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 // Created on: 2013-12-20
 // Created by: Denis BOGOLEPOV
 // Copyright (c) 2013-2014 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 BVH_Properties_HeaderFile
 #define BVH_Properties_HeaderFile
 
 #include <BVH_Box.hxx>
 
 #include <Standard_Macro.hxx>
 
 //! Abstract properties of geometric object.
 class BVH_Properties : public Standard_Transient
 {
   DEFINE_STANDARD_RTTIEXT(BVH_Properties, Standard_Transient)
 public:
   //! Releases resources of object properties.
   Standard_EXPORT ~BVH_Properties() override = 0;
 };
 
 //! Stores transform properties of geometric object.
 template <class T, int N>
 class BVH_Transform : public BVH_Properties
 {
 public:
   //! Type of transformation matrix.
   typedef typename BVH::MatrixType<T, N>::Type BVH_MatNt;
 
 public:
   //! Creates new identity transformation.
   BVH_Transform() = default;
 
   //! Creates new transformation with specified matrix.
   BVH_Transform(const BVH_MatNt& theTransform)
       : myTransform(theTransform)
   {
   }
 
   //! Releases resources of transformation properties.
   ~BVH_Transform() override = default;
 
   //! Returns transformation matrix.
   const BVH_MatNt& Transform() const { return myTransform; }
 
   //! Sets new transformation matrix.
   void SetTransform(const BVH_MatNt& theTransform);
 
   //! Returns inversed transformation matrix.
   const BVH_MatNt& Inversed() const { return myTransformInversed; }
 
   //! Applies transformation matrix to bounding box.
   BVH_Box<T, N> Apply(const BVH_Box<T, N>& theBox) const;
 
 protected:
   BVH_MatNt myTransform;         //!< Transformation matrix
   BVH_MatNt myTransformInversed; //!< Inversed transformation matrix
 };
 
 namespace BVH
 {
 template <class T, int N>
 struct MatrixOp
 {
   // Not implemented
 };
 
 template <class T>
 struct MatrixOp<T, 4>
 {
   typedef typename BVH::MatrixType<T, 4>::Type BVH_Mat4t;
 
   static void Inverse(const BVH_Mat4t& theIn, BVH_Mat4t& theOut) { theIn.Inverted(theOut); }
 
   typedef typename BVH::VectorType<T, 4>::Type BVH_Vec4t;
 
   static BVH_Vec4t Multiply(const BVH_Mat4t& theMat, const BVH_Vec4t& theVec)
   {
     BVH_Vec4t aOut = theMat * theVec;
     return aOut * static_cast<T>(1.0 / aOut.w());
   }
 };
 
 template <class T, int N>
 struct UnitVector
 {
   // Not implemented
 };
 
 template <class T>
 struct UnitVector<T, 2>
 {
   typedef typename BVH::VectorType<T, 2>::Type BVH_Vec2t;
 
   static BVH_Vec2t DX() { return BVH_Vec2t(static_cast<T>(1.0), static_cast<T>(0.0)); }
 
   static BVH_Vec2t DY() { return BVH_Vec2t(static_cast<T>(0.0), static_cast<T>(1.0)); }
 
   static BVH_Vec2t DZ() { return BVH_Vec2t(static_cast<T>(0.0), static_cast<T>(0.0)); }
 };
 
 template <class T>
 struct UnitVector<T, 3>
 {
   typedef typename BVH::VectorType<T, 3>::Type BVH_Vec3t;
 
   static BVH_Vec3t DX()
   {
     return BVH_Vec3t(static_cast<T>(1.0), static_cast<T>(0.0), static_cast<T>(0.0));
   }
 
   static BVH_Vec3t DY()
   {
     return BVH_Vec3t(static_cast<T>(0.0), static_cast<T>(1.0), static_cast<T>(0.0));
   }
 
   static BVH_Vec3t DZ()
   {
     return BVH_Vec3t(static_cast<T>(0.0), static_cast<T>(0.0), static_cast<T>(1.0));
   }
 };
 
 template <class T>
 struct UnitVector<T, 4>
 {
   typedef typename BVH::VectorType<T, 4>::Type BVH_Vec4t;
 
   static BVH_Vec4t DX()
   {
     return BVH_Vec4t(static_cast<T>(1.0),
                      static_cast<T>(0.0),
                      static_cast<T>(0.0),
                      static_cast<T>(0.0));
   }
 
   static BVH_Vec4t DY()
   {
     return BVH_Vec4t(static_cast<T>(0.0),
                      static_cast<T>(1.0),
                      static_cast<T>(0.0),
                      static_cast<T>(0.0));
   }
 
   static BVH_Vec4t DZ()
   {
     return BVH_Vec4t(static_cast<T>(0.0),
                      static_cast<T>(0.0),
                      static_cast<T>(1.0),
                      static_cast<T>(0.0));
   }
 };
 } // namespace BVH
 
 //=================================================================================================
 
 template <class T, int N>
 void BVH_Transform<T, N>::SetTransform(const BVH_MatNt& theTransform)
 {
   myTransform = theTransform;
   BVH::MatrixOp<T, N>::Inverse(myTransform, myTransformInversed);
 }
 
 //=================================================================================================
 
 template <class T, int N>
 BVH_Box<T, N> BVH_Transform<T, N>::Apply(const BVH_Box<T, N>& theBox) const
 {
   typename BVH_Box<T, N>::BVH_VecNt aSize = theBox.Size();
 
   BVH_Box<T, N> aBox;
   for (int aX = 0; aX <= 1; ++aX)
   {
     for (int aY = 0; aY <= 1; ++aY)
     {
       for (int aZ = 0; aZ <= 1; ++aZ)
       {
         typename BVH_Box<T, N>::BVH_VecNt aCorner =
           theBox.CornerMin() + BVH::UnitVector<T, N>::DX() * aSize * static_cast<T>(aX)
           + BVH::UnitVector<T, N>::DY() * aSize * static_cast<T>(aY)
           + BVH::UnitVector<T, N>::DZ() * aSize * static_cast<T>(aZ);
 
         aBox.Add(BVH::MatrixOp<T, N>::Multiply(myTransform, aCorner));
       }
     }
   }
 
   return aBox;
 }
 
 #endif // _BVH_Properties_Header

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