0031673: Draw Harness, ViewerTest - command vlocation applies transformation in opposite order

gp_Trsf::SetRotationPart() - added method replacing rotation matrix without reseting other components,
similar to existing SetTraslationPart() and SetScaleFactor().

Transformation multiplication order has been fixed
for vlocation arguments -rotate, -translate, -mirror and -scale.
Added -prerotate, -pretranslate, -premirror and -prescale options following previous behavior.

vlocation -setRotation now uses new method gp_Trsf::SetRotationPart()
for consistency with methods -setLocation and -setScale.

src/gp/gp_Trsf.cxx

@@ -129,6 +129,57 @@ void gp_Trsf::SetRotation (const gp_Quaternion& R)
   matrix = R.GetMatrix();
 }
 
+//=======================================================================
+//function : SetRotationPart
+//purpose  :
+//=======================================================================
+void gp_Trsf::SetRotationPart (const gp_Quaternion& theR)
+{
+  const bool hasRotation = !theR.IsEqual (gp_Quaternion());
+  if (hasRotation)
+  {
+    matrix = theR.GetMatrix();
+  }
+  else
+  {
+    matrix.SetIdentity();
+  }
+
+  switch (shape)
+  {
+    case gp_Identity:
+    {
+      if (hasRotation)
+      {
+        shape = gp_Rotation;
+      }
+      break;
+    }
+    case gp_Rotation:
+    {
+      if (!hasRotation)
+      {
+        shape = gp_Identity;
+      }
+      break;
+    }
+    case gp_Translation:
+    case gp_PntMirror:
+    case gp_Ax1Mirror:
+    case gp_Ax2Mirror:
+    case gp_Scale:
+    case gp_CompoundTrsf:
+    case gp_Other:
+    {
+      if (hasRotation)
+      {
+        shape = gp_CompoundTrsf;
+      }
+      break;
+    }
+  }
+}
+
 //=======================================================================
 //function : SetScale
 //purpose  : 

src/gp/gp_Trsf.hxx

@@ -110,13 +110,14 @@ public:
   //! A1 is the rotation axis and Ang is the angular value of the
   //! rotation in radians.
   Standard_EXPORT void SetRotation (const gp_Ax1& A1, const Standard_Real Ang);
-  
 
   //! Changes the transformation into a rotation defined by quaternion.
   //! Note that rotation is performed around origin, i.e.
   //! no translation is involved.
   Standard_EXPORT void SetRotation (const gp_Quaternion& R);
-  
+
+  //! Replaces the rotation part with specified quaternion.
+  Standard_EXPORT void SetRotationPart (const gp_Quaternion& R);
 
   //! Changes the transformation into a scale.
   //! P is the center of the scale and S is the scaling value.