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 // Created on: 2013-05-29
 // Created by: Anton POLETAEV
 // 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.
 
 #ifndef _Graphic3d_Camera_HeaderFile
 #define _Graphic3d_Camera_HeaderFile
 
 #include <Aspect_Eye.hxx>
 #include <Aspect_FrustumLRBT.hxx>
 #include <Graphic3d_CameraTile.hxx>
 #include <Graphic3d_Mat4d.hxx>
 #include <Graphic3d_Mat4.hxx>
 #include <Graphic3d_Vec3.hxx>
 #include <Graphic3d_WorldViewProjState.hxx>
 #include <NCollection_Lerp.hxx>
 #include <NCollection_Array1.hxx>
 
 #include <gp_Dir.hxx>
 #include <gp_Pnt.hxx>
 
 #include <Standard_Macro.hxx>
 #include <Standard_TypeDef.hxx>
 
 #include <Bnd_Box.hxx>
 
 //! Forward declaration
 
 //! Camera class provides object-oriented approach to setting up projection
 //! and orientation properties of 3D view.
 class Graphic3d_Camera : public Standard_Transient
 {
 private:
 
   //! Template container for cached matrices or Real/ShortReal types.
   template<typename Elem_t>
   struct TransformMatrices
   {
 
     //! Default constructor.
     TransformMatrices() : myIsOrientationValid (Standard_False), myIsProjectionValid (Standard_False) {}
 
     //! Initialize orientation.
     void InitOrientation()
     {
       myIsOrientationValid = Standard_True;
       Orientation.InitIdentity();
     }
 
     //! Initialize projection.
     void InitProjection()
     {
       myIsProjectionValid = Standard_True;
       MProjection.InitIdentity();
       LProjection.InitIdentity();
       RProjection.InitIdentity();
     }
 
     //! Invalidate orientation.
     void ResetOrientation() { myIsOrientationValid = Standard_False; }
 
     //! Invalidate projection.
     void ResetProjection()  { myIsProjectionValid  = Standard_False; }
 
     //! Return true if Orientation was not invalidated.
     Standard_Boolean IsOrientationValid() const { return myIsOrientationValid; }
 
     //! Return true if Projection was not invalidated.
     Standard_Boolean IsProjectionValid()  const { return myIsProjectionValid;  }
     
     //! Dumps the content of me into the stream
     void DumpJson (Standard_OStream& theOStream, Standard_Integer theDepth = -1) const
     {
       if (IsOrientationValid())
       {
         OCCT_DUMP_FIELD_VALUES_DUMPED (theOStream, theDepth, &Orientation)
       }
       if (IsProjectionValid())
       {
         OCCT_DUMP_FIELD_VALUES_DUMPED (theOStream, theDepth, &MProjection)
         OCCT_DUMP_FIELD_VALUES_DUMPED (theOStream, theDepth, &LProjection)
         OCCT_DUMP_FIELD_VALUES_DUMPED (theOStream, theDepth, &RProjection)
       }
       OCCT_DUMP_FIELD_VALUE_NUMERICAL (theOStream, myIsOrientationValid)
       OCCT_DUMP_FIELD_VALUE_NUMERICAL (theOStream, myIsProjectionValid)
     }
 
   public:
 
     NCollection_Mat4<Elem_t> Orientation;
     NCollection_Mat4<Elem_t> MProjection;
     NCollection_Mat4<Elem_t> LProjection;
     NCollection_Mat4<Elem_t> RProjection;
 
   private:
 
     Standard_Boolean myIsOrientationValid;
     Standard_Boolean myIsProjectionValid;
 
   };
 
 public:
 
   //! Enumerates supported monographic projections.
   //! - Projection_Orthographic : orthographic projection.
   //! - Projection_Perspective  : perspective projection.
   //! - Projection_Stereo       : stereographic projection.
   //! - Projection_MonoLeftEye  : mono projection for stereo left eye.
   //! - Projection_MonoRightEye : mono projection for stereo right eye.
   enum Projection
   {
     Projection_Orthographic,
     Projection_Perspective,
     Projection_Stereo,
     Projection_MonoLeftEye,
     Projection_MonoRightEye
   };
 
   //! Enumerates approaches to define stereographic focus.
   //! - FocusType_Absolute : focus is specified as absolute value.
   //! - FocusType_Relative : focus is specified relative to
   //! (as coefficient of) camera focal length.
   enum FocusType
   {
     FocusType_Absolute,
     FocusType_Relative
   };
 
   //! Enumerates approaches to define Intraocular distance.
   //! - IODType_Absolute : Intraocular distance is defined as absolute value.
   //! - IODType_Relative : Intraocular distance is defined relative to
   //! (as coefficient of) camera focal length.
   enum IODType
   {
     IODType_Absolute,
     IODType_Relative
   };
 
 public:
 
