .  .  . )
  //  Cov. matrix = (  3  4  5  .  .  . ) - numbering of covariance elements in Cov[]
  //                (  6  7  8  9  .  . )
  //                ( 10 11 12 13 14  . )
  //                ( 15 16 17 18 19 20 )
 
 
  for( Int_t i=0; i<6 ; i++ ) fP[i] = Param[i];
  for( Int_t i=0; i<21; i++ ) fC[i] = Cov[i];
 
  fvec energy = sqrt( Mass*Mass + fP[3]*fP[3] + fP[4]*fP[4] + fP[5]*fP[5]);
  fP[6] = energy;
  fP[7] = 0;
  fQ = Charge;
  fNDF = 0;
  fChi2 = 0;
  fAtProductionVertex = 0;
  fIsLinearized = 0;
  fSFromDecay = 0;
 
  fvec energyInv = 1./energy;
  fvec 
    h0 = fP[3]*energyInv,
    h1 = fP[4]*energyInv,
    h2 = fP[5]*energyInv;
 
  fC[21] = h0*fC[ 6] + h1*fC[10] + h2*fC[15];
  fC[22] = h0*fC[ 7] + h1*fC[11] + h2*fC[16];
  fC[23] = h0*fC[ 8] + h1*fC[12] + h2*fC[17];
  fC[24] = h0*fC[ 9] + h1*fC[13] + h2*fC[18];
  fC[25] = h0*fC[13] + h1*fC[14] + h2*fC[19];
  fC[26] = h0*fC[18] + h1*fC[19] + h2*fC[20];
  fC[27] = ( h0*h0*fC[ 9] + h1*h1*fC[14] + h2*h2*fC[20] 
       + 2*(h0*h1*fC[13] + h0*h2*fC[18] + h1*h2*fC[19] ) );
  for( Int_t i=28; i<36; i++ ) fC[i] = 0;
  fC[35] = 1.;
 
  SumDaughterMass = Mass;
  fMassHypo = Mass;
}
 
void KFParticleBaseSIMD::Initialize()
{
  //* Initialise covariance matrix and set current parameters to 0.0 
 
  for( Int_t i=0; i<8; i++) fP[i] = 0;
  for(Int_t i=0;i<36;++i) fC[i]=0.;
  fC[0] = fC[2] = fC[5] = 100.;
  fC[35] = 1.;
  fNDF  = -3;
  fChi2 =  0.;
  fQ = 0;
  fSFromDecay = 0;
  fAtProductionVertex = 0;
  fVtxGuess[0]=fVtxGuess[1]=fVtxGuess[2]=0.;
  fVtxErrGuess[0]=fVtxErrGuess[1]=fVtxErrGuess[2]=0.;
  fIsVtxGuess = 0;
  fIsVtxGuess = 0;
  fIsLinearized = 0;
  SumDaughterMass = 0;
  fMassHypo = -1;
}
 
void KFParticleBaseSIMD::SetVtxGuess( fvec x, fvec y, fvec z )
{
  //* Set decay vertex parameters for linearisation 
 
  fVtxGuess[0] = x;
  fVtxGuess[1] = y;
  fVtxGuess[2] = z;
  fIsLinearized = 1;
}
 
void KFParticleBaseSIMD::SetVtxErrGuess( fvec &dx, fvec &dy, fvec &dz )
{
  //* Set errors of the decay vertex parameters for linearisation 
 
  fVtxErrGuess[0] = dx;
  fVtxErrGuess[1] = dy;
  fVtxErrGuess[2] = dz;
  fIsVtxErrGuess = 1;
}
 
fvec KFParticleBaseSIMD::GetMomentum( fvec &p, fvec &error )  const 
{
  //* Calculate particle momentum
 
  fvec ret = Zero;
 
  fvec x = fP[3];
  fvec y = fP[4];
  fvec z = fP[5];
  fvec x2 = x*x;
  fvec y2 = y*y;
  fvec z2 = z*z;
  fvec p2 = x2+y2+z2;
  p = sqrt(p2);
  error = (x2*fC[9]+y2*fC[14]+z2*fC[20] + 2*(x*y*fC[13]+x*z*fC[18]+y*z*fC[19]) );
  const fvec LocalSmall = 1.e-4;
  fvec mask = fvec( fvec(Zero < error) & fvec(LocalSmall < fabs(p)));
  error = (mask & error);
  error = sqrt(error);
  ret = (!mask);
  return ret;
}
 
fvec KFParticleBaseSIMD::GetPt( fvec &pt, fvec &error )  const 
{
  //* Calculate particle transverse momentum
 
  fvec ret = Zero;
 
  fvec px = fP[3];
  fvec py = fP[4];
  fvec px2 = px*px;
  fvec py2 = py*py;
  fvec pt2 = px2+py2;
  pt = sqrt(pt2);
  error = (px2*fC[9] + py2*fC[14] + 2*px*py*fC[13] );
  const fvec LocalSmall = 1.e-8;
  fvec mask = fvec( fvec(Zero < error) & fvec(LocalSmall < fabs(pt)));
  error = (mask & error);
  error = sqrt(error);
  error = error/pt;
  error += ((!mask) & fvec(1.e10));
  ret = (!mask);
  return ret;
}
 
fvec KFParticleBaseSIMD::GetEta( fvec &eta, fvec &error )  const 
{
  //* Calculate particle pseudorapidity
 
  fvec ret = Zero;
 
  const fvec BIG = 1.e10;
  const fvec LocalSmall = 1.e-8;
 
  fvec px = fP[3];
  fvec py = fP[4];
  fvec pz = fP[5];
  fvec pt2 = px*px + py*py;
  fvec p2 = pt2 + pz*pz;
  fvec p = sqrt(p2);
  fvec a = p + pz;
  fvec b = p - pz;
  eta = BIG;
  fvec c = Zero;
  c = fvec(b > LocalSmall) & (a/b);
  fvec logc = 0.5*log(c);
  eta = if3(fvec(LocalSmall<fabs(c)), logc, eta);
 
  fvec h3 = -px*pz;
  fvec h4 = -py*pz;  
  fvec pt4 = pt2*pt2;
  fvec p2pt4 = p2*pt4;
  error = (h3*h3*fC[9] + h4*h4*fC[14] + pt4*fC[20] + 2*( h3*(h4*fC[13] + fC[18]*pt2) + pt2*h4*fC[19] ) );
 
  fvec mask = fvec(fvec(LocalSmall < fabs(p2pt4)) & fvec(Zero < error));
  error = if3( mask, (sqrt(error/p2pt4)), BIG);
 
  ret = (!mask);
 
  return ret;
}
 
fvec KFParticleBaseSIMD::GetPhi( fvec &phi, fvec &error )  const 
{
  //* Calculate particle polar angle
 
  fvec ret = Zero;
 
  fvec px = fP[3];
  fvec py = fP[4];
  fvec px2 = px*px;
  fvec py2 = py*py;
  fvec pt2 = px2 + py2;
  phi = atan2(py,px);
  error = (py2*fC[9] + px2*fC[14] - fvec(2.f)*px*py*fC[13] );
 
  fvec mask = fvec(fvec(Zero < error) & fvec(fvec(1.e-4) < pt2));
  error = if3( mask, sqrt(error)/pt2, fvec(1.e10));
  ret = !mask;
  return ret;
}
 
fvec KFParticleBaseSIMD::GetR( fvec &r, fvec &error )  const 
{
  //* Calculate distance to the origin
 
  fvec ret = Zero;
 
  fvec x = fP[0];
  fvec y = fP[1];
  fvec x2 = x*x;
  fvec y2 = y*y;
  r = sqrt(x2 + y2);
  error = (x2*fC[0] + y2*fC[2] - fvec(2.f)*x*y*fC[1] );
 
  fvec mask = fvec(fvec(Zero < error) & fvec(fvec(1.e-4) < r));
  error = if3( mask, sqrt(error)/r, fvec(1.e10));
  ret = !mask;
  return ret;
}
 
fvec KFParticleBaseSIMD::GetMass( fvec &m, fvec &error ) const 
{
  //* Calculate particle mass
  
  // s = sigma^2 of m2/2
 
  const fvec BIG = 1.e20;
  const fvec LocalSmall = 1.e-10;
 
  fvec ret = Zero;
 
  fvec s = (  fP[3]*fP[3]*fC[9] + fP[4]*fP[4]*fC[14] + fP[5]*fP[5]*fC[20] 
      + fP[6]*fP[6]*fC[27] 
    +fvec(2.f)*( + fP[3]*fP[4]*fC[13] + fP[5]*(fP[3]*fC[18] + fP[4]*fC[19]) 
         - fP[6]*( fP[3]*fC[24] + fP[4]*fC[25] + fP[5]*fC[26] )   )
     ); 
//   fvec m2 = fabs(fP[6]*fP[6] - fP[3]*fP[3] - fP[4]*fP[4] - fP[5]*fP[5]);
//   m  = sqrt(m2);
//   if( m>1.e-10 ){
//     if( s>=0 ){
//       error = sqrt(s)/m;
//       return 0;
//     }
//   }
//   error = 1.e20;
  fvec m2 = (fP[6]*fP[6] - fP[3]*fP[3] - fP[4]*fP[4] - fP[5]*fP[5]);
 
  fvec mask = fvec(Zero <= m2);
  m = if3(mask, sqrt(m2), -sqrt(-m2));
 
  mask = fvec(mask & fvec(fvec(Zero <= s) & (LocalSmall < m)));
  error = if3(mask, sqrt(s)/m, BIG);
 
  ret = !mask;
  return ret;
}
 
 
fvec KFParticleBaseSIMD::GetDecayLength( fvec &l, fvec &error ) const 
{
  //* Calculate particle decay length [cm]
 
  fvec ret = Zero;
  const fvec BIG = 1.e20;
 
  fvec x = fP[3];
  fvec y = fP[4];
  fvec z = fP[5];
  fvec t = fP[7];
  fvec x2 = x*x;
  fvec y2 = y*y;
  fvec z2 = z*z;
  fvec p2 = x2+y2+z2;
  l = t*sqrt(p2);
 
  error = p2*fC[35] + t*t/p2*(x2*fC[9]+y2*fC[14]+z2*fC[20]
        + fvec(2.f)*(x*y*fC[13]+x*z*fC[18]+y*z*fC[19]) )
        + fvec(2.f)*t*(x*fC[31]+y*fC[32]+z*fC[33]);
 
  fvec mask = fvec(fvec(1.e-4) < p2);
  error = if3( mask, sqrt(fabs(error)), BIG);
  ret = !mask;
  return ret;
}
 
fvec KFParticleBaseSIMD::GetDecayLengthXY( fvec &l, fvec &error ) const 
{
  //* Calculate particle decay length in XY projection [cm]
 
  const fvec BIG = 1.e20;
  fvec ret = Zero;
 
  fvec x = fP[3];
  fvec y = fP[4];
  fvec t = fP[7];
  fvec x2 = x*x;
  fvec y2 = y*y;
  fvec pt2 = x2+y2;
  l = t*sqrt(pt2);
 
  error = pt2*fC[35] + t*t/pt2*(x2*fC[9]+y2*fC[14] + 2*x*y*fC[13] )
        + fvec(2.f)*t*(x*fC[31]+y*fC[32]);
  fvec mask = fvec(fvec(1.e-4) < pt2);
  error = if3( mask, sqrt(fabs(error)), BIG);
  ret = !mask;
  return ret;
}
 
 
fvec KFParticleBaseSIMD::GetLifeTime( fvec &tauC, fvec &error ) const 
{
  //* Calculate particle decay time [s]
 
  const fvec BIG = 1.e20;
  fvec ret = Zero;
 
  fvec m, dm;
  GetMass( m, dm );
  fvec cTM = (-fP[3]*fC[31] - fP[4]*fC[32] - fP[5]*fC[33] + fP[6]*fC[34]);
  tauC = fP[7]*m;
  error = m*m*fC[35] + 2*fP[7]*cTM + fP[7]*fP[7]*dm*dm;
  fvec mask = fvec(Zero < error);
  error = if3( mask, sqrt(error), BIG);
  ret = !mask;
  return ret;
}
 
 
void KFParticleBaseSIMD::operator +=( const KFParticleBaseSIMD &Daughter )
{
  //* Add daughter via operator+=
 
  AddDaughter( Daughter );
}
  
fvec KFParticleBaseSIMD::GetSCorrection( const fvec Part[], const fvec XYZ[] ) const
{
  //* Get big enough correction for S error to let the particle Part be fitted to XYZ point
  
  fvec d[3] = { XYZ[0]-Part[0], XYZ[1]-Part[1], XYZ[2]-Part[2] };
  fvec p2 = Part[3]*Part[3]+Part[4]*Part[4]+Part[5]*Part[5];
//  fvec sigmaS = if3( fvec(fvec(1.e-4)<p2) , ( fvec(10.1)+fvec(3.)*sqrt( d[0]*d[0]+d[1]*d[1]+d[2]*d[2]) )/sqrt(p2) , One);
//  fvec sigmaS = if3( fvec(fvec(1.e-4)<p2) , ( fvec(0.1)+fvec(10.)*sqrt( d[0]*d[0]+d[1]*d[1]+d[2]*d[2]) )/sqrt(p2) , One);
 
 fvec sigmaS = if3( fvec(fvec(1.e-4)<p2) , fvec(0.1)+fvec(10.)*sqrt( (d[0]*d[0]+d[1]*d[1]+d[2]*d[2])/p2 ) , One);
//   fvec sigmaS = GetDStoPoint(XYZ)*0.08;
 
  return sigmaS;
}
 
void KFParticleBaseSIMD::GetMeasurement( const fvec XYZ[], fvec m[], fvec V[], Bool_t isAtVtxGuess ) const
{
  //* Get additional covariances V used during measurement
 
  fvec b[3];
  GetFieldValue( XYZ, b );
  const fvec kCLight =  0.000299792458;
  b[0]*=kCLight*GetQ(); b[1]*=kCLight*GetQ(); b[2]*=kCLight*GetQ();
 
  if(!isAtVtxGuess)
    Transport( GetDStoPoint(XYZ), m, V );
  else
  {
    for(int iM=0; iM<8; iM++)
      m[iM] = fP[iM];
    for(int iV=0; iV<8; iV++)
      V[iV] = fC[iV];
  }
 
  fvec sigmaS = GetSCorrection( m, XYZ );
 
  fvec h[6];
 
  h[0] = m[3]*sigmaS;
  h[1] = m[4]*sigmaS;
  h[2] = m[5]*sigmaS;
  h[3] = ( h[1]*b[2]-h[2]*b[1] );
  h[4] = ( h[2]*b[0]-h[0]*b[2] );
  h[5] = ( h[0]*b[1]-h[1]*b[0] );
  
  V[ 0]+= h[0]*h[0];
  V[ 1]+= h[1]*h[0];
  V[ 2]+= h[1]*h[1];
  V[ 3]+= h[2]*h[0];
  V[ 4]+= h[2]*h[1];
  V[ 5]+= h[2]*h[2];
 
  V[ 6]+= h[3]*h[0];
  V[ 7]+= h[3]*h[1];
  V[ 8]+= h[3]*h[2];
  V[ 9]+= h[3]*h[3];
 
  V[10]+= h[4]*h[0];
  V[11]+= h[4]*h[1];
  V[12]+= h[4]*h[2];
  V[13]+= h[4]*h[3];
  V[14]+= h[4]*h[4];
 
  V[15]+= h[5]*h[0];
  V[16]+= h[5]*h[1];
  V[17]+= h[5]*h[2];
  V[18]+= h[5]*h[3];
  V[19]+= h[5]*h[4];
  V[20]+= h[5]*h[5];
 
}
 
void KFParticleBaseSIMD::AddDaughter( const KFParticleBaseSIMD &Daughter, Bool_t isAtVtxGuess )
{
  AddDaughterId( Daughter.Id() );
 
  if( fNDF[0]<-1 ){ // first daughter -> just copy
    fNDF   = -1;
    fQ     =  Daughter.GetQ();
    if( Daughter.fC[35][0]>0 ){ //TODO Check this: only the first daughter is used here!
      Daughter.GetMeasurement( fVtxGuess, fP, fC, isAtVtxGuess );
    } else {
      for( Int_t i=0; i<8; i++ ) fP[i] = Daughter.fP[i];
      for( Int_t i=0; i<36; i++ ) fC[i] = Daughter.fC[i];
    }
    fSFromDecay = 0;
    fMassHypo = Daughter.fMassHypo;
    SumDaughterMass = Daughter.SumDaughterMass;
    return;
  }
 
  if(fConstructMethod == 0)
    AddDaughterWithEnergyFit(Daughter,isAtVtxGuess);
  else if(fConstructMethod == 1)
    AddDaughterWithEnergyCalc(Daughter,isAtVtxGuess);
  else if(fConstructMethod == 2)
    AddDaughterWithEnergyFitMC(Daughter,isAtVtxGuess);
 
  SumDaughterMass += Daughter.SumDaughterMass;
  fMassHypo = -1;
}
 
void KFParticleBaseSIMD::AddDaughterWithEnergyFit( const KFParticleBaseSIMD &Daughter, Bool_t isAtVtxGuess )
{
  //* Energy considered as an independent veriable, fitted independently from momentum, without any constraints on mass
 
  //* Add daughter 
 
//   if(!isAtVtxGuess)
//     TransportToDecayVertex();
 
  Int_t maxIter = 1;
 
  if( (!fIsLinearized) && (!isAtVtxGuess) ){
    if( fNDF[0]==-1 ){
      fvec ds, ds1;
      GetDStoParticle(Daughter, ds, ds1);      
      TransportToDS( ds );
      fvec m[8];
      fvec mCd[36];       
      Daughter.Transport( ds1, m, mCd );    
      fVtxGuess[0] = .5*( fP[0] + m[0] );
      fVtxGuess[1] = .5*( fP[1] + m[1] );
      fVtxGuess[2] = .5*( fP[2] + m[2] );
    } else {
      fVtxGuess[0] = fP[0];
      fVtxGuess[1] = fP[1];
      fVtxGuess[2] = fP[2]; 
    }
    maxIter = 3;
  }
 
  for( Int_t iter=0; iter<maxIter; iter++ ){
 
    fvec *ffP = fP, *ffC = fC;
 
    fvec m[8], mV[36];
 
    if( Daughter.fC[35][0]>0 ){ //TODO Check this: only the first daughter is used here!
      Daughter.GetMeasurement( fVtxGuess, m, mV, isAtVtxGuess );
    } else {
      for( Int_t i=0; i<8; i++ ) m[i] = Daughter.fP[i];
      for( Int_t i=0; i<36; i++ ) mV[i] = Daughter.fC[i];
    }
    //*
 
    fvec mS[6]= { ffC[0]+mV[0], 
                  ffC[1]+mV[1], ffC[2]+mV[2], 
                  ffC[3]+mV[3], ffC[4]+mV[4], ffC[5]+mV[5] };
    InvertCholetsky3(mS);
 
    //* Residual (measured - estimated)
 
    fvec zeta[3] = { m[0]-ffP[0], m[1]-ffP[1], m[2]-ffP[2] };    
 
 
    //* CHt = CH' - D'
 
    fvec mCHt0[7], mCHt1[7], mCHt2[7];
 
    mCHt0[0]=ffC[ 0] ;       mCHt1[0]=ffC[ 1] ;       mCHt2[0]=ffC[ 3] ;
    mCHt0[1]=ffC[ 1] ;       mCHt1[1]=ffC[ 2] ;       mCHt2[1]=ffC[ 4] ;
    mCHt0[2]=ffC[ 3] ;       mCHt1[2]=ffC[ 4] ;       mCHt2[2]=ffC[ 5] ;
    mCHt0[3]=ffC[ 6]-mV[ 6]; mCHt1[3]=ffC[ 7]-mV[ 7]; mCHt2[3]=ffC[ 8]-mV[ 8];
    mCHt0[4]=ffC[10]-mV[10]; mCHt1[4]=ffC[11]-mV[11]; mCHt2[4]=ffC[12]-mV[12];
    mCHt0[5]=ffC[15]-mV[15]; mCHt1[5]=ffC[16]-mV[16]; mCHt2[5]=ffC[17]-mV[17];
    mCHt0[6]=ffC[21]-mV[21]; mCHt1[6]=ffC[22]-mV[22]; mCHt2[6]=ffC[23]-mV[23];
  
    //* Kalman gain K = mCH'*S
    
    fvec k0[7], k1[7], k2[7];
    
    for(Int_t i=0;i<7;++i){
      k0[i] = mCHt0[i]*mS[0] + mCHt1[i]*mS[1] + mCHt2[i]*mS[3];
      k1[i] = mCHt0[i]*mS[1] + mCHt1[i]*mS[2] + mCHt2[i]*mS[4];
      k2[i] = mCHt0[i]*mS[3] + mCHt1[i]*mS[4] + mCHt2[i]*mS[5];
    }
 
