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/***************************************************************************
* Copyright (c) 2014 Werner Mayer <wmayer[at]users.sourceforge.net> *
* *
* This file is part of the FreeCAD CAx development system. *
* *
* This library is free software; you can redistribute it and/or *
* modify it under the terms of the GNU Library General Public *
* License as published by the Free Software Foundation; either *
* version 2 of the License, or (at your option) any later version. *
* *
* This library is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
* GNU Library General Public License for more details. *
* *
* You should have received a copy of the GNU Library General Public *
* License along with this library; see the file COPYING.LIB. If not, *
* write to the Free Software Foundation, Inc., 51 Franklin Street, *
* Fifth Floor, Boston, MA 02110-1301, USA *
* *
***************************************************************************/
#ifndef BASE_COORDINATESYSTEM_H
#define BASE_COORDINATESYSTEM_H
#include "Axis.h"
namespace Base
{
class Rotation;
/**
* Describes a right-handed coordinate system in 3D space.
\author Werner Mayer
*/
class BaseExport CoordinateSystem
{
public:
/** Construct a default coordinate system with position in (0,0,0),
* with X axis (1,0,0), with Y axis (0,1,0) and Z axis (0,0,1)
*/
CoordinateSystem();
CoordinateSystem(const CoordinateSystem&) = default;
CoordinateSystem(CoordinateSystem&&) = default;
~CoordinateSystem() = default;
CoordinateSystem& operator=(const CoordinateSystem&) = default;
CoordinateSystem& operator=(CoordinateSystem&&) = default;
/** Sets the main axis. X and Y dir are adjusted accordingly.
* The main axis \a v must not be parallel to the X axis
*/
void setAxis(const Axis& axis);
/** Sets the main axis. X and Y dir are adjusted accordingly.
* The main axis must not be parallel to \a xd
*/
void setAxes(const Axis&, const Vector3d& xd);
/** Sets the main axis. X and Y dir are adjusted accordingly.
* The main axis \a n must not be parallel to \a xd
*/
void setAxes(const Vector3d& n, const Vector3d& xd);
inline const Axis& getAxis() const
{
return axis;
}
/** The passed vector must not be parallel to the main axis */
void setXDirection(const Vector3d&);
inline const Vector3d& getXDirection() const
{
return xdir;
}
/** The passed vector must not be parallel to the main axis */
void setYDirection(const Vector3d&);
inline const Vector3d& getYDirection() const
{
return ydir;
}
/** Sets the main axis. X and Y dir are adjusted accordingly.
* The main axis must not be parallel to the X axis
*/
void setZDirection(const Vector3d&);
inline const Vector3d& getZDirection() const
{
return axis.getDirection();
}
inline void setPosition(const Vector3d& pos)
{
axis.setBase(pos);
}
inline const Vector3d& getPosition() const
{
return axis.getBase();
}
/** This computes the displacement from this coordinate system to the
* given coordinate system \a cs
*/
Placement displacement(const CoordinateSystem& cs) const;
/** Transform the point \a pnt to be in this coordinate system */
void transformTo(Vector3d& pnt);
/** Apply the placement \a plm to the coordinate system. */
void transform(const Placement& plm);
/** Apply the rotation \a rot to the coordinate system. */
void transform(const Rotation& rot);
/** Set the placement \a plm to the coordinate system. */
void setPlacement(const Placement& plm);
private:
Axis axis;
Vector3d xdir;
Vector3d ydir;
};
} // namespace Base
#endif // BASE_COORDINATESYSTEM_H
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