   //! Linear interpolation tool for camera orientation and position.
   //! This tool interpolates camera parameters scale, eye, center, rotation (up and direction vectors) independently.
   //! @sa Graphic3d_CameraLerp
   //!
   //! Eye/Center interpolation is performed through defining an anchor point in-between Center and Eye.
   //! The anchor position is defined as point near to the camera point which has smaller translation part.
   //! The main idea is to keep the distance between Center and Eye
   //! (which will change if Center and Eye translation will be interpolated independently).
   //! E.g.:
   //!  - When both Center and Eye are moved at the same vector -> both will be just translated by straight line;
   //!  - When Center is not moved -> camera Eye    will move around Center through arc;
   //!  - When Eye    is not moved -> camera Center will move around Eye    through arc;
   //!  - When both Center and Eye are move by different vectors -> transformation will be something in between,
   //!    and will try interpolate linearly the distance between Center and Eye.
   //!
   //! This transformation might be not in line with user expectations.
   //! In this case, application might define intermediate camera positions for interpolation or implement own interpolation logic.
   //!
   //! @param theStart  [in] initial camera position
   //! @param theEnd    [in] final   camera position
   //! @param theT      [in] step between initial and final positions within [0,1] range
   //! @param theCamera [out] interpolation result
   Standard_EXPORT static void Interpolate (const Handle(Graphic3d_Camera)& theStart,
                                            const Handle(Graphic3d_Camera)& theEnd,
                                            const double theT,
                                            Handle(Graphic3d_Camera)& theCamera);
 
 public:
 
   //! Default constructor.
   //! Initializes camera with the following properties:
   //! Eye (0, 0, -2); Center (0, 0, 0); Up (0, 1, 0);
   //! Type (Orthographic); FOVy (45); Scale (1000); IsStereo(false);
   //! ZNear (0.001); ZFar (3000.0); Aspect(1);
   //! ZFocus(1.0); ZFocusType(Relative); IOD(0.05); IODType(Relative)
   Standard_EXPORT Graphic3d_Camera();
 
   //! Copy constructor.
   //! @param theOther [in] the camera to copy from.
   Standard_EXPORT Graphic3d_Camera (const Handle(Graphic3d_Camera)& theOther);
 
   //! Initialize mapping related parameters from other camera handle.
   Standard_EXPORT void CopyMappingData (const Handle(Graphic3d_Camera)& theOtherCamera);
 
   //! Initialize orientation related parameters from other camera handle.
   Standard_EXPORT void CopyOrientationData (const Handle(Graphic3d_Camera)& theOtherCamera);
 
   //! Copy properties of another camera.
   //! @param theOther [in] the camera to copy from.
   Standard_EXPORT void Copy (const Handle(Graphic3d_Camera)& theOther);
 
 //! @name Public camera properties
 public:
 
   //! Get camera look direction.
   //! @return camera look direction.
   const gp_Dir& Direction() const { return myDirection; }
 
   //! Sets camera look direction preserving the current Eye() position.
   //! WARNING! This method does NOT verify that the current Up() vector is orthogonal to the new Direction.
   //! @param theDir [in] the direction.
   Standard_EXPORT void SetDirectionFromEye (const gp_Dir& theDir);
 
   //! Sets camera look direction and computes the new Eye position relative to current Center.
   //! WARNING! This method does NOT verify that the current Up() vector is orthogonal to the new Direction.
   //! @param theDir [in] the direction.
   Standard_EXPORT void SetDirection (const gp_Dir& theDir);
 
   //! Get camera Up direction vector.
   //! @return Camera's Up direction vector.
   const gp_Dir& Up() const { return myUp; }
 
   //! Sets camera Up direction vector, orthogonal to camera direction.
   //! WARNING! This method does NOT verify that the new Up vector is orthogonal to the current Direction().
   //! @param theUp [in] the Up direction vector.
   //! @sa OrthogonalizeUp().
   Standard_EXPORT void SetUp (const gp_Dir& theUp);
 
   //! Orthogonalize up direction vector.
   Standard_EXPORT void OrthogonalizeUp();
 
   //! Return a copy of orthogonalized up direction vector.
   Standard_EXPORT gp_Dir OrthogonalizedUp() const;
 
   //! Right side direction.
   gp_Dir SideRight() const
   {
     return -(gp_Vec (Direction()) ^ gp_Vec (OrthogonalizedUp()));
   }
 
   //! Get camera Eye position.
   //! @return camera eye location.
   const gp_Pnt& Eye() const { return myEye; }
 
   //! Sets camera Eye position.
   //! Unlike SetEye(), this method only changes Eye point and preserves camera direction.
   //! @param theEye [in] the location of camera's Eye.
   //! @sa SetEye()
   Standard_EXPORT void MoveEyeTo (const gp_Pnt& theEye);
 
   //! Sets camera Eye and Center positions.
   //! @param theEye    [in] the location of camera's Eye
   //! @param theCenter [in] the location of camera's Center
   Standard_EXPORT void SetEyeAndCenter (const gp_Pnt& theEye,
                                         const gp_Pnt& theCenter);
 