   //* New estimation of the vertex position 
 
    if( iter<maxIter-1 ){
      for(Int_t i=0; i<3; ++i) 
  fVtxGuess[i]= ffP[i] + k0[i]*zeta[0]+k1[i]*zeta[1]+k2[i]*zeta[2];
      continue;
    }
 
    // last itearation -> update the particle
 
    //* Add the daughter momentum to the particle momentum
    
    ffP[ 3] += m[ 3];
    ffP[ 4] += m[ 4];
    ffP[ 5] += m[ 5];
    ffP[ 6] += m[ 6];
  
    ffC[ 9] += mV[ 9];
    ffC[13] += mV[13];
    ffC[14] += mV[14];
    ffC[18] += mV[18];
    ffC[19] += mV[19];
    ffC[20] += mV[20];
    ffC[24] += mV[24];
    ffC[25] += mV[25];
    ffC[26] += mV[26];
    ffC[27] += mV[27];
    
 
   //* New estimation of the vertex position r += K*zeta
    
    for(Int_t i=0;i<7;++i) 
      fP[i] = ffP[i] + (k0[i]*zeta[0] + k1[i]*zeta[1] + k2[i]*zeta[2]);
    
    //* New covariance matrix C -= K*(mCH')'
 
    for(Int_t i=0, k=0;i<7;++i){
      for(Int_t j=0;j<=i;++j,++k){
  fC[k] = ffC[k] - (k0[i]*mCHt0[j] + k1[i]*mCHt1[j] + k2[i]*mCHt2[j] );
      }
    }
  
    //* Calculate Chi^2 
    if( iter == (maxIter-1) ) {
      fNDF  += 2;
      fQ    +=  Daughter.GetQ();
      fSFromDecay = 0;    
      fChi2 += (mS[0]*zeta[0] + mS[1]*zeta[1] + mS[3]*zeta[2])*zeta[0]
        +      (mS[1]*zeta[0] + mS[2]*zeta[1] + mS[4]*zeta[2])*zeta[1]
        +      (mS[3]*zeta[0] + mS[4]*zeta[1] + mS[5]*zeta[2])*zeta[2];     
    }
 
  }
}
 
void KFParticleBaseSIMD::AddDaughterWithEnergyCalc( const KFParticleBaseSIMD &Daughter, Bool_t isAtVtxGuess )
{
  //* Energy considered as a dependent variable, calculated from the momentum and mass hypothesis
 
  //* Add daughter 
 
//   if(!isAtVtxGuess)
//     TransportToDecayVertex();
 
  Int_t maxIter = 1;
 
  if( (!fIsLinearized) && (!isAtVtxGuess) ){
    if( fNDF[0]==-1 ){
      fvec ds, ds1;
      GetDStoParticle(Daughter, ds, ds1);      
      TransportToDS( ds );
      fvec m[8];
      fvec mCd[36];       
      Daughter.Transport( ds1, m, mCd );    
      fVtxGuess[0] = .5*( fP[0] + m[0] );
      fVtxGuess[1] = .5*( fP[1] + m[1] );
      fVtxGuess[2] = .5*( fP[2] + m[2] );
    } else {
      fVtxGuess[0] = fP[0];
      fVtxGuess[1] = fP[1];
      fVtxGuess[2] = fP[2]; 
    }
    maxIter = 3;
  }
 
  for( Int_t iter=0; iter<maxIter; iter++ ){
 
    fvec *ffP = fP, *ffC = fC;
 
    fvec m[8], mV[36];
 
    if( Daughter.fC[35][0]>0 ){ //TODO Check this: only the first daughter is used here!
      Daughter.GetMeasurement( fVtxGuess, m, mV, isAtVtxGuess );
    } else {
      for( Int_t i=0; i<8; i++ ) m[i] = Daughter.fP[i];
      for( Int_t i=0; i<36; i++ ) mV[i] = Daughter.fC[i];
    }
 
    fvec massMf2 = m[6]*m[6] - (m[3]*m[3] + m[4]*m[4] + m[5]*m[5]);
    fvec massRf2 = fP[6]*fP[6] - (fP[3]*fP[3] + fP[4]*fP[4] + fP[5]*fP[5]);
 
    //*
 
    fvec mS[6]= { ffC[0]+mV[0], 
                  ffC[1]+mV[1], ffC[2]+mV[2], 
                  ffC[3]+mV[3], ffC[4]+mV[4], ffC[5]+mV[5] };
    InvertCholetsky3(mS);
 
    //* Residual (measured - estimated)
 
    fvec zeta[3] = { m[0]-ffP[0], m[1]-ffP[1], m[2]-ffP[2] };    
 
    //* CHt = CH' - D'
 
    fvec mCHt0[6], mCHt1[6], mCHt2[6];
 
    mCHt0[0]=ffC[ 0] ;       mCHt1[0]=ffC[ 1] ;       mCHt2[0]=ffC[ 3] ;
    mCHt0[1]=ffC[ 1] ;       mCHt1[1]=ffC[ 2] ;       mCHt2[1]=ffC[ 4] ;
    mCHt0[2]=ffC[ 3] ;       mCHt1[2]=ffC[ 4] ;       mCHt2[2]=ffC[ 5] ;
    mCHt0[3]=ffC[ 6]-mV[ 6]; mCHt1[3]=ffC[ 7]-mV[ 7]; mCHt2[3]=ffC[ 8]-mV[ 8];
    mCHt0[4]=ffC[10]-mV[10]; mCHt1[4]=ffC[11]-mV[11]; mCHt2[4]=ffC[12]-mV[12];
    mCHt0[5]=ffC[15]-mV[15]; mCHt1[5]=ffC[16]-mV[16]; mCHt2[5]=ffC[17]-mV[17];
 
    //* Kalman gain K = mCH'*S
 
    fvec k0[6], k1[6], k2[6];
 
    for(Int_t i=0;i<6;++i){
      k0[i] = mCHt0[i]*mS[0] + mCHt1[i]*mS[1] + mCHt2[i]*mS[3];
      k1[i] = mCHt0[i]*mS[1] + mCHt1[i]*mS[2] + mCHt2[i]*mS[4];
      k2[i] = mCHt0[i]*mS[3] + mCHt1[i]*mS[4] + mCHt2[i]*mS[5];
    }
 
   //* New estimation of the vertex position 
 
    if( iter<maxIter-1 ){
      for(Int_t i=0; i<3; ++i) 
  fVtxGuess[i]= ffP[i] + k0[i]*zeta[0]+k1[i]*zeta[1]+k2[i]*zeta[2];
      continue;
    }
 
   //* find mf and mVf - optimum value of the measurement and its covariance matrix
    //* mVHt = V*H'
    fvec mVHt0[6], mVHt1[6], mVHt2[6];
 
    mVHt0[0]= mV[ 0] ; mVHt1[0]= mV[ 1] ; mVHt2[0]= mV[ 3] ;
    mVHt0[1]= mV[ 1] ; mVHt1[1]= mV[ 2] ; mVHt2[1]= mV[ 4] ;
    mVHt0[2]= mV[ 3] ; mVHt1[2]= mV[ 4] ; mVHt2[2]= mV[ 5] ;
    mVHt0[3]= mV[ 6] ; mVHt1[3]= mV[ 7] ; mVHt2[3]= mV[ 8] ;
    mVHt0[4]= mV[10] ; mVHt1[4]= mV[11] ; mVHt2[4]= mV[12] ;
    mVHt0[5]= mV[15] ; mVHt1[5]= mV[16] ; mVHt2[5]= mV[17] ;
 
    //* Kalman gain Km = mCH'*S
 
    fvec km0[6], km1[6], km2[6];
 
    for(Int_t i=0;i<6;++i){
      km0[i] = mVHt0[i]*mS[0] + mVHt1[i]*mS[1] + mVHt2[i]*mS[3];
      km1[i] = mVHt0[i]*mS[1] + mVHt1[i]*mS[2] + mVHt2[i]*mS[4];
      km2[i] = mVHt0[i]*mS[3] + mVHt1[i]*mS[4] + mVHt2[i]*mS[5];
    }
 
    fvec mf[7] = { m[0], m[1], m[2], m[3], m[4], m[5], m[6] };
 
    for(Int_t i=0;i<6;++i) 
      mf[i] = mf[i] - km0[i]*zeta[0] - km1[i]*zeta[1] - km2[i]*zeta[2];
 
    fvec energyMf = sqrt( massMf2 + (mf[3]*mf[3] + mf[4]*mf[4] + mf[5]*mf[5]) );
 
    fvec mVf[28];
    for(Int_t iC=0; iC<28; iC++)
      mVf[iC] = mV[iC];
 
    //* hmf = d(energyMf)/d(mf)
    fvec hmf[7];
    hmf[3] = if3( fvec(fabs(energyMf) < small), Zero, hmf[3]/energyMf);
    hmf[4] = if3( fvec(fabs(energyMf) < small), Zero, hmf[4]/energyMf);
    hmf[5] = if3( fvec(fabs(energyMf) < small), Zero, hmf[5]/energyMf);
    hmf[6] = 0;
 
    for(Int_t i=0, k=0;i<6;++i){
      for(Int_t j=0;j<=i;++j,++k){
        mVf[k] = mVf[k] - (km0[i]*mVHt0[j] + km1[i]*mVHt1[j] + km2[i]*mVHt2[j] );
      }
    }
    fvec mVf24 = mVf[24], mVf25 = mVf[25], mVf26 = mVf[26];
    mVf[21] = mVf[6 ]*hmf[3] + mVf[10]*hmf[4] + mVf[15]*hmf[5] + mVf[21]*hmf[6];
    mVf[22] = mVf[7 ]*hmf[3] + mVf[11]*hmf[4] + mVf[16]*hmf[5] + mVf[22]*hmf[6];
    mVf[23] = mVf[8 ]*hmf[3] + mVf[12]*hmf[4] + mVf[17]*hmf[5] + mVf[23]*hmf[6];
    mVf[24] = mVf[9 ]*hmf[3] + mVf[13]*hmf[4] + mVf[18]*hmf[5] + mVf[24]*hmf[6];
    mVf[25] = mVf[13]*hmf[3] + mVf[14]*hmf[4] + mVf[19]*hmf[5] + mVf[25]*hmf[6];
    mVf[26] = mVf[18]*hmf[3] + mVf[19]*hmf[4] + mVf[20]*hmf[5] + mVf[26]*hmf[6];
    mVf[27] = mVf[24]*hmf[3] + mVf[25]*hmf[4] + mVf[26]*hmf[5] + (mVf24*hmf[3] + mVf25*hmf[4] + mVf26*hmf[5] + mVf[27]*hmf[6])*hmf[6]; //here mVf[] are already modified
 
    mf[6] = energyMf;
 
    //* find rf and mCf - optimum value of the measurement and its covariance matrix
 
    //* mCCHt = C*H'
    fvec mCCHt0[6], mCCHt1[6], mCCHt2[6];
 
    mCCHt0[0]=ffC[ 0]; mCCHt1[0]=ffC[ 1]; mCCHt2[0]=ffC[ 3];
    mCCHt0[1]=ffC[ 1]; mCCHt1[1]=ffC[ 2]; mCCHt2[1]=ffC[ 4];
    mCCHt0[2]=ffC[ 3]; mCCHt1[2]=ffC[ 4]; mCCHt2[2]=ffC[ 5];
    mCCHt0[3]=ffC[ 6]; mCCHt1[3]=ffC[ 7]; mCCHt2[3]=ffC[ 8];
    mCCHt0[4]=ffC[10]; mCCHt1[4]=ffC[11]; mCCHt2[4]=ffC[12];
    mCCHt0[5]=ffC[15]; mCCHt1[5]=ffC[16]; mCCHt2[5]=ffC[17];
 
    //* Kalman gain Krf = mCH'*S
 
    fvec krf0[6], krf1[6], krf2[6];
 
    for(Int_t i=0;i<6;++i){
      krf0[i] = mCCHt0[i]*mS[0] + mCCHt1[i]*mS[1] + mCCHt2[i]*mS[3];
      krf1[i] = mCCHt0[i]*mS[1] + mCCHt1[i]*mS[2] + mCCHt2[i]*mS[4];
      krf2[i] = mCCHt0[i]*mS[3] + mCCHt1[i]*mS[4] + mCCHt2[i]*mS[5];
    }
    fvec rf[7] = { ffP[0], ffP[1], ffP[2], ffP[3], ffP[4], ffP[5], ffP[6] };
 
    for(Int_t i=0;i<6;++i) 
      rf[i] = rf[i] + krf0[i]*zeta[0] + krf1[i]*zeta[1] + krf2[i]*zeta[2];
 
    fvec energyRf = sqrt( massRf2 + (rf[3]*rf[3] + rf[4]*rf[4] + rf[5]*rf[5]) );
 
    fvec mCf[28];
    for(Int_t iC=0; iC<28; iC++)
      mCf[iC] = ffC[iC];
    //* hrf = d(Erf)/d(rf)
    fvec hrf[7];
    hrf[3] = if3( fvec(fabs(energyRf) < small), Zero, rf[3]/energyRf);
    hrf[4] = if3( fvec(fabs(energyRf) < small), Zero, rf[4]/energyRf);
    hrf[5] = if3( fvec(fabs(energyRf) < small), Zero, rf[5]/energyRf);
//    hrf[6] = if3( fvec(fabs(E_rf) < small), Zero, rf[6]/E_rf);
    hrf[6] = 0;
 
    for(Int_t i=0, k=0;i<6;++i){
      for(Int_t j=0;j<=i;++j,++k){
        mCf[k] = mCf[k] - (krf0[i]*mCCHt0[j] + krf1[i]*mCCHt1[j] + krf2[i]*mCCHt2[j] );
      }
    }
    fvec mCf24 = mCf[24], mCf25 = mCf[25], mCf26 = mCf[26];
    mCf[21] = mCf[6 ]*hrf[3] + mCf[10]*hrf[4] + mCf[15]*hrf[5] + mCf[21]*hrf[6];
    mCf[22] = mCf[7 ]*hrf[3] + mCf[11]*hrf[4] + mCf[16]*hrf[5] + mCf[22]*hrf[6];
    mCf[23] = mCf[8 ]*hrf[3] + mCf[12]*hrf[4] + mCf[17]*hrf[5] + mCf[23]*hrf[6];
    mCf[24] = mCf[9 ]*hrf[3] + mCf[13]*hrf[4] + mCf[18]*hrf[5] + mCf[24]*hrf[6];
    mCf[25] = mCf[13]*hrf[3] + mCf[14]*hrf[4] + mCf[19]*hrf[5] + mCf[25]*hrf[6];
    mCf[26] = mCf[18]*hrf[3] + mCf[19]*hrf[4] + mCf[20]*hrf[5] + mCf[26]*hrf[6];
    mCf[27] = mCf[24]*hrf[3] + mCf[25]*hrf[4] + mCf[26]*hrf[5] + (mCf24*hrf[3] + mCf25*hrf[4] + mCf26*hrf[5] + mCf[27]*hrf[6])*hrf[6]; //here mCf[] are already modified
 
    for(Int_t iC=21; iC<28; iC++)
    {
      ffC[iC] = mCf[iC];
      mV[iC]  = mVf[iC];
    }
 
    fP[6] = energyRf + energyMf;
    rf[6] = energyRf;
 
    //fvec Dvv[3][3]; do not need this
    fvec mDvp[3][3];
    fvec mDpv[3][3];
    fvec mDpp[3][3];
    fvec mDe[7];
 
    for(int i=0; i<3; i++)
    {
      for(int j=0; j<3; j++)
      {
        mDvp[i][j] = km0[i+3]*mCCHt0[j] + km1[i+3]*mCCHt1[j] + km2[i+3]*mCCHt2[j];
        mDpv[i][j] = km0[i]*mCCHt0[j+3] + km1[i]*mCCHt1[j+3] + km2[i]*mCCHt2[j+3];
        mDpp[i][j] = km0[i+3]*mCCHt0[j+3] + km1[i+3]*mCCHt1[j+3] + km2[i+3]*mCCHt2[j+3];
      }
    }
 
    mDe[0] = hmf[3]*mDvp[0][0] + hmf[4]*mDvp[1][0] + hmf[5]*mDvp[2][0];
    mDe[1] = hmf[3]*mDvp[0][1] + hmf[4]*mDvp[1][1] + hmf[5]*mDvp[2][1];
    mDe[2] = hmf[3]*mDvp[0][2] + hmf[4]*mDvp[1][2] + hmf[5]*mDvp[2][2];
    mDe[3] = hmf[3]*mDpp[0][0] + hmf[4]*mDpp[1][0] + hmf[5]*mDpp[2][0];
    mDe[4] = hmf[3]*mDpp[0][1] + hmf[4]*mDpp[1][1] + hmf[5]*mDpp[2][1];
    mDe[5] = hmf[3]*mDpp[0][2] + hmf[4]*mDpp[1][2] + hmf[5]*mDpp[2][2];
    mDe[6] = 2*(mDe[3]*hrf[3] + mDe[4]*hrf[4] + mDe[5]*hrf[5]);
 
    // last itearation -> update the particle
 
    //* Add the daughter momentum to the particle momentum
 
    ffP[ 3] += m[ 3];
    ffP[ 4] += m[ 4];
    ffP[ 5] += m[ 5];
 
    ffC[ 9] += mV[ 9];
    ffC[13] += mV[13];
    ffC[14] += mV[14];
    ffC[18] += mV[18];
    ffC[19] += mV[19];
    ffC[20] += mV[20];
    ffC[24] += mV[24];
    ffC[25] += mV[25];
    ffC[26] += mV[26];
    ffC[27] += mV[27];
 
    ffC[21] += mDe[0];
    ffC[22] += mDe[1];
    ffC[23] += mDe[2];
    ffC[24] += mDe[3];
    ffC[25] += mDe[4];
    ffC[26] += mDe[5];
    ffC[27] += mDe[6];
 
   //* New estimation of the vertex position r += K*zeta
 
    for(Int_t i=0;i<6;++i) 
      fP[i] = ffP[i] + k0[i]*zeta[0] + k1[i]*zeta[1] + k2[i]*zeta[2];
 
    //* New covariance matrix C -= K*(mCH')'
 
    for(Int_t i=0, k=0;i<6;++i){
      for(Int_t j=0;j<=i;++j,++k){
  fC[k] = ffC[k] - (k0[i]*mCHt0[j] + k1[i]*mCHt1[j] + k2[i]*mCHt2[j] );
      }
    }
 
    for(int i=21; i<28; i++) fC[i] = ffC[i];
 
    //* Calculate Chi^2 
 
    if( iter == (maxIter-1) ) {
      fNDF  += 2;
      fQ    +=  Daughter.GetQ();
      fSFromDecay = 0;    
      fChi2 += (mS[0]*zeta[0] + mS[1]*zeta[1] + mS[3]*zeta[2])*zeta[0]
        +      (mS[1]*zeta[0] + mS[2]*zeta[1] + mS[4]*zeta[2])*zeta[1]
        +      (mS[3]*zeta[0] + mS[4]*zeta[1] + mS[5]*zeta[2])*zeta[2];     
    }
  }
}
 
void KFParticleBaseSIMD::AddDaughterWithEnergyFitMC( const KFParticleBaseSIMD &Daughter, Bool_t isAtVtxGuess )
{
  //* Energy considered as an independent variable, fitted independently from momentum, without any constraints on mass
 
  //* Add daughter 
 
//   if(!isAtVtxGuess)
//     TransportToDecayVertex();
 
  Int_t maxIter = 1;
 
  if( (!fIsLinearized) && (!isAtVtxGuess) ){
    if( fNDF[0]==-1 ){
      fvec ds, ds1;
      GetDStoParticle(Daughter, ds, ds1);      
      TransportToDS( ds );
      fvec m[8];
      fvec mCd[36];       
      Daughter.Transport( ds1, m, mCd );    
      fVtxGuess[0] = .5*( fP[0] + m[0] );
      fVtxGuess[1] = .5*( fP[1] + m[1] );
      fVtxGuess[2] = .5*( fP[2] + m[2] );
    } else {
      fVtxGuess[0] = fP[0];
      fVtxGuess[1] = fP[1];
      fVtxGuess[2] = fP[2]; 
    }
    maxIter = 3;
  }
 
  for( Int_t iter=0; iter<maxIter; iter++ ){
 
    fvec *ffP = fP, *ffC = fC;
    fvec m[8], mV[36];
 
    if( Daughter.fC[35][0]>0 ){ //TODO Check this: only the first daughter is used here!
      Daughter.GetMeasurement( fVtxGuess, m, mV, isAtVtxGuess );
    } else {
      for( Int_t i=0; i<8; i++ ) m[i] = Daughter.fP[i];
      for( Int_t i=0; i<36; i++ ) mV[i] = Daughter.fC[i];
    }
    //*
 
    fvec mS[6]= { ffC[0]+mV[0], 
                  ffC[1]+mV[1], ffC[2]+mV[2], 
                  ffC[3]+mV[3], ffC[4]+mV[4], ffC[5]+mV[5] };
    InvertCholetsky3(mS);
 
