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0be7dbe183
Added macro Standard_NODISCARD equivalent to C++17 attribute [[nodiscard]] for compilers that support this. Using Standard_NODISCARD macro for methods that create new object in gp, math, Geom, Bnd packages. Marked equivalent operators with Standard_NODISCARD, if they are defined close to relevant methods. Corrected code where warnings on unused result of calls to methods creating new objects are generated. In most cases it looks like spelling errors (e.g. Normalised() instead of Normalise())
371 lines
14 KiB
C++
371 lines
14 KiB
C++
// Copyright (c) 1991-1999 Matra Datavision
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// Copyright (c) 1999-2014 OPEN CASCADE SAS
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//
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// This file is part of Open CASCADE Technology software library.
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//
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// This library is free software; you can redistribute it and/or modify it under
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// the terms of the GNU Lesser General Public License version 2.1 as published
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// by the Free Software Foundation, with special exception defined in the file
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// OCCT_LGPL_EXCEPTION.txt. Consult the file LICENSE_LGPL_21.txt included in OCCT
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// distribution for complete text of the license and disclaimer of any warranty.
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//
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// Alternatively, this file may be used under the terms of Open CASCADE
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// commercial license or contractual agreement.
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#ifndef _gp_Trsf_HeaderFile
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#define _gp_Trsf_HeaderFile
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#include <gp_TrsfForm.hxx>
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#include <gp_Mat.hxx>
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#include <gp_XYZ.hxx>
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#include <NCollection_Mat4.hxx>
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#include <Standard.hxx>
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#include <Standard_Boolean.hxx>
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#include <Standard_DefineAlloc.hxx>
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#include <Standard_Integer.hxx>
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#include <Standard_Handle.hxx>
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#include <Standard_Real.hxx>
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class Standard_ConstructionError;
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class Standard_OutOfRange;
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class gp_Pnt;
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class gp_Ax1;
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class gp_Ax2;
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class gp_Quaternion;
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class gp_Ax3;
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class gp_Vec;
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// Avoid possible conflict with SetForm macro defined by windows.h
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#ifdef SetForm
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#undef SetForm
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#endif
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//! Defines a non-persistent transformation in 3D space.
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//! The following transformations are implemented :
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//! . Translation, Rotation, Scale
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//! . Symmetry with respect to a point, a line, a plane.
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//! Complex transformations can be obtained by combining the
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//! previous elementary transformations using the method
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//! Multiply.
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//! The transformations can be represented as follow :
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//!
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//! V1 V2 V3 T XYZ XYZ
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//! | a11 a12 a13 a14 | | x | | x'|
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//! | a21 a22 a23 a24 | | y | | y'|
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//! | a31 a32 a33 a34 | | z | = | z'|
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//! | 0 0 0 1 | | 1 | | 1 |
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//!
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//! where {V1, V2, V3} defines the vectorial part of the
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//! transformation and T defines the translation part of the
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//! transformation.
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//! This transformation never change the nature of the objects.
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class gp_Trsf
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{
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public:
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DEFINE_STANDARD_ALLOC
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//! Returns the identity transformation.
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gp_Trsf();
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//! Creates a 3D transformation from the 2D transformation T.
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//! The resulting transformation has a homogeneous
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//! vectorial part, V3, and a translation part, T3, built from T:
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//! a11 a12
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//! 0 a13
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//! V3 = a21 a22 0 T3
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//! = a23
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//! 0 0 1.
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//! 0
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//! It also has the same scale factor as T. This
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//! guarantees (by projection) that the transformation
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//! which would be performed by T in a plane (2D space)
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//! is performed by the resulting transformation in the xOy
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//! plane of the 3D space, (i.e. in the plane defined by the
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//! origin (0., 0., 0.) and the vectors DX (1., 0., 0.), and DY
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//! (0., 1., 0.)). The scale factor is applied to the entire space.
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Standard_EXPORT gp_Trsf(const gp_Trsf2d& T);
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//! Makes the transformation into a symmetrical transformation.