   //! Sets camera Eye position.
   //! WARNING! For backward compatibility reasons, this method also changes view direction,
   //! so that the new direction is computed from new Eye position to old Center position.
   //! @param theEye [in] the location of camera's Eye.
   //! @sa MoveEyeTo(), SetEyeAndCenter()
   Standard_EXPORT void SetEye (const gp_Pnt& theEye);
 
   //! Get Center of the camera, e.g. the point where camera looks at.
   //! This point is computed as Eye() translated along Direction() at Distance().
   //! @return the point where the camera looks at.
   gp_Pnt Center() const
   {
     return myEye.XYZ() + myDirection.XYZ() * myDistance;
   }
 
   //! Sets Center of the camera, e.g. the point where camera looks at.
   //! This methods changes camera direction, so that the new direction is computed
   //! from current Eye position to specified Center position.
   //! @param theCenter [in] the point where the camera looks at.
   Standard_EXPORT void SetCenter (const gp_Pnt& theCenter);
 
   //! Get distance of Eye from camera Center.
   //! @return the distance.
   Standard_Real Distance() const { return myDistance; }
 
   //! Set distance of Eye from camera Center.
   //! @param theDistance [in] the distance.
   Standard_EXPORT void SetDistance (const Standard_Real theDistance);
 
   //! Get camera scale.
   //! @return camera scale factor.
   Standard_EXPORT Standard_Real Scale() const;
 
   //! Sets camera scale. For orthographic projection the scale factor
   //! corresponds to parallel scale of view mapping  (i.e. size
   //! of viewport). For perspective camera scale is converted to
   //! distance. The scale specifies equal size of the view projection in
   //! both dimensions assuming that the aspect is 1.0. The projection height
   //! and width are specified with the scale and correspondingly multiplied
   //! by the aspect.
   //! @param theScale [in] the scale factor.
   Standard_EXPORT void SetScale (const Standard_Real theScale);
 
   //! Get camera axial scale.
   //! @return Camera's axial scale.
   const gp_XYZ& AxialScale() const { return myAxialScale; }
 
   //! Set camera axial scale.
   //! @param theAxialScale [in] the axial scale vector.
   Standard_EXPORT void SetAxialScale (const gp_XYZ& theAxialScale);
 
   //! Change camera projection type.
   //! When switching to perspective projection from orthographic one,
   //! the ZNear and ZFar are reset to default values (0.001, 3000.0)
   //! if less than 0.0.
   //! @param[in] theProjection the camera projection type.
   Standard_EXPORT void SetProjectionType (const Projection theProjection);
 
   //! @return camera projection type.
   Projection ProjectionType() const
   {
     return myProjType;
   }
 
   //! Check that the camera projection is orthographic.
   //! @return boolean flag that indicates whether the camera's projection is
   //! orthographic or not.
   Standard_Boolean IsOrthographic() const
   {
     return (myProjType == Projection_Orthographic);
   }
 
   //! Check whether the camera projection is stereo.
   //! Please note that stereo rendering is now implemented with support of
   //! Quad buffering.
   //! @return boolean flag indicating whether the stereographic L/R projection
   //! is chosen.
   Standard_Boolean IsStereo() const
   {
     return (myProjType == Projection_Stereo);
   }
 
   //! Set Field Of View (FOV) in y axis for perspective projection.
   //! Field of View in x axis is automatically scaled from view aspect ratio.
   //! @param theFOVy [in] the FOV in degrees.
   Standard_EXPORT void SetFOVy (const Standard_Real theFOVy);
 
   //! Get Field Of View (FOV) in y axis.
   //! @return the FOV value in degrees.
   Standard_Real FOVy() const { return myFOVy; }
 
   //! Get Field Of View (FOV) in x axis.
   //! @return the FOV value in degrees.
   Standard_Real FOVx() const { return myFOVx; }
 
   //! Get Field Of View (FOV) restriction for 2D on-screen elements; 180 degrees by default.
   //! When 2D FOV is smaller than FOVy or FOVx, 2D elements defined within offset from view corner
   //! will be extended to fit into specified 2D FOV.
   //! This can be useful to make 2D elements sharply visible, like in case of HMD normally having extra large FOVy.
   Standard_Real FOV2d() const { return myFOV2d; }
 
   //! Set Field Of View (FOV) restriction for 2D on-screen elements.
   Standard_EXPORT void SetFOV2d (Standard_Real theFOV);
 
   //! Adjust camera to fit in specified AABB.
   Standard_EXPORT bool FitMinMax (const Bnd_Box& theBox,
                                   const Standard_Real theResolution,
                                   const bool theToEnlargeIfLine);
 