    //* Residual (measured - estimated)
    
    fvec zeta[3] = { m[0]-ffP[0], m[1]-ffP[1], m[2]-ffP[2] };    
 
    
    //* CHt = CH'
    
    fvec mCHt0[7], mCHt1[7], mCHt2[7];
    
    mCHt0[0]=ffC[ 0] ; mCHt1[0]=ffC[ 1] ; mCHt2[0]=ffC[ 3] ;
    mCHt0[1]=ffC[ 1] ; mCHt1[1]=ffC[ 2] ; mCHt2[1]=ffC[ 4] ;
    mCHt0[2]=ffC[ 3] ; mCHt1[2]=ffC[ 4] ; mCHt2[2]=ffC[ 5] ;
    mCHt0[3]=ffC[ 6] ; mCHt1[3]=ffC[ 7] ; mCHt2[3]=ffC[ 8] ;
    mCHt0[4]=ffC[10] ; mCHt1[4]=ffC[11] ; mCHt2[4]=ffC[12] ;
    mCHt0[5]=ffC[15] ; mCHt1[5]=ffC[16] ; mCHt2[5]=ffC[17] ;
    mCHt0[6]=ffC[21] ; mCHt1[6]=ffC[22] ; mCHt2[6]=ffC[23] ;
  
    //* Kalman gain K = mCH'*S
    
    fvec k0[7], k1[7], k2[7];
    
    for(Int_t i=0;i<7;++i){
      k0[i] = mCHt0[i]*mS[0] + mCHt1[i]*mS[1] + mCHt2[i]*mS[3];
      k1[i] = mCHt0[i]*mS[1] + mCHt1[i]*mS[2] + mCHt2[i]*mS[4];
      k2[i] = mCHt0[i]*mS[3] + mCHt1[i]*mS[4] + mCHt2[i]*mS[5];
    }
 
   //* New estimation of the vertex position 
 
    if( iter<maxIter-1 ){
      for(Int_t i=0; i<3; ++i) 
  fVtxGuess[i]= ffP[i] + k0[i]*zeta[0]+k1[i]*zeta[1]+k2[i]*zeta[2];
      continue;
    }
 
    // last itearation -> update the particle
 
    //* VHt = VH'
    
    fvec mVHt0[7], mVHt1[7], mVHt2[7];
    
    mVHt0[0]=mV[ 0] ; mVHt1[0]=mV[ 1] ; mVHt2[0]=mV[ 3] ;
    mVHt0[1]=mV[ 1] ; mVHt1[1]=mV[ 2] ; mVHt2[1]=mV[ 4] ;
    mVHt0[2]=mV[ 3] ; mVHt1[2]=mV[ 4] ; mVHt2[2]=mV[ 5] ;
    mVHt0[3]=mV[ 6] ; mVHt1[3]=mV[ 7] ; mVHt2[3]=mV[ 8] ;
    mVHt0[4]=mV[10] ; mVHt1[4]=mV[11] ; mVHt2[4]=mV[12] ;
    mVHt0[5]=mV[15] ; mVHt1[5]=mV[16] ; mVHt2[5]=mV[17] ;
    mVHt0[6]=mV[21] ; mVHt1[6]=mV[22] ; mVHt2[6]=mV[23] ;
  
    //* Kalman gain Km = mCH'*S
    
    fvec km0[7], km1[7], km2[7];
    
    for(Int_t i=0;i<7;++i){
      km0[i] = mVHt0[i]*mS[0] + mVHt1[i]*mS[1] + mVHt2[i]*mS[3];
      km1[i] = mVHt0[i]*mS[1] + mVHt1[i]*mS[2] + mVHt2[i]*mS[4];
      km2[i] = mVHt0[i]*mS[3] + mVHt1[i]*mS[4] + mVHt2[i]*mS[5];
    }
 
    for(Int_t i=0;i<7;++i) 
      ffP[i] = ffP[i] + k0[i]*zeta[0] + k1[i]*zeta[1] + k2[i]*zeta[2];
 
    for(Int_t i=0;i<7;++i) 
      m[i] = m[i] - km0[i]*zeta[0] - km1[i]*zeta[1] - km2[i]*zeta[2];
 
    for(Int_t i=0, k=0;i<7;++i){
      for(Int_t j=0;j<=i;++j,++k){
  ffC[k] = ffC[k] - (k0[i]*mCHt0[j] + k1[i]*mCHt1[j] + k2[i]*mCHt2[j] );
      }
    }
 
    for(Int_t i=0, k=0;i<7;++i){
      for(Int_t j=0;j<=i;++j,++k){
  mV[k] = mV[k] - (km0[i]*mVHt0[j] + km1[i]*mVHt1[j] + km2[i]*mVHt2[j] );
      }
    }
 
    fvec mDf[7][7];
 
    for(Int_t i=0;i<7;++i){
      for(Int_t j=0;j<7;++j){
  mDf[i][j] = (km0[i]*mCHt0[j] + km1[i]*mCHt1[j] + km2[i]*mCHt2[j] );
      }
    }
 
    fvec mJ1[7][7], mJ2[7][7];
    for(Int_t iPar1=0; iPar1<7; iPar1++)
    {
      for(Int_t iPar2=0; iPar2<7; iPar2++)
      {
        mJ1[iPar1][iPar2] = 0;
        mJ2[iPar1][iPar2] = 0;
      }
    }
 
    fvec mMassParticle  = ffP[6]*ffP[6] - (ffP[3]*ffP[3] + ffP[4]*ffP[4] + ffP[5]*ffP[5]);
    fvec mMassDaughter  = m[6]*m[6] - (m[3]*m[3] + m[4]*m[4] + m[5]*m[5]);
    mMassParticle = if3( fvec( mMassParticle > Zero ), sqrt(mMassParticle) , Zero);
    mMassDaughter = if3( fvec( mMassDaughter > Zero ), sqrt(mMassDaughter) , Zero);
 
    fvec mask1 = fvec(fMassHypo > fvec(-0.5));
    fvec mask2 = fvec ( fvec(!mask1) & fvec( fvec(mMassParticle < SumDaughterMass) | fvec(ffP[6]<Zero)) );
    SetMassConstraint(ffP,ffC,mJ1,fMassHypo, mask1);
    SetMassConstraint(ffP,ffC,mJ1,SumDaughterMass, mask2);
 
    fvec mask3 = fvec(fvec(Daughter.fMassHypo) > fvec(-0.5));
    fvec mask4 = fvec( fvec(!mask3) & fvec( fvec(mMassDaughter<Daughter.SumDaughterMass) | fvec(m[6]<Zero)) );
    SetMassConstraint(m,mV,mJ2,Daughter.fMassHypo, mask3);
    SetMassConstraint(m,mV,mJ2,Daughter.SumDaughterMass, mask4);
 
    fvec mDJ[7][7];
 
    for(Int_t i=0; i<7; i++) {
      for(Int_t j=0; j<7; j++) {
        mDJ[i][j] = 0;
        for(Int_t k=0; k<7; k++) {
          mDJ[i][j] += mDf[i][k]*mJ1[j][k];
        }
      }
    }
 
    for(Int_t i=0; i<7; ++i){
      for(Int_t j=0; j<7; ++j){
        mDf[i][j]=0;
        for(Int_t l=0; l<7; l++){
          mDf[i][j] += mJ2[i][l]*mDJ[l][j];
        }
      }
    }
 
    //* Add the daughter momentum to the particle momentum
 
    ffP[ 3] += m[ 3];
    ffP[ 4] += m[ 4];
    ffP[ 5] += m[ 5];
    ffP[ 6] += m[ 6];
 
    ffC[ 9] += mV[ 9];
    ffC[13] += mV[13];
    ffC[14] += mV[14];
    ffC[18] += mV[18];
    ffC[19] += mV[19];
    ffC[20] += mV[20];
    ffC[24] += mV[24];
    ffC[25] += mV[25];
    ffC[26] += mV[26];
    ffC[27] += mV[27];
 
    ffC[6 ] += mDf[3][0]; ffC[7 ] += mDf[3][1]; ffC[8 ] += mDf[3][2];
    ffC[10] += mDf[4][0]; ffC[11] += mDf[4][1]; ffC[12] += mDf[4][2];
    ffC[15] += mDf[5][0]; ffC[16] += mDf[5][1]; ffC[17] += mDf[5][2];
    ffC[21] += mDf[6][0]; ffC[22] += mDf[6][1]; ffC[23] += mDf[6][2];
 
    ffC[9 ] += mDf[3][3] + mDf[3][3];
    ffC[13] += mDf[4][3] + mDf[3][4]; ffC[14] += mDf[4][4] + mDf[4][4];
    ffC[18] += mDf[5][3] + mDf[3][5]; ffC[19] += mDf[5][4] + mDf[4][5]; ffC[20] += mDf[5][5] + mDf[5][5];
    ffC[24] += mDf[6][3] + mDf[3][6]; ffC[25] += mDf[6][4] + mDf[4][6]; ffC[26] += mDf[6][5] + mDf[5][6]; ffC[27] += mDf[6][6] + mDf[6][6];
 
   //* New estimation of the vertex position r += K*zeta
 
    for(Int_t i=0;i<7;++i) 
      fP[i] = ffP[i];
 
    //* New covariance matrix C -= K*(mCH')'
 
    for(Int_t i=0, k=0;i<7;++i){
      for(Int_t j=0;j<=i;++j,++k){
        fC[k] = ffC[k];
      }
    }
    //* Calculate Chi^2 
 
    if( iter == (maxIter-1) ) {
      fNDF  += 2;
      fQ    +=  Daughter.GetQ();
      fSFromDecay = 0;    
      fChi2 += (mS[0]*zeta[0] + mS[1]*zeta[1] + mS[3]*zeta[2])*zeta[0]
        +      (mS[1]*zeta[0] + mS[2]*zeta[1] + mS[4]*zeta[2])*zeta[1]
        +      (mS[3]*zeta[0] + mS[4]*zeta[1] + mS[5]*zeta[2])*zeta[2];
    }
  }
}
 
void KFParticleBaseSIMD::SetProductionVertex( const KFParticleBaseSIMD &Vtx )
{
  //* Set production vertex for the particle, when the particle was not used in the vertex fit
 
  const fvec *m = Vtx.fP, *mV = Vtx.fC;
 
  Bool_t noS = ( fC[35][0]<=0 ); // no decay length allowed //TODO Check this: only the first daughter is used here!
 
  if( noS ){ 
    TransportToDecayVertex();
    fP[7] = 0;
    fC[28] = fC[29] = fC[30] = fC[31] = fC[32] = fC[33] = fC[34] = fC[35] = 0;
  } else {
    TransportToDS( GetDStoPoint( m ) );
    fP[7] = -fSFromDecay;
    fC[28] = fC[29] = fC[30] = fC[31] = fC[32] = fC[33] = fC[34] = 0;
    fC[35] = 0.1;
 
    Convert(1);
  }
 
  fvec mAi[6] = {fC[0], fC[1], fC[2], fC[3], fC[4], fC[5]};
 
  InvertCholetsky3(mAi);
//  InvertSym3( fC, mAi );
 
  fvec mB[5][3];
 
  mB[0][0] = fC[ 6]*mAi[0] + fC[ 7]*mAi[1] + fC[ 8]*mAi[3];
  mB[0][1] = fC[ 6]*mAi[1] + fC[ 7]*mAi[2] + fC[ 8]*mAi[4];
  mB[0][2] = fC[ 6]*mAi[3] + fC[ 7]*mAi[4] + fC[ 8]*mAi[5];
 
  mB[1][0] = fC[10]*mAi[0] + fC[11]*mAi[1] + fC[12]*mAi[3];
  mB[1][1] = fC[10]*mAi[1] + fC[11]*mAi[2] + fC[12]*mAi[4];
  mB[1][2] = fC[10]*mAi[3] + fC[11]*mAi[4] + fC[12]*mAi[5];
 
  mB[2][0] = fC[15]*mAi[0] + fC[16]*mAi[1] + fC[17]*mAi[3];
  mB[2][1] = fC[15]*mAi[1] + fC[16]*mAi[2] + fC[17]*mAi[4];
  mB[2][2] = fC[15]*mAi[3] + fC[16]*mAi[4] + fC[17]*mAi[5];
 
  mB[3][0] = fC[21]*mAi[0] + fC[22]*mAi[1] + fC[23]*mAi[3];
  mB[3][1] = fC[21]*mAi[1] + fC[22]*mAi[2] + fC[23]*mAi[4];
  mB[3][2] = fC[21]*mAi[3] + fC[22]*mAi[4] + fC[23]*mAi[5];
 
  mB[4][0] = fC[28]*mAi[0] + fC[29]*mAi[1] + fC[30]*mAi[3];
  mB[4][1] = fC[28]*mAi[1] + fC[29]*mAi[2] + fC[30]*mAi[4];
  mB[4][2] = fC[28]*mAi[3] + fC[29]*mAi[4] + fC[30]*mAi[5];
 
  fvec z[3] = { m[0]-fP[0], m[1]-fP[1], m[2]-fP[2] };
 
  {
    fvec mAVi[6] = { fC[0]-mV[0], fC[1]-mV[1], fC[2]-mV[2], 
      fC[3]-mV[3], fC[4]-mV[4], fC[5]-mV[5] };
    
//    fvec init = InvertSym3( mAVi, mAVi ) ;
    InvertCholetsky3(mAVi);
 
    fvec dChi2 = ( +(mAVi[0]*z[0] + mAVi[1]*z[1] + mAVi[3]*z[2])*z[0]
                   +(mAVi[1]*z[0] + mAVi[2]*z[1] + mAVi[4]*z[2])*z[1]
                   +(mAVi[3]*z[0] + mAVi[4]*z[1] + mAVi[5]*z[2])*z[2] );
      
      // Take Abs(dChi2) here. Negative value of 'det' or 'dChi2' shows that the particle 
      // was not used in the production vertex fit
      
//    fChi2 += (!init) & fabs( dChi2 );
    fChi2 += fabs( dChi2 );
    fNDF  += 2;
  }
  
  fP[0] = m[0];
  fP[1] = m[1];
  fP[2] = m[2];
  fP[3]+= mB[0][0]*z[0] + mB[0][1]*z[1] + mB[0][2]*z[2];
  fP[4]+= mB[1][0]*z[0] + mB[1][1]*z[1] + mB[1][2]*z[2];
  fP[5]+= mB[2][0]*z[0] + mB[2][1]*z[1] + mB[2][2]*z[2];
  fP[6]+= mB[3][0]*z[0] + mB[3][1]*z[1] + mB[3][2]*z[2];
  fP[7]+= mB[4][0]*z[0] + mB[4][1]*z[1] + mB[4][2]*z[2];
  
  fvec d0, d1, d2;
 
  fC[0] = mV[0];
  fC[1] = mV[1];
  fC[2] = mV[2];
  fC[3] = mV[3];
  fC[4] = mV[4];
  fC[5] = mV[5];
 
  d0= mB[0][0]*mV[0] + mB[0][1]*mV[1] + mB[0][2]*mV[3] - fC[ 6];
  d1= mB[0][0]*mV[1] + mB[0][1]*mV[2] + mB[0][2]*mV[4] - fC[ 7];
  d2= mB[0][0]*mV[3] + mB[0][1]*mV[4] + mB[0][2]*mV[5] - fC[ 8];
 
  fC[ 6]+= d0;
  fC[ 7]+= d1;
  fC[ 8]+= d2;
  fC[ 9]+= d0*mB[0][0] + d1*mB[0][1] + d2*mB[0][2];
 
  d0= mB[1][0]*mV[0] + mB[1][1]*mV[1] + mB[1][2]*mV[3] - fC[10];
  d1= mB[1][0]*mV[1] + mB[1][1]*mV[2] + mB[1][2]*mV[4] - fC[11];
  d2= mB[1][0]*mV[3] + mB[1][1]*mV[4] + mB[1][2]*mV[5] - fC[12];
 
  fC[10]+= d0;
  fC[11]+= d1;
  fC[12]+= d2;
  fC[13]+= d0*mB[0][0] + d1*mB[0][1] + d2*mB[0][2];
  fC[14]+= d0*mB[1][0] + d1*mB[1][1] + d2*mB[1][2];
 
  d0= mB[2][0]*mV[0] + mB[2][1]*mV[1] + mB[2][2]*mV[3] - fC[15];
  d1= mB[2][0]*mV[1] + mB[2][1]*mV[2] + mB[2][2]*mV[4] - fC[16];
  d2= mB[2][0]*mV[3] + mB[2][1]*mV[4] + mB[2][2]*mV[5] - fC[17];
 
  fC[15]+= d0;
  fC[16]+= d1;
  fC[17]+= d2;
  fC[18]+= d0*mB[0][0] + d1*mB[0][1] + d2*mB[0][2];
  fC[19]+= d0*mB[1][0] + d1*mB[1][1] + d2*mB[1][2];
  fC[20]+= d0*mB[2][0] + d1*mB[2][1] + d2*mB[2][2];
 
  d0= mB[3][0]*mV[0] + mB[3][1]*mV[1] + mB[3][2]*mV[3] - fC[21];
  d1= mB[3][0]*mV[1] + mB[3][1]*mV[2] + mB[3][2]*mV[4] - fC[22];
  d2= mB[3][0]*mV[3] + mB[3][1]*mV[4] + mB[3][2]*mV[5] - fC[23];
 
  fC[21]+= d0;
  fC[22]+= d1;
  fC[23]+= d2;
  fC[24]+= d0*mB[0][0] + d1*mB[0][1] + d2*mB[0][2];
  fC[25]+= d0*mB[1][0] + d1*mB[1][1] + d2*mB[1][2];
  fC[26]+= d0*mB[2][0] + d1*mB[2][1] + d2*mB[2][2];
  fC[27]+= d0*mB[3][0] + d1*mB[3][1] + d2*mB[3][2];
 
  d0= mB[4][0]*mV[0] + mB[4][1]*mV[1] + mB[4][2]*mV[3] - fC[28];
  d1= mB[4][0]*mV[1] + mB[4][1]*mV[2] + mB[4][2]*mV[4] - fC[29];
  d2= mB[4][0]*mV[3] + mB[4][1]*mV[4] + mB[4][2]*mV[5] - fC[30];
 
  fC[28]+= d0;
  fC[29]+= d1;
  fC[30]+= d2;
  fC[31]+= d0*mB[0][0] + d1*mB[0][1] + d2*mB[0][2];
  fC[32]+= d0*mB[1][0] + d1*mB[1][1] + d2*mB[1][2];
  fC[33]+= d0*mB[2][0] + d1*mB[2][1] + d2*mB[2][2];
  fC[34]+= d0*mB[3][0] + d1*mB[3][1] + d2*mB[3][2];
  fC[35]+= d0*mB[4][0] + d1*mB[4][1] + d2*mB[4][2];
  
  if( noS ){ 
    fP[7] = 0;
    fC[28] = fC[29] = fC[30] = fC[31] = fC[32] = fC[33] = fC[34] = fC[35] = 0;
  } else {
    TransportToDS( fP[7] );
    Convert(0);
  }
 
  fSFromDecay = 0;
}
 
void KFParticleBaseSIMD::SetMassConstraint( fvec *mP, fvec *mC, fvec mJ[7][7], fvec mass, fvec mask )
{
  //* Set nonlinear mass constraint (Mass) on the state vector mP with a covariance matrix mC.
  
  const fvec energy2 = mP[6]*mP[6], p2 = mP[3]*mP[3]+mP[4]*mP[4]+mP[5]*mP[5], mass2 = mass*mass;
 
  const fvec a = energy2 - p2 + 2.*mass2;
  const fvec b = -2.*(energy2 + p2);
  const fvec c = energy2 - p2 - mass2;
 
  fvec lambda = if3( fvec( fabs(b) > fvec(1.e-10) ), -c/b , Zero);
 
  fvec d = 4.*energy2*p2 - mass2*(energy2-p2-2.*mass2);
  fvec qMask = fvec( fvec(d >= Zero) & fvec(fabs(a) > fvec(1.e-10)) );
  lambda = if3( qMask, ((energy2 + p2 - sqrt(d))/a), lambda );
 
  lambda = if3( fvec(mP[6]<Zero), fvec(-1000000.f), lambda );
 
  Int_t iIter=0;
  for(iIter=0; iIter<100; iIter++)
  {
    fvec lambda2 = lambda*lambda;
    fvec lambda4 = lambda2*lambda2;
 
