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58c0958b50
Avoid exception in gp_Ax3::SetDirection(), SetAxis(): check if XDir of Ax3 is parallel to newly given direction.
507 lines
18 KiB
C++
507 lines
18 KiB
C++
// Created on: 1993-08-02
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// Created by: Laurent BOURESCHE
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// Copyright (c) 1993-1999 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_Ax3_HeaderFile
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#define _gp_Ax3_HeaderFile
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#include <gp_Ax1.hxx>
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#include <gp_Ax2.hxx>
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#include <gp_Dir.hxx>
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#include <gp_Pnt.hxx>
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#include <gp_Vec.hxx>
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class gp_Trsf;
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//! Describes a coordinate system in 3D space. Unlike a
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//! gp_Ax2 coordinate system, a gp_Ax3 can be
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//! right-handed ("direct sense") or left-handed ("indirect sense").
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//! A coordinate system is defined by:
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//! - its origin (also referred to as its "Location point"), and
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//! - three orthogonal unit vectors, termed the "X
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//! Direction", the "Y Direction" and the "Direction" (also
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//! referred to as the "main Direction").
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//! The "Direction" of the coordinate system is called its
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//! "main Direction" because whenever this unit vector is
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//! modified, the "X Direction" and the "Y Direction" are
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//! recomputed. However, when we modify either the "X
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//! Direction" or the "Y Direction", "Direction" is not modified.
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//! "Direction" is also the "Z Direction".
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//! The "main Direction" is always parallel to the cross
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//! product of its "X Direction" and "Y Direction".
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//! If the coordinate system is right-handed, it satisfies the equation:
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//! "main Direction" = "X Direction" ^ "Y Direction"
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//! and if it is left-handed, it satisfies the equation:
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//! "main Direction" = -"X Direction" ^ "Y Direction"
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//! A coordinate system is used:
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//! - to describe geometric entities, in particular to position
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//! them. The local coordinate system of a geometric
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//! entity serves the same purpose as the STEP function
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//! "axis placement three axes", or
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//! - to define geometric transformations.
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//! Note:
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//! - We refer to the "X Axis", "Y Axis" and "Z Axis",
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//! respectively, as the axes having:
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//! - the origin of the coordinate system as their origin, and
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//! - the unit vectors "X Direction", "Y Direction" and
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//! "main Direction", respectively, as their unit vectors.
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//! - The "Z Axis" is also the "main Axis".
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//! - gp_Ax2 is used to define a coordinate system that must be always right-handed.
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class gp_Ax3
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{
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public:
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DEFINE_STANDARD_ALLOC
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//! Creates an object corresponding to the reference
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//! coordinate system (OXYZ).
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gp_Ax3() : vydir (0., 1., 0.)
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// vxdir(1.,0.,0.) use default ctor of gp_Dir, as it creates the same dir(1,0,0)
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{}
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//! Creates a coordinate system from a right-handed
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//! coordinate system.
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gp_Ax3 (const gp_Ax2& theA);
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//! Creates a right handed axis placement with the
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//! "Location" point theP and two directions, theN gives the
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//! "Direction" and theVx gives the "XDirection".
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//! Raises ConstructionError if theN and theVx are parallel (same or opposite orientation).
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gp_Ax3 (const gp_Pnt& theP, const gp_Dir& theN, const gp_Dir& theVx)
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: axis (theP, theN),
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vydir(theN),
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vxdir(theN)
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{
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vxdir.CrossCross (theVx, theN);
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vydir.Cross (vxdir);
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}
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//! Creates an axis placement with the "Location" point <theP>
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//! and the normal direction <theV>.
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Standard_EXPORT gp_Ax3 (const gp_Pnt& theP, const gp_Dir& theV);
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//! Reverses the X direction of <me>.
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void XReverse() { vxdir.Reverse(); }
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//! Reverses the Y direction of <me>.
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void YReverse() { vydir.Reverse(); }
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//! Reverses the Z direction of <me>.
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void ZReverse() { axis.Reverse(); }
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//! Assigns the origin and "main Direction" of the axis theA1 to
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//! this coordinate system, then recomputes its "X Direction" and "Y Direction".
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//! Note:
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//! - The new "X Direction" is computed as follows:
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//! new "X Direction" = V1 ^(previous "X Direction" ^ V)
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//! where V is the "Direction" of theA1.
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//! - The orientation of this coordinate system
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//! (right-handed or left-handed) is not modified.
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//! Raises ConstructionError if the "Direction" of <theA1> and the "XDirection" of <me>
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//! are parallel (same or opposite orientation) because it is
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//! impossible to calculate the new "XDirection" and the new
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//! "YDirection".