   //! Estimate Z-min and Z-max planes of projection volume to match the
   //! displayed objects. The methods ensures that view volume will
   //! be close by depth range to the displayed objects. Fitting assumes that
   //! for orthogonal projection the view volume contains the displayed objects
   //! completely. For zoomed perspective view, the view volume is adjusted such
   //! that it contains the objects or their parts, located in front of the camera.
   //! @param[in] theScaleFactor the scale factor for Z-range.
   //!   The range between Z-min, Z-max projection volume planes
   //!   evaluated by z fitting method will be scaled using this coefficient.
   //!   Program error exception is thrown if negative or zero value is passed.
   //! @param[in] theMinMax applicative min max boundaries.
   //! @param[in] theGraphicBB real graphical boundaries (not accounting infinite flag).
   Standard_EXPORT bool ZFitAll (const Standard_Real theScaleFactor,
                                 const Bnd_Box&      theMinMax,
                                 const Bnd_Box&      theGraphicBB,
                                 Standard_Real&      theZNear,
                                 Standard_Real&      theZFar) const;
 
   //! Change Z-min and Z-max planes of projection volume to match the displayed objects.
   void ZFitAll (const Standard_Real theScaleFactor, const Bnd_Box& theMinMax, const Bnd_Box& theGraphicBB)
   {
     Standard_Real aZNear = 0.0, aZFar = 1.0;
     ZFitAll (theScaleFactor, theMinMax, theGraphicBB, aZNear, aZFar);
     SetZRange (aZNear, aZFar);
   }
 
   //! Change the Near and Far Z-clipping plane positions.
   //! For orthographic projection, theZNear, theZFar can be negative or positive.
   //! For perspective projection, only positive values are allowed.
   //! Program error exception is raised if non-positive values are
   //! specified for perspective projection or theZNear >= theZFar.
   //! @param theZNear [in] the distance of the plane from the Eye.
   //! @param theZFar [in] the distance of the plane from the Eye.
   Standard_EXPORT void SetZRange (const Standard_Real theZNear, const Standard_Real theZFar);
 
   //! Get the Near Z-clipping plane position.
   //! @return the distance of the plane from the Eye.
   Standard_Real ZNear() const
   {
     return myZNear;
   }
 
   //! Get the Far Z-clipping plane position.
   //! @return the distance of the plane from the Eye.
   Standard_Real ZFar() const
   {
     return myZFar;
   }
 
   //! Return TRUE if camera should calculate projection matrix for [0, 1] depth range or for [-1, 1] range.
   //! FALSE by default.
   Standard_Boolean IsZeroToOneDepth() const { return myIsZeroToOneDepth; }
 
   //! Set using [0, 1] depth range or [-1, 1] range.
   void SetZeroToOneDepth (Standard_Boolean theIsZeroToOne)
   {
     if (myIsZeroToOneDepth != theIsZeroToOne)
     {
       myIsZeroToOneDepth = theIsZeroToOne;
       InvalidateProjection();
     }
   }
 
   //! Changes width / height display ratio.
   //! @param theAspect [in] the display ratio.
   Standard_EXPORT void SetAspect (const Standard_Real theAspect);
 
   //! Get camera display ratio.
   //! @return display ratio.
   Standard_Real Aspect() const
   {
     return myAspect;
   }
 
   //! Sets stereographic focus distance.
   //! @param theType [in] the focus definition type. Focus can be defined
   //! as absolute value or relatively to (as coefficient of) coefficient of
   //! camera focal length.
   //! @param theZFocus [in] the focus absolute value or coefficient depending
   //! on the passed definition type.
   Standard_EXPORT void SetZFocus (const FocusType theType, const Standard_Real theZFocus);
 
   //! Get stereographic focus value.
   //! @return absolute or relative stereographic focus value
   //! depending on its definition type.
   Standard_Real ZFocus() const
   {
     return myZFocus;
   }
 
   //! Get stereographic focus definition type.
   //! @return definition type used for stereographic focus.
   FocusType ZFocusType() const
   {
     return myZFocusType;
   }
 
   //! Sets Intraocular distance.
   //! @param theType [in] the IOD definition type. IOD can be defined as
   //! absolute value or relatively to (as coefficient of) camera focal length.
   //! @param theIOD [in] the Intraocular distance.
   Standard_EXPORT void SetIOD (const IODType theType, const Standard_Real theIOD);
 
   //! Get Intraocular distance value.
   //! @return absolute or relative IOD value depending on its definition type.
   Standard_Real IOD() const
   {
     return myIOD;
   }
 
   //! Get Intraocular distance definition type.
   //! @return definition type used for Intraocular distance.
   IODType GetIODType() const
   {
     return myIODType;
   }
 
   //! Get current tile.
   const Graphic3d_CameraTile& Tile() const { return myTile; }
 
   //! Sets the Tile defining the drawing sub-area within View.
   //! Note that tile defining a region outside the view boundaries is also valid - use method Graphic3d_CameraTile::Cropped() to assign a cropped copy.
   //! @param theTile tile definition
   Standard_EXPORT void SetTile (const Graphic3d_CameraTile& theTile);
 
