// File:	gp_Ax2.lxx

#include <gp.hxx>
#include <gp_Ax1.hxx>
#include <Precision.hxx>

inline gp_Ax2::gp_Ax2() : vydir(0.,1.,0.), vxdir(1.,0.,0.)
{ }

inline gp_Ax2::gp_Ax2(const gp_Pnt& P,
		      const gp_Dir& N,
		      const gp_Dir& Vx) : axis(P, N), vydir(N), vxdir(N)
{
  vxdir.CrossCross(Vx, N);
  vydir.Cross(vxdir);
}

inline void gp_Ax2::SetAxis (const gp_Ax1&  A1)
{
  Standard_Real a =  A1.Direction() * vxdir;
  if(Abs(Abs(a) - 1.) <= Precision::Angular()) {
    if(a > 0.) {
      vxdir = vydir;
      vydir = axis.Direction();
      axis = A1;
    }
    else {
      vxdir = axis.Direction();
      axis = A1;
    }
  }
  else {
    axis = A1;
    vxdir = axis.Direction().CrossCrossed (vxdir, axis.Direction());
    vydir = axis.Direction().Crossed      (vxdir);
  }
}

inline void gp_Ax2::SetDirection (const gp_Dir&  V)
{ 
  Standard_Real a =  V * vxdir;
  if(Abs(Abs(a) - 1.) <= Precision::Angular()) {
    if(a > 0.) {
      vxdir = vydir;
      vydir = axis.Direction();
      axis.SetDirection (V);
    }
    else {
      vxdir = axis.Direction();
      axis.SetDirection (V);
    }
  }
  else {
    axis.SetDirection (V);
    vxdir = V.CrossCrossed (vxdir, V);
    vydir = V.Crossed (vxdir);
  }
}

inline void gp_Ax2::SetLocation (const gp_Pnt& P)
{ axis.SetLocation(P); }

inline void gp_Ax2::SetXDirection (const gp_Dir&  Vx)
{
  vxdir = axis.Direction().CrossCrossed (Vx, axis.Direction());
  vydir = axis.Direction().Crossed      (vxdir);
}

inline void gp_Ax2::SetYDirection (const gp_Dir& Vy)
{
  vxdir = Vy.Crossed (axis.Direction());
  vydir = (axis.Direction()).Crossed (vxdir);
}

inline Standard_Real gp_Ax2::Angle (const gp_Ax2& Other) const
{ return axis.Angle (Other.axis); }

inline const gp_Ax1& gp_Ax2::Axis () const
{ return axis; }

inline const gp_Dir& gp_Ax2::Direction () const
{ return axis.Direction(); }

inline const gp_Pnt& gp_Ax2::Location () const
{ return axis.Location(); }

inline const gp_Dir& gp_Ax2::XDirection () const
{ return vxdir; }

inline const gp_Dir& gp_Ax2::YDirection () const
{ return vydir; }

inline Standard_Boolean gp_Ax2::IsCoplanar 
(const gp_Ax2& Other,
 const Standard_Real LinearTolerance,
 const Standard_Real AngularTolerance) const
{
  const gp_Dir& DD =       axis.Direction();
  const gp_Pnt& PP =       axis.Location ();
  const gp_Pnt& OP = Other.axis.Location ();
  Standard_Real D1 = (DD.X() * (OP.X() - PP.X()) + 
		      DD.Y() * (OP.Y() - PP.Y()) + 
		      DD.Z() * (OP.Z() - PP.Z()));
  if (D1 < 0 ) D1 = - D1;
  return (D1 <= LinearTolerance &&
	  axis.IsParallel (Other.axis, AngularTolerance));
}

inline Standard_Boolean gp_Ax2::IsCoplanar
(const gp_Ax1& A,
 const Standard_Real LinearTolerance,
 const Standard_Real AngularTolerance) const
{
  const gp_Dir& DD = axis.Direction();
  const gp_Pnt& PP = axis.Location ();
  const gp_Pnt& AP = A   .Location ();
  Standard_Real D1 = (DD.X() * (AP.X() - PP.X()) + 
		      DD.Y() * (AP.Y() - PP.Y()) + 
		      DD.Z() * (AP.Z() - PP.Z()));
  if (D1 < 0) D1 = - D1;
  return (D1 <= LinearTolerance &&
	  axis.IsNormal (A, AngularTolerance));
}

inline void gp_Ax2::Rotate(const gp_Ax1& A1, const Standard_Real Ang)
{
  gp_Pnt Temp = axis.Location();
  Temp.Rotate  (A1, Ang);
  axis.SetLocation (Temp);
  vxdir.Rotate (A1, Ang);
  vydir.Rotate (A1, Ang);
  axis.SetDirection (vxdir.Crossed (vydir));
}

inline gp_Ax2 gp_Ax2::Rotated(const gp_Ax1& A1,
			      const Standard_Real Ang) const
{
  gp_Ax2 Temp = *this;
  Temp.Rotate (A1, Ang);
  return Temp;
} 

inline void gp_Ax2::Scale (const gp_Pnt& P, const Standard_Real S)
{
  gp_Pnt Temp = axis.Location();
  Temp.Scale (P, S);
  axis.SetLocation (Temp);
  if (S < 0.0) {
    vxdir.Reverse ();
    vydir.Reverse ();
  }
}

inline gp_Ax2 gp_Ax2::Scaled(const gp_Pnt& P,
			     const Standard_Real S) const 
{
  gp_Ax2 Temp = *this;
  Temp.Scale (P, S);
  return Temp;
}

inline void gp_Ax2::Transform (const gp_Trsf& T)
{
  gp_Pnt Temp = axis.Location();
  Temp.Transform (T);
  axis.SetLocation (Temp);
  vxdir.Transform (T);
  vydir.Transform (T);
  axis.SetDirection (vxdir.Crossed (vydir));
}

inline gp_Ax2 gp_Ax2::Transformed(const gp_Trsf& T) const
{
  gp_Ax2 Temp = *this;
  Temp.Transform (T);
  return Temp;
}

inline void gp_Ax2::Translate (const gp_Vec& V)
{ axis.Translate (V); }

inline gp_Ax2 gp_Ax2::Translated(const gp_Vec& V) const
{
  gp_Ax2 Temp = *this;
  Temp.Translate (V);
  return Temp;
}

inline void gp_Ax2::Translate (const gp_Pnt& P1, const gp_Pnt& P2)
{ axis.Translate (P1, P2); }

inline gp_Ax2 gp_Ax2::Translated (const gp_Pnt& P1,
				  const gp_Pnt& P2)  const
{
  gp_Ax2 Temp = *this;
  Temp.Translate (P1, P2);
  return Temp;
}