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void SetAxis (const gp_Ax1& theA1);
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//! Changes the main direction of this coordinate system,
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//! then recomputes its "X Direction" and "Y Direction".
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//! Note:
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//! - The new "X Direction" is computed as follows:
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//! new "X Direction" = theV ^ (previous "X Direction" ^ theV).
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//! - The orientation of this coordinate system (left- or right-handed) is not modified.
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//! Raises ConstructionError if <theV> and the previous "XDirection" are parallel
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//! because it is impossible to calculate the new "XDirection"
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//! and the new "YDirection".
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void SetDirection (const gp_Dir& theV);
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//! Changes the "Location" point (origin) of <me>.
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void SetLocation (const gp_Pnt& theP) { axis.SetLocation (theP); }
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//! Changes the "Xdirection" of <me>. The main direction
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//! "Direction" is not modified, the "Ydirection" is modified.
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//! If <theVx> is not normal to the main direction then <XDirection>
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//! is computed as follows XDirection = Direction ^ (theVx ^ Direction).
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//! Raises ConstructionError if <theVx> is parallel (same or opposite
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//! orientation) to the main direction of <me>
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void SetXDirection (const gp_Dir& theVx);
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//! Changes the "Ydirection" of <me>. The main direction is not
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//! modified but the "Xdirection" is changed.
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//! If <theVy> is not normal to the main direction then "YDirection"
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//! is computed as follows
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//! YDirection = Direction ^ (<theVy> ^ Direction).
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//! Raises ConstructionError if <theVy> is parallel to the main direction of <me>
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void SetYDirection (const gp_Dir& theVy);
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//! Computes the angular value between the main direction of
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//! <me> and the main direction of <theOther>. Returns the angle
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//! between 0 and PI in radians.
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Standard_Real Angle (const gp_Ax3& theOther) const { return axis.Angle (theOther.axis); }
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//! Returns the main axis of <me>. It is the "Location" point
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//! and the main "Direction".
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const gp_Ax1& Axis() const { return axis; }
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//! Computes a right-handed coordinate system with the
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//! same "X Direction" and "Y Direction" as those of this
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//! coordinate system, then recomputes the "main Direction".
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//! If this coordinate system is right-handed, the result
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//! returned is the same coordinate system. If this
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//! coordinate system is left-handed, the result is reversed.
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gp_Ax2 Ax2() const;
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//! Returns the main direction of <me>.
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const gp_Dir& Direction() const { return axis.Direction(); }
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//! Returns the "Location" point (origin) of <me>.
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const gp_Pnt& Location() const { return axis.Location(); }
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//! Returns the "XDirection" of <me>.
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const gp_Dir& XDirection() const { return vxdir; }
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//! Returns the "YDirection" of <me>.
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const gp_Dir& YDirection() const { return vydir; }
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//! Returns True if the coordinate system is right-handed. i.e.
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//! XDirection().Crossed(YDirection()).Dot(Direction()) > 0
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Standard_Boolean Direct() const { return (vxdir.Crossed (vydir).Dot (axis.Direction()) > 0.); }
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//! Returns True if
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//! . the distance between the "Location" point of <me> and
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//! <theOther> is lower or equal to theLinearTolerance and
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//! . the distance between the "Location" point of <theOther> and
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//! <me> is lower or equal to theLinearTolerance and
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//! . the main direction of <me> and the main direction of
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//! <theOther> are parallel (same or opposite orientation).
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Standard_Boolean IsCoplanar (const gp_Ax3& theOther, const Standard_Real theLinearTolerance, const Standard_Real theAngularTolerance) const;
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//! Returns True if
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//! . the distance between <me> and the "Location" point of theA1
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//! is lower of equal to theLinearTolerance and
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//! . the distance between theA1 and the "Location" point of <me>
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//! is lower or equal to theLinearTolerance and
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//! . the main direction of <me> and the direction of theA1 are normal.
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Standard_Boolean IsCoplanar (const gp_Ax1& theA1, const Standard_Real theLinearTolerance, const Standard_Real theAngularTolerance) const;
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Standard_EXPORT void Mirror (const gp_Pnt& theP);
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//! Performs the symmetrical transformation of an axis
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//! placement with respect to the point theP which is the
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//! center of the symmetry.
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//! Warnings :
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//! The main direction of the axis placement is not changed.
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//! The "XDirection" and the "YDirection" are reversed.
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//! So the axis placement stay right handed.
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Standard_NODISCARD Standard_EXPORT gp_Ax3 Mirrored (const gp_Pnt& theP) const;
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Standard_EXPORT void Mirror (const gp_Ax1& theA1);
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//! Performs the symmetrical transformation of an axis
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//! placement with respect to an axis placement which
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//! is the axis of the symmetry.