   //! Sets camera parameters to make current orientation matrix identity one.
   Standard_EXPORT void SetIdentityOrientation();
 
 //! @name Basic camera operations
 public:
 
   //! Transform orientation components of the camera:
   //! Eye, Up and Center points.
   //! @param theTrsf [in] the transformation to apply.
   Standard_EXPORT void Transform (const gp_Trsf& theTrsf);
 
   //! Calculate view plane size at center (target) point
   //! and distance between ZFar and ZNear planes.
   //! @return values in form of gp_Pnt (Width, Height, Depth).
   gp_XYZ ViewDimensions() const
   {
     return ViewDimensions (Distance());
   }
 
   //! Calculate view plane size at center point with specified Z offset
   //! and distance between ZFar and ZNear planes.
   //! @param theZValue [in] the distance from the eye in eye-to-center direction
   //! @return values in form of gp_Pnt (Width, Height, Depth).
   Standard_EXPORT gp_XYZ ViewDimensions (const Standard_Real theZValue) const;
 
   //! Return offset to the view corner in NDC space within dimension X for 2d on-screen elements, which is normally 0.5.
   //! Can be clamped when FOVx exceeds FOV2d.
   Standard_Real NDC2dOffsetX() const
   {
     return myFOV2d >= myFOVx
          ? 0.5
          : 0.5 * myFOV2d / myFOVx;
   }
 
   //! Return offset to the view corner in NDC space within dimension X for 2d on-screen elements, which is normally 0.5.
   //! Can be clamped when FOVy exceeds FOV2d.
   Standard_Real NDC2dOffsetY() const
   {
     return myFOV2d >= myFOVy
          ? 0.5
          : 0.5 * myFOV2d / myFOVy;
   }
 
   //! Calculate WCS frustum planes for the camera projection volume.
   //! Frustum is a convex volume determined by six planes directing
   //! inwards.
   //! The frustum planes are usually used as inputs for camera algorithms.
   //! Thus, if any changes to projection matrix calculation are necessary,
   //! the frustum planes calculation should be also touched.
   //! @param theLeft [out] the frustum plane for left side of view.
   //! @param theRight [out] the frustum plane for right side of view.
   //! @param theBottom [out] the frustum plane for bottom side of view.
   //! @param theTop [out] the frustum plane for top side of view.
   //! @param theNear [out] the frustum plane for near side of view.
   //! @param theFar [out] the frustum plane for far side of view.
   Standard_EXPORT void Frustum (gp_Pln& theLeft,
                                 gp_Pln& theRight,
                                 gp_Pln& theBottom,
                                 gp_Pln& theTop,
                                 gp_Pln& theNear,
                                 gp_Pln& theFar) const;
 
 //! @name Projection methods
 public:
 
   //! Project point from world coordinate space to
   //! normalized device coordinates (mapping).
   //! @param thePnt [in] the 3D point in WCS.
   //! @return mapped point in NDC.
   Standard_EXPORT gp_Pnt Project (const gp_Pnt& thePnt) const;
 
   //! Unproject point from normalized device coordinates
   //! to world coordinate space.
   //! @param thePnt [in] the NDC point.
   //! @return 3D point in WCS.
   Standard_EXPORT gp_Pnt UnProject (const gp_Pnt& thePnt) const;
 
   //! Convert point from view coordinate space to
   //! projection coordinate space.
   //! @param thePnt [in] the point in VCS.
   //! @return point in NDC.
   Standard_EXPORT gp_Pnt ConvertView2Proj (const gp_Pnt& thePnt) const;
 
   //! Convert point from projection coordinate space
   //! to view coordinate space.
   //! @param thePnt [in] the point in NDC.
   //! @return point in VCS.
   Standard_EXPORT gp_Pnt ConvertProj2View (const gp_Pnt& thePnt) const;
 
   //! Convert point from world coordinate space to
   //! view coordinate space.
   //! @param thePnt [in] the 3D point in WCS.
   //! @return point in VCS.
   Standard_EXPORT gp_Pnt ConvertWorld2View (const gp_Pnt& thePnt) const;
 
   //! Convert point from view coordinate space to
   //! world coordinates.
   //! @param thePnt [in] the 3D point in VCS.
   //! @return point in WCS.
   Standard_EXPORT gp_Pnt ConvertView2World (const gp_Pnt& thePnt) const;
 
 //! @name Camera modification state
 public:
 
   //! @return projection modification state of the camera.
   const Graphic3d_WorldViewProjState& WorldViewProjState() const
   {
     return myWorldViewProjState;
   }
 
 
   //! Returns modification state of camera projection matrix
   Standard_Size ProjectionState() const
   {
     return myWorldViewProjState.ProjectionState();
   }
 
   //! Returns modification state of camera world view transformation matrix.
   Standard_Size WorldViewState() const
   {
     return myWorldViewProjState.WorldViewState();
   }
 
 //! @name Lazily-computed orientation and projection matrices derived from camera parameters
 public:
 