//    fvec lambda0 = lambda;
 
    fvec f  = -mass2 * lambda4 + a*lambda2 + b*lambda + c;
    fvec df = -4.*mass2 * lambda2*lambda + 2.*a*lambda + b;
    lambda -= if3(fvec( fabs(df) > fvec(1.e-10) ) , f/df, Zero);
//    if(TMath::Abs(lambda0 - lambda) < 1.e-8) break;
  }
 
  const fvec lpi = 1./(1. + lambda);
  const fvec lmi = 1./(1. - lambda);
  const fvec lp2i = lpi*lpi;
  const fvec lm2i = lmi*lmi;
 
  fvec lambda2 = lambda*lambda;
 
  fvec dfl  = -4.*mass2 * lambda2*lambda + 2.*a*lambda + b;
  fvec dfx[7] = {0};//,0,0,0};
  dfx[0] = -2.*(1. + lambda)*(1. + lambda)*mP[3];
  dfx[1] = -2.*(1. + lambda)*(1. + lambda)*mP[4];
  dfx[2] = -2.*(1. + lambda)*(1. + lambda)*mP[5];
  dfx[3] = 2.*(1. - lambda)*(1. - lambda)*mP[6];
  fvec dlx[4] = {1,1,1,1};
 
  for(int i=0; i<4; i++)
    dlx[i] = if3( fvec( fabs(dfl) > fvec(1.e-10) ), -dfx[i] / dfl, dlx[i] );
 
  fvec dxx[4] = {mP[3]*lm2i, mP[4]*lm2i, mP[5]*lm2i, -mP[6]*lp2i};
 
  for(Int_t i=0; i<7; i++)
    for(Int_t j=0; j<7; j++)
      mJ[i][j]=0;
  mJ[0][0] = 1.;
  mJ[1][1] = 1.;
  mJ[2][2] = 1.;
 
  for(Int_t i=3; i<7; i++)
    for(Int_t j=3; j<7; j++)
      mJ[i][j] = dlx[j-3]*dxx[i-3];
 
  for(Int_t i=3; i<6; i++)
    mJ[i][i] += lmi;
  mJ[6][6] += lpi;
 
  fvec mCJ[7][7];
 
  for(Int_t i=0; i<7; i++) {
    for(Int_t j=0; j<7; j++) {
      mCJ[i][j] = 0;
      for(Int_t k=0; k<7; k++) {
        mCJ[i][j] += mC[IJ(i,k)]*mJ[j][k];
      }
    }
  }
 
  for(Int_t i=0; i<7; ++i){
    for(Int_t j=0; j<=i; ++j){
      mC[IJ(i,j)] = if3(mask, Zero, mC[IJ(i,j)]);
      for(Int_t l=0; l<7; l++){
        mC[IJ(i,j)] += if3(mask, mJ[i][l]*mCJ[l][j], Zero);
      }
    }
  }
 
  mP[3] *= if3(mask, lmi, One);
  mP[4] *= if3(mask, lmi, One);
  mP[5] *= if3(mask, lmi, One);
  mP[6] *= if3(mask, lpi, One);
}
 
void KFParticleBaseSIMD::SetNonlinearMassConstraint( fvec mass )
{
  //* Set nonlinear mass constraint (mass)
 
  fvec mJ[7][7];
  SetMassConstraint( fP, fC, mJ, mass, fvec( One > Zero) );
  fMassHypo = mass;
  SumDaughterMass = mass;
}
 
void KFParticleBaseSIMD::SetMassConstraint( fvec Mass, fvec SigmaMass )
{  
  //* Set hard( SigmaMass=0 ) or soft (SigmaMass>0) mass constraint 
 
  fMassHypo = Mass;
  SumDaughterMass = Mass;
 
  fvec m2 = Mass*Mass;            // measurement, weighted by Mass 
  fvec s2 = m2*SigmaMass*SigmaMass; // sigma^2
 
  fvec p2 = fP[3]*fP[3] + fP[4]*fP[4] + fP[5]*fP[5]; 
  fvec e0 = sqrt(m2+p2);
 
  fvec mH[8];
  mH[0] = mH[1] = mH[2] = 0.;
  mH[3] = -2*fP[3]; 
  mH[4] = -2*fP[4]; 
  mH[5] = -2*fP[5]; 
  mH[6] =  2*fP[6];//e0;
  mH[7] = 0; 
 
  fvec zeta = e0*e0 - e0*fP[6];
  zeta = m2 - (fP[6]*fP[6]-p2);
  
  fvec mCHt[8], s2_est=0;
  for( Int_t i=0; i<8; ++i ){
    mCHt[i] = 0.0;
    for (Int_t j=0;j<8;++j) mCHt[i] += Cij(i,j)*mH[j];
    s2_est += mH[i]*mCHt[i];
  }
  
//TODO Next line should be uncommented
//  if( s2_est<1.e-20 ) return; // calculated mass error is already 0, 
                              // the particle can not be constrained on mass
 
  fvec w2 = 1./( s2 + s2_est );
  fChi2 += zeta*zeta*w2;
  fNDF  += 1;
  for( Int_t i=0, ii=0; i<8; ++i ){
    fvec ki = mCHt[i]*w2;
    fP[i]+= ki*zeta;
    for(Int_t j=0;j<=i;++j) fC[ii++] -= ki*mCHt[j];    
  }
}
 
 
void KFParticleBaseSIMD::SetNoDecayLength()
{  
  //* Set no decay length for resonances
 
  TransportToDecayVertex();
 
  fvec h[8];
  h[0] = h[1] = h[2] = h[3] = h[4] = h[5] = h[6] = 0;
  h[7] = 1; 
 
  fvec zeta = 0 - fP[7];
  for(Int_t i=0;i<8;++i) zeta -= h[i]*(fP[i]-fP[i]);
  
  fvec s = fC[35];   
//  if( s>1.e-20 ) //TODO Should be uncommented!
  {
    s = 1./s;
    fChi2 += zeta*zeta*s;
    fNDF  += 1;
    for( Int_t i=0, ii=0; i<7; ++i ){
      fvec ki = fC[28+i]*s;
      fP[i]+= ki*zeta;
      for(Int_t j=0;j<=i;++j) fC[ii++] -= ki*fC[28+j];    
    }
  }
  fP[7] = 0;
  fC[28] = fC[29] = fC[30] = fC[31] = fC[32] = fC[33] = fC[34] = fC[35] = 0;
}
 
void KFParticleBaseSIMD::Construct( const KFParticleBaseSIMD* vDaughters[], Int_t nDaughters,
                                    const KFParticleBaseSIMD *Parent,  Float_t Mass, Bool_t IsConstrained ,
                                    Bool_t isAtVtxGuess  )
{ 
  //* Full reconstruction in one go
 
  //* Parameters: array of pointers to the input daughter particles (vDaughters), a number of daughters (nDaughters),
  //* pointer to the production vertex or particle (Parent), if the pointer is set - a constraint on the production
  //* is set on the reconstructed particle, if 0 - will not be set, a mass hypothesis (Mass), if Mass>0 - a mass constraint
  //* will be set, a flag (IsConstrained), which indicates whether daughters are constrained on the production region,
  //* a flag (isAtVtxGuess), which indicates whether daughters are already transported to the vertex guess or not,
  //* if it is set to 1, a vertex guess should be provided, by default is set to 0.
 
  //* examples:
  //* 1) construction of a secondary particle with no vertex guess:
  //*    const KFParticleSIMD* vDaughtersPointer[2] = {&vDaughters[0], &vDaughters[1]};
  //*    mother.Construct(vDaughtersPointer, 2, 0);
  //* 2) construction of the primary particle with a vertex guess
  //*    fvec errGuess[3] = {100*sqrt(PrimVtx.CovarianceMatrix()[0]),
  //*                        100*sqrt(PrimVtx.CovarianceMatrix()[2]),
  //*                        100*sqrt(PrimVtx.CovarianceMatrix()[5])};
  //*    mother.SetVtxGuess(PrimVtx.X(), PrimVtx.Y(), PrimVtx.Z());
  //*    mother.SetVtxErrGuess(errGuess[0], errGuess[1], errGuess[2]);
  //*    const KFParticleSIMD* vDaughtersPointer[2] = {&vDaughters[0], &vDaughters[1]};
  //*    mother.Construct(vDaughtersPointer, 2, 0, -1, 0, 1);
 
  Int_t maxIter = 1;
  bool wasLinearized = fIsLinearized;
  if( (!fIsLinearized || IsConstrained) && (!isAtVtxGuess) ){
    //fVtxGuess[0] = fVtxGuess[1] = fVtxGuess[2] = 0;  //!!!!
    fvec ds=0., ds1=0.;
    fvec P[8], C[36];
    vDaughters[0]->GetDStoParticle(*vDaughters[1], ds, ds1);
    vDaughters[0]->Transport(ds,P,C);
    fVtxGuess[0] = P[0];
    fVtxGuess[1] = P[1];
    fVtxGuess[2] = P[2];
/*    fVtxGuess[0] = GetX();
    fVtxGuess[1] = GetY();
    fVtxGuess[2] = GetZ();*/
 
    if(!fIsVtxErrGuess)
    {
      fVtxErrGuess[0] = if3(fvec(C[0]>Zero), 10*sqrt(C[0]), One);
      fVtxErrGuess[1] = if3(fvec(C[2]>Zero), 10*sqrt(C[2]), One);
      fVtxErrGuess[2] = if3(fvec(C[5]>Zero), 10*sqrt(C[5]), One);
    }
 
    fIsLinearized = 1;
    maxIter = 3;
  }
  else {
    if(!fIsVtxErrGuess)
    {
      fVtxErrGuess[0] = 1;
      fVtxErrGuess[1] = 1;
      fVtxErrGuess[2] = 1;
    }
  }
 
  fvec constraintC[6];
 
  if( IsConstrained ){
    for(Int_t i=0;i<6;++i) constraintC[i]=fC[i];
  }
  else {
    for(Int_t i=0;i<6;++i) constraintC[i]=0.;
//    constraintC[0] = constraintC[2] = constraintC[5] = 100.;
 
      constraintC[0] = fVtxErrGuess[0]*fVtxErrGuess[0];
      constraintC[2] = fVtxErrGuess[1]*fVtxErrGuess[1];
      constraintC[5] = fVtxErrGuess[2]*fVtxErrGuess[2];
  }
 
 
  for( Int_t iter=0; iter<maxIter; iter++ ){
 
    CleanDaughtersId();
    SetNDaughters(nDaughters);
 
    fAtProductionVertex = 0;
    fSFromDecay = 0;
    fP[0] = fVtxGuess[0];
    fP[1] = fVtxGuess[1];
    fP[2] = fVtxGuess[2];
    fP[3] = 0;
    fP[4] = 0;
    fP[5] = 0;
    fP[6] = 0;
    fP[7] = 0;
    SumDaughterMass = 0;
 
    for(Int_t i=0;i<6; ++i) fC[i]=constraintC[i];
    for(Int_t i=6;i<36;++i) fC[i]=0.;
    fC[35] = 1.;
    
    fNDF  = IsConstrained ?0 :-3;
    fChi2 =  0.;
    fQ = 0;
 
    for( Int_t itr =0; itr<nDaughters; itr++ ){
      AddDaughter( *vDaughters[itr], isAtVtxGuess );    
    }
    if( iter<maxIter-1){
      for( Int_t i=0; i<3; i++ ) fVtxGuess[i] = fP[i];  
    }
  }
  fIsLinearized = wasLinearized;    
 
  if( Mass>=0 ) SetMassConstraint( Mass );
  if( Parent ) SetProductionVertex( *Parent );
}
 
void KFParticleBaseSIMD::Convert( bool ToProduction )
{
  //* Tricky function - convert the particle error along its trajectory to 
  //* the value which corresponds to its production/decay vertex
  //* It is done by combination of the error of decay length with the position errors
 
  fvec fld[3];
  {
    GetFieldValue( fP, fld );
    const fvec kCLight =  fQ*0.000299792458;
    fld[0]*=kCLight; fld[1]*=kCLight; fld[2]*=kCLight;
  }
 
  fvec h[6];
  
  h[0] = fP[3];
  h[1] = fP[4];
  h[2] = fP[5];
  if( ToProduction ){ h[0]=-h[0]; h[1]=-h[1]; h[2]=-h[2]; } 
  h[3] = h[1]*fld[2]-h[2]*fld[1];
  h[4] = h[2]*fld[0]-h[0]*fld[2];
  h[5] = h[0]*fld[1]-h[1]*fld[0];
  
  fvec c;
 
  c = fC[28]+h[0]*fC[35];
  fC[ 0]+= h[0]*(c+fC[28]);
  fC[28] = c;
 
  fC[ 1]+= h[1]*fC[28] + h[0]*fC[29];
  c = fC[29]+h[1]*fC[35];
  fC[ 2]+= h[1]*(c+fC[29]);
  fC[29] = c;
 
  fC[ 3]+= h[2]*fC[28] + h[0]*fC[30];
  fC[ 4]+= h[2]*fC[29] + h[1]*fC[30];
  c = fC[30]+h[2]*fC[35];
  fC[ 5]+= h[2]*(c+fC[30]);
  fC[30] = c;
 
  fC[ 6]+= h[3]*fC[28] + h[0]*fC[31];
  fC[ 7]+= h[3]*fC[29] + h[1]*fC[31];
  fC[ 8]+= h[3]*fC[30] + h[2]*fC[31];
  c = fC[31]+h[3]*fC[35];
  fC[ 9]+= h[3]*(c+fC[31]);
  fC[31] = c;
  
  fC[10]+= h[4]*fC[28] + h[0]*fC[32];
  fC[11]+= h[4]*fC[29] + h[1]*fC[32];
  fC[12]+= h[4]*fC[30] + h[2]*fC[32];
  fC[13]+= h[4]*fC[31] + h[3]*fC[32];
  c = fC[32]+h[4]*fC[35];
  fC[14]+= h[4]*(c+fC[32]);
  fC[32] = c;
  
  fC[15]+= h[5]*fC[28] + h[0]*fC[33];
  fC[16]+= h[5]*fC[29] + h[1]*fC[33];
  fC[17]+= h[5]*fC[30] + h[2]*fC[33];
  fC[18]+= h[5]*fC[31] + h[3]*fC[33];
  fC[19]+= h[5]*fC[32] + h[4]*fC[33];
  c = fC[33]+h[5]*fC[35];
  fC[20]+= h[5]*(c+fC[33]);
  fC[33] = c;
 
  fC[21]+= h[0]*fC[34];
  fC[22]+= h[1]*fC[34];
  fC[23]+= h[2]*fC[34];
  fC[24]+= h[3]*fC[34];
  fC[25]+= h[4]*fC[34];
  fC[26]+= h[5]*fC[34];
}
 
 
void KFParticleBaseSIMD::TransportToDecayVertex()
{
  //* Transport the particle to its decay vertex 
 
  TransportToDS( -fSFromDecay );
  if( fAtProductionVertex ) Convert(0);
  fAtProductionVertex = 0;
}
 
void KFParticleBaseSIMD::TransportToProductionVertex()
{
  //* Transport the particle to its production vertex 
  
  TransportToDS( -fSFromDecay-fP[7] );
  if( !fAtProductionVertex ) Convert( 1 );
  fAtProductionVertex = 1;
}
 
 
void KFParticleBaseSIMD::TransportToDS( fvec dS )
{ 
  //* Transport the particle on dS parameter (SignedPath/Momentum) 
 
  Transport( dS, fP, fC );
  fSFromDecay+= dS;
}
 
 
void KFParticleBaseSIMD::GetDistanceToVertexLine( const KFParticleBaseSIMD &Vertex, fvec &l, fvec &dl, fvec *isParticleFromVertex ) const 
{
  //* Get dS to a certain space point without field
 
  fvec c[6] = {Vertex.fC[0]+fC[0], Vertex.fC[1]+fC[1], Vertex.fC[2]+fC[2],
               Vertex.fC[3]+fC[3], Vertex.fC[4]+fC[4], Vertex.fC[5]+fC[5]};
 
  fvec dx = (Vertex.fP[0]-fP[0]);
  fvec dy = (Vertex.fP[1]-fP[1]);
  fvec dz = (Vertex.fP[2]-fP[2]);
 
 
  l = sqrt( dx*dx + dy*dy + dz*dz );
  dl = c[0]*dx*dx + c[2]*dy*dy + c[5]*dz*dz + 2*(c[1]*dx*dy + c[3]*dx*dz + c[4]*dy*dz);
  fvec ok = fvec(fvec(0)<dl);
  dl = fvec(ok & (sqrt( dl )/l)) + fvec(!ok & fvec(1.e8));
 
  if(isParticleFromVertex)
  {
    *isParticleFromVertex = fvec(ok & fvec( l<fvec(3*dl) ));
    fvec cos = dx*fP[3] + dy*fP[4] + dz*fP[5];
//     fvec dCos = dy*dy*fC[14] + dz*dz*fC[20] + dx*dx*fC[9] + 2*dz*fC[15]*fP[3] + c[0]* fP[3]*fP[3] + 
//             2*dz*fC[16]* fP[4] + 2 *c[1] *fP[3] *fP[4] + c[2] *fP[4]*fP[4] + 2 *dz *fC[17]* fP[5] + 
//             2*c[3] *fP[3]* fP[5] + 2 *c[4] *fP[4] *fP[5] + c[5]*fP[5] *fP[5] + 
//             2*dy *(dz *fC[19] + fC[10] *fP[3] + fC[11]* fP[4] + fC[12]* fP[5]) + 
//             2*dx *(dy *fC[13] + dz *fC[18] + fC[6]* fP[3] + fC[7]* fP[4] + fC[8]* fP[5]);
//     ok = fvec(fvec(0)<dCos);
//     dCos = fvec(ok & ( dCos ));
//     dCos = sqrt(dCos);
    *isParticleFromVertex = fvec( (*isParticleFromVertex) | fvec(!(*isParticleFromVertex) & fvec(cos<Zero) ) );
  }
}
 
 
fvec KFParticleBaseSIMD::GetDStoPointBz( fvec B, const fvec xyz[] ) 
  const
{ 
  
  //* Get dS to a certain space point for Bz field
  const fvec kCLight = 0.000299792458;
  fvec bq = B*fQ*kCLight;
  fvec pt2 = fP[3]*fP[3] + fP[4]*fP[4];
 
  fvec dx = xyz[0] - fP[0];
  fvec dy = xyz[1] - fP[1]; 
  fvec a = dx*fP[3]+dy*fP[4];
  fvec dS = Zero;
 
  const fvec LocalSmall = 1.e-8;
  fvec mask = fvec( fabs(bq)<LocalSmall );
  dS = if3(mask, a/pt2, (atan2( bq*a, pt2 + bq*(dy*fP[3] -dx*fP[4]) )/bq));
 
  #if 0
  {
 
    fvec px = fP[3];
    fvec py = fP[4];
    fvec pz = fP[5];
    fvec ss[2], g[2][5];
  
    ss[0] = dS;
    ss[1] = -dS;
    for( Int_t i=0; i<2; i++){
      fvec bs = bq*ss[i];
      fvec c = TMath::Cos(bs), s = TMath::Sin(bs);
      fvec cB,sB;
      if( TMath::Abs(bq)>1.e-8){
  cB= (1-c)/bq;     
  sB= s/bq;  
      }else{
  const fvec kOvSqr6 = 1./TMath::Sqrt(6.);
  sB = (1.-bs*kOvSqr6)*(1.+bs*kOvSqr6)*ss[i];
  cB = .5*sB*bs;
      }
      g[i][0] = fP[0] + sB*px + cB*py;
      g[i][1] = fP[1] - cB*px + sB*py;
      g[i][2] = fP[2] + ss[i]*pz;
      g[i][3] =       + c*px + s*py;
      g[i][4] =       - s*px + c*py;      
    }
 