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//! P is the center of the symmetry.
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void SetMirror (const gp_Pnt& P);
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//! Makes the transformation into a symmetrical transformation.
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//! A1 is the center of the axial symmetry.
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Standard_EXPORT void SetMirror (const gp_Ax1& A1);
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//! Makes the transformation into a symmetrical transformation.
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//! A2 is the center of the planar symmetry
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//! and defines the plane of symmetry by its origin, "X
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//! Direction" and "Y Direction".
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Standard_EXPORT void SetMirror (const gp_Ax2& A2);
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//! Changes the transformation into a rotation.
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//! A1 is the rotation axis and Ang is the angular value of the
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//! rotation in radians.
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Standard_EXPORT void SetRotation (const gp_Ax1& A1, const Standard_Real Ang);
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//! Changes the transformation into a rotation defined by quaternion.
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//! Note that rotation is performed around origin, i.e.
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//! no translation is involved.
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Standard_EXPORT void SetRotation (const gp_Quaternion& R);
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//! Changes the transformation into a scale.
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//! P is the center of the scale and S is the scaling value.
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//! Raises ConstructionError If <S> is null.
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Standard_EXPORT void SetScale (const gp_Pnt& P, const Standard_Real S);
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//! Modifies this transformation so that it transforms the
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//! coordinate system defined by FromSystem1 into the
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//! one defined by ToSystem2. After this modification, this
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//! transformation transforms:
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//! - the origin of FromSystem1 into the origin of ToSystem2,
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//! - the "X Direction" of FromSystem1 into the "X
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//! Direction" of ToSystem2,
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//! - the "Y Direction" of FromSystem1 into the "Y
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//! Direction" of ToSystem2, and
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//! - the "main Direction" of FromSystem1 into the "main
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//! Direction" of ToSystem2.
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//! Warning
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//! When you know the coordinates of a point in one
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//! coordinate system and you want to express these
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//! coordinates in another one, do not use the
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//! transformation resulting from this function. Use the
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//! transformation that results from SetTransformation instead.
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//! SetDisplacement and SetTransformation create
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//! related transformations: the vectorial part of one is the
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//! inverse of the vectorial part of the other.
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Standard_EXPORT void SetDisplacement (const gp_Ax3& FromSystem1, const gp_Ax3& ToSystem2);
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//! Modifies this transformation so that it transforms the
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//! coordinates of any point, (x, y, z), relative to a source
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//! coordinate system into the coordinates (x', y', z') which
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//! are relative to a target coordinate system, but which
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//! represent the same point
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//! The transformation is from the coordinate
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//! system "FromSystem1" to the coordinate system "ToSystem2".
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//! Example :
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//! In a C++ implementation :
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//! Real x1, y1, z1; // are the coordinates of a point in the
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//! // local system FromSystem1
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//! Real x2, y2, z2; // are the coordinates of a point in the
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//! // local system ToSystem2
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//! gp_Pnt P1 (x1, y1, z1)
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//! Trsf T;
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//! T.SetTransformation (FromSystem1, ToSystem2);
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//! gp_Pnt P2 = P1.Transformed (T);
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//! P2.Coord (x2, y2, z2);
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Standard_EXPORT void SetTransformation (const gp_Ax3& FromSystem1, const gp_Ax3& ToSystem2);
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//! Modifies this transformation so that it transforms the
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//! coordinates of any point, (x, y, z), relative to a source
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//! coordinate system into the coordinates (x', y', z') which
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//! are relative to a target coordinate system, but which
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//! represent the same point
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//! The transformation is from the default coordinate system
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//! {P(0.,0.,0.), VX (1.,0.,0.), VY (0.,1.,0.), VZ (0., 0. ,1.) }
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//! to the local coordinate system defined with the Ax3 ToSystem.
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//! Use in the same way as the previous method. FromSystem1 is
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//! defaulted to the absolute coordinate system.