   //! Get orientation matrix.
   //! @return camera orientation matrix.
   Standard_EXPORT const Graphic3d_Mat4d& OrientationMatrix() const;
 
   //! Get orientation matrix of Standard_ShortReal precision.
   //! @return camera orientation matrix.
   Standard_EXPORT const Graphic3d_Mat4& OrientationMatrixF() const;
 
   //! Get monographic or middle point projection matrix used for monographic
   //! rendering and for point projection / unprojection.
   //! @return monographic projection matrix.
   Standard_EXPORT const Graphic3d_Mat4d& ProjectionMatrix() const;
 
   //! Get monographic or middle point projection matrix of Standard_ShortReal precision used for monographic
   //! rendering and for point projection / unprojection.
   //! @return monographic projection matrix.
   Standard_EXPORT const Graphic3d_Mat4& ProjectionMatrixF() const;
 
   //! @return stereographic matrix computed for left eye. Please note
   //! that this method is used for rendering for <i>Projection_Stereo</i>.
   Standard_EXPORT const Graphic3d_Mat4d& ProjectionStereoLeft() const;
 
   //! @return stereographic matrix of Standard_ShortReal precision computed for left eye.
   //! Please note that this method is used for rendering for <i>Projection_Stereo</i>.
   Standard_EXPORT const Graphic3d_Mat4& ProjectionStereoLeftF() const;
 
   //! @return stereographic matrix computed for right eye. Please note
   //! that this method is used for rendering for <i>Projection_Stereo</i>.
   Standard_EXPORT const Graphic3d_Mat4d& ProjectionStereoRight() const;
 
   //! @return stereographic matrix of Standard_ShortReal precision computed for right eye.
   //! Please note that this method is used for rendering for <i>Projection_Stereo</i>.
   Standard_EXPORT const Graphic3d_Mat4& ProjectionStereoRightF() const;
 
   //! Invalidate state of projection matrix.
   //! The matrix will be updated on request.
   Standard_EXPORT void InvalidateProjection();
 
   //! Invalidate orientation matrix.
   //! The matrix will be updated on request.
   Standard_EXPORT void InvalidateOrientation();
 
 public:
 
   //! Get stereo projection matrices.
   //! @param theProjL      [out] left  eye projection matrix
   //! @param theHeadToEyeL [out] left  head to eye translation matrix
   //! @param theProjR      [out] right eye projection matrix
   //! @param theHeadToEyeR [out] right head to eye translation matrix
   Standard_EXPORT void StereoProjection (Graphic3d_Mat4d& theProjL,
                                          Graphic3d_Mat4d& theHeadToEyeL,
                                          Graphic3d_Mat4d& theProjR,
                                          Graphic3d_Mat4d& theHeadToEyeR) const;
 
   //! Get stereo projection matrices.
   //! @param theProjL      [out] left  eye projection matrix
   //! @param theHeadToEyeL [out] left  head to eye translation matrix
   //! @param theProjR      [out] right eye projection matrix
   //! @param theHeadToEyeR [out] right head to eye translation matrix
   Standard_EXPORT void StereoProjectionF (Graphic3d_Mat4& theProjL,
                                           Graphic3d_Mat4& theHeadToEyeL,
                                           Graphic3d_Mat4& theProjR,
                                           Graphic3d_Mat4& theHeadToEyeR) const;
 
   //! Unset all custom frustums and projection matrices.
   Standard_EXPORT void ResetCustomProjection();
 
   //! Return TRUE if custom stereo frustums are set.
   bool IsCustomStereoFrustum() const { return myIsCustomFrustomLR; }
 
   //! Set custom stereo frustums.
   //! These can be retrieved from APIs like OpenVR.
   Standard_EXPORT void SetCustomStereoFrustums (const Aspect_FrustumLRBT<Standard_Real>& theFrustumL,
                                                 const Aspect_FrustumLRBT<Standard_Real>& theFrustumR);
 
   //! Return TRUE if custom stereo projection matrices are set.
   bool IsCustomStereoProjection() const { return myIsCustomProjMatLR; }
 
   //! Set custom stereo projection matrices.
   //! @param theProjL      [in] left  eye projection matrix
   //! @param theHeadToEyeL [in] left  head to eye translation matrix
   //! @param theProjR      [in] right eye projection matrix
   //! @param theHeadToEyeR [in] right head to eye translation matrix
   Standard_EXPORT void SetCustomStereoProjection (const Graphic3d_Mat4d& theProjL,
                                                   const Graphic3d_Mat4d& theHeadToEyeL,
                                                   const Graphic3d_Mat4d& theProjR,
                                                   const Graphic3d_Mat4d& theHeadToEyeR);
 
   //! Return TRUE if custom projection matrix is set.
   bool IsCustomMonoProjection() const { return myIsCustomProjMatM; }
 
   //! Set custom projection matrix.
   Standard_EXPORT void SetCustomMonoProjection (const Graphic3d_Mat4d& theProj);
 