    Int_t i=0;
  
    fvec dMin = 1.e10;
    for( Int_t j=0; j<2; j++){
      fvec xx = g[j][0]-xyz[0];
      fvec yy = g[j][1]-xyz[1];
      fvec zz = g[j][2]-xyz[2];
      fvec d = xx*xx + yy*yy + zz*zz;
      if( d<dMin ){
  dMin = d;
  i = j;
      }
    }
 
    dS = ss[i];
 
    fvec x= g[i][0], y= g[i][1], z= g[i][2], ppx= g[i][3], ppy= g[i][4];      
    fvec ddx = x-xyz[0];
    fvec ddy = y-xyz[1];
    fvec ddz = z-xyz[2];
    fvec c = ddx*ppx  + ddy*ppy  + ddz*pz ;
    fvec pp2 = ppx*ppx + ppy*ppy + pz*pz;    
    if( TMath::Abs(pp2)>1.e-8 ){
      dS+=c/pp2;
    }
  }
  #endif
  return dS;
}
 
fvec KFParticleBaseSIMD::GetDStoPointBy( fvec B, const fvec xyz[] ) 
  const
{ 
  
  //* Get dS to a certain space point for Bz field
 
  const fvec kCLight = 0.000299792458;
  fvec bq = B*fQ*kCLight;
  fvec pt2 = fP[3]*fP[3] + fP[5]*fP[5];
 
  fvec dx = xyz[0] - fP[0];
  fvec dy = -xyz[2] + fP[2]; 
  fvec a = dx*fP[3]-dy*fP[5];
  fvec dS = Zero;
 
  const fvec LocalSmall = 1.e-8;
  fvec mask = fvec( fabs(bq)<LocalSmall );
  dS = if3(mask, a/pt2, (atan2( bq*a, pt2 + bq*(dy*fP[3] +dx*fP[5]) )/bq));
  return dS;
}
 
void KFParticleBaseSIMD::GetDStoParticleBz( fvec B, const KFParticleBaseSIMD &p, fvec &DS, fvec &DS1 ) const
{ 
  //* Get dS to another particle for Bz field
 
  fvec px = fP[3];
  fvec py = fP[4];
  fvec pz = fP[5];
 
  fvec px1 = p.fP[3];
  fvec py1 = p.fP[4];
  fvec pz1 = p.fP[5];
 
  const fvec kCLight = 0.000299792458;
 
  fvec bq = B*fQ*kCLight;
  fvec bq1 = B*p.fQ*kCLight;
  fvec s=Zero, ds=Zero, s1=Zero, ds1=Zero;
 
  const fvec LocalSmall = 1.e-8;
 
  fvec bq_big = fvec(LocalSmall < fabs(bq));
  fvec bq1_big = fvec(LocalSmall < fabs(bq1));
  {
    const fvec two = 2.;
    const fvec four = 2.;
    fvec dx = (p.fP[0] - fP[0]);
    fvec dy = (p.fP[1] - fP[1]);
    fvec d2 = (dx*dx+dy*dy);
    
    fvec p2  = (px *px  + py *py); 
    fvec p21 = (px1*px1 + py1*py1);
    
    fvec a = (px*py1 - py*px1);
    fvec b = (px*px1 + py*py1);
 
    fvec ldx = bq*bq1*dx - bq1*py + bq*py1 ;
    fvec ldy = bq*bq1*dy + bq1*px - bq*px1 ;
    fvec l2 = ldx*ldx + ldy*ldy;
    
    fvec cS = bq1*p2 + bq*bq1*(dy* px - dx* py) -  bq*b;
    fvec cS1= bq*p21 - bq*bq1*(dy*px1 - dx*py1) - bq1*b;
 
    fvec ca  = bq*bq*bq1*d2  + two*( cS + bq*bq*(py1*dx-px1*dy)) ;
    fvec ca1 = bq*bq1*bq1*d2 + two*( cS1 - bq1*bq1*(py*dx-px*dy)) ;  
  
    fvec sa = 4*l2*p2 - ca*ca;
    fvec sa1 = 4*l2*p21 - ca1*ca1;
 
    const fvec saNeg = fvec(sa<Zero);
    sa = (!saNeg) & sa;
    const fvec sa1Neg = fvec(sa1<Zero);
    sa1= (!sa1Neg) & sa1;
 
    
    s = if3( bq_big, (atan2( bq*( bq1*(dx*px +dy*py) + a ) , cS )/bq), (( (dx*px + dy*py) + (py*px1-px*py1)/bq1)/p2) );
    ds = if3( bq_big, (atan2(sqrt(sa),ca)/bq) , (s*s - (d2-two*(px1*dy-py1*dx)/bq1)/p2) );
    fvec dsNeg = fvec(ds<Zero);
    ds = ( fvec((!dsNeg) & (!bq_big)) & sqrt(ds) ) + (bq_big & ds);
 
    s1 = if3( bq1_big, (atan2( -bq1*( bq*(dx*px1+dy*py1) + a), cS1 )/bq1), ((-(dx*px1 + dy*py1) + (py*px1-px*py1)/bq)/p21) );
    ds1 = if3( bq1_big, (atan2(sqrt(sa1),ca1)/bq1) , (s1*s1 - (d2+two*(px*dy-py*dx)/bq)/p21) );
    fvec ds1Neg = fvec(ds1<Zero);
    ds1 = ( fvec((!ds1Neg) & (!bq1_big)) & sqrt(ds1) ) + (bq1_big & ds1);
  }
 
  fvec ss[2], ss1[2], g[2][5],g1[2][5];
  
  ss[0] = s + ds;
  ss[1] = s - ds;
  ss1[0] = s1 + ds1;
  ss1[1] = s1 - ds1;
// std::cout << "    ss " << ss[0][0] << " " << ss[1][0] << "  " << ss1[0][0] << " " << ss1[1][0] << std::endl;
  for( Int_t i=0; i<2; i++){
    fvec bs = bq*ss[i];
    fvec c = cos(bs), sss = sin(bs);
 
    fvec cB,sB;
    const fvec kOvSqr6 = 1./sqrt(6.);
    sB = if3( bq_big, (sss/bq), ((One-bs*kOvSqr6)*(One+bs*kOvSqr6)*ss[i]));
    cB = if3( bq_big, ((One-c)/bq), (.5*sB*bs));
 
    g[i][0] = fP[0] + sB*px + cB*py;
    g[i][1] = fP[1] - cB*px + sB*py;
    g[i][2] = fP[2] + ss[i]*pz;
    g[i][3] =       + c*px + sss*py;
    g[i][4] =       - sss*px + c*py;
 
    bs = bq1*ss1[i];  
    c =  cos(bs); sss = sin(bs);
 
    sB = if3( bq1_big, (sss/bq1), ((One-bs*kOvSqr6)*(One+bs*kOvSqr6)*ss1[i]));
    cB = if3( bq1_big, ((One-c)/bq1), (.5*sB*bs));
 
    g1[i][0] = p.fP[0] + sB*px1 + cB*py1;
    g1[i][1] = p.fP[1] - cB*px1 + sB*py1;
    g1[i][2] = p.fP[2] + ss[i]*pz1;
    g1[i][3] =         + c*px1 + sss*py1;
    g1[i][4] =         - sss*px1 + c*py1;
  }
 
  DS  = ss[0];
  DS1 = ss1[0];
 
  fvec dMin = 1.e10;
  for( Int_t j=0; j<2; j++){
    for( Int_t j1=0; j1<2; j1++){
      fvec xx = g[j][0]-g1[j1][0];
      fvec yy = g[j][1]-g1[j1][1];
      fvec zz = g[j][2]-g1[j1][2];
      fvec d = xx*xx + yy*yy + zz*zz;
 
      fvec mask = fvec(d<dMin);
      DS  = (mask & ss[j])  + ((!mask) & DS);
      DS1 = (mask & ss1[j]) + ((!mask) & DS1);
      dMin = (mask & d) + ((!mask) & dMin);
    }
  }
  #if 0
  {
    fvec x= g[i][0], y= g[i][1], z= g[i][2], ppx= g[i][3], ppy= g[i][4];  
    fvec x1=g1[i1][0], y1= g1[i1][1], z1= g1[i1][2], ppx1= g1[i1][3], ppy1= g1[i1][4];  
    fvec dx = x1-x;
    fvec dy = y1-y;
    fvec dz = z1-z;
    fvec a = ppx*ppx1 + ppy*ppy1 + pz*pz1;
    fvec b = dx*ppx1 + dy*ppy1 + dz*pz1;
    fvec c = dx*ppx  + dy*ppy  + dz*pz ;
    fvec pp2 = ppx*ppx + ppy*ppy + pz*pz;
    fvec pp21= ppx1*ppx1 + ppy1*ppy1 + pz1*pz1;
    fvec det = pp2*pp21 - a*a;    
    if( fabs(det)>1.e-8 ){
      DS+=(a*b-pp21*c)/det;
      DS1+=(a*c-pp2*b)/det;
    }
  }
  #endif
}
 
void KFParticleBaseSIMD::GetDStoParticleBy( fvec B, const KFParticleBaseSIMD &p, fvec &DS, fvec &DS1 ) const
{ 
  //* Get dS to another particle for Bz field
 
  fvec px = fP[3];
  fvec py = -fP[5];
  fvec pz = fP[4];
 
  fvec px1 = p.fP[3];
  fvec py1 = -p.fP[5];
  fvec pz1 = p.fP[4];
 
  const fvec kCLight = 0.000299792458;
 
  fvec bq = B*fQ*kCLight;
  fvec bq1 = B*p.fQ*kCLight;
  fvec s=Zero, ds=Zero, s1=Zero, ds1=Zero;
 
  const fvec LocalSmall = 1.e-8;
 
  fvec bq_big = fvec(LocalSmall < fabs(bq));
  fvec bq1_big = fvec(LocalSmall < fabs(bq1));
  {
    const fvec two = 2.;
    const fvec four = 2.;
    fvec dx = (p.fP[0] - fP[0]);
    fvec dy = (-p.fP[2] + fP[2]);
    fvec d2 = (dx*dx+dy*dy);
    
    fvec p2  = (px *px  + py *py); 
    fvec p21 = (px1*px1 + py1*py1);
    
    fvec a = (px*py1 - py*px1);
    fvec b = (px*px1 + py*py1);
 
    fvec ldx = bq*bq1*dx - bq1*py + bq*py1 ;
    fvec ldy = bq*bq1*dy + bq1*px - bq*px1 ;
    fvec l2 = ldx*ldx + ldy*ldy;
    
    fvec cS = bq1*p2 + bq*bq1*(dy* px - dx* py) -  bq*b;
    fvec cS1= bq*p21 - bq*bq1*(dy*px1 - dx*py1) - bq1*b;
 
    fvec ca  = bq*bq*bq1*d2  + two*( cS + bq*bq*(py1*dx-px1*dy)) ;
    fvec ca1 = bq*bq1*bq1*d2 + two*( cS1 - bq1*bq1*(py*dx-px*dy)) ;  
  
    fvec sa = 4*l2*p2 - ca*ca;
    fvec sa1 = 4*l2*p21 - ca1*ca1;
 
    const fvec saNeg = fvec(sa<Zero);
    sa = (!saNeg) & sa;
    const fvec sa1Neg = fvec(sa1<Zero);
    sa1= (!sa1Neg) & sa1;
 
    s = if3( bq_big, (atan2( bq*( bq1*(dx*px +dy*py) + a ) , cS )/bq), (( (dx*px + dy*py) + (py*px1-px*py1)/bq1)/p2) );
    ds = if3( bq_big, (atan2(sqrt(sa),ca)/bq) , (s*s - (d2-two*(px1*dy-py1*dx)/bq1)/p2) );
    fvec dsNeg = fvec(ds<Zero);
    ds = ( fvec((!dsNeg) & (!bq_big)) & sqrt(ds) ) + (bq_big & ds);
 
    s1 = if3( bq1_big, (atan2( -bq1*( bq*(dx*px1+dy*py1) + a), cS1 )/bq1), ((-(dx*px1 + dy*py1) + (py*px1-px*py1)/bq)/p21) );
    ds1 = if3( bq1_big, (atan2(sqrt(sa1),ca1)/bq1) , (s1*s1 - (d2+two*(px*dy-py*dx)/bq)/p21) );
    fvec ds1Neg = fvec(ds1<Zero);
    ds1 = ( fvec((!ds1Neg) & (!bq1_big)) & sqrt(ds1) ) + (bq1_big & ds1);
  }
 
  fvec ss[2], ss1[2], g[2][5],g1[2][5];
  
  ss[0] = s + ds;
  ss[1] = s - ds;
  ss1[0] = s1 + ds1;
  ss1[1] = s1 - ds1;
// std::cout << "    ss " << ss[0][0] << " " << ss[1][0] << "  " << ss1[0][0] << " " << ss1[1][0] << std::endl;
  for( Int_t i=0; i<2; i++){
    fvec bs = bq*ss[i];
    fvec c = cos(bs), sss = sin(bs);
 
    fvec cB,sB;
    const fvec kOvSqr6 = 1./sqrt(6.);
    sB = if3( bq_big, (sss/bq), ((One-bs*kOvSqr6)*(One+bs*kOvSqr6)*ss[i]));
    cB = if3( bq_big, ((One-c)/bq), (.5*sB*bs));
 
    g[i][0] = fP[0] + sB*px + cB*py;
    g[i][1] = -fP[2] - cB*px + sB*py;
    g[i][2] = fP[1] + ss[i]*pz;
    g[i][3] =       + c*px + sss*py;
    g[i][4] =       - sss*px + c*py;
 
    bs = bq1*ss1[i];  
    c =  cos(bs); sss = sin(bs);
 
    sB = if3( bq1_big, (sss/bq1), ((One-bs*kOvSqr6)*(One+bs*kOvSqr6)*ss1[i]));
    cB = if3( bq1_big, ((One-c)/bq1), (.5*sB*bs));
 
    g1[i][0] = p.fP[0] + sB*px1 + cB*py1;
    g1[i][1] = -p.fP[2] - cB*px1 + sB*py1;
    g1[i][2] = p.fP[1] + ss[i]*pz1;
    g1[i][3] =         + c*px1 + sss*py1;
    g1[i][4] =         - sss*px1 + c*py1;
  }
 
  DS  = ss[0];
  DS1 = ss1[0];
 
  fvec dMin = 1.e10;
  for( Int_t j=0; j<2; j++){
    for( Int_t j1=0; j1<2; j1++){
      fvec xx = g[j][0]-g1[j1][0];
      fvec yy = g[j][1]-g1[j1][1];
      fvec zz = g[j][2]-g1[j1][2];
      fvec d = xx*xx + yy*yy + zz*zz;
 
      fvec mask = fvec(d<dMin);
      DS  = (mask & ss[j])  + ((!mask) & DS);
      DS1 = (mask & ss1[j]) + ((!mask) & DS1);
      dMin = (mask & d) + ((!mask) & dMin);
    }
  }
}
 
fvec KFParticleBaseSIMD::GetDStoPointCBM( const fvec xyz[] ) const
{
  //* Transport the particle on dS, output to P[],C[], for CBM field
 
  const fvec *r = fP;
  fvec p2 = r[3]*r[3] + r[4]*r[4] + r[5]*r[5];
  fvec dS = if3(fabs(p2) > fvec(1.E-4), (( r[3]*(xyz[0]-r[0]) + r[4]*(xyz[1]-r[1]) + r[5]*(xyz[2]-r[2]) )/p2), Zero);
 
//   fvec dS = 0;
// 
//   if( fQ[0]==0 ){
//     dS = GetDStoPointLine( xyz );
//     return dS;
//   }
// 
//   fvec fld[3];
//   GetFieldValue( fP, fld );
//   dS = GetDStoPointBy( fld[1],xyz );
 
  dS = if3(fabs(dS)>1.E3, Zero, dS);
 
  return dS;
}
 
void KFParticleBaseSIMD::GetDStoParticleLine( const KFParticleBaseSIMD &p, fvec &dS, fvec &dS1 ) const
{
  fvec p12 = fP[3]*fP[3] + fP[4]*fP[4] + fP[5]*fP[5];
  fvec p22 = p.fP[3]*p.fP[3] + p.fP[4]*p.fP[4] + p.fP[5]*p.fP[5];
  fvec p1p2 = fP[3]*p.fP[3] + fP[4]*p.fP[4] + fP[5]*p.fP[5];
 
  fvec drp1 = fP[3]*(p.fP[0]-fP[0]) + fP[4]*(p.fP[1]-fP[1]) + fP[5]*(p.fP[2]-fP[2]);
  fvec drp2 = p.fP[3]*(p.fP[0]-fP[0]) + p.fP[4]*(p.fP[1]-fP[1]) + p.fP[5]*(p.fP[2]-fP[2]);
 
  fvec detp =  p1p2*p1p2 - p12*p22;
 
  dS  = (drp2*p1p2 - drp1*p22) /detp; //TODO put defence against detp = 0
  dS1 = (drp2*p12  - drp1*p1p2)/detp;
}
 
void KFParticleBaseSIMD::GetDStoParticleCBM( const KFParticleBaseSIMD &p, fvec &dS, fvec &dS1 ) const
{
  //* Transport the particle on dS, output to P[],C[], for CBM field
 
    fvec mTy[2];
    fvec mY[2];
    fvec mZ[2];
 
    mY[0]  = GetY();
    mZ[0]  = GetZ();
    mTy[0] = if3( fabs(GetPz()) > small, GetPy()/GetPz(), 1.);
 
    mY[1]  = p.GetY();
    mZ[1]  = p.GetZ();
    mTy[1] = if3( fabs(p.GetPz()) > small, p.GetPy()/p.GetPz(), 1.);
 
    fvec r0[3];
    fvec dty = mTy[0]-mTy[1];
    
    r0[2] = if3( fabs(dty) > small, (mTy[0]*mZ[0]-mTy[1]*mZ[1] + mY[1] -mY[0])/dty, 0. );
    r0[1] = mY[0] + mTy[0]*(r0[2]-mZ[0]);
    r0[0] = GetX() + GetPx()/GetPz()*(r0[2]-mZ[0]);
    
    dS = GetDStoPointCBM(r0);
    dS1 = p.GetDStoPoint(r0);
 
//   if( fQ[0]==0 ){
//     GetDStoParticleLine( p, dS, dS1 );
//     return;
//   }
// 
//   fvec fld[3];
//   GetFieldValue( fP, fld );
// 
//   GetDStoParticleBy(fld[1],p,dS,dS1);
}
 
void KFParticleBaseSIMD::TransportCBM( fvec dS, 
         fvec P[], fvec C[] ) const
{  
  //* Transport the particle on dS, output to P[],C[], for CBM field
 
  if( fQ[0]==0 ){
    TransportLine( dS, P, C );
    return;
  }
 
  const fvec kCLight = 0.000299792458;
 
  fvec c = fQ*kCLight;
 
  // construct coefficients 
 
  fvec 
    px   = fP[3],
    py   = fP[4],
    pz   = fP[5];
      
  fvec sx=0, sy=0, sz=0, syy=0, syz=0, syyy=0, ssx=0, ssy=0, ssz=0, ssyy=0, ssyz=0, ssyyy=0;
 
  { // get field integrals
 
    fvec fld[3][3];   
    fvec p0[3], p1[3], p2[3];
 
    // line track approximation
 
    p0[0] = fP[0];
    p0[1] = fP[1];
    p0[2] = fP[2];
  
    p2[0] = fP[0] + px*dS;
    p2[1] = fP[1] + py*dS;
    p2[2] = fP[2] + pz*dS;
  
    p1[0] = 0.5*(p0[0]+p2[0]);
    p1[1] = 0.5*(p0[1]+p2[1]);
    p1[2] = 0.5*(p0[2]+p2[2]);
 
    // first order track approximation
    {
      GetFieldValue( p0, fld[0] );
      GetFieldValue( p1, fld[1] );
      GetFieldValue( p2, fld[2] );
 
      fvec ssy1 = ( 7*fld[0][1] + 6*fld[1][1]-fld[2][1] )*c*dS*dS/96.;
      fvec ssy2 = (   fld[0][1] + 2*fld[1][1]         )*c*dS*dS/6.;
 
      p1[0] -= ssy1*pz;
      p1[2] += ssy1*px;
      p2[0] -= ssy2*pz;
      p2[2] += ssy2*px;   
    }
 
    GetFieldValue( p0, fld[0] );
    GetFieldValue( p1, fld[1] );
    GetFieldValue( p2, fld[2] );
 
    for(int iF1=0; iF1<3; iF1++)
      for(int iF2=0; iF2<3; iF2++)
        fld[iF1][iF2] = if3( (fabs(fld[iF1][iF2]) > fvec(100.)), Zero, fld[iF1][iF2] );
 
    sx = c*( fld[0][0] + 4*fld[1][0] + fld[2][0] )*dS/6.;
    sy = c*( fld[0][1] + 4*fld[1][1] + fld[2][1] )*dS/6.;
    sz = c*( fld[0][2] + 4*fld[1][2] + fld[2][2] )*dS/6.;
 
    ssx = c*( fld[0][0] + 2*fld[1][0])*dS*dS/6.;
    ssy = c*( fld[0][1] + 2*fld[1][1])*dS*dS/6.;
    ssz = c*( fld[0][2] + 2*fld[1][2])*dS*dS/6.;
 
    fvec c2[3][3]    =   { {  5, -4, -1},{  44,  80,  -4},{ 11, 44, 5} }; // /=360.    
    fvec cc2[3][3]    =   { { 38,  8, -4},{ 148, 208, -20},{  3, 36, 3} }; // /=2520.
    for(Int_t n=0; n<3; n++)
      for(Int_t m=0; m<3; m++) 
  {
    syz += c2[n][m]*fld[n][1]*fld[m][2];
    ssyz += cc2[n][m]*fld[n][1]*fld[m][2];
  }
 
    syz  *= c*c*dS*dS/360.;
    ssyz  *= c*c*dS*dS*dS/2520.;
    
    syy  = c*( fld[0][1] + 4*fld[1][1] + fld[2][1] )*dS;
    syyy = syy*syy*syy / 1296;
    syy  = syy*syy/72;
 
    ssyy = ( fld[0][1]*( 38*fld[0][1] + 156*fld[1][1]  -   fld[2][1] )+
      fld[1][1]*(              208*fld[1][1]  +16*fld[2][1] )+
      fld[2][1]*(                             3*fld[2][1] )  
      )*dS*dS*dS*c*c/2520.;
    ssyyy = 
      (
       fld[0][1]*( fld[0][1]*( 85*fld[0][1] + 526*fld[1][1]  - 7*fld[2][1] )+
     fld[1][1]*(             1376*fld[1][1]  +84*fld[2][1] )+
     fld[2][1]*(                            19*fld[2][1] )  )+
       fld[1][1]*( fld[1][1]*(             1376*fld[1][1] +256*fld[2][1] )+
     fld[2][1]*(                            62*fld[2][1] )  )+
       fld[2][1]*fld[2][1]  *(                             3*fld[2][1] )       
       )*dS*dS*dS*dS*c*c*c/90720.;    
 
