#include "matrix3x3.h"

extern inline void bgc_fp32_matrix3x3_reset(BGC_FP32_Matrix3x3* matrix);
extern inline void bgc_fp64_matrix3x3_reset(BGC_FP64_Matrix3x3* matrix);

extern inline void bgc_fp32_matrix3x3_make_identity(BGC_FP32_Matrix3x3* matrix);
extern inline void bgc_fp64_matrix3x3_make_identity(BGC_FP64_Matrix3x3* matrix);

extern inline void bgc_fp32_matrix3x3_make_diagonal(BGC_FP32_Matrix3x3* matrix, const float d1, const float d2, const float d3);
extern inline void bgc_fp64_matrix3x3_make_diagonal(BGC_FP64_Matrix3x3* matrix, const double d1, const double d2, const double d3);

extern inline void bgc_fp32_matrix3x3_copy(BGC_FP32_Matrix3x3* destination, const BGC_FP32_Matrix3x3* source);
extern inline void bgc_fp64_matrix3x3_copy(BGC_FP64_Matrix3x3* destination, const BGC_FP64_Matrix3x3* source);

extern inline void bgc_fp32_matrix3x3_swap(BGC_FP32_Matrix3x3* matrix1, BGC_FP32_Matrix3x3* matrix2);
extern inline void bgc_fp64_matrix3x3_swap(BGC_FP64_Matrix3x3* matrix1, BGC_FP64_Matrix3x3* matrix2);

extern inline void bgc_fp64_matrix3x3_convert_to_fp32(BGC_FP32_Matrix3x3* destination, const BGC_FP64_Matrix3x3* source);
extern inline void bgc_fp32_matrix3x3_convert_to_fp64(BGC_FP64_Matrix3x3* destination, const BGC_FP32_Matrix3x3* source);

extern inline float bgc_fp32_matrix3x3_get_determinant(const BGC_FP32_Matrix3x3* matrix);
extern inline double bgc_fp64_matrix3x3_get_determinant(const BGC_FP64_Matrix3x3* matrix);

extern inline int bgc_fp32_matrix3x3_is_identity(const BGC_FP32_Matrix3x3* matrix);
extern inline int bgc_fp64_matrix3x3_is_identity(const BGC_FP64_Matrix3x3* matrix);

extern inline int bgc_fp32_matrix3x3_is_singular(const BGC_FP32_Matrix3x3* matrix);
extern inline int bgc_fp64_matrix3x3_is_singular(const BGC_FP64_Matrix3x3* matrix);

extern inline int bgc_fp32_matrix3x3_is_rotation(const BGC_FP32_Matrix3x3* matrix);
extern inline int bgc_fp64_matrix3x3_is_rotation(const BGC_FP64_Matrix3x3* matrix);

extern inline int bgc_fp32_matrix3x3_invert(BGC_FP32_Matrix3x3* matrix);
extern inline int bgc_fp64_matrix3x3_invert(BGC_FP64_Matrix3x3* matrix);

extern inline void bgc_fp32_matrix3x3_transpose(BGC_FP32_Matrix3x3* matrix);
extern inline void bgc_fp64_matrix3x3_transpose(BGC_FP64_Matrix3x3* matrix);

extern inline void bgc_fp32_matrix3x3_get_transposed(BGC_FP32_Matrix3x3* transposed, const BGC_FP32_Matrix3x3* matrix);
extern inline void bgc_fp64_matrix3x3_get_transposed(BGC_FP64_Matrix3x3* transposed, const BGC_FP64_Matrix3x3* matrix);

extern inline void bgc_fp32_matrix3x3_get_row(BGC_FP32_Vector3* row, const BGC_FP32_Matrix3x3* matrix, const int row_number);
extern inline void bgc_fp64_matrix3x3_get_row(BGC_FP64_Vector3* row, const BGC_FP64_Matrix3x3* matrix, const int row_number);

extern inline void bgc_fp32_matrix3x3_set_row(BGC_FP32_Matrix3x3* matrix, const int row_number, const BGC_FP32_Vector3* row);
extern inline void bgc_fp64_matrix3x3_set_row(BGC_FP64_Matrix3x3* matrix, const int row_number, const BGC_FP64_Vector3* row);

extern inline void bgc_fp32_matrix3x3_get_column(BGC_FP32_Vector3* column, const BGC_FP32_Matrix3x3* matrix, const int column_number);
extern inline void bgc_fp64_matrix3x3_get_column(BGC_FP64_Vector3* column, const BGC_FP64_Matrix3x3* matrix, const int column_number);

extern inline void bgc_fp32_matrix3x3_set_column(BGC_FP32_Matrix3x3* matrix, const int column_number, const BGC_FP32_Vector3* column);
extern inline void bgc_fp64_matrix3x3_set_column(BGC_FP64_Matrix3x3* matrix, const int column_number, const BGC_FP64_Vector3* column);

extern inline void bgc_fp32_matrix3x3_add(BGC_FP32_Matrix3x3* sum, const BGC_FP32_Matrix3x3* matrix1, const BGC_FP32_Matrix3x3* matrix2);
extern inline void bgc_fp64_matrix3x3_add(BGC_FP64_Matrix3x3* sum, const BGC_FP64_Matrix3x3* matrix1, const BGC_FP64_Matrix3x3* matrix2);

extern inline void bgc_fp32_matrix3x3_add_scaled(BGC_FP32_Matrix3x3* sum, const BGC_FP32_Matrix3x3* basic_matrix, const BGC_FP32_Matrix3x3* scalable_matrix, const float scale);
extern inline void bgc_fp64_matrix3x3_add_scaled(BGC_FP64_Matrix3x3* sum, const BGC_FP64_Matrix3x3* basic_matrix, const BGC_FP64_Matrix3x3* scalable_matrix, const double scale);

extern inline void bgc_fp32_matrix3x3_subtract(BGC_FP32_Matrix3x3* difference, const BGC_FP32_Matrix3x3* minuend, const BGC_FP32_Matrix3x3* subtrahend);
extern inline void bgc_fp64_matrix3x3_subtract(BGC_FP64_Matrix3x3* difference, const BGC_FP64_Matrix3x3* minuend, const BGC_FP64_Matrix3x3* subtrahend);

extern inline void bgc_fp32_matrix3x3_multiply(BGC_FP32_Matrix3x3* product, const BGC_FP32_Matrix3x3* multiplicand, const float multiplier);
extern inline void bgc_fp64_matrix3x3_multiply(BGC_FP64_Matrix3x3* product, const BGC_FP64_Matrix3x3* multiplicand, const double multiplier);

extern inline void bgc_fp32_matrix3x3_divide(BGC_FP32_Matrix3x3* quotient, const BGC_FP32_Matrix3x3* dividend, const float divisor);
extern inline void bgc_fp64_matrix3x3_divide(BGC_FP64_Matrix3x3* quotient, const BGC_FP64_Matrix3x3* dividend, const double divisor);

extern inline void bgc_fp32_matrix3x3_interpolate(BGC_FP32_Matrix3x3* interpolation, const BGC_FP32_Matrix3x3* first, const BGC_FP32_Matrix3x3* second, const float phase);
extern inline void bgc_fp64_matrix3x3_interpolate(BGC_FP64_Matrix3x3* interpolation, const BGC_FP64_Matrix3x3* first, const BGC_FP64_Matrix3x3* second, const double phase);

extern inline void bgc_fp32_multiply_vector3_by_matrix3x3(BGC_FP32_Vector3* product, const BGC_FP32_Vector3* vector, const BGC_FP32_Matrix3x3* matrix);
extern inline void bgc_fp64_multiply_vector3_by_matrix3x3(BGC_FP64_Vector3* product, const BGC_FP64_Vector3* vector, const BGC_FP64_Matrix3x3* matrix);

extern inline void bgc_fp32_multiply_matrix3x3_by_vector3(BGC_FP32_Vector3* product, const BGC_FP32_Matrix3x3* matrix, const BGC_FP32_Vector3* vector);
extern inline void bgc_fp64_multiply_matrix3x3_by_vector3(BGC_FP64_Vector3* product, const BGC_FP64_Matrix3x3* matrix, const BGC_FP64_Vector3* vector);

// ================ Get Inverse ================= //

int bgc_fp32_matrix3x3_get_inverse(BGC_FP32_Matrix3x3* inverse, const BGC_FP32_Matrix3x3* matrix)
{
    const float determinant = bgc_fp32_matrix3x3_get_determinant(matrix);

    if (bgc_fp32_is_zero(determinant)) {
        return 0;
    }

    const float row1_col1 = matrix->row2_col2 * matrix->row3_col3 - matrix->row2_col3 * matrix->row3_col2;
    const float row1_col2 = matrix->row1_col3 * matrix->row3_col2 - matrix->row1_col2 * matrix->row3_col3;
    const float row1_col3 = matrix->row1_col2 * matrix->row2_col3 - matrix->row1_col3 * matrix->row2_col2;

    const float row2_col1 = matrix->row2_col3 * matrix->row3_col1 - matrix->row2_col1 * matrix->row3_col3;
    const float row2_col2 = matrix->row1_col1 * matrix->row3_col3 - matrix->row1_col3 * matrix->row3_col1;
    const float row2_col3 = matrix->row1_col3 * matrix->row2_col1 - matrix->row1_col1 * matrix->row2_col3;

    const float row3_col1 = matrix->row2_col1 * matrix->row3_col2 - matrix->row2_col2 * matrix->row3_col1;
    const float row3_col2 = matrix->row1_col2 * matrix->row3_col1 - matrix->row1_col1 * matrix->row3_col2;
    const float row3_col3 = matrix->row1_col1 * matrix->row2_col2 - matrix->row1_col2 * matrix->row2_col1;

    const float multiplier = 1.0f / determinant;

    inverse->row1_col1 = row1_col1 * multiplier;
    inverse->row1_col2 = row1_col2 * multiplier;
    inverse->row1_col3 = row1_col3 * multiplier;

    inverse->row2_col1 = row2_col1 * multiplier;
    inverse->row2_col2 = row2_col2 * multiplier;
    inverse->row2_col3 = row2_col3 * multiplier;

    inverse->row3_col1 = row3_col1 * multiplier;
    inverse->row3_col2 = row3_col2 * multiplier;
    inverse->row3_col3 = row3_col3 * multiplier;

    return 1;
}

int bgc_fp64_matrix3x3_get_inverse(BGC_FP64_Matrix3x3* inverse, const BGC_FP64_Matrix3x3* matrix)
{
    const double determinant = bgc_fp64_matrix3x3_get_determinant(matrix);

    if (bgc_fp64_is_zero(determinant)) {
        return 0;
    }

    const double row1_col1 = matrix->row2_col2 * matrix->row3_col3 - matrix->row2_col3 * matrix->row3_col2;
    const double row1_col2 = matrix->row1_col3 * matrix->row3_col2 - matrix->row1_col2 * matrix->row3_col3;
    const double row1_col3 = matrix->row1_col2 * matrix->row2_col3 - matrix->row1_col3 * matrix->row2_col2;

    const double row2_col1 = matrix->row2_col3 * matrix->row3_col1 - matrix->row2_col1 * matrix->row3_col3;
    const double row2_col2 = matrix->row1_col1 * matrix->row3_col3 - matrix->row1_col3 * matrix->row3_col1;
    const double row2_col3 = matrix->row1_col3 * matrix->row2_col1 - matrix->row1_col1 * matrix->row2_col3;

    const double row3_col1 = matrix->row2_col1 * matrix->row3_col2 - matrix->row2_col2 * matrix->row3_col1;
    const double row3_col2 = matrix->row1_col2 * matrix->row3_col1 - matrix->row1_col1 * matrix->row3_col2;
    const double row3_col3 = matrix->row1_col1 * matrix->row2_col2 - matrix->row1_col2 * matrix->row2_col1;

    const double multiplier = 1.0 / determinant;

    inverse->row1_col1 = row1_col1 * multiplier;
    inverse->row1_col2 = row1_col2 * multiplier;
    inverse->row1_col3 = row1_col3 * multiplier;

    inverse->row2_col1 = row2_col1 * multiplier;
    inverse->row2_col2 = row2_col2 * multiplier;
    inverse->row2_col3 = row2_col3 * multiplier;

    inverse->row3_col1 = row3_col1 * multiplier;
    inverse->row3_col2 = row3_col2 * multiplier;
    inverse->row3_col3 = row3_col3 * multiplier;

    return 1;
}