   //! Dumps the content of me into the stream
   Standard_EXPORT void DumpJson (Standard_OStream& theOStream, Standard_Integer theDepth = -1) const;
 
 //! @name Managing projection and orientation cache
 private:
 
   //! Get stereo projection matrices.
   //! @param theProjL      [out] left  eye projection matrix
   //! @param theHeadToEyeL [out] left  head to eye translation matrix
   //! @param theProjR      [out] right eye projection matrix
   //! @param theHeadToEyeR [out] right head to eye translation matrix
   template <typename Elem_t>
   Standard_EXPORT void stereoProjection (NCollection_Mat4<Elem_t>& theProjL,
                                          NCollection_Mat4<Elem_t>& theHeadToEyeL,
                                          NCollection_Mat4<Elem_t>& theProjR,
                                          NCollection_Mat4<Elem_t>& theHeadToEyeR) const;
 
   //! Compute projection matrices.
   //! @param theProjM [out] mono projection matrix
   //! @param theProjL [out] left  eye projection matrix
   //! @param theProjR [out] right eye projection matrix
   //! @param theToAddHeadToEye [in] flag to pre-multiply head-to-eye translation
   template <typename Elem_t>
   Standard_EXPORT void computeProjection (NCollection_Mat4<Elem_t>& theProjM,
                                           NCollection_Mat4<Elem_t>& theProjL,
                                           NCollection_Mat4<Elem_t>& theProjR,
                                           bool theToAddHeadToEye) const;
 
   //! Compute projection matrices.
   //! @param theMatrices [in] the matrices data container.
   template <typename Elem_t>
   TransformMatrices<Elem_t>& UpdateProjection (TransformMatrices<Elem_t>& theMatrices) const
   {
     if (!theMatrices.IsProjectionValid())
     {
       theMatrices.InitProjection();
       computeProjection (theMatrices.MProjection, theMatrices.LProjection, theMatrices.RProjection, true);
     }
     return theMatrices;
   }
 
   //! Compute orientation matrix.
   //! @param theMatrices [in] the matrices data container.
   template <typename Elem_t>
   Standard_EXPORT
     TransformMatrices<Elem_t>& UpdateOrientation (TransformMatrices<Elem_t>& theMatrices) const;
 
 private:
 
   //! Compose orthographic projection matrix for the passed camera volume mapping.
   //! @param theOutMx [out] the projection matrix
   //! @param theLRBT [in] the left/right/bottom/top mapping (clipping) coordinates
   //! @param theNear [in] the near mapping (clipping) coordinate
   //! @param theFar [in] the far mapping (clipping) coordinate
   template <typename Elem_t>
   void orthoProj (NCollection_Mat4<Elem_t>& theOutMx,
                   const Aspect_FrustumLRBT<Elem_t>& theLRBT,
                   const Elem_t theNear,
                   const Elem_t theFar) const;
 
   //! Compose perspective projection matrix for the passed camera volume mapping.
   //! @param theOutMx [out] the projection matrix
   //! @param theLRBT [in] the left/right/bottom/top mapping (clipping) coordinates
   //! @param theNear [in] the near mapping (clipping) coordinate
   //! @param theFar [in] the far mapping (clipping) coordinate
   template <typename Elem_t>
   void perspectiveProj (NCollection_Mat4<Elem_t>& theOutMx,
                         const Aspect_FrustumLRBT<Elem_t>& theLRBT,
                         const Elem_t theNear,
                         const Elem_t theFar) const;
 
   //! Compose projection matrix for L/R stereo eyes.
   //! @param theOutMx [out] the projection matrix
   //! @param theLRBT [in] the left/right/bottom/top mapping (clipping) coordinates
   //! @param theNear [in] the near mapping (clipping) coordinate
   //! @param theFar [in] the far mapping (clipping) coordinate
   //! @param theIOD [in] the Intraocular distance
   //! @param theZFocus [in] the z coordinate of off-axis projection plane with zero parallax
   //! @param theEyeIndex [in] choose between L/R eyes
   template <typename Elem_t>
   void stereoEyeProj (NCollection_Mat4<Elem_t>& theOutMx,
                       const Aspect_FrustumLRBT<Elem_t>& theLRBT,
                       const Elem_t theNear,
                       const Elem_t theFar,
                       const Elem_t theIOD,
                       const Elem_t theZFocus,
                       const Aspect_Eye theEyeIndex) const;
 
   //! Construct "look at" orientation transformation.
   //! Reference point differs for perspective and ortho modes 
   //! (made for compatibility, to be improved..).
   //! @param theEye [in] the eye coordinates in 3D space.
   //! @param theFwdDir [in] view direction
   //! @param theUpDir [in] the up direction vector.
   //! @param theAxialScale [in] the axial scale vector.
   //! @param theOutMx [in/out] the orientation matrix.
   template <typename Elem_t>
   static void
     LookOrientation (const NCollection_Vec3<Elem_t>& theEye,
                      const NCollection_Vec3<Elem_t>& theFwdDir,
                      const NCollection_Vec3<Elem_t>& theUpDir,
                      const NCollection_Vec3<Elem_t>& theAxialScale,
                      NCollection_Mat4<Elem_t>&       theOutMx);
 
 public:
 