  }
 
  fvec mJ[11];
 
  mJ[0]=dS-ssyy;  mJ[1]=ssx;  mJ[2]=ssyyy-ssy;
  mJ[3]=-ssz;     mJ[4]=dS;  mJ[5]=ssx+ssyz;
 
  mJ[6]=1-syy;   mJ[7]=sx;  mJ[8]=syyy-sy;
  mJ[9]=-sz;                mJ[10]=sx+syz;
 
 
 
  P[0] = fP[0] + mJ[0]*px + mJ[1]*py + mJ[2]*pz;
  P[1] = fP[1] + mJ[3]*px + mJ[4]*py + mJ[5]*pz;
  P[2] = fP[2] - mJ[2]*px - mJ[1]*py + mJ[0]*pz;
  P[3] =  mJ[6]*px + mJ[7]*py + mJ[8]*pz;
  P[4] =  mJ[9]*px +       py + mJ[10]*pz;
  P[5] = -mJ[8]*px - mJ[7]*py + mJ[6]*pz;
  P[6] = fP[6];
  P[7] = fP[7];
 
  if(C!=fC)
  {
    for(int iC=0; iC<36; iC++)
      C[iC] = fC[iC];
  }
 
  multQSQt1( mJ, C);
 
//   fvec mJ[8][8];
//   for( Int_t i=0; i<8; i++ ) for( Int_t j=0; j<8; j++) mJ[i][j]=0;
// 
//   mJ[0][0]=1; mJ[0][1]=0; mJ[0][2]=0; mJ[0][3]=dS-ssyy;  mJ[0][4]=ssx;  mJ[0][5]=ssyyy-ssy;
//   mJ[1][0]=0; mJ[1][1]=1; mJ[1][2]=0; mJ[1][3]=-ssz;     mJ[1][4]=dS;  mJ[1][5]=ssx+ssyz;
//   mJ[2][0]=0; mJ[2][1]=0; mJ[2][2]=1; mJ[2][3]=ssy-ssyyy; mJ[2][4]=-ssx; mJ[2][5]=dS-ssyy;
//   
//   mJ[3][0]=0; mJ[3][1]=0; mJ[3][2]=0; mJ[3][3]=1-syy;   mJ[3][4]=sx;  mJ[3][5]=syyy-sy;
//   mJ[4][0]=0; mJ[4][1]=0; mJ[4][2]=0; mJ[4][3]=-sz;     mJ[4][4]=1;   mJ[4][5]=sx+syz;
//   mJ[5][0]=0; mJ[5][1]=0; mJ[5][2]=0; mJ[5][3]=sy-syyy; mJ[5][4]=-sx; mJ[5][5]=1-syy;
//   mJ[6][6] = mJ[7][7] = 1;
//   
//   P[0] = fP[0] + mJ[0][3]*px + mJ[0][4]*py + mJ[0][5]*pz;
//   P[1] = fP[1] + mJ[1][3]*px + mJ[1][4]*py + mJ[1][5]*pz;
//   P[2] = fP[2] + mJ[2][3]*px + mJ[2][4]*py + mJ[2][5]*pz;
//   P[3] =        mJ[3][3]*px + mJ[3][4]*py + mJ[3][5]*pz;
//   P[4] =        mJ[4][3]*px + mJ[4][4]*py + mJ[4][5]*pz;
//   P[5] =        mJ[5][3]*px + mJ[5][4]*py + mJ[5][5]*pz;
//   P[6] = fP[6];
//   P[7] = fP[7];
 
//  MultQSQt( mJ, fC, C);
 
}
 
void KFParticleBaseSIMD::multQSQt1( const fvec J[11], fvec S[] )
{
  const fvec A00 = S[0 ]+S[6 ]*J[0]+S[10]*J[1]+S[15]*J[2];
  const fvec A10 = S[1 ]+S[7 ]*J[0]+S[11]*J[1]+S[16]*J[2];
  const fvec A20 = S[3 ]+S[8 ]*J[0]+S[12]*J[1]+S[17]*J[2];
  const fvec A30 = S[6 ]+S[9 ]*J[0]+S[13]*J[1]+S[18]*J[2];
  const fvec A40 = S[10]+S[13]*J[0]+S[14]*J[1]+S[19]*J[2];
  const fvec A50 = S[15]+S[18]*J[0]+S[19]*J[1]+S[20]*J[2];
  const fvec A60 = S[21]+S[24]*J[0]+S[25]*J[1]+S[26]*J[2];
  const fvec A70 = S[28]+S[31]*J[0]+S[32]*J[1]+S[33]*J[2];
 
  S[0 ] = A00+J[0]*A30+J[1]*A40+J[2]*A50;
  S[1 ] = A10+J[3]*A30+J[4]*A40+J[5]*A50;
  S[3 ] = A20-J[2]*A30-J[1]*A40+J[0]*A50;
  S[6 ] = J[6]*A30+J[7]*A40+J[8]*A50;
  S[10] = J[9]*A30+        A40+J[10]*A50;
  S[15] = -J[8]*A30-J[7]*A40+J[6]*A50;
  S[21] = A60;
  S[28] = A70;
 
//  const fvec A01 = S[1 ]+S[6 ]*J[3]+S[10]*J[4]+S[15]*J[5];
  const fvec A11 = S[2 ]+S[7 ]*J[3]+S[11]*J[4]+S[16]*J[5];
  const fvec A21 = S[4 ]+S[8 ]*J[3]+S[12]*J[4]+S[17]*J[5];
  const fvec A31 = S[7 ]+S[9 ]*J[3]+S[13]*J[4]+S[18]*J[5];
  const fvec A41 = S[11]+S[13]*J[3]+S[14]*J[4]+S[19]*J[5];
  const fvec A51 = S[16]+S[18]*J[3]+S[19]*J[4]+S[20]*J[5];
  const fvec A61 = S[22]+S[24]*J[3]+S[25]*J[4]+S[26]*J[5];
  const fvec A71 = S[29]+S[31]*J[3]+S[32]*J[4]+S[33]*J[5];
 
  S[2 ] = A11+J[3]*A31+J[4]*A41+J[5]*A51;
  S[4 ] = A21-J[2]*A31-J[1]*A41+J[0]*A51;
  S[7 ] = J[6]*A31+J[7]*A41+J[8]*A51;
  S[11] = J[9]*A31+        A41+J[10]*A51;
  S[16] = -J[8]*A31-J[7]*A41+J[6]*A51;
  S[22] = A61;
  S[29] = A71;
 
//  const fvec A02 = S[3 ]+S[6 ]*J[2][3]+S[10]*J[2][4]+S[15]*J[2][5];
//  const fvec A12 = S[4 ]+S[7 ]*J[2][3]+S[11]*J[2][4]+S[16]*J[2][5];
  const fvec A22 = S[5 ]-S[8 ]*J[2]-S[12]*J[1]+S[17]*J[0];
  const fvec A32 = S[8 ]-S[9 ]*J[2]-S[13]*J[1]+S[18]*J[0];
  const fvec A42 = S[12]-S[13]*J[2]-S[14]*J[1]+S[19]*J[0];
  const fvec A52 = S[17]-S[18]*J[2]-S[19]*J[1]+S[20]*J[0];
  const fvec A62 = S[23]-S[24]*J[2]-S[25]*J[1]+S[26]*J[0];
  const fvec A72 = S[30]-S[31]*J[2]-S[32]*J[1]+S[33]*J[0];
 
  S[5 ] = A22-J[2]*A32-J[1]*A42+J[0]*A52;
  S[8 ] = J[6]*A32+J[7]*A42+J[8]*A52;
  S[12] = J[9]*A32+        A42+J[10]*A52;
  S[17] = -J[8]*A32-J[7]*A42+J[6]*A52;
  S[23] = A62;
  S[30] = A72;
 
//  const fvec A03 = S[6] *J[6]+S[10]*J[7]+S[15]*J[8];
//  const fvec A13 = S[7] *J[6]+S[11]*J[7]+S[16]*J[8];
//  const fvec A23 = S[8] *J[6]+S[12]*J[7]+S[17]*J[8];
  const fvec A33 = S[9] *J[6]+S[13]*J[7]+S[18]*J[8];
  const fvec A43 = S[13]*J[6]+S[14]*J[7]+S[19]*J[8];
  const fvec A53 = S[18]*J[6]+S[19]*J[7]+S[20]*J[8];
  const fvec A63 = S[24]*J[6]+S[25]*J[7]+S[26]*J[8];
  const fvec A73 = S[31]*J[6]+S[32]*J[7]+S[33]*J[8];
 
//  const fvec A04 = S[6] *J[9]+S[10]*J[4][4]+S[15]*J[10];
//  const fvec A14 = S[7] *J[9]+S[11]*J[4][4]+S[16]*J[10];
//  const fvec A24 = S[8] *J[9]+S[12]*J[4][4]+S[17]*J[10];
  const fvec A34 = S[9] *J[9]+S[13]+S[18]*J[10];
  const fvec A44 = S[13]*J[9]+S[14]+S[19]*J[10];
  const fvec A54 = S[18]*J[9]+S[19]+S[20]*J[10];
  const fvec A64 = S[24]*J[9]+S[25]+S[26]*J[10];
  const fvec A74 = S[31]*J[9]+S[32]+S[33]*J[10];
 
//  const fvec A05 = S[6] *J[5][3]+S[10]*J[5][4]+S[15]*J[6];
//  const fvec A15 = S[7] *J[5][3]+S[11]*J[5][4]+S[16]*J[6];
//  const fvec A25 = S[8] *J[5][3]+S[12]*J[5][4]+S[17]*J[6];
  const fvec A35 = -S[9] *J[8]-S[13]*J[7]+S[18]*J[6];
  const fvec A45 = -S[13]*J[8]-S[14]*J[7]+S[19]*J[6];
  const fvec A55 = -S[18]*J[8]-S[19]*J[7]+S[20]*J[6];
  const fvec A65 = -S[24]*J[8]-S[25]*J[7]+S[26]*J[6];
  const fvec A75 = -S[31]*J[8]-S[32]*J[7]+S[33]*J[6];
 
 
  S[9 ] = J[6]*A33+J[7]*A43+J[8]*A53;
  S[13] = J[9]*A33+        A43+J[10]*A53;
  S[18] = -J[8]*A33-J[7]*A43+J[6]*A53;
  S[24] = A63;
  S[31] = A73;
 
  S[14] = J[9]*A34+        A44+J[10]*A54;
  S[19] = -J[8]*A34-J[7]*A44+J[6]*A54;
  S[25] = A64;
  S[32] = A74;
 
  S[20] = -J[8]*A35-J[7]*A45+J[6]*A55;
  S[26] = A65;
  S[33] = A75;
 
//S[27] = S27;
//S[34] = S34;
//S[35] = S35;
}
 
void KFParticleBaseSIMD::TransportBz( fvec b, fvec t,
             fvec p[], fvec e[] ) const 
{ 
  //* Transport the particle on dS, output to P[],C[], for Bz field
 
  const fvec kCLight = 0.000299792458;
  b = b*fQ*kCLight;
  fvec bs= b*t;
  fvec s = sin(bs), c = cos(bs);
  fvec sB, cB;
 
  const fvec kOvSqr6 = 1./sqrt(6.);
  const fvec LocalSmall = 1.e-10;
 
  sB = if3( fvec(LocalSmall < fabs(bs)), (s/b), ((One-bs*kOvSqr6)*(One+bs*kOvSqr6)*t) );
  cB = if3( fvec(LocalSmall < fabs(bs)), ((One-c)/b), (.5*sB*bs) );
  
  fvec px = fP[3];
  fvec py = fP[4];
  fvec pz = fP[5];
 
  p[0] = fP[0] + sB*px + cB*py;
  p[1] = fP[1] - cB*px + sB*py;
  p[2] = fP[2] +  t*pz;
  p[3] =          c*px + s*py;
  p[4] =         -s*px + c*py;
  p[5] = fP[5];
  p[6] = fP[6];
  p[7] = fP[7];
 
  /* 
  fvec mJ[8][8] = { {1,0,0,   sB, cB,  0, 0, 0 },
      {0,1,0,  -cB, sB,  0, 0, 0 },
      {0,0,1,    0,  0,  t, 0, 0 },
      {0,0,0,    c,  s,  0, 0, 0 },
      {0,0,0,   -s,  c,  0, 0, 0 },
      {0,0,0,    0,  0,  1, 0, 0 },
      {0,0,0,    0,  0,  0, 1, 0 },
      {0,0,0,    0,  0,  0, 0, 1 }  };
  fvec mA[8][8];
  for( Int_t k=0,i=0; i<8; i++)
    for( Int_t j=0; j<=i; j++, k++ ) mA[i][j] = mA[j][i] = fC[k]; 
 
  fvec mJC[8][8];
  for( Int_t i=0; i<8; i++ )
    for( Int_t j=0; j<8; j++ ){
      mJC[i][j]=0;
      for( Int_t k=0; k<8; k++ ) mJC[i][j]+=mJ[i][k]*mA[k][j];
    }
  
  for( Int_t k=0,i=0; i<8; i++)
    for( Int_t j=0; j<=i; j++, k++ ){
      e[k] = 0;
      for( Int_t l=0; l<8; l++ ) e[k]+=mJC[i][l]*mJ[j][l];
    }
  
  return;
  */
 
  fvec 
    c6=fC[6], c7=fC[7], c8=fC[8], c17=fC[17], c18=fC[18],
    c24 = fC[24], c31 = fC[31];
 
  fvec 
    cBC13 = cB*fC[13],
    mJC13 = c7 - cB*fC[9] + sB*fC[13],
    mJC14 = fC[11] - cBC13 + sB*fC[14],
    mJC23 = c8 + t*c18,
    mJC24 = fC[12] + t*fC[19],
    mJC33 = c*fC[9] + s*fC[13],
    mJC34 = c*fC[13] + s*fC[14],
    mJC43 = -s*fC[9] + c*fC[13],
    mJC44 = -s*fC[13] + c*fC[14];
 
 
  e[0]= fC[0] + 2*(sB*c6 + cB*fC[10]) + (sB*fC[9] + 2*cBC13)*sB + cB*cB*fC[14];
  e[1]= fC[1] - cB*c6 + sB*fC[10] + mJC13*sB + mJC14*cB;
  e[2]= fC[2] - cB*c7 + sB*fC[11] - mJC13*cB + mJC14*sB;
  e[3]= fC[3] + t*fC[15] + mJC23*sB + mJC24*cB;
  e[4]= fC[4] + t*fC[16] - mJC23*cB + mJC24*sB;
 
  e[15]= fC[15] + c18*sB + fC[19]*cB;
  e[16]= fC[16] - c18*cB + fC[19]*sB;
  e[17]= c17 + fC[20]*t;
  e[18]= c18*c + fC[19]*s;
  e[19]= -c18*s + fC[19]*c;
 
  e[5]= fC[5] + (c17 + e[17] )*t;
 
  e[6]= c*c6 + s*fC[10] + mJC33*sB + mJC34*cB;
  e[7]= c*c7 + s*fC[11] - mJC33*cB + mJC34*sB;
  e[8]= c*c8 + s*fC[12] + e[18]*t;
  e[9]= mJC33*c + mJC34*s;
  e[10]= -s*c6 + c*fC[10] + mJC43*sB + mJC44*cB;
 
    
  e[11]= -s*c7 + c*fC[11] - mJC43*cB + mJC44*sB;
  e[12]= -s*c8 + c*fC[12] + e[19]*t;
  e[13]= mJC43*c + mJC44*s;
  e[14]= -mJC43*s + mJC44*c;
  e[20]= fC[20];
  e[21]= fC[21] + fC[25]*cB + c24*sB;
  e[22]= fC[22] - c24*cB + fC[25]*sB;
  e[23]= fC[23] + fC[26]*t;
  e[24]= c*c24 + s*fC[25];
  e[25]= c*fC[25] - c24*s;
  e[26]= fC[26];
  e[27]= fC[27];
  e[28]= fC[28] + fC[32]*cB + c31*sB;
  e[29]= fC[29] - c31*cB + fC[32]*sB;
  e[30]= fC[30] + fC[33]*t;
  e[31]= c*c31 + s*fC[32];
  e[32]= c*fC[32] - s*c31;
  e[33]= fC[33];
  e[34]= fC[34];
  e[35]= fC[35];     
}
 
 
fvec KFParticleBaseSIMD::GetDistanceFromVertex( const KFParticleBaseSIMD &Vtx ) const
{
  //* Calculate distance from vertex [cm]
 
  return GetDistanceFromVertex( Vtx.fP );
}
 
fvec KFParticleBaseSIMD::GetDistanceFromVertex( const fvec vtx[] ) const
{
  //* Calculate distance from vertex [cm]
 
  fvec mP[8], mC[36];  
  Transport( GetDStoPoint(vtx), mP, mC );
  fvec d[3]={ vtx[0]-mP[0], vtx[1]-mP[1], vtx[2]-mP[2]};
  return sqrt( d[0]*d[0]+d[1]*d[1]+d[2]*d[2] );
}
 
fvec KFParticleBaseSIMD::GetDistanceFromParticle( const KFParticleBaseSIMD &p ) 
  const
{ 
  //* Calculate distance to other particle [cm]
 
  fvec dS, dS1;
  GetDStoParticle( p, dS, dS1 );   
  fvec mP[8], mC[36], mP1[8], mC1[36];
  Transport( dS, mP, mC ); 
  p.Transport( dS1, mP1, mC1 ); 
  fvec dx = mP[0]-mP1[0]; 
  fvec dy = mP[1]-mP1[1]; 
  fvec dz = mP[2]-mP1[2]; 
  return sqrt(dx*dx+dy*dy+dz*dz);
}
 
fvec KFParticleBaseSIMD::GetDeviationFromVertex( const KFParticleBaseSIMD &Vtx ) const
{
  //* Calculate sqrt(Chi2/ndf) deviation from vertex
 
  return GetDeviationFromVertex( Vtx.fP, Vtx.fC );
}
 
 
fvec KFParticleBaseSIMD::GetDeviationFromVertex( const fvec v[], const fvec Cv[] ) const
{
  //* Calculate sqrt(Chi2/ndf) deviation from vertex
  //* v = [xyz], Cv=[Cxx,Cxy,Cyy,Cxz,Cyz,Czz]-covariance matrix
 
  fvec mP[8];
  fvec mC[36];
  
