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 // Author: Kirill Gavrilov
 // Copyright: Open CASCADE 2015-2019
 //
 // 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 _RWMesh_CoordinateSystemConverter_HeaderFile
 #define _RWMesh_CoordinateSystemConverter_HeaderFile
 
 #include <RWMesh_CoordinateSystem.hxx>
 
 #include <gp_Ax3.hxx>
 #include <gp_XYZ.hxx>
 #include <gp_Trsf.hxx>
 #include <Graphic3d_Vec.hxx>
 
 //! Coordinate system converter defining the following tools:
 //! - Initialization for commonly used coordinate systems Z-up and Y-up.
 //! - Perform length unit conversion (scaling).
 //! - Conversion of three basic elements:
 //!   a) mesh node Positions,
 //!   b) mesh node Normals,
 //!   c) model nodes Transformations (locations).
 //!
 //! RWMesh_CoordinateSystem enumeration is used for convenient conversion between two commonly
 //! used coordinate systems, to make sure that imported model is oriented up.
 //! But gp_Ax3 can be used instead for defining a conversion between arbitrary systems (e.g.
 //! including non-zero origin).
 //!
 //! The converter requires defining explicitly both input and output systems,
 //! so that if either input or output is undefined, then conversion will be skipped.
 //! Length units conversion and coordinate system conversion are decomposed,
 //! so that application might specify no length units conversion but Y-up to Z-up coordinate system
 //! conversion.
 //!
 //! Class defines dedicated methods for parameters of input and output systems.
 //! This allows passing tool through several initialization steps,
 //! so that a reader can initialize input length units (only if file format defines such
 //! information), while application specifies output length units, and conversion will be done only
 //! when both defined.
 class RWMesh_CoordinateSystemConverter
 {
 public:
   //! Return a standard coordinate system definition.
   static gp_Ax3 StandardCoordinateSystem(RWMesh_CoordinateSystem theSys)
   {
     switch (theSys)
     {
       case RWMesh_CoordinateSystem_posYfwd_posZup:
         return gp_Ax3(gp::Origin(), gp::DZ(), gp::DX());
       case RWMesh_CoordinateSystem_negZfwd_posYup:
         return gp_Ax3(gp::Origin(), gp::DY(), gp::DX());
       case RWMesh_CoordinateSystem_Undefined:
         break;
     }
     return gp_Ax3();
   }
 
 public:
   //! Empty constructor.
   Standard_EXPORT RWMesh_CoordinateSystemConverter();
 
   //! Return TRUE if there is no transformation (target and current coordinates systems are same).
   Standard_Boolean IsEmpty() const { return myIsEmpty; }
 
   //! Return source length units, defined as scale factor to m (meters).
   //! -1.0 by default, which means that NO conversion will be applied (regardless output length
   //! unit).
   Standard_Real InputLengthUnit() const { return myInputLengthUnit; }
 
   //! Set source length units as scale factor to m (meters).
   void SetInputLengthUnit(Standard_Real theInputScale)
   {
     Init(myInputAx3, theInputScale, myOutputAx3, myOutputLengthUnit);
   }
 
   //! Return destination length units, defined as scale factor to m (meters).
   //! -1.0 by default, which means that NO conversion will be applied (regardless input length
   //! unit).
   Standard_Real OutputLengthUnit() const { return myOutputLengthUnit; }
 
   //! Set destination length units as scale factor to m (meters).
   void SetOutputLengthUnit(Standard_Real theOutputScale)
   {
     Init(myInputAx3, myInputLengthUnit, myOutputAx3, theOutputScale);
   }
 
   //! Return TRUE if source coordinate system has been set; FALSE by default.
   Standard_Boolean HasInputCoordinateSystem() const { return myHasInputAx3; }
 
   //! Source coordinate system; UNDEFINED by default.
   const gp_Ax3& InputCoordinateSystem() const { return myInputAx3; }
 
   //! Set source coordinate system.
   void SetInputCoordinateSystem(const gp_Ax3& theSysFrom)
   {
     myHasInputAx3 = Standard_True;
     Init(theSysFrom, myInputLengthUnit, myOutputAx3, myOutputLengthUnit);
   }
 