   //! Enumerates vertices of view volume.
   enum
   {
     FrustumVert_LeftBottomNear,
     FrustumVert_LeftBottomFar,
     FrustumVert_LeftTopNear,
     FrustumVert_LeftTopFar,
     FrustumVert_RightBottomNear,
     FrustumVert_RightBottomFar,
     FrustumVert_RightTopNear,
     FrustumVert_RightTopFar,
     FrustumVerticesNB
   };
 
   //! Fill array of current view frustum corners.
   //! The size of this array is equal to FrustumVerticesNB.
   //! The order of vertices is as defined in FrustumVert_* enumeration.
   Standard_EXPORT void FrustumPoints (NCollection_Array1<Graphic3d_Vec3d>& thePoints,
                                       const Graphic3d_Mat4d& theModelWorld = Graphic3d_Mat4d()) const;
 
 private:
 
   gp_Dir        myUp;       //!< Camera up direction vector
   gp_Dir        myDirection;//!< Camera view direction (from eye)
   gp_Pnt        myEye;      //!< Camera eye position
   Standard_Real myDistance; //!< distance from Eye to Center
 
   gp_XYZ myAxialScale; //!< World axial scale.
 
   Projection    myProjType; //!< Projection type used for rendering.
   Standard_Real myFOVy;     //!< Field Of View in y axis.
   Standard_Real myFOVx;     //!< Field Of View in x axis.
   Standard_Real myFOV2d;    //!< Field Of View limit for 2d on-screen elements
   Standard_Real myFOVyTan;  //!< Field Of View as Tan(DTR_HALF * myFOVy)
   Standard_Real myZNear;    //!< Distance to near clipping plane.
   Standard_Real myZFar;     //!< Distance to far clipping plane.
   Standard_Real myAspect;   //!< Width to height display ratio.
   Standard_Boolean myIsZeroToOneDepth; //!< use [0, 1] depth range or [-1, 1]
 
   Standard_Real myScale;      //!< Specifies parallel scale for orthographic projection.
   Standard_Real myZFocus;     //!< Stereographic focus value.
   FocusType     myZFocusType; //!< Stereographic focus definition type.
 
   Standard_Real myIOD;     //!< Intraocular distance value.
   IODType       myIODType; //!< Intraocular distance definition type.
 
   Graphic3d_CameraTile myTile;//!< Tile defining sub-area for drawing
 
   Graphic3d_Mat4d  myCustomProjMatM;
   Graphic3d_Mat4d  myCustomProjMatL;
   Graphic3d_Mat4d  myCustomProjMatR;
   Graphic3d_Mat4d  myCustomHeadToEyeMatL;
   Graphic3d_Mat4d  myCustomHeadToEyeMatR;
   Aspect_FrustumLRBT<Standard_Real> myCustomFrustumL; //!< left  custom frustum
   Aspect_FrustumLRBT<Standard_Real> myCustomFrustumR; //!< right custom frustum
   Standard_Boolean myIsCustomProjMatM;  //!< flag indicating usage of custom projection matrix
   Standard_Boolean myIsCustomProjMatLR; //!< flag indicating usage of custom stereo projection matrices
   Standard_Boolean myIsCustomFrustomLR; //!< flag indicating usage of custom stereo frustums
 
   mutable TransformMatrices<Standard_Real>      myMatricesD;
   mutable TransformMatrices<Standard_ShortReal> myMatricesF;
 
   mutable Graphic3d_WorldViewProjState myWorldViewProjState;
 
 public:
 
   DEFINE_STANDARD_RTTIEXT(Graphic3d_Camera,Standard_Transient)
 };
 
 DEFINE_STANDARD_HANDLE (Graphic3d_Camera, Standard_Transient)
 
 //! Linear interpolation tool for camera orientation and position.
 //! This tool interpolates camera parameters scale, eye, center, rotation (up and direction vectors) independently.
 //! @sa Graphic3d_Camera::Interpolate()
 template<>
 inline void NCollection_Lerp<Handle(Graphic3d_Camera)>::Interpolate (const double theT,
                                                                      Handle(Graphic3d_Camera)& theResult) const
 {
   Graphic3d_Camera::Interpolate (myStart, myEnd, theT, theResult);
 }
 
 //! Linear interpolation tool for camera orientation and position.
 //! This tool interpolates camera parameters scale, eye, center, rotation (up and direction vectors) independently.
 //! @sa Graphic3d_Camera::Interpolate()
 typedef NCollection_Lerp<Handle(Graphic3d_Camera)> Graphic3d_CameraLerp;
 
 #endif

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