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//! The transformation is performed on the "Location"
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//! point, on the "XDirection" and "YDirection".
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//! The resulting main "Direction" is the cross product between
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//! the "XDirection" and the "YDirection" after transformation.
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Standard_NODISCARD Standard_EXPORT gp_Ax3 Mirrored (const gp_Ax1& theA1) const;
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Standard_EXPORT void Mirror (const gp_Ax2& theA2);
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//! Performs the symmetrical transformation of an axis
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//! placement with respect to a plane.
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//! The axis placement <theA2> locates the plane of the symmetry :
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//! (Location, XDirection, YDirection).
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//! The transformation is performed on the "Location"
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//! point, on the "XDirection" and "YDirection".
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//! The resulting main "Direction" is the cross product between
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//! the "XDirection" and the "YDirection" after transformation.
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Standard_NODISCARD Standard_EXPORT gp_Ax3 Mirrored (const gp_Ax2& theA2) const;
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void Rotate (const gp_Ax1& theA1, const Standard_Real theAng)
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{
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axis.Rotate (theA1, theAng);
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vxdir.Rotate (theA1, theAng);
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vydir.Rotate (theA1, theAng);
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}
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//! Rotates an axis placement. <theA1> is the axis of the
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//! rotation . theAng is the angular value of the rotation
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//! in radians.
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Standard_NODISCARD gp_Ax3 Rotated (const gp_Ax1& theA1, const Standard_Real theAng) const
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{
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gp_Ax3 aTemp = *this;
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aTemp.Rotate (theA1, theAng);
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return aTemp;
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}
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void Scale (const gp_Pnt& theP, const Standard_Real theS)
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{
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axis.Scale (theP, theS);
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if (theS < 0.)
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{
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vxdir.Reverse();
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vydir.Reverse();
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}
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}
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//! Applies a scaling transformation on the axis placement.
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//! The "Location" point of the axisplacement is modified.
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//! Warnings :
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//! If the scale <theS> is negative :
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//! . the main direction of the axis placement is not changed.
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//! . The "XDirection" and the "YDirection" are reversed.
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//! So the axis placement stay right handed.
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Standard_NODISCARD gp_Ax3 Scaled (const gp_Pnt& theP, const Standard_Real theS) const
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{
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gp_Ax3 aTemp = *this;
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aTemp.Scale (theP, theS);
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return aTemp;
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}
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void Transform (const gp_Trsf& theT)
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{
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axis.Transform (theT);
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vxdir.Transform (theT);
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vydir.Transform (theT);
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}
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//! Transforms an axis placement with a Trsf.
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//! The "Location" point, the "XDirection" and the
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//! "YDirection" are transformed with theT. The resulting
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//! main "Direction" of <me> is the cross product between
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//! the "XDirection" and the "YDirection" after transformation.
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Standard_NODISCARD gp_Ax3 Transformed (const gp_Trsf& theT) const
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{
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gp_Ax3 aTemp = *this;
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aTemp.Transform (theT);
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return aTemp;
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}
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void Translate (const gp_Vec& theV) { axis.Translate (theV); }
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//! Translates an axis plaxement in the direction of the vector
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//! <theV>. The magnitude of the translation is the vector's magnitude.
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Standard_NODISCARD gp_Ax3 Translated (const gp_Vec& theV) const
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{
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gp_Ax3 aTemp = *this;
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aTemp.Translate (theV);
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return aTemp;
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}
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void Translate (const gp_Pnt& theP1, const gp_Pnt& theP2) { Translate (gp_Vec (theP1, theP2)); }
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//! Translates an axis placement from the point <theP1> to the
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//! point <theP2>.
