// Copyright (c) 1996-1999 Matra Datavision
// Copyright (c) 1999-2014 OPEN CASCADE SAS
//
// This file is part of Open CASCADE Technology software library.
//
// This library is free software; you can redistribute it and/or modify it under
// the terms of the GNU Lesser General Public License version 2.1 as published
// by the Free Software Foundation, with special exception defined in the file
// OCCT_LGPL_EXCEPTION.txt. Consult the file LICENSE_LGPL_21.txt included in OCCT
// distribution for complete text of the license and disclaimer of any warranty.
//
// Alternatively, this file may be used under the terms of Open CASCADE
// commercial license or contractual agreement.

#include <gp_Ax2.hxx>

inline gp_Ax3::gp_Ax3()
  :
  vydir(0.,1.,0.)
  // vxdir(1.,0.,0.) use default ctor of gp_Dir, as it creates the same dir(1,0,0)
{ }

inline gp_Ax3::gp_Ax3(const gp_Ax2& A) :
axis(A.Axis()),
vydir(A.YDirection()),
vxdir(A.XDirection())
{ }

inline gp_Ax3::gp_Ax3(const gp_Pnt& P, const gp_Dir& N, const gp_Dir& Vx) :
axis(P, N), vydir(N), vxdir(N)
{
  vxdir.CrossCross(Vx, N);
  vydir.Cross(vxdir);
}

inline void  gp_Ax3::XReverse()
{ vxdir.Reverse(); }

inline void  gp_Ax3::YReverse()
{ vydir.Reverse(); }

inline void  gp_Ax3::ZReverse()
{ axis.Reverse();  }

inline void  gp_Ax3::SetAxis(const gp_Ax1& A1)
{
  Standard_Boolean direct = Direct();
  axis = A1;
  vxdir = axis.Direction().CrossCrossed (vxdir, axis.Direction());
  if(direct) { vydir = axis.Direction().Crossed(vxdir); }
  else       { vydir = vxdir.Crossed(axis.Direction()); }
}

inline void  gp_Ax3::SetDirection(const gp_Dir& V)
{
  Standard_Boolean direct = Direct();
  axis.SetDirection (V);
  vxdir = V.CrossCrossed (vxdir, V);
  if (direct) { vydir = V.Crossed (vxdir); }
  else        { vydir = vxdir.Crossed (V); }
}

inline void  gp_Ax3::SetLocation(const gp_Pnt& P)
{  axis.SetLocation(P); }

inline void  gp_Ax3::SetXDirection(const gp_Dir& Vx)
{
  Standard_Boolean direct = Direct();
  vxdir = axis.Direction().CrossCrossed (Vx, axis.Direction());
  if (direct) { vydir = axis.Direction().Crossed(vxdir); }
  else        { vydir = vxdir.Crossed(axis.Direction()); }
}

inline void  gp_Ax3::SetYDirection(const gp_Dir& Vy)
{
  Standard_Boolean direct = Direct();
  vxdir = Vy.Crossed (axis.Direction());
  vydir = (axis.Direction()).Crossed (vxdir);
  if (!direct) { vxdir.Reverse(); }
}

inline Standard_Real  gp_Ax3::Angle(const gp_Ax3& Other) const 
{ return axis.Angle (Other.axis); }

inline const gp_Ax1&  gp_Ax3::Axis()const
{  return axis; }

inline gp_Ax2  gp_Ax3::Ax2()const 
{
  gp_Dir zz = axis.Direction();
  if (!Direct()) { zz.Reverse(); }
  return gp_Ax2 (axis.Location(),zz,vxdir);
}

inline const gp_Dir&  gp_Ax3::Direction()const
{   return axis.Direction(); }

inline const gp_Pnt&  gp_Ax3::Location()const
{   return axis.Location(); }

inline const gp_Dir&  gp_Ax3::XDirection()const
{  return vxdir;  }

inline const gp_Dir&  gp_Ax3::YDirection()const
{  return vydir; }

inline Standard_Boolean  gp_Ax3::Direct()const 
{ return (vxdir.Crossed(vydir).Dot(axis.Direction()) > 0.); }

inline Standard_Boolean gp_Ax3::IsCoplanar
(const gp_Ax3& Other, 
 const Standard_Real LinearTolerance, 
 const Standard_Real AngularTolerance)const 
{
  gp_Vec vec(axis.Location(),Other.axis.Location());
  Standard_Real D1 = gp_Vec(axis.Direction()      ).Dot(vec);
  if (D1 < 0) D1 = - D1;
  Standard_Real D2 = gp_Vec(Other.axis.Direction()).Dot(vec);
  if (D2 < 0) D2 = - D2;
  return (D1 <= LinearTolerance && D2 <= LinearTolerance &&
          axis.IsParallel (Other.axis, AngularTolerance));
}

inline Standard_Boolean gp_Ax3::IsCoplanar
(const gp_Ax1& A1, 
 const Standard_Real LinearTolerance, 
 const Standard_Real AngularTolerance)const 
{
  gp_Vec vec(axis.Location(),A1.Location());
  Standard_Real D1 = gp_Vec(axis.Direction()).Dot(vec);
  if (D1 < 0) D1 = - D1;
  Standard_Real D2 = (gp_Vec(A1.Direction()).Crossed(vec)).Magnitude();
  if (D2 < 0) D2 = - D2;
  return (D1 <= LinearTolerance && D2 <= LinearTolerance &&
          axis.IsNormal (A1, AngularTolerance));
}

inline void  gp_Ax3::Rotate(const gp_Ax1& A1,
			    const Standard_Real Ang)
{
  axis.Rotate (A1,Ang);
  vxdir.Rotate (A1,Ang);
  vydir.Rotate (A1,Ang);
}

inline gp_Ax3  gp_Ax3::Rotated(const gp_Ax1& A1,
			       const Standard_Real Ang)const
{
  gp_Ax3 Temp = *this;
  Temp.Rotate (A1,Ang);
  return Temp;
}

inline void  gp_Ax3::Scale(const gp_Pnt& P, const Standard_Real S)
{
  axis.Scale (P,S);
  if (S < 0.) {
    vxdir.Reverse ();
    vydir.Reverse ();
  }
}

inline gp_Ax3  gp_Ax3::Scaled(const gp_Pnt& P,
			      const Standard_Real S)const
{
  gp_Ax3 Temp = *this;
  Temp.Scale (P,S);
  return Temp;
}

inline void  gp_Ax3::Transform(const gp_Trsf& T)
{
  axis.Transform (T);
  vxdir.Transform (T);
  vydir.Transform (T);
}

inline gp_Ax3  gp_Ax3::Transformed(const gp_Trsf& T)const
{
  gp_Ax3 Temp = *this;
  Temp.Transform (T);
  return Temp;
}

inline void  gp_Ax3::Translate(const gp_Vec& V)
{ axis.Translate (V); }

inline gp_Ax3  gp_Ax3::Translated(const gp_Vec& V)const
{
  gp_Ax3 Temp = *this;
  Temp.Translate (V);
  return Temp;
}

inline void  gp_Ax3::Translate(const gp_Pnt& P1, const gp_Pnt& P2)
{ Translate(gp_Vec(P1,P2)); }

inline gp_Ax3  gp_Ax3::Translated(const gp_Pnt& P1, const gp_Pnt& P2)const
{ return Translated(gp_Vec(P1,P2)); }