  Transport( GetDStoPoint(v), mP, mC );  
 
  fvec d[3]={ v[0]-mP[0], v[1]-mP[1], v[2]-mP[2]};
 
  fvec sigmaS = .1+10.*sqrt( (d[0]*d[0]+d[1]*d[1]+d[2]*d[2])/
                             (mP[3]*mP[3]+mP[4]*mP[4]+mP[5]*mP[5])  );
 
   
  fvec h[3] = { mP[3]*sigmaS, mP[4]*sigmaS, mP[5]*sigmaS };       
  
  fvec mSi[6] = 
    { mC[0] +h[0]*h[0], 
      mC[1] +h[1]*h[0], mC[2] +h[1]*h[1], 
      mC[3] +h[2]*h[0], mC[4] +h[2]*h[1], mC[5] +h[2]*h[2] };
 
  if( Cv ){
    mSi[0]+=Cv[0];
    mSi[1]+=Cv[1];
    mSi[2]+=Cv[2];
    mSi[3]+=Cv[3];
    mSi[4]+=Cv[4];
    mSi[5]+=Cv[5];
  }
  
  fvec mS[6];
 
  mS[0] = mSi[2]*mSi[5] - mSi[4]*mSi[4];
  mS[1] = mSi[3]*mSi[4] - mSi[1]*mSi[5];
  mS[2] = mSi[0]*mSi[5] - mSi[3]*mSi[3];
  mS[3] = mSi[1]*mSi[4] - mSi[2]*mSi[3];
  mS[4] = mSi[1]*mSi[3] - mSi[0]*mSi[4];
  mS[5] = mSi[0]*mSi[2] - mSi[1]*mSi[1];   
      
  fvec s = ( mSi[0]*mS[0] + mSi[1]*mS[1] + mSi[3]*mS[3] );
  s = if3( fvec( fabs(s) > 1.E-8 )  , One/s , Zero);
 
  return sqrt( fabs(s*( ( mS[0]*d[0] + mS[1]*d[1] + mS[3]*d[2])*d[0]
       +(mS[1]*d[0] + mS[2]*d[1] + mS[4]*d[2])*d[1]
       +(mS[3]*d[0] + mS[4]*d[1] + mS[5]*d[2])*d[2] ))/2);
}
 
 
fvec KFParticleBaseSIMD::GetDeviationFromParticle( const KFParticleBaseSIMD &p ) 
  const
{ 
  //* Calculate sqrt(Chi2/ndf) deviation from other particle
 
  fvec dS, dS1;
  GetDStoParticle( p, dS, dS1 );   
  fvec mP1[8], mC1[36];
  p.Transport( dS1, mP1, mC1 ); 
 
  fvec d[3]={ fP[0]-mP1[0], fP[1]-mP1[1], fP[2]-mP1[2]};
 
  fvec sigmaS = .1+10.*sqrt( (d[0]*d[0]+d[1]*d[1]+d[2]*d[2])/
          (mP1[3]*mP1[3]+mP1[4]*mP1[4]+mP1[5]*mP1[5])  );
 
  fvec h[3] = { mP1[3]*sigmaS, mP1[4]*sigmaS, mP1[5]*sigmaS };       
  
  mC1[0] +=h[0]*h[0];
  mC1[1] +=h[1]*h[0]; 
  mC1[2] +=h[1]*h[1]; 
  mC1[3] +=h[2]*h[0]; 
  mC1[4] +=h[2]*h[1];
  mC1[5] +=h[2]*h[2];
 
  return GetDeviationFromVertex( mP1, mC1 )*sqrt(2./1.);
}
 
 
 
void KFParticleBaseSIMD::SubtractFromVertex(  KFParticleBaseSIMD &Vtx ) const
{
  //* Subtract the particle from the vertex  
 
  fvec m[8];
  fvec mCm[36];
 
  if( Vtx.fIsLinearized ){
    GetMeasurement( Vtx.fVtxGuess, m, mCm );
  } else {
    GetMeasurement( Vtx.fP, m, mCm );
  }
  
  fvec mV[6];
    
  mV[ 0] = mCm[ 0];
  mV[ 1] = mCm[ 1];
  mV[ 2] = mCm[ 2];
  mV[ 3] = mCm[ 3];
  mV[ 4] = mCm[ 4];
  mV[ 5] = mCm[ 5];
     
  //* 
      
  fvec mS[6];
  {
    fvec mSi[6] = { mV[0]-Vtx.fC[0], 
      mV[1]-Vtx.fC[1], mV[2]-Vtx.fC[2], 
      mV[3]-Vtx.fC[3], mV[4]-Vtx.fC[4], mV[5]-Vtx.fC[5] };
    
    mS[0] = mSi[2]*mSi[5] - mSi[4]*mSi[4];
    mS[1] = mSi[3]*mSi[4] - mSi[1]*mSi[5];
    mS[2] = mSi[0]*mSi[5] - mSi[3]*mSi[3];
    mS[3] = mSi[1]*mSi[4] - mSi[2]*mSi[3];
    mS[4] = mSi[1]*mSi[3] - mSi[0]*mSi[4];
    mS[5] = mSi[0]*mSi[2] - mSi[1]*mSi[1];   
    
    fvec s = ( mSi[0]*mS[0] + mSi[1]*mS[1] + mSi[3]*mS[3] );
    s = if3(fvec( fabs(s) > small ) , One/s, Zero);   
    mS[0]*=s;
    mS[1]*=s;
    mS[2]*=s;
    mS[3]*=s;
    mS[4]*=s;
    mS[5]*=s;
  }
    
  //* Residual (measured - estimated)
    
  fvec zeta[3] = { m[0]-Vtx.fP[0], m[1]-Vtx.fP[1], m[2]-Vtx.fP[2] };
        
  //* mCHt = mCH' - D'
    
  fvec mCHt0[3], mCHt1[3], mCHt2[3];
    
  mCHt0[0]=Vtx.fC[ 0] ;      mCHt1[0]=Vtx.fC[ 1] ;      mCHt2[0]=Vtx.fC[ 3] ;
  mCHt0[1]=Vtx.fC[ 1] ;      mCHt1[1]=Vtx.fC[ 2] ;      mCHt2[1]=Vtx.fC[ 4] ;
  mCHt0[2]=Vtx.fC[ 3] ;      mCHt1[2]=Vtx.fC[ 4] ;      mCHt2[2]=Vtx.fC[ 5] ;
  
  //* Kalman gain K = mCH'*S
    
  fvec k0[3], k1[3], k2[3];
    
  for(Int_t i=0;i<3;++i){
    k0[i] = mCHt0[i]*mS[0] + mCHt1[i]*mS[1] + mCHt2[i]*mS[3];
    k1[i] = mCHt0[i]*mS[1] + mCHt1[i]*mS[2] + mCHt2[i]*mS[4];
    k2[i] = mCHt0[i]*mS[3] + mCHt1[i]*mS[4] + mCHt2[i]*mS[5];
  }
    
  //* New estimation of the vertex position r += K*zeta
    
  fvec dChi2 = -(mS[0]*zeta[0] + mS[1]*zeta[1] + mS[3]*zeta[2])*zeta[0]
    -      (mS[1]*zeta[0] + mS[2]*zeta[1] + mS[4]*zeta[2])*zeta[1]
    -      (mS[3]*zeta[0] + mS[4]*zeta[1] + mS[5]*zeta[2])*zeta[2];
 
//  fvec mask = fvec( (Vtx.fChi2 - dChi2) < Zero ); //TODO Check and correct!
  fvec mask = fvec(One>Zero); //TODO Check and correct!
 
  for(Int_t i=0;i<3;++i) 
    Vtx.fP[i] -= (mask & (k0[i]*zeta[0] + k1[i]*zeta[1] + k2[i]*zeta[2]) );
  //* New covariance matrix C -= K*(mCH')'
    
  for(Int_t i=0, k=0;i<3;++i){
    for(Int_t j=0;j<=i;++j,++k) 
      Vtx.fC[k] += (mask & (k0[i]*mCHt0[j] + k1[i]*mCHt1[j] + k2[i]*mCHt2[j]));
  }
    
  //* Calculate Chi^2 
 
  Vtx.fNDF  -= 2; //TODO Check and correct!
  Vtx.fChi2 += (mask & dChi2);
}
 
void KFParticleBaseSIMD::SubtractFromParticle(  KFParticleBaseSIMD &Vtx ) const
{
  //* Subtract the particle from the mother particle  
 
  fvec m[8];
  fvec mV[36];
 
  if( Vtx.fIsLinearized ){
    GetMeasurement( Vtx.fVtxGuess, m, mV,0 );
  } else {
    GetMeasurement( Vtx.fP, m, mV );
  }
 
  fvec mS[6]= { mV[0] - Vtx.fC[0],
                mV[1] - Vtx.fC[1], mV[2] - Vtx.fC[2],
                mV[3] - Vtx.fC[3], mV[4] - Vtx.fC[4], mV[5] - Vtx.fC[5] };
  InvertCholetsky3(mS);
 
  //* Residual (measured - estimated)
 
  fvec zeta[3] = { m[0]-Vtx.fP[0], m[1]-Vtx.fP[1], m[2]-Vtx.fP[2] };    
 
  //* CHt = CH' - D'
 
  fvec mCHt0[7], mCHt1[7], mCHt2[7];
 
  mCHt0[0]=mV[ 0] ;           mCHt1[0]=mV[ 1] ;           mCHt2[0]=mV[ 3] ;
  mCHt0[1]=mV[ 1] ;           mCHt1[1]=mV[ 2] ;           mCHt2[1]=mV[ 4] ;
  mCHt0[2]=mV[ 3] ;           mCHt1[2]=mV[ 4] ;           mCHt2[2]=mV[ 5] ;
  mCHt0[3]=Vtx.fC[ 6]-mV[ 6]; mCHt1[3]=Vtx.fC[ 7]-mV[ 7]; mCHt2[3]=Vtx.fC[ 8]-mV[ 8];
  mCHt0[4]=Vtx.fC[10]-mV[10]; mCHt1[4]=Vtx.fC[11]-mV[11]; mCHt2[4]=Vtx.fC[12]-mV[12];
  mCHt0[5]=Vtx.fC[15]-mV[15]; mCHt1[5]=Vtx.fC[16]-mV[16]; mCHt2[5]=Vtx.fC[17]-mV[17];
  mCHt0[6]=Vtx.fC[21]-mV[21]; mCHt1[6]=Vtx.fC[22]-mV[22]; mCHt2[6]=Vtx.fC[23]-mV[23];
 
  //* Kalman gain K = mCH'*S
    
  fvec k0[7], k1[7], k2[7];
    
  for(Int_t i=0;i<7;++i){
    k0[i] = mCHt0[i]*mS[0] + mCHt1[i]*mS[1] + mCHt2[i]*mS[3];
    k1[i] = mCHt0[i]*mS[1] + mCHt1[i]*mS[2] + mCHt2[i]*mS[4];
    k2[i] = mCHt0[i]*mS[3] + mCHt1[i]*mS[4] + mCHt2[i]*mS[5];
  }
 
    //* Add the daughter momentum to the particle momentum
    
  Vtx.fP[ 3] -= m[ 3];
  Vtx.fP[ 4] -= m[ 4];
  Vtx.fP[ 5] -= m[ 5];
  Vtx.fP[ 6] -= m[ 6];
  
  Vtx.fC[ 9] -= mV[ 9];
  Vtx.fC[13] -= mV[13];
  Vtx.fC[14] -= mV[14];
  Vtx.fC[18] -= mV[18];
  Vtx.fC[19] -= mV[19];
  Vtx.fC[20] -= mV[20];
  Vtx.fC[24] -= mV[24];
  Vtx.fC[25] -= mV[25];
  Vtx.fC[26] -= mV[26];
  Vtx.fC[27] -= mV[27];
 
   //* New estimation of the vertex position r += K*zeta
    
  for(Int_t i=0;i<3;++i) 
    Vtx.fP[i] = m[i] - (k0[i]*zeta[0] + k1[i]*zeta[1] + k2[i]*zeta[2]);
  for(Int_t i=3;i<7;++i) 
    Vtx.fP[i] = Vtx.fP[i] - (k0[i]*zeta[0] + k1[i]*zeta[1] + k2[i]*zeta[2]);
 
    //* New covariance matrix C -= K*(mCH')'
 
  fvec ffC[28] = { -mV[ 0],
                   -mV[ 1], -mV[ 2],
                   -mV[ 3], -mV[ 4], -mV[ 5],
                    mV[ 6],  mV[ 7],  mV[ 8], Vtx.fC[ 9],
                    mV[10],  mV[11],  mV[12], Vtx.fC[13], Vtx.fC[14],
                    mV[15],  mV[16],  mV[17], Vtx.fC[18], Vtx.fC[19], Vtx.fC[20],
                    mV[21],  mV[22],  mV[23], Vtx.fC[24], Vtx.fC[25], Vtx.fC[26], Vtx.fC[27] };
 
  for(Int_t i=0, k=0;i<7;++i){
    for(Int_t j=0;j<=i;++j,++k){
      Vtx.fC[k] = ffC[k] + (k0[i]*mCHt0[j] + k1[i]*mCHt1[j] + k2[i]*mCHt2[j] );
    }
  }
 
    //* Calculate Chi^2 
  Vtx.fNDF  -= 2;
  Vtx.fQ    -= GetQ();
  Vtx.fSFromDecay = 0;    
  Vtx.fChi2 -= ((mS[0]*zeta[0] + mS[1]*zeta[1] + mS[3]*zeta[2])*zeta[0]
               +(mS[1]*zeta[0] + mS[2]*zeta[1] + mS[4]*zeta[2])*zeta[1]
               +(mS[3]*zeta[0] + mS[4]*zeta[1] + mS[5]*zeta[2])*zeta[2]);     
}
 
void KFParticleBaseSIMD::TransportLine( fvec dS, 
               fvec P[], fvec C[] ) const 
{
  //* Transport the particle as a straight line
 
  P[0] = fP[0] + dS*fP[3];
  P[1] = fP[1] + dS*fP[4];
  P[2] = fP[2] + dS*fP[5];
  P[3] = fP[3];
  P[4] = fP[4];
  P[5] = fP[5];
  P[6] = fP[6];
  P[7] = fP[7];
 
  fvec c6  = fC[ 6] + dS*fC[ 9];
  fvec c11 = fC[11] + dS*fC[14];
  fvec c17 = fC[17] + dS*fC[20];
  fvec sc13 = dS*fC[13];
  fvec sc18 = dS*fC[18];
  fvec sc19 = dS*fC[19];
 
  C[ 0] = fC[ 0] + dS*( fC[ 6] + c6  );
  C[ 2] = fC[ 2] + dS*( fC[11] + c11 );
  C[ 5] = fC[ 5] + dS*( fC[17] + c17 );
 
  C[ 7] = fC[ 7] + sc13;
  C[ 8] = fC[ 8] + sc18;
  C[ 9] = fC[ 9];
 
  C[12] = fC[12] + sc19;
 
  C[ 1] = fC[ 1] + dS*( fC[10] + C[ 7] );
  C[ 3] = fC[ 3] + dS*( fC[15] + C[ 8] );
  C[ 4] = fC[ 4] + dS*( fC[16] + C[12] ); 
  C[ 6] = c6;
 
  C[10] = fC[10] + sc13;
  C[11] = c11;
 
  C[13] = fC[13];
  C[14] = fC[14];
  C[15] = fC[15] + sc18;
  C[16] = fC[16] + sc19;
  C[17] = c17;
  
  C[18] = fC[18];
  C[19] = fC[19];
  C[20] = fC[20];
  C[21] = fC[21] + dS*fC[24];
  C[22] = fC[22] + dS*fC[25];
  C[23] = fC[23] + dS*fC[26];
 
  C[24] = fC[24];
  C[25] = fC[25];
  C[26] = fC[26];
  C[27] = fC[27];
  C[28] = fC[28] + dS*fC[31];
  C[29] = fC[29] + dS*fC[32];
  C[30] = fC[30] + dS*fC[33];
 
  C[31] = fC[31];
  C[32] = fC[32];
  C[33] = fC[33];
  C[34] = fC[34];
  C[35] = fC[35]; 
}
 
void KFParticleBaseSIMD::ConstructGammaBz( const KFParticleBaseSIMD &daughter1,
                                           const KFParticleBaseSIMD &daughter2, fvec Bz  )
{ 
  //* Create gamma
  
  const KFParticleBaseSIMD *daughters[2] = { &daughter1, &daughter2};
 
  fvec v0[3];
  
  if( !fIsLinearized ){
    fvec ds, ds1;
    fvec m[8];
    fvec mCd[36];       
    daughter1.GetDStoParticle(daughter2, ds, ds1);      
    daughter1.Transport( ds, m, mCd );
    fP[0] = m[0];
    fP[1] = m[1];
    fP[2] = m[2];
    daughter2.Transport( ds1, m, mCd );
    fP[0] = .5*( fP[0] + m[0] );
    fP[1] = .5*( fP[1] + m[1] );
    fP[2] = .5*( fP[2] + m[2] );
  } else {
    fP[0] = fVtxGuess[0];
    fP[1] = fVtxGuess[1];
    fP[2] = fVtxGuess[2];
  }
 
  fvec daughterP[2][8], daughterC[2][36];
  fvec vtxMom[2][3];
 
  int nIter = fIsLinearized ?1 :2;
 
  for( int iter=0; iter<nIter; iter++){
 
    v0[0] = fP[0];
    v0[1] = fP[1];
    v0[2] = fP[2];
    
    fAtProductionVertex = 0;
    fSFromDecay = 0;
    fP[0] = v0[0];
    fP[1] = v0[1];
    fP[2] = v0[2];
    fP[3] = 0;
    fP[4] = 0;
    fP[5] = 0;
    fP[6] = 0;
    fP[7] = 0;
 
  
    // fit daughters to the vertex guess  
    
    {  
      for( int id=0; id<2; id++ ){
  
  fvec *p = daughterP[id];
  fvec *mC = daughterC[id];
  
  daughters[id]->GetMeasurement( v0, p, mC );
  
  fvec mAi[6];
  InvertSym3(mC, mAi );
  
  fvec mB[3][3];
  
  mB[0][0] = mC[ 6]*mAi[0] + mC[ 7]*mAi[1] + mC[ 8]*mAi[3];
  mB[0][1] = mC[ 6]*mAi[1] + mC[ 7]*mAi[2] + mC[ 8]*mAi[4];
  mB[0][2] = mC[ 6]*mAi[3] + mC[ 7]*mAi[4] + mC[ 8]*mAi[5];
  
  mB[1][0] = mC[10]*mAi[0] + mC[11]*mAi[1] + mC[12]*mAi[3];
  mB[1][1] = mC[10]*mAi[1] + mC[11]*mAi[2] + mC[12]*mAi[4];
  mB[1][2] = mC[10]*mAi[3] + mC[11]*mAi[4] + mC[12]*mAi[5];
  
  mB[2][0] = mC[15]*mAi[0] + mC[16]*mAi[1] + mC[17]*mAi[3];
  mB[2][1] = mC[15]*mAi[1] + mC[16]*mAi[2] + mC[17]*mAi[4];
  mB[2][2] = mC[15]*mAi[3] + mC[16]*mAi[4] + mC[17]*mAi[5];
  
  fvec z[3] = { v0[0]-p[0], v0[1]-p[1], v0[2]-p[2] };
  
  vtxMom[id][0] = p[3] + mB[0][0]*z[0] + mB[0][1]*z[1] + mB[0][2]*z[2];
  vtxMom[id][1] = p[4] + mB[1][0]*z[0] + mB[1][1]*z[1] + mB[1][2]*z[2];
  vtxMom[id][2] = p[5] + mB[2][0]*z[0] + mB[2][1]*z[1] + mB[2][2]*z[2];
  
  daughters[id]->Transport( daughters[id]->GetDStoPoint(v0), p, mC );
      
      }      
      
    } // fit daughters to guess
 
    
    // fit new vertex
    {
      
      fvec mpx0 =  vtxMom[0][0]+vtxMom[1][0];
      fvec mpy0 =  vtxMom[0][1]+vtxMom[1][1];
      fvec mpt0 =  sqrt(mpx0*mpx0 + mpy0*mpy0);
      // fvec a0 = TMath::ATan2(mpy0,mpx0);
      
      fvec ca0 = mpx0/mpt0;
      fvec sa0 = mpy0/mpt0;
      fvec r[3] = { v0[0], v0[1], v0[2] };
      fvec mC[3][3] = {{1000., 0 ,   0  },
       {0,  1000.,   0  },
       {0,     0, 1000. } };
      fvec chi2=0;
      
      for( int id=0; id<2; id++ ){    
  const fvec kCLight = 0.000299792458;
  fvec q = Bz*daughters[id]->GetQ()*kCLight;
  fvec px0 = vtxMom[id][0];
  fvec py0 = vtxMom[id][1];
  fvec pz0 = vtxMom[id][2];
  fvec pt0 = sqrt(px0*px0+py0*py0);
  fvec mG[3][6], mB[3], mH[3][3];
  // r = {vx,vy,vz};
  // m = {x,y,z,Px,Py,Pz};
  // V = daughter.C
  // G*m + B = H*r;
  // q*x + Py - q*vx - sin(a)*Pt = 0
  // q*y - Px - q*vy + cos(a)*Pt = 0
  // (Px*cos(a) + Py*sin(a) ) (vz -z) - Pz( cos(a)*(vx-x) + sin(a)*(vy-y)) = 0
  
  mG[0][0] = q;
  mG[0][1] = 0;
  mG[0][2] = 0;
  mG[0][3] =   -sa0*px0/pt0;
  mG[0][4] = 1 -sa0*py0/pt0;
  mG[0][5] = 0; 
  mH[0][0] = q;
  mH[0][1] = 0;
  mH[0][2] = 0;      
  mB[0] = py0 - sa0*pt0 - mG[0][3]*px0 - mG[0][4]*py0 ;
  
