#ifndef _BGC_POSITION2_H_INCLUDED_
#define _BGC_POSITION2_H_INCLUDED_

#include "./types.h"
#include "./vector2.h"
#include "./matrix2x2.h"
#include "./turn2.h"

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

inline void bgc_fp32_position2_reset(BGC_FP32_Position2* const position)
{
    bgc_fp32_turn2_reset(&position->turn);
    bgc_fp32_vector2_reset(&position->shift);
}

inline void bgc_fp64_position2_reset(BGC_FP64_Position2* const position)
{
    bgc_fp64_turn2_reset(&position->turn);
    bgc_fp64_vector2_reset(&position->shift);
}

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

inline void bgc_fp32_position2_make(BGC_FP32_Position2* const position, const BGC_FP32_Turn2* const turn, const BGC_FP32_Vector2* const shift)
{
    bgc_fp32_turn2_copy(&position->turn, turn);
    bgc_fp32_vector2_copy(&position->shift, shift);
}

inline void bgc_fp64_position2_make(BGC_FP64_Position2* const position, const BGC_FP64_Turn2* const turn, const BGC_FP64_Vector2* const shift)
{
    bgc_fp64_turn2_copy(&position->turn, turn);
    bgc_fp64_vector2_copy(&position->shift, shift);
}


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

inline void bgc_fp32_position2_copy(BGC_FP32_Position2* const destination, const BGC_FP32_Position2* const source)
{
    bgc_fp32_turn2_copy(&destination->turn, &source->turn);
    bgc_fp32_vector2_copy(&destination->shift, &source->shift);
}

inline void bgc_fp64_position2_copy(BGC_FP64_Position2* const destination, const BGC_FP64_Position2* const source)
{
    bgc_fp64_turn2_copy(&destination->turn, &source->turn);
    bgc_fp64_vector2_copy(&destination->shift, &source->shift);
}

// ==================== Swap ===================== //

inline void bgc_fp32_position2_swap(BGC_FP32_Position2* const first, BGC_FP32_Position2* const second)
{
    bgc_fp32_turn2_swap(&first->turn, &second->turn);
    bgc_fp32_vector2_swap(&first->shift, &second->shift);
}

inline void bgc_fp64_position2_swap(BGC_FP64_Position2* const first, BGC_FP64_Position2* const second)
{
    bgc_fp64_turn2_swap(&first->turn, &second->turn);
    bgc_fp64_vector2_swap(&first->shift, &second->shift);
}

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

inline void bgc_fp64_position2_convert_to_fp32(BGC_FP32_Position2* const destination, const BGC_FP64_Position2* const source)
{
    bgc_fp64_turn2_convert_to_fp32(&destination->turn, &source->turn);
    bgc_fp64_vector2_convert_to_fp32(&destination->shift, &source->shift);
}

inline void bgc_fp32_position2_convert_to_fp64(BGC_FP64_Position2* const destination, const BGC_FP32_Position2* const source)
{
    bgc_fp32_turn2_convert_to_fp64(&destination->turn, &source->turn);
    bgc_fp32_vector2_convert_to_fp64(&destination->shift, &source->shift);
}

// =================== Is Idle =================== //

inline int bgc_fp32_position2_is_idle(const BGC_FP32_Position2* const position)
{
    return bgc_fp32_vector2_is_zero(&position->shift) && bgc_fp32_turn2_is_idle(&position->turn);
}

inline int bgc_fp64_position2_is_idle(const BGC_FP64_Position2* const position)
{
    return bgc_fp64_vector2_is_zero(&position->shift) && bgc_fp64_turn2_is_idle(&position->turn);
}

// =================== Revert ==================== //

inline void bgc_fp32_position2_revert(BGC_FP32_Position2* const position)
{
    bgc_fp32_turn2_vector_back(&position->shift, &position->turn, &position->shift);
    bgc_fp32_turn2_revert(&position->turn);
    bgc_fp32_vector2_revert(&position->shift);
}

inline void bgc_fp64_position2_revert(BGC_FP64_Position2* const position)
{
    bgc_fp64_turn2_vector_back(&position->shift, &position->turn, &position->shift);
    bgc_fp64_turn2_revert(&position->turn);
    bgc_fp64_vector2_revert(&position->shift);
}

// ============ Get Reverse Position ============= //

inline void bgc_fp32_position2_get_reverse_position(BGC_FP32_Position2* const inverted, const BGC_FP32_Position2* const position)
{
    bgc_fp32_turn2_vector_back(&inverted->shift, &position->turn, &position->shift);
    bgc_fp32_turn2_get_reverse(&inverted->turn, &position->turn);
    bgc_fp32_vector2_revert(&inverted->shift);
}

inline void bgc_fp64_position2_get_reverse_position(BGC_FP64_Position2* const inverted, const BGC_FP64_Position2* const position)
{
    bgc_fp64_turn2_vector_back(&inverted->shift, &position->turn, &position->shift);
    bgc_fp64_turn2_get_reverse(&inverted->turn, &position->turn);
    bgc_fp64_vector2_revert(&inverted->shift);
}