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Standard_NODISCARD gp_Ax3 Translated (const gp_Pnt& theP1, const gp_Pnt& theP2) const { return Translated (gp_Vec (theP1, theP2)); }
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//! Dumps the content of me into the stream
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Standard_EXPORT void DumpJson (Standard_OStream& theOStream, Standard_Integer theDepth = -1) const;
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//! Inits the content of me from the stream
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Standard_EXPORT Standard_Boolean InitFromJson (const Standard_SStream& theSStream, Standard_Integer& theStreamPos);
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private:
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gp_Ax1 axis;
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gp_Dir vydir;
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gp_Dir vxdir;
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};
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// =======================================================================
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// function : gp_Ax3
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// purpose :
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// =======================================================================
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inline gp_Ax3::gp_Ax3 (const gp_Ax2& theA)
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: axis (theA.Axis()),
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vydir (theA.YDirection()),
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vxdir (theA.XDirection())
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{}
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// =======================================================================
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// function : Ax2
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// purpose :
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// =======================================================================
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inline gp_Ax2 gp_Ax3::Ax2()const
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{
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gp_Dir aZz = axis.Direction();
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if (!Direct())
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{
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aZz.Reverse();
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}
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return gp_Ax2 (axis.Location(), aZz, vxdir);
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}
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// =======================================================================
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// function : SetAxis
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// purpose :
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// =======================================================================
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inline void gp_Ax3::SetAxis(const gp_Ax1& theA1)
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{
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axis.SetLocation(theA1.Location());
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SetDirection(theA1.Direction());
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}
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// =======================================================================
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// function : SetDirection
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// purpose :
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// =======================================================================
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inline void gp_Ax3::SetDirection(const gp_Dir& theV)
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{
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Standard_Real aDot = theV.Dot(vxdir);
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if(1. - Abs(aDot) <= Precision::Angular())
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{
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if(aDot > 0)
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{
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vxdir = vydir;
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vydir = axis.Direction();
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}
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else
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{
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vxdir = axis.Direction();
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}
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axis.SetDirection(theV);
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}
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else
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{
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Standard_Boolean direct = Direct();
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axis.SetDirection (theV);
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vxdir = theV.CrossCrossed (vxdir, theV);
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if (direct)
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{
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vydir = theV.Crossed (vxdir);
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}
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else
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{
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vydir = vxdir.Crossed (theV);
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}
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}
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}
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// =======================================================================
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// function : SetXDirection
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// purpose :
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// =======================================================================
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inline void gp_Ax3::SetXDirection (const gp_Dir& theVx)
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{
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Standard_Real aDot = theVx.Dot(axis.Direction());
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if (1. - Abs(aDot) <= Precision::Angular())
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{
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if (aDot > 0)
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{
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axis.SetDirection(vxdir);
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vydir = -vydir;
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}
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else
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{
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axis.SetDirection(vxdir);
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}
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vxdir = theVx;
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}
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else
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{
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Standard_Boolean direct = Direct();
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vxdir = axis.Direction().CrossCrossed(theVx, axis.Direction());
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if (direct)
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{
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vydir = axis.Direction().Crossed(vxdir);
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}
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else
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{
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vydir = vxdir.Crossed(axis.Direction());
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}
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}
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}
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// =======================================================================
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// function : SetYDirection
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// purpose :
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// =======================================================================
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inline void gp_Ax3::SetYDirection (const gp_Dir& theVy)
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{
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Standard_Real aDot = theVy.Dot(axis.Direction());
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if (1. - Abs(aDot) <= Precision::Angular())
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{
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if (aDot > 0)
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{
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axis.SetDirection(vydir);
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vxdir = -vxdir;
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}
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else
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{
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axis.SetDirection(vydir);
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}
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vydir = theVy;
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}
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else
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{
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Standard_Boolean isDirect = Direct();
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vxdir = theVy.Crossed(axis.Direction());
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vydir = (axis.Direction()).Crossed(vxdir);
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if (!isDirect)
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{
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vxdir.Reverse();
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}
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}
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}
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// =======================================================================
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// function : IsCoplanar
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// purpose :
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// =======================================================================
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inline Standard_Boolean gp_Ax3::IsCoplanar (const gp_Ax3& theOther,
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const Standard_Real theLinearTolerance,
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const Standard_Real theAngularTolerance)const
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{
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gp_Vec aVec (axis.Location(), theOther.axis.Location());
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Standard_Real aD1 = gp_Vec (axis.Direction()).Dot(aVec);
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if (aD1 < 0)
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{
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aD1 = -aD1;
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}
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Standard_Real aD2 = gp_Vec (theOther.axis.Direction()).Dot(aVec);
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if (aD2 < 0)
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{
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aD2 = -aD2;
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}
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return (aD1 <= theLinearTolerance && aD2 <= theLinearTolerance &&
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axis.IsParallel (theOther.axis, theAngularTolerance));
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}
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// =======================================================================
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// function : IsCoplanar
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// purpose :
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// =======================================================================
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inline Standard_Boolean gp_Ax3::IsCoplanar (const gp_Ax1& theA1,
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const Standard_Real theLinearTolerance,
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const Standard_Real theAngularTolerance)const
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{
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gp_Vec aVec (axis.Location(), theA1.Location());
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Standard_Real aD1 = gp_Vec (axis.Direction()).Dot (aVec);
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if (aD1 < 0)
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{
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aD1 = -aD1;
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}
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Standard_Real aD2 = (gp_Vec (theA1.Direction()).Crossed (aVec)).Magnitude();
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if (aD2 < 0)
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{
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aD2 = -aD2;
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}
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return (aD1 <= theLinearTolerance && aD2 <= theLinearTolerance &&
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axis.IsNormal (theA1, theAngularTolerance));
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}
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#endif // _gp_Ax3_HeaderFile
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