#ifndef _BGC_POSITION3_H_INCLUDED_
#define _BGC_POSITION3_H_INCLUDED_

#include "vector3.h"
#include "affine3.h"
#include "versor.h"

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

typedef struct {
    BgcVersorFP32 turn;
    BgcVector3FP32 shift;
} BgcPosition3FP32;

typedef struct {
    BgcVersorFP64 turn;
    BgcVector3FP64 shift;
} BgcPosition3FP64;

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

inline void bgc_position3_reset_fp32(BgcPosition3FP32 * position)
{
    bgc_versor_reset_fp32(&position->turn);
    bgc_vector3_reset_fp32(&position->shift);
}

inline void bgc_position3_reset_fp64(BgcPosition3FP64 * position)
{
    bgc_versor_reset_fp64(&position->turn);
    bgc_vector3_reset_fp64(&position->shift);
}

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

inline void bgc_position3_make_fp32(const BgcVersorFP32 * turn, const BgcVector3FP32 * shift, BgcPosition3FP32 * position)
{
    bgc_versor_copy_fp32(turn, &position->turn);
    bgc_vector3_copy_fp32(shift, &position->shift);
}

inline void bgc_position3_make_fp64(const BgcVersorFP64 * turn, const BgcVector3FP64 * shift, BgcPosition3FP64 * position)
{
    bgc_versor_copy_fp64(turn, &position->turn);
    bgc_vector3_copy_fp64(shift, &position->shift);
}

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

inline void bgc_position3_copy_fp32(const BgcPosition3FP32 * source, BgcPosition3FP32 * destination)
{
    bgc_versor_copy_fp32(&source->turn, &destination->turn);
    bgc_vector3_copy_fp32(&source->shift, &destination->shift);
}

inline void bgc_position3_copy_fp64(const BgcPosition3FP64 * source, BgcPosition3FP64 * destination)
{
    bgc_versor_copy_fp64(&source->turn, &destination->turn);
    bgc_vector3_copy_fp64(&source->shift, &destination->shift);
}

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

inline void bgc_position3_convert_fp64_to_fp32(const BgcPosition3FP64 * source, BgcPosition3FP32 * destination)
{
    bgc_versor_convert_fp64_to_fp32(&source->turn, &destination->turn);
    bgc_vector3_convert_fp64_to_fp32(&source->shift, &destination->shift);
}

inline void bgc_position3_convert_fp32_to_fp64(const BgcPosition3FP32 * source, BgcPosition3FP64 * destination)
{
    bgc_versor_convert_fp32_to_fp64(&source->turn, &destination->turn);
    bgc_vector3_convert_fp32_to_fp64(&source->shift, &destination->shift);
}

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

inline void bgc_position3_invert_fp32(BgcPosition3FP32 * position)
{
    bgc_versor_turn_vector_back_fp32(&position->turn, &position->shift, &position->shift);
    bgc_versor_invert_fp32(&position->turn);
    bgc_vector3_make_opposite_fp32(&position->shift);
}

inline void bgc_position3_invert_fp64(BgcPosition3FP64 * position)
{
    bgc_versor_turn_vector_back_fp64(&position->turn, &position->shift, &position->shift);
    bgc_versor_invert_fp64(&position->turn);
    bgc_vector3_make_opposite_fp64(&position->shift);
}

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

inline void bgc_position3_get_inverse_fp32(const BgcPosition3FP32 * position, BgcPosition3FP32 * inverted)
{
    bgc_versor_turn_vector_back_fp32(&position->turn, &position->shift, &inverted->shift);
    bgc_versor_get_inverse_fp32(&position->turn, &inverted->turn);
    bgc_vector3_make_opposite_fp32(&inverted->shift);
}

inline void bgc_position3_get_inverse_fp64(const BgcPosition3FP64 * position, BgcPosition3FP64 * inverted)
{
    bgc_versor_turn_vector_back_fp64(&position->turn, &position->shift, &inverted->shift);
    bgc_versor_get_inverse_fp64(&position->turn, &inverted->turn);
    bgc_vector3_make_opposite_fp64(&inverted->shift);
}

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

inline void bgc_position3_combine_fp32(const BgcPosition3FP32 * parent, const BgcPosition3FP32 * child, BgcPosition3FP32 * combination)
{
    BgcVector3FP32 relative_shift;
    bgc_versor_turn_vector_fp32(&parent->turn, &child->shift, &relative_shift);
    bgc_versor_combine_fp32(&child->turn, &parent->turn, &combination->turn);
    bgc_vector3_add_fp32(&parent->shift, &relative_shift, &combination->shift);
}

inline void bgc_position3_combine_fp64(const BgcPosition3FP64 * parent, const BgcPosition3FP64 * child, BgcPosition3FP64 * combination)
{
    BgcVector3FP64 relative_shift;
    bgc_versor_turn_vector_fp64(&parent->turn, &child->shift, &relative_shift);
    bgc_versor_combine_fp64(&child->turn, &parent->turn, &combination->turn);
    bgc_vector3_add_fp64(&parent->shift, &relative_shift, &combination->shift);
}