  // q*y - Px - q*vy + cos(a)*Pt = 0
  
  mG[1][0] = 0;
  mG[1][1] = q;
  mG[1][2] = 0;
  mG[1][3] = -1 + ca0*px0/pt0;
  mG[1][4] =    + ca0*py0/pt0;
  mG[1][5] = 0;      
  mH[1][0] = 0;
  mH[1][1] = q;
  mH[1][2] = 0;      
  mB[1] = -px0 + ca0*pt0 - mG[1][3]*px0 - mG[1][4]*py0 ;
  
  // (Px*cos(a) + Py*sin(a) ) (z -vz) - Pz( cos(a)*(x-vx) + sin(a)*(y-vy)) = 0
      
  mG[2][0] = -pz0*ca0;
  mG[2][1] = -pz0*sa0;
  mG[2][2] =  px0*ca0 + py0*sa0;
  mG[2][3] = 0;
  mG[2][4] = 0;
  mG[2][5] = 0;
  
  mH[2][0] = mG[2][0];
  mH[2][1] = mG[2][1];
  mH[2][2] = mG[2][2];
  
  mB[2] = 0;
  
  // fit the vertex
 
  // V = GVGt
 
  fvec mGV[3][6];
  fvec mV[6];
  fvec m[3];
  for( int i=0; i<3; i++ ){
    m[i] = mB[i];
    for( int k=0; k<6; k++ ) m[i]+=mG[i][k]*daughterP[id][k];
  }
  for( int i=0; i<3; i++ ){
    for( int j=0; j<6; j++ ){
      mGV[i][j] = 0;
      for( int k=0; k<6; k++ ) mGV[i][j]+=mG[i][k]*daughterC[id][ IJ(k,j) ];
    }
  }
  for( int i=0, k=0; i<3; i++ ){
    for( int j=0; j<=i; j++,k++ ){
      mV[k] = 0;
      for( int l=0; l<6; l++ ) mV[k]+=mGV[i][l]*mG[j][l];
    }
  }
  
      
  //* CHt
  
  fvec mCHt[3][3];
  fvec mHCHt[6];
  fvec mHr[3];
  for( int i=0; i<3; i++ ){   
    mHr[i] = 0;
    for( int k=0; k<3; k++ ) mHr[i]+= mH[i][k]*r[k];
  }
      
  for( int i=0; i<3; i++ ){
    for( int j=0; j<3; j++){
      mCHt[i][j] = 0;
      for( int k=0; k<3; k++ ) mCHt[i][j]+= mC[i][k]*mH[j][k];
    }
  }
 
  for( int i=0, k=0; i<3; i++ ){
    for( int j=0; j<=i; j++, k++ ){
      mHCHt[k] = 0;
      for( int l=0; l<3; l++ ) mHCHt[k]+= mH[i][l]*mCHt[l][j];
    }
  }
      
  fvec mS[6] = { mHCHt[0]+mV[0], 
         mHCHt[1]+mV[1], mHCHt[2]+mV[2], 
         mHCHt[3]+mV[3], mHCHt[4]+mV[4], mHCHt[5]+mV[5]    }; 
      
 
  InvertSym3(mS,mS);
  
  //* Residual (measured - estimated)
    
  fvec zeta[3] = { m[0]-mHr[0], m[1]-mHr[1], m[2]-mHr[2] };
            
  //* Kalman gain K = mCH'*S
    
  fvec k[3][3];
      
  for(Int_t i=0;i<3;++i){
    k[i][0] = mCHt[i][0]*mS[0] + mCHt[i][1]*mS[1] + mCHt[i][2]*mS[3];
    k[i][1] = mCHt[i][0]*mS[1] + mCHt[i][1]*mS[2] + mCHt[i][2]*mS[4];
    k[i][2] = mCHt[i][0]*mS[3] + mCHt[i][1]*mS[4] + mCHt[i][2]*mS[5];
  }
 
  //* New estimation of the vertex position r += K*zeta
    
  for(Int_t i=0;i<3;++i) 
    r[i] = r[i] + k[i][0]*zeta[0] + k[i][1]*zeta[1] + k[i][2]*zeta[2];
      
  //* New covariance matrix C -= K*(mCH')'
 
  for(Int_t i=0;i<3;++i){
    for(Int_t j=0;j<=i;++j){
      mC[i][j] = mC[i][j] - (k[i][0]*mCHt[j][0] + k[i][1]*mCHt[j][1] + k[i][2]*mCHt[j][2]);
      mC[j][i] = mC[i][j];
    }
  }
 
  //* Calculate Chi^2 
  
  chi2 += ( ( mS[0]*zeta[0] + mS[1]*zeta[1] + mS[3]*zeta[2] )*zeta[0]
      +(mS[1]*zeta[0] + mS[2]*zeta[1] + mS[4]*zeta[2] )*zeta[1]
      +(mS[3]*zeta[0] + mS[4]*zeta[1] + mS[5]*zeta[2] )*zeta[2]  );  
      }
    
      // store vertex
    
      fNDF  = 2;
      fChi2 = chi2;
      for( int i=0; i<3; i++ ) fP[i] = r[i];
      for( int i=0,k=0; i<3; i++ ){
  for( int j=0; j<=i; j++,k++ ){
    fC[k] = mC[i][j];
  }
      }
    }
 
  } // iterations
 
  // now fit daughters to the vertex
  
  fQ     =  0;
  fSFromDecay = 0;    
 
  for(Int_t i=3;i<8;++i) fP[i]=0.;
  for(Int_t i=6;i<35;++i) fC[i]=0.;
  fC[35] = 100.;
 
  for( int id=0; id<2; id++ ){
 
    fvec *p = daughterP[id];
    fvec *mC = daughterC[id];      
    daughters[id]->GetMeasurement( v0, p, mC );
 
    const fvec *m = fP, *mV = fC;
    
    fvec mAi[6];
    InvertSym3(mC, mAi );
 
    fvec mB[4][3];
 
    mB[0][0] = mC[ 6]*mAi[0] + mC[ 7]*mAi[1] + mC[ 8]*mAi[3];
    mB[0][1] = mC[ 6]*mAi[1] + mC[ 7]*mAi[2] + mC[ 8]*mAi[4];
    mB[0][2] = mC[ 6]*mAi[3] + mC[ 7]*mAi[4] + mC[ 8]*mAi[5];
    
    mB[1][0] = mC[10]*mAi[0] + mC[11]*mAi[1] + mC[12]*mAi[3];
    mB[1][1] = mC[10]*mAi[1] + mC[11]*mAi[2] + mC[12]*mAi[4];
    mB[1][2] = mC[10]*mAi[3] + mC[11]*mAi[4] + mC[12]*mAi[5];
    
    mB[2][0] = mC[15]*mAi[0] + mC[16]*mAi[1] + mC[17]*mAi[3];
    mB[2][1] = mC[15]*mAi[1] + mC[16]*mAi[2] + mC[17]*mAi[4];
    mB[2][2] = mC[15]*mAi[3] + mC[16]*mAi[4] + mC[17]*mAi[5];
    
    mB[3][0] = mC[21]*mAi[0] + mC[22]*mAi[1] + mC[23]*mAi[3];
    mB[3][1] = mC[21]*mAi[1] + mC[22]*mAi[2] + mC[23]*mAi[4];
    mB[3][2] = mC[21]*mAi[3] + mC[22]*mAi[4] + mC[23]*mAi[5];    
 
 
    fvec z[3] = { m[0]-p[0], m[1]-p[1], m[2]-p[2] };
 
//     {
//       fvec mAV[6] = { mC[0]-mV[0], mC[1]-mV[1], mC[2]-mV[2], 
//        mC[3]-mV[3], mC[4]-mV[4], mC[5]-mV[5] };
//       
//       fvec mAVi[6];
//       if( !InvertSym3(mAV, mAVi) ){
//  fvec dChi2 = ( +(mAVi[0]*z[0] + mAVi[1]*z[1] + mAVi[3]*z[2])*z[0]
//         +(mAVi[1]*z[0] + mAVi[2]*z[1] + mAVi[4]*z[2])*z[1]
//         +(mAVi[3]*z[0] + mAVi[4]*z[1] + mAVi[5]*z[2])*z[2] );
//  fChi2+= TMath::Abs( dChi2 );
//       }
//       fNDF  += 2;
//     }
 
    //* Add the daughter momentum to the particle momentum
 
    fP[3]+= p[3] + mB[0][0]*z[0] + mB[0][1]*z[1] + mB[0][2]*z[2];
    fP[4]+= p[4] + mB[1][0]*z[0] + mB[1][1]*z[1] + mB[1][2]*z[2];
    fP[5]+= p[5] + mB[2][0]*z[0] + mB[2][1]*z[1] + mB[2][2]*z[2];
    fP[6]+= p[6] + mB[3][0]*z[0] + mB[3][1]*z[1] + mB[3][2]*z[2];
  
    fvec d0, d1, d2;
   
    d0= mB[0][0]*mV[0] + mB[0][1]*mV[1] + mB[0][2]*mV[3] - mC[ 6];
    d1= mB[0][0]*mV[1] + mB[0][1]*mV[2] + mB[0][2]*mV[4] - mC[ 7];
    d2= mB[0][0]*mV[3] + mB[0][1]*mV[4] + mB[0][2]*mV[5] - mC[ 8];
 
    //fC[6]+= mC[ 6] + d0;
    //fC[7]+= mC[ 7] + d1;
    //fC[8]+= mC[ 8] + d2;
    fC[9]+= mC[ 9] + d0*mB[0][0] + d1*mB[0][1] + d2*mB[0][2];
 
    d0= mB[1][0]*mV[0] + mB[1][1]*mV[1] + mB[1][2]*mV[3] - mC[10];
    d1= mB[1][0]*mV[1] + mB[1][1]*mV[2] + mB[1][2]*mV[4] - mC[11];
    d2= mB[1][0]*mV[3] + mB[1][1]*mV[4] + mB[1][2]*mV[5] - mC[12];
 
    //fC[10]+= mC[10]+ d0;
    //fC[11]+= mC[11]+ d1;
    //fC[12]+= mC[12]+ d2;
    fC[13]+= mC[13]+ d0*mB[0][0] + d1*mB[0][1] + d2*mB[0][2];
    fC[14]+= mC[14]+ d0*mB[1][0] + d1*mB[1][1] + d2*mB[1][2];
 
    d0= mB[2][0]*mV[0] + mB[2][1]*mV[1] + mB[2][2]*mV[3] - mC[15];
    d1= mB[2][0]*mV[1] + mB[2][1]*mV[2] + mB[2][2]*mV[4] - mC[16];
    d2= mB[2][0]*mV[3] + mB[2][1]*mV[4] + mB[2][2]*mV[5] - mC[17];
 
    //fC[15]+= mC[15]+ d0;
    //fC[16]+= mC[16]+ d1;
    //fC[17]+= mC[17]+ d2;
    fC[18]+= mC[18]+ d0*mB[0][0] + d1*mB[0][1] + d2*mB[0][2];
    fC[19]+= mC[19]+ d0*mB[1][0] + d1*mB[1][1] + d2*mB[1][2];
    fC[20]+= mC[20]+ d0*mB[2][0] + d1*mB[2][1] + d2*mB[2][2];
 
    d0= mB[3][0]*mV[0] + mB[3][1]*mV[1] + mB[3][2]*mV[3] - mC[21];
    d1= mB[3][0]*mV[1] + mB[3][1]*mV[2] + mB[3][2]*mV[4] - mC[22];
    d2= mB[3][0]*mV[3] + mB[3][1]*mV[4] + mB[3][2]*mV[5] - mC[23];
 
    //fC[21]+= mC[21] + d0;
    //fC[22]+= mC[22] + d1;
    //fC[23]+= mC[23] + d2;
    fC[24]+= mC[24] + d0*mB[0][0] + d1*mB[0][1] + d2*mB[0][2];
    fC[25]+= mC[25] + d0*mB[1][0] + d1*mB[1][1] + d2*mB[1][2];
    fC[26]+= mC[26] + d0*mB[2][0] + d1*mB[2][1] + d2*mB[2][2];
    fC[27]+= mC[27] + d0*mB[3][0] + d1*mB[3][1] + d2*mB[3][2];
  }
 
//  SetMassConstraint(0,0);
  SetNonlinearMassConstraint(0);
}
 
void KFParticleBaseSIMD::GetArmenterosPodolanski(KFParticleBaseSIMD& positive, KFParticleBaseSIMD& negative, fvec QtAlfa[2] )
{
// example:
//       KFParticle PosParticle(...)
//       KFParticle NegParticle(...)
//       Gamma.ConstructGamma(PosParticle, NegParticle);
//       fvec VertexGamma[3] = {Gamma.GetX(), Gamma.GetY(), Gamma.GetZ()};
//       PosParticle.TransportToPoint(VertexGamma);
//       NegParticle.TransportToPoint(VertexGamma);
//       fvec armenterosQtAlfa[2] = {0.};
//       KFParticle::GetArmenterosPodolanski(PosParticle, NegParticle, armenterosQtAlfa );
 
  fvec alpha = 0., qt = 0.;
  fvec spx = positive.GetPx() + negative.GetPx();
  fvec spy = positive.GetPy() + negative.GetPy();
  fvec spz = positive.GetPz() + negative.GetPz();
  fvec sp  = sqrt(spx*spx + spy*spy + spz*spz);
  fvec mask = fvec(  fabs(sp) < fvec(1.E-10));
  fvec pn, pp, pln, plp;
 
  pn = sqrt(negative.GetPx()*negative.GetPx() + negative.GetPy()*negative.GetPy() + negative.GetPz()*negative.GetPz());
  pp = sqrt(positive.GetPx()*positive.GetPx() + positive.GetPy()*positive.GetPy() + positive.GetPz()*positive.GetPz());
  pln  = (negative.GetPx()*spx+negative.GetPy()*spy+negative.GetPz()*spz)/sp;
  plp  = (positive.GetPx()*spx+positive.GetPy()*spy+positive.GetPz()*spz)/sp;
 
  mask = fvec(mask & fvec(  fabs(pn) < fvec(1.E-10)));
  fvec ptm  = (1.-((pln/pn)*(pln/pn)));
  qt= if3( fvec(ptm >= Zero) ,  pn*sqrt(ptm) , Zero );
  alpha = (plp-pln)/(plp+pln);
 
  QtAlfa[0] = fvec(qt & mask);
  QtAlfa[1] = fvec(alpha & mask);
}
 
void KFParticleBaseSIMD::RotateXY(fvec angle, fvec Vtx[3])
{
  // Rotates the KFParticle object around OZ axis, OZ axis is set by the vertex position
  // fvec angle - angle of rotation in XY plane in [rad]
  // fvec Vtx[3] - position of the vertex in [cm]
 
  // Before rotation the center of the coordinat system should be moved to the vertex position; move back after rotation
  X() = X() - Vtx[0];
  Y() = Y() - Vtx[1];
  Z() = Z() - Vtx[2];
 
  // Rotate the kf particle
  fvec c = cos(angle);
  fvec s = sin(angle);
 
  fvec mA[8][ 8];
  for( Int_t i=0; i<8; i++ ){
    for( Int_t j=0; j<8; j++){
      mA[i][j] = 0;
    }
  }
  for( int i=0; i<8; i++ ){
    mA[i][i] = 1;
  }
  mA[0][0] =  c;  mA[0][1] = s;
  mA[1][0] = -s;  mA[1][1] = c;
  mA[3][3] =  c;  mA[3][4] = s;
  mA[4][3] = -s;  mA[4][4] = c;
 
  fvec mAC[8][8];
  fvec mAp[8];
 
  for( Int_t i=0; i<8; i++ ){
    mAp[i] = 0;
    for( Int_t k=0; k<8; k++){
      mAp[i]+=mA[i][k] * fP[k];
    }
  }
 
  for( Int_t i=0; i<8; i++){
    fP[i] = mAp[i];
  }
 
  for( Int_t i=0; i<8; i++ ){
    for( Int_t j=0; j<8; j++ ){
      mAC[i][j] = 0;
      for( Int_t k=0; k<8; k++ ){
        mAC[i][j]+= mA[i][k] * GetCovariance(k,j);
      }
    }
  }
 
  for( Int_t i=0; i<8; i++ ){
    for( Int_t j=0; j<=i; j++ ){
      fvec xx = 0;
      for( Int_t k=0; k<8; k++){
        xx+= mAC[i][k]*mA[j][k];
      }
      Covariance(i,j) = xx;
    }
  }
 
  X() = GetX() + Vtx[0];
  Y() = GetY() + Vtx[1];
  Z() = GetZ() + Vtx[2];
}
 
fvec KFParticleBaseSIMD::InvertSym3( const fvec A[], fvec Ai[] )
{
  //* Invert symmetric matric stored in low-triagonal form 
 
  fvec ret = 0;
  fvec a0 = A[0], a1 = A[1], a2 = A[2], a3 = A[3];
 
  Ai[0] = a2*A[5] - A[4]*A[4];
  Ai[1] = a3*A[4] - a1*A[5];
  Ai[3] = a1*A[4] - a2*a3;
  fvec det = (a0*Ai[0] + a1*Ai[1] + a3*Ai[3]);
 
  fvec idet = 1. / det;
  fvec init = fvec(small < fabs(det));
  det = init & idet;
  ret += (!init);
 
  Ai[0] *= det;
  Ai[1] *= det;
  Ai[3] *= det;
  Ai[2] = ( a0*A[5] - a3*a3 )*det;
  Ai[4] = ( a1*a3 - a0*A[4] )*det;
  Ai[5] = ( a0*a2 - a1*a1 )*det;
  return ret;
}
 
void KFParticleBaseSIMD::InvertCholetsky3(fvec a[6])
{
  fvec d[3], uud, u[3][3];
  for(int i=0; i<3; i++) 
  {
    d[i]=Zero;
    for(int j=0; j<3; j++) 
      u[i][j]=Zero;
  }
 
  for(int i=0; i<3 ; i++)
  {
    uud=Zero;
    for(int j=0; j<i; j++) 
      uud += u[j][i]*u[j][i]*d[j];
    uud = a[i*(i+3)/2] - uud;
 
    fvec smallval = 1.e-12f;
    fvec initialised = fvec( fabs(uud)<smallval );
    uud = ((!initialised) & uud) + (smallval & initialised);
 
    d[i] = uud/fabs(uud);
    u[i][i] = sqrt(fabs(uud));
 
    for(int j=i+1; j<3; j++) 
    {
      uud = Zero;
      for(int k=0; k<i; k++)
        uud += u[k][i]*u[k][j]*d[k];
      uud = a[j*(j+1)/2+i] - uud;
      u[i][j] = d[i]/u[i][i]*uud;
    }
  }
 
  fvec u1[3];
 
  for(int i=0; i<3; i++)
  {
    u1[i] = u[i][i];
    u[i][i] = One/u[i][i];
  }
  for(int i=0; i<2; i++)
  {
    u[i][i+1] = - u[i][i+1]*u[i][i]*u[i+1][i+1];
  }
  for(int i=0; i<1; i++)
  {
    u[i][i+2] = u[i][i+1]*u1[i+1]*u[i+1][i+2]-u[i][i+2]*u[i][i]*u[i+2][i+2];
  }
 
  for(int i=0; i<3; i++)
    a[i+3] = u[i][2]*u[2][2]*d[2];
  for(int i=0; i<2; i++)
    a[i+1] = u[i][1]*u[1][1]*d[1] + u[i][2]*u[1][2]*d[2];
  a[0] = u[0][0]*u[0][0]*d[0] + u[0][1]*u[0][1]*d[1] + u[0][2]*u[0][2]*d[2];
}
 
void KFParticleBaseSIMD::MultQSQt( const fvec Q[], const fvec S[], fvec SOut[] )
{
  //* Matrix multiplication Q*S*Q^T, Q - square matrix, S - symmetric
 
  const Int_t kN= 8;
  fvec mA[kN*kN];
  
  for( Int_t i=0, ij=0; i<kN; i++ ){
    for( Int_t j=0; j<kN; j++, ++ij ){
      mA[ij] = 0 ;
      for( Int_t k=0; k<kN; ++k ) mA[ij]+= S[( k<=i ) ? i*(i+1)/2+k :k*(k+1)/2+i] * Q[ j*kN+k];
    }
  }
    
  for( Int_t i=0; i<kN; i++ ){
    for( Int_t j=0; j<=i; j++ ){
      Int_t ij = ( j<=i ) ? i*(i+1)/2+j :j*(j+1)/2+i;
      SOut[ij] = 0 ;
      for( Int_t k=0; k<kN; k++ )  SOut[ij] += Q[ i*kN+k ] * mA[ k*kN+j ];
    }
  }
}
 
 
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