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Standard_EXPORT void SetTransformation (const gp_Ax3& ToSystem);
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//! Sets transformation by directly specified rotation and translation.
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Standard_EXPORT void SetTransformation (const gp_Quaternion& R, const gp_Vec& T);
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//! Changes the transformation into a translation.
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//! V is the vector of the translation.
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void SetTranslation (const gp_Vec& V);
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//! Makes the transformation into a translation where the translation vector
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//! is the vector (P1, P2) defined from point P1 to point P2.
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void SetTranslation (const gp_Pnt& P1, const gp_Pnt& P2);
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//! Replaces the translation vector with the vector V.
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Standard_EXPORT void SetTranslationPart (const gp_Vec& V);
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//! Modifies the scale factor.
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//! Raises ConstructionError If S is null.
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Standard_EXPORT void SetScaleFactor (const Standard_Real S);
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void SetForm (const gp_TrsfForm P);
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//! Sets the coefficients of the transformation. The
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//! transformation of the point x,y,z is the point
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//! x',y',z' with :
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//!
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//! x' = a11 x + a12 y + a13 z + a14
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//! y' = a21 x + a22 y + a23 z + a24
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//! z' = a31 x + a32 y + a33 z + a34
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//!
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//! The method Value(i,j) will return aij.
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//! Raises ConstructionError if the determinant of the aij is null.
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//! The matrix is orthogonalized before future using.
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Standard_EXPORT void SetValues (const Standard_Real a11, const Standard_Real a12, const Standard_Real a13, const Standard_Real a14, const Standard_Real a21, const Standard_Real a22, const Standard_Real a23, const Standard_Real a24, const Standard_Real a31, const Standard_Real a32, const Standard_Real a33, const Standard_Real a34);
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//! Returns true if the determinant of the vectorial part of
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//! this transformation is negative.
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Standard_Boolean IsNegative() const;
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//! Returns the nature of the transformation. It can be: an
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//! identity transformation, a rotation, a translation, a mirror
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//! transformation (relative to a point, an axis or a plane), a
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//! scaling transformation, or a compound transformation.
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gp_TrsfForm Form() const;
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//! Returns the scale factor.
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Standard_Real ScaleFactor() const;
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//! Returns the translation part of the transformation's matrix
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const gp_XYZ& TranslationPart() const;
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//! Returns the boolean True if there is non-zero rotation.
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//! In the presence of rotation, the output parameters store the axis
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//! and the angle of rotation. The method always returns positive
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//! value "theAngle", i.e., 0. < theAngle <= PI.
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//! Note that this rotation is defined only by the vectorial part of
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//! the transformation; generally you would need to check also the
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//! translational part to obtain the axis (gp_Ax1) of rotation.
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Standard_EXPORT Standard_Boolean GetRotation (gp_XYZ& theAxis, Standard_Real& theAngle) const;
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//! Returns quaternion representing rotational part of the transformation.
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Standard_EXPORT gp_Quaternion GetRotation() const;
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//! Returns the vectorial part of the transformation. It is
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//! a 3*3 matrix which includes the scale factor.
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Standard_EXPORT gp_Mat VectorialPart() const;
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//! Computes the homogeneous vectorial part of the transformation.
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//! It is a 3*3 matrix which doesn't include the scale factor.
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//! In other words, the vectorial part of this transformation is equal
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//! to its homogeneous vectorial part, multiplied by the scale factor.
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//! The coefficients of this matrix must be multiplied by the
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//! scale factor to obtain the coefficients of the transformation.
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const gp_Mat& HVectorialPart() const;
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//! Returns the coefficients of the transformation's matrix.
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//! It is a 3 rows * 4 columns matrix.
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//! This coefficient includes the scale factor.
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//! Raises OutOfRanged if Row < 1 or Row > 3 or Col < 1 or Col > 4
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Standard_Real Value (const Standard_Integer Row, const Standard_Integer Col) const;
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Standard_EXPORT void Invert();
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//! Computes the reverse transformation
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//! Raises an exception if the matrix of the transformation
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//! is not inversible, it means that the scale factor is lower
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//! or equal to Resolution from package gp.