// ============= Get Outward Affine ============== //

inline void bgc_position3_get_outward_affine_fp32(const BgcPosition3FP32 * position, BgcAffine3FP32 * outward_affine_map)
{
    bgc_versor_get_rotation_matrix_fp32(&position->turn, &outward_affine_map->distortion);
    bgc_vector3_copy_fp32(&position->shift, &outward_affine_map->shift);
}

inline void bgc_position3_get_outward_affine_fp64(const BgcPosition3FP64 * position, BgcAffine3FP64 * outward_affine_map)
{
    bgc_versor_get_rotation_matrix_fp64(&position->turn, &outward_affine_map->distortion);
    bgc_vector3_copy_fp64(&position->shift, &outward_affine_map->shift);
}

// ============== Get Inward Affine ============== //

inline void bgc_position3_get_inward_affine_fp32(const BgcPosition3FP32 * position, BgcAffine3FP32 * inward_affine_map)
{
    bgc_versor_get_reverse_matrix_fp32(&position->turn, &inward_affine_map->distortion);
    bgc_matrix3x3_get_right_product_fp32(&inward_affine_map->distortion, &position->shift, &inward_affine_map->shift);
    bgc_vector3_make_opposite_fp32(&inward_affine_map->shift);
}

inline void bgc_position3_get_inward_affine_fp64(const BgcPosition3FP64 * position, BgcAffine3FP64 * inward_affine_map)
{
    bgc_versor_get_reverse_matrix_fp64(&position->turn, &inward_affine_map->distortion);
    bgc_matrix3x3_get_right_product_fp64(&inward_affine_map->distortion, &position->shift, &inward_affine_map->shift);
    bgc_vector3_make_opposite_fp64(&inward_affine_map->shift);
}

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

inline void bgc_position3_transform_point_outwards_fp32(const BgcPosition3FP32 * position, const BgcVector3FP32 * inner_point, BgcVector3FP32 * outer_point)
{
    BgcVector3FP32 turned_point;
    bgc_versor_turn_vector_fp32(&position->turn, inner_point, &turned_point);
    bgc_vector3_add_fp32(&position->shift, &turned_point, outer_point);
}

inline void bgc_position3_transform_point_outwards_fp64(const BgcPosition3FP64 * position, const BgcVector3FP64 * inner_point, BgcVector3FP64 * outer_point)
{
    BgcVector3FP64 turned_point;
    bgc_versor_turn_vector_fp64(&position->turn, inner_point, &turned_point);
    bgc_vector3_add_fp64(&position->shift, &turned_point, outer_point);
}

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

inline void bgc_position3_transform_point_inwards_fp32(const BgcPosition3FP32 * position, const BgcVector3FP32 * outer_point, BgcVector3FP32 * inner_point)
{
    BgcVector3FP32 relative_point;
    bgc_vector3_subtract_fp32(outer_point, &position->shift, &relative_point);
    bgc_versor_turn_vector_back_fp32(&position->turn, &relative_point, inner_point);

}

inline void bgc_position3_transform_point_inwards_fp64(const BgcPosition3FP64 * position, const BgcVector3FP64 * outer_point, BgcVector3FP64 * inner_point)
{
    BgcVector3FP64 relative_point;
    bgc_vector3_subtract_fp64(outer_point, &position->shift, &relative_point);
    bgc_versor_turn_vector_back_fp64(&position->turn, &relative_point, inner_point);

}

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

inline void bgc_position3_transform_vector_outwards_fp32(const BgcPosition3FP32 * position, const BgcVector3FP32 * inner_vector, BgcVector3FP32 * outer_vector)
{
    bgc_versor_turn_vector_fp32(&position->turn, inner_vector, outer_vector);
}

inline void bgc_position3_transform_vector_outwards_fp64(const BgcPosition3FP64 * position, const BgcVector3FP64 * inner_vector, BgcVector3FP64 * outer_vector)
{
    bgc_versor_turn_vector_fp64(&position->turn, inner_vector, outer_vector);
}

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

inline void bgc_position3_transform_vector_inward_fp32(const BgcPosition3FP32 * position, const BgcVector3FP32 * outer_vector, BgcVector3FP32 * inner_vector)
{
    bgc_versor_turn_vector_back_fp32(&position->turn, outer_vector, inner_vector);
}

inline void bgc_position3_transform_vector_inward_fp64(const BgcPosition3FP64 * position, const BgcVector3FP64 * outer_vector, BgcVector3FP64 * inner_vector)
{
    bgc_versor_turn_vector_back_fp64(&position->turn, outer_vector, inner_vector);
}

#endif // _BGC_POSITION_H_INCLUDED_