   //! Set source coordinate system.
   void SetInputCoordinateSystem(RWMesh_CoordinateSystem theSysFrom)
   {
     myHasInputAx3 = theSysFrom != RWMesh_CoordinateSystem_Undefined;
     Init(StandardCoordinateSystem(theSysFrom), myInputLengthUnit, myOutputAx3, myOutputLengthUnit);
   }
 
   //! Return TRUE if destination coordinate system has been set; FALSE by default.
   Standard_Boolean HasOutputCoordinateSystem() const { return myHasOutputAx3; }
 
   //! Destination coordinate system; UNDEFINED by default.
   const gp_Ax3& OutputCoordinateSystem() const { return myOutputAx3; }
 
   //! Set destination coordinate system.
   void SetOutputCoordinateSystem(const gp_Ax3& theSysTo)
   {
     myHasOutputAx3 = Standard_True;
     Init(myInputAx3, myInputLengthUnit, theSysTo, myOutputLengthUnit);
   }
 
   //! Set destination coordinate system.
   void SetOutputCoordinateSystem(RWMesh_CoordinateSystem theSysTo)
   {
     myHasOutputAx3 = theSysTo != RWMesh_CoordinateSystem_Undefined;
     Init(myInputAx3, myInputLengthUnit, StandardCoordinateSystem(theSysTo), myOutputLengthUnit);
   }
 
   //! Initialize transformation.
   Standard_EXPORT void Init(const gp_Ax3& theInputSystem,
                             Standard_Real theInputLengthUnit,
                             const gp_Ax3& theOutputSystem,
                             Standard_Real theOutputLengthUnit);
 
 public:
   //! Transform transformation.
   void TransformTransformation(gp_Trsf& theTrsf) const
   {
     if (myHasScale)
     {
       gp_XYZ aTransPart = theTrsf.TranslationPart();
       aTransPart *= myUnitFactor;
       theTrsf.SetTranslationPart(aTransPart);
     }
     if (myTrsf.Form() != gp_Identity)
     {
       theTrsf = myTrsf * theTrsf * myTrsfInv;
     }
   }
 
   //! Transform position.
   void TransformPosition(gp_XYZ& thePos) const
   {
     if (myHasScale)
     {
       thePos *= myUnitFactor;
     }
     if (myTrsf.Form() != gp_Identity)
     {
       myTrsf.Transforms(thePos);
     }
   }
 
   //! Transform normal (e.g. exclude translation/scale part of transformation).
   void TransformNormal(Graphic3d_Vec3& theNorm) const
   {
     if (myTrsf.Form() != gp_Identity)
     {
       const Graphic3d_Vec4 aNorm = myNormTrsf * Graphic3d_Vec4(theNorm, 0.0f);
       theNorm                    = aNorm.xyz();
     }
   }
 
 private:
   gp_Ax3 myInputAx3;          //!< source      coordinate system
   gp_Ax3 myOutputAx3;         //!< destination coordinate system
                               // clang-format off
   Standard_Real    myInputLengthUnit;  //!< source      length units, defined as scale factor to m (meters); -1.0 by default which means UNDEFINED
   Standard_Real    myOutputLengthUnit; //!< destination length units, defined as scale factor to m (meters); -1.0 by default which means UNDEFINED
   Standard_Boolean myHasInputAx3;      //!< flag indicating if source coordinate system is defined or not
   Standard_Boolean myHasOutputAx3;     //!< flag indicating if destination coordinate system is defined or not
 
   gp_Trsf          myTrsf;             //!< transformation from input Ax3 to output Ax3
   gp_Trsf          myTrsfInv;          //!< inversed transformation from input Ax3 to output Ax3
   Graphic3d_Mat4   myNormTrsf;         //!< transformation 4x4 matrix from input Ax3 to output Ax3
   Standard_Real    myUnitFactor;       //!< unit scale factor
   Standard_Boolean myHasScale;         //!< flag indicating that length unit transformation should be performed
                               // clang-format on
   Standard_Boolean myIsEmpty; //!< flag indicating that transformation is empty
 };
 
 #endif // _RWMesh_CoordinateSystemConverter_HeaderFile

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