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

inline void bgc_fp32_position2_combine(BGC_FP32_Position2* const combination, const BGC_FP32_Position2* const first, const BGC_FP32_Position2* const second)
{
    BGC_FP32_Vector2 relative_shift;
    bgc_fp32_turn2_vector(&relative_shift, &second->turn, &first->shift);
    bgc_fp32_turn2_combine(&combination->turn, &first->turn, &second->turn);
    bgc_fp32_vector2_add(&combination->shift, &second->shift, &relative_shift);
}

inline void bgc_fp64_position2_combine(BGC_FP64_Position2* const combination, const BGC_FP64_Position2* const first, const BGC_FP64_Position2* const second)
{
    BGC_FP64_Vector2 relative_shift;
    bgc_fp64_turn2_vector(&relative_shift, &second->turn, &first->shift);
    bgc_fp64_turn2_combine(&combination->turn, &first->turn, &second->turn);
    bgc_fp64_vector2_add(&combination->shift, &second->shift, &relative_shift);
}

// =================== Exclude =================== //

inline void bgc_fp32_position2_exclude(BGC_FP32_Position2* const difference, const BGC_FP32_Position2* const base, const BGC_FP32_Position2* const excludand)
{
    BGC_FP32_Vector2 relative_shift;
    bgc_fp32_vector2_subtract(&relative_shift, &base->shift, &excludand->shift);
    bgc_fp32_turn2_vector_back(&difference->shift, &excludand->turn, &relative_shift);
    bgc_fp32_turn2_exclude(&difference->turn, &base->turn, &excludand->turn);
}

inline void bgc_fp64_position2_exclude(BGC_FP64_Position2* const difference, const BGC_FP64_Position2* const base, const BGC_FP64_Position2* const excludand)
{
    BGC_FP64_Vector2 relative_shift;
    bgc_fp64_vector2_subtract(&relative_shift, &base->shift, &excludand->shift);
    bgc_fp64_turn2_vector_back(&difference->shift, &excludand->turn, &relative_shift);
    bgc_fp64_turn2_exclude(&difference->turn, &base->turn, &excludand->turn);
}

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

inline void bgc_fp32_position2_get_affine(BGC_FP32_Affine2* const affine_map, const BGC_FP32_Position2* const position)
{
    bgc_fp32_turn2_get_rotation_matrix(&affine_map->distortion, &position->turn);
    bgc_fp32_vector2_copy(&affine_map->shift, &position->shift);
}

inline void bgc_fp64_position2_get_affine(BGC_FP64_Affine2* const affine_map, const BGC_FP64_Position2* const position)
{
    bgc_fp64_turn2_get_rotation_matrix(&affine_map->distortion, &position->turn);
    bgc_fp64_vector2_copy(&affine_map->shift, &position->shift);
}

// ============= Get Reverse Affine ============== //

inline void bgc_fp32_position2_get_reverse_affine(BGC_FP32_Affine2* const affine_map, const BGC_FP32_Position2* const position)
{
    bgc_fp32_turn2_get_reverse_matrix(&affine_map->distortion, &position->turn);
    bgc_fp32_matrix2x2_multiply_by_vector2(&affine_map->shift, &affine_map->distortion, &position->shift);
    bgc_fp32_vector2_revert(&affine_map->shift);
}

inline void bgc_fp64_position2_get_reverse_affine(BGC_FP64_Affine2* const affine_map, const BGC_FP64_Position2* const position)
{
    bgc_fp64_turn2_get_reverse_matrix(&affine_map->distortion, &position->turn);
    bgc_fp64_matrix2x2_multiply_by_vector2(&affine_map->shift, &affine_map->distortion, &position->shift);
    bgc_fp64_vector2_revert(&affine_map->shift);
}

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

inline void bgc_fp32_position2_transform_point(BGC_FP32_Vector2* const transformed_point, const BGC_FP32_Position2* const position, const BGC_FP32_Vector2* const initial_point)
{
    BGC_FP32_Vector2 turned_point;
    bgc_fp32_turn2_vector(&turned_point, &position->turn, initial_point);
    bgc_fp32_vector2_add(transformed_point, &position->shift, &turned_point);
}

inline void bgc_fp64_position2_transform_point(BGC_FP64_Vector2* const transformed_point, const BGC_FP64_Position2* const position, const BGC_FP64_Vector2* const initial_point)
{
    BGC_FP64_Vector2 turned_point;
    bgc_fp64_turn2_vector(&turned_point, &position->turn, initial_point);
    bgc_fp64_vector2_add(transformed_point, &position->shift, &turned_point);
}

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

inline void bgc_fp32_position2_transform_point_back(BGC_FP32_Vector2* const transformed_point, const BGC_FP32_Position2* const position, const BGC_FP32_Vector2* const initial_point)
{
    BGC_FP32_Vector2 relative_point;
    bgc_fp32_vector2_subtract(&relative_point, initial_point, &position->shift);
    bgc_fp32_turn2_vector_back(transformed_point, &position->turn, &relative_point);

}

inline void bgc_fp64_position2_transform_point_back(BGC_FP64_Vector2* const transformed_point, const BGC_FP64_Position2* const position, const BGC_FP64_Vector2* const initial_point)
{
    BGC_FP64_Vector2 relative_point;
    bgc_fp64_vector2_subtract(&relative_point, initial_point, &position->shift);
    bgc_fp64_turn2_vector_back(transformed_point, &position->turn, &relative_point);

}

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

inline void bgc_fp32_position2_transform_vector(BGC_FP32_Vector2* const transformed_vector, const BGC_FP32_Position2* const position, const BGC_FP32_Vector2* const initial_vector)
{
    bgc_fp32_turn2_vector(transformed_vector, &position->turