#ifndef _BGC_AFFINE3_H_INCLUDED_
#define _BGC_AFFINE3_H_INCLUDED_

#include "vector3.h"
#include "matrixes.h"
#include "matrix3x3.h"

// ==================== Types ==================== //

typedef struct {
    BgcMatrix3x3FP32 distortion;
    BgcVector3FP32 shift;
} BgcAffine3FP32;

typedef struct {
    BgcMatrix3x3FP64 distortion;
    BgcVector3FP64 shift;
} BgcAffine3FP64;

// ==================== Reset ==================== //

inline void bgc_affine3_reset_fp32(BgcAffine3FP32 * affine)
{
    bgc_matrix3x3_set_to_identity_fp32(&affine->distortion);
    bgc_vector3_reset_fp32(&affine->shift);
}

inline void bgc_affine3_reset_fp64(BgcAffine3FP64 * affine)
{
    bgc_matrix3x3_set_to_identity_fp64(&affine->distortion);
    bgc_vector3_reset_fp64(&affine->shift);
}

// ==================== Make ===================== //

inline void bgc_affine3_make_fp32(const BgcMatrix3x3FP32 * distortion, const BgcVector3FP32 * shift, BgcAffine3FP32 * affine)
{
    bgc_matrix3x3_copy_fp32(distortion, &affine->distortion);
    bgc_vector3_copy_fp32(shift, &affine->shift);
}

inline void bgc_affine3_make_fp64(const BgcMatrix3x3FP64 * distortion, const BgcVector3FP64 * shift, BgcAffine3FP64 * affine)
{
    bgc_matrix3x3_copy_fp64(distortion, &affine->distortion);
    bgc_vector3_copy_fp64(shift, &affine->shift);
}

// ==================== Copy ===================== //

inline void bgc_affine3_copy_fp32(const BgcAffine3FP32 * source, BgcAffine3FP32 * destination)
{
    bgc_matrix3x3_copy_fp32(&source->distortion, &destination->distortion);
    bgc_vector3_copy_fp32(&source->shift, &destination->shift);
}

inline void bgc_affine3_copy_fp64(const BgcAffine3FP64 * source, BgcAffine3FP64 * destination)
{
    bgc_matrix3x3_copy_fp64(&source->distortion, &destination->distortion);
    bgc_vector3_copy_fp64(&source->shift, &destination->shift);
}

// =================== Convert =================== //

inline void bgc_affine3_convert_fp64_to_fp32(const BgcAffine3FP64 * source, BgcAffine3FP32 * destination)
{
    bgc_matrix3x3_convert_fp64_to_fp32(&source->distortion, &destination->distortion);
    bgc_vector3_convert_fp64_to_fp32(&source->shift, &destination->shift);
}

inline void bgc_affine3_convert_fp32_to_fp64(const BgcAffine3FP32 * source, BgcAffine3FP64 * destination)
{
    bgc_matrix3x3_convert_fp32_to_fp64(&source->distortion, &destination->distortion);
    bgc_vector3_convert_fp32_to_fp64(&source->shift, &destination->shift);
}

// =================== Invert ==================== //

inline int bgc_affine3_invert_fp32(BgcAffine3FP32 * affine)
{
    if (!bgc_matrix3x3_invert_fp32(&affine->distortion, &affine->distortion)) {
        return 0;
    }

    bgc_matrix3x3_get_right_product_fp32(&affine->distortion, &affine->shift, &affine->shift);
    bgc_vector3_make_opposite_fp32(&affine->shift);

    return 1;
}

inline int bgc_affine3_invert_fp64(BgcAffine3FP64 * affine)
{
    if (!bgc_matrix3x3_invert_fp64(&affine->distortion, &affine->distortion)) {
        return 0;
    }

    bgc_matrix3x3_get_right_product_fp64(&affine->distortion, &affine->shift, &affine->shift);
    bgc_vector3_make_opposite_fp64(&affine->shift);

    return 1;
}

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

inline int bgc_affine3_get_inverse_fp32(const BgcAffine3FP32 * source, BgcAffine3FP32 * destination)
{
    if (!bgc_matrix3x3_invert_fp32(&source->distortion, &destination->distortion)) {
        return 0;
    }

    bgc_matrix3x3_get_right_product_fp32(&destination->distortion, &source->shift, &destination->shift);
    bgc_vector3_make_opposite_fp32(&destination->shift);

    return 1;
}

inline int bgc_affine3_get_inverse_fp64(const BgcAffine3FP64 * source, BgcAffine3FP64 * destination)
{
    if (!bgc_matrix3x3_invert_fp64(&source->distortion, &destination->distortion)) {
        return 0;
    }

    bgc_matrix3x3_get_right_product_fp64(&destination->distortion, &source->shift, &destination->shift);
    bgc_vector3_make_opposite_fp64(&destination->shift);

    return 1;
}

// =================== Combine =================== //

inline void bgc_affine3_combine_fp32(const BgcAffine3FP32 * parent, const BgcAffine3FP32 * child, BgcAffine3FP32 * combination)
{
    BgcVector3FP32 child_shift;
    bgc_matrix3x3_get_right_product_fp32(&parent->distortion, &child->shift, &child_shift);
    bgc_matrix_product_3x3_at_3x3_fp32(&parent->distortion, &child->distortion, &combination->distortion);
    bgc_vector3_add_fp32(&parent->shift, &child_shift, &combination->shift);
}

inline void bgc_affine3_combine_fp64(const BgcAffine3FP64 * parent, const BgcAffine3FP64 * child, BgcAffine3FP64 * combination)
{
    BgcVector3FP64 child_shift;
    bgc_matrix3x3_get_right_product_fp64(&parent->distortion, &child->shift, &child_shift);
    bgc_matrix_product_3x3_at_3x3_fp64(&parent->distortion, &child->distortion, &combination->distortion);
    bgc_vector3_add_fp64(&parent->shift, &child_shift, &combination->shift);
}

// =============== Transform Point =============== //

inline void bgc_affine3_transform_point_fp32(const BgcAffine3FP32 * affine, const BgcVector3FP32 * initial_point, BgcVector3FP32 * transformed_point)
{
    BgcVector3FP32 distorted;
    bgc_matrix3x3_get_right_product_fp32(&affine->distortion, initial_point, &distorted);
    bgc_vector3_add_fp32(&affine->shift, &distorted, transformed_point);
}

inline void bgc_affine3_transform_point_fp64(const BgcAffine3FP64 * affine, const BgcVector3FP64 * initial_point, BgcVector3FP64 * transformed_point)
{
    BgcVector3FP64 distorted;
    bgc_matrix3x3_get_right_product_fp64(&affine->distortion, initial_point, &distorted);
    bgc_vector3_add_fp64(&affine->shift, &distorted, transformed_point);
}

// ============== Transform Vector =============== //

inline void bgc_affine3_transform_vector_fp32(const BgcAffine3FP32 * affine, const BgcVector3FP32 * initial_vector, BgcVector3FP32 * transformed_vector)
{
    bgc_matrix3x3_get_right_product_fp32(&affine->distortion, initial_vector, transformed_vector);
}

inline void bgc_affine3_transform_vector_fp64(const BgcAffine3FP64 * affine, const BgcVector3FP64 * initial_vector, BgcVector3FP64 * transformed_vector)
{
    bgc_matrix3x3_get_right_product_fp64(&affine->distortion, initial_vector, transformed_vector);
}

#endif