// Copyright (c) 1995-1999 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>
#include <gp_Ax1.hxx>
#include <Standard_OutOfRange.hxx>
#include <Standard_ConstructionError.hxx>

inline gp_GTrsf::gp_GTrsf ()
{
  shape = gp_Identity;
  matrix.SetScale (1.0);
  loc.SetCoord (0.0, 0.0, 0.0);
  scale = 1.0;
}

inline gp_GTrsf::gp_GTrsf (const gp_Trsf& T)
{
  shape  = T.Form();
  matrix = T.matrix;
  loc    = T.TranslationPart();
  scale  = T.ScaleFactor();
}

inline gp_GTrsf::gp_GTrsf (const gp_Mat& M,
			   const gp_XYZ& V) : matrix(M), loc(V)
{
  shape = gp_Other;
  scale = 0.0;
}

inline void gp_GTrsf::SetAffinity (const gp_Ax1& A1,
				   const Standard_Real Ratio)
{
  shape = gp_Other;
  scale = 0.0;
  matrix.SetDot (A1.Direction().XYZ());
  matrix.Multiply (1.0 - Ratio);
  matrix.SetDiagonal (matrix.Value (1,1) + Ratio,
                      matrix.Value (2,2) + Ratio,
                      matrix.Value (3,3) + Ratio);
  loc = A1.Location().XYZ();
  loc.Reverse ();
  loc.Multiply (matrix);
  loc.Add (A1.Location().XYZ());
}

//=======================================================================
//function : SetAffinity
//history  : AGV 2-05-06: Correct the implementation
//=======================================================================
inline void gp_GTrsf::SetAffinity (const gp_Ax2& A2,
				   const Standard_Real Ratio)
{
  shape = gp_Other;
  scale = 0.0;
  matrix.SetDot (A2.Direction().XYZ());
  matrix.Multiply (Ratio - 1.);
  loc = A2.Location().XYZ();
  loc.Reverse ();
  loc.Multiply (matrix);
  matrix.SetDiagonal (matrix.Value (1,1) +1.,
                      matrix.Value (2,2) +1.,
                      matrix.Value (3,3) +1.);
}

inline void gp_GTrsf::SetValue (const Standard_Integer Row,
				const Standard_Integer Col,
				const Standard_Real Value)
{
  Standard_OutOfRange_Raise_if
    (Row < 1 || Row > 3 || Col < 1 || Col > 4, " ");
  if (Col == 4) {
    loc.SetCoord (Row, Value);
    if (shape == gp_Identity) shape = gp_Translation;
    return;
  }
  else { 
    if (!(shape == gp_Other) && !(scale == 1.0)) matrix.Multiply (scale);
    matrix.SetValue (Row, Col, Value);
    shape = gp_Other;
    scale = 0.0;
    return;
  }
}

inline void gp_GTrsf::SetVectorialPart (const gp_Mat& Matrix)
{ 
  matrix = Matrix;
  shape = gp_Other;
  scale = 0.0;
}

inline void gp_GTrsf::SetTrsf (const gp_Trsf& T)
{
  shape = T.shape;
  matrix = T.matrix;
  loc = T.loc;
  scale = T.scale;
}

inline Standard_Boolean gp_GTrsf::IsNegative () const
{ return matrix.Determinant() < 0.0; }

inline Standard_Boolean gp_GTrsf::IsSingular () const
{ return matrix.IsSingular(); }

inline gp_TrsfForm gp_GTrsf::Form () const
{ return shape; }

inline const gp_XYZ& gp_GTrsf::TranslationPart () const
{ return loc; }

inline const gp_Mat& gp_GTrsf::VectorialPart () const
{ return matrix; }

inline Standard_Real gp_GTrsf::Value (const Standard_Integer Row,
				      const Standard_Integer Col) const
{
  Standard_OutOfRange_Raise_if
    (Row < 1 || Row > 3 || Col < 1 || Col > 4, " ");
  if (Col == 4) return loc.Coord (Row);
  if (shape == gp_Other) return matrix.Value (Row, Col);
  return scale * matrix.Value (Row, Col);
}

inline gp_GTrsf gp_GTrsf::Inverted () const
{
  gp_GTrsf T = *this;
  T.Invert ();
  return T;
}

inline gp_GTrsf gp_GTrsf::Multiplied (const gp_GTrsf& T) const
{
  gp_GTrsf Tres = *this;
  Tres.Multiply (T);
  return Tres;
}

inline gp_GTrsf gp_GTrsf::Powered (const Standard_Integer N) const
{
  gp_GTrsf T = *this;
  T.Power (N);
  return T;
}

inline void gp_GTrsf::Transforms (gp_XYZ& Coord) const
{
  Coord.Multiply (matrix);
  if (!(shape == gp_Other) && !(scale == 1.0)) Coord.Multiply (scale);
  Coord.Add(loc);
}

inline void gp_GTrsf::Transforms (Standard_Real& X,
				  Standard_Real& Y,
				  Standard_Real& Z) const
{
  gp_XYZ Triplet (X, Y, Z);
  Triplet.Multiply (matrix);
  if (!(shape == gp_Other) && !(scale == 1.0)) Triplet.Multiply (scale); 
  Triplet.Add(loc);
  Triplet.Coord (X, Y, Z);
}

inline gp_Trsf gp_GTrsf::Trsf () const
{
  if ( Form() == gp_Other )
    throw Standard_ConstructionError("gp_GTrsf::Trsf() - non-orthogonal GTrsf");

  gp_Trsf T;
  T.shape = shape;
  T.scale = scale;
  T.matrix = matrix;
  T.loc = loc;
  return T;
}