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.

tests/bugs/vis/bug25276

@@ -1,12 +1,9 @@
 puts "============"
-puts "OCC25276"
+puts "0025276: Visualization - Lighting is broken if some kinds of transformation applied to a shape"
 puts "============"
 puts ""
-#######################################################################
-# Visualization - Lighting is broken if some kinds of transformation applied to a shape
-#######################################################################
 
-pload ALL
+pload MODELING VISUALIZATION
 vinit
 box b1 1 6 1
 vsetdispmode 1
@@ -21,10 +18,10 @@ vconnect z1 0 0 0 z
 vlocation z1 -translate 10 0 0
 
 vconnect z2 0 10 0 z
-vlocation z2 -rotate 0 0 0 1 0 0 90
+vlocation z2 -prerotate 0 0 0 1 0 0 90
 
 vconnect z3 -10 0 0 z
-vlocation z3 -scale 0 0 0 0.5
+vlocation z3 -prescale 0 0 0 0.5
 
 vconnect z4 0 0 0 z
 vlocation z4 -copyFrom z3

tests/bugs/vis/bug31673

@@ -0,0 +1,22 @@
+puts "============"
+puts "0031673: Draw Harness, ViewerTest - vlocation -rotate is applied in opposite order"
+puts "============"
+puts ""
+
+pload MODELING VISUALIZATION
+box b -1 -1 -1 2 2 2
+explode b F
+vclear
+vinit View1
+vdisplay -dispMode 0 b_1 b_3 b_4 b_6
+vdisplay -dispMode 1 b_2 b_5
+vfit
+vzoom 0.4
+vlocation b_2 -reset
+vlocation b_5 -reset
+vlocation b_2 -rotate  1 -1 -1 0 1 0 90
+vlocation b_2 -rotate -1 -1 -1 0 1 0 90
+vlocation b_5 -rotate -1 -1 -1 0 1 0 90
+if { [vreadpixel 170 380 -rgb -name] == "BLACK" } { puts "Error: wrong rotation" }
+
+vdump ${imagedir}/${casename}.png

tests/v3d/glsl/bndbox1

@@ -10,7 +10,7 @@ vaxo
 psphere s0 1
 psphere s1 1
 vdisplay -dispMode 1 s0 s1
-vlocation s1 -reset -translate 2 1 0 -rotate 0 0 0 1 0 0 20
+vlocation s1 -reset -rotate 0 0 0 1 0 0 20 -translate 2 1 0
 vfit
 vbounding
 

tests/v3d/raytrace/bug25221

@@ -43,8 +43,7 @@ vmoveto 200 200
 vdump $imagedir/${casename}_faces_closeup.png
 
 # apply transformation
-vlocation s -rotate 0 0 0 0 0 1 10
-vlocation s -translate -30 0 0
+vlocation s -reset -translate -30 0 0 -rotate 0 0 0 0 0 1 10
 vmoveto 0 0
 vmoveto 200 200