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//! Computes the transformation composed with T and <me>.
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//! In a C++ implementation you can also write Tcomposed = <me> * T.
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//! Example :
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//! Trsf T1, T2, Tcomp; ...............
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//! Tcomp = T2.Multiplied(T1); // or (Tcomp = T2 * T1)
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//! Pnt P1(10.,3.,4.);
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//! Pnt P2 = P1.Transformed(Tcomp); //using Tcomp
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//! Pnt P3 = P1.Transformed(T1); //using T1 then T2
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//! P3.Transform(T2); // P3 = P2 !!!
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Standard_NODISCARD gp_Trsf Inverted() const;
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Standard_NODISCARD gp_Trsf Multiplied (const gp_Trsf& T) const;
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Standard_NODISCARD gp_Trsf operator * (const gp_Trsf& T) const
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{
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return Multiplied(T);
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}
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//! Computes the transformation composed with <me> and T.
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//! <me> = <me> * T
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Standard_EXPORT void Multiply (const gp_Trsf& T);
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void operator *= (const gp_Trsf& T)
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{
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Multiply(T);
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}
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//! Computes the transformation composed with <me> and T.
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//! <me> = T * <me>
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Standard_EXPORT void PreMultiply (const gp_Trsf& T);
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Standard_EXPORT void Power (const Standard_Integer N);
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//! Computes the following composition of transformations
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//! <me> * <me> * .......* <me>, N time.
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//! if N = 0 <me> = Identity
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//! if N < 0 <me> = <me>.Inverse() *...........* <me>.Inverse().
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//!
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//! Raises if N < 0 and if the matrix of the transformation not
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//! inversible.
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Standard_NODISCARD gp_Trsf Powered (const Standard_Integer N) const;
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void Transforms (Standard_Real& X, Standard_Real& Y, Standard_Real& Z) const;
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//! Transformation of a triplet XYZ with a Trsf
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void Transforms (gp_XYZ& Coord) const;
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//! Convert transformation to 4x4 matrix.
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template<class T>
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void GetMat4 (NCollection_Mat4<T>& theMat) const
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{
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if (shape == gp_Identity)
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{
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theMat.InitIdentity();
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return;
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}
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theMat.SetValue (0, 0, static_cast<T> (Value (1, 1)));
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theMat.SetValue (0, 1, static_cast<T> (Value (1, 2)));
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theMat.SetValue (0, 2, static_cast<T> (Value (1, 3)));
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theMat.SetValue (0, 3, static_cast<T> (Value (1, 4)));
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theMat.SetValue (1, 0, static_cast<T> (Value (2, 1)));
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theMat.SetValue (1, 1, static_cast<T> (Value (2, 2)));
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theMat.SetValue (1, 2, static_cast<T> (Value (2, 3)));
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theMat.SetValue (1, 3, static_cast<T> (Value (2, 4)));
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theMat.SetValue (2, 0, static_cast<T> (Value (3, 1)));
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theMat.SetValue (2, 1, static_cast<T> (Value (3, 2)));
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theMat.SetValue (2, 2, static_cast<T> (Value (3, 3)));
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theMat.SetValue (2, 3, static_cast<T> (Value (3, 4)));
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theMat.SetValue (3, 0, static_cast<T> (0));
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theMat.SetValue (3, 1, static_cast<T> (0));
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theMat.SetValue (3, 2, static_cast<T> (0));
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theMat.SetValue (3, 3, static_cast<T> (1));
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}
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friend class gp_GTrsf;
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protected:
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//! Makes orthogonalization of "matrix"
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Standard_EXPORT void Orthogonalize();
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private:
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Standard_Real scale;
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gp_TrsfForm shape;
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gp_Mat matrix;
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gp_XYZ loc;
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};
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#include <gp_Trsf.lxx>
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#endif // _gp_Trsf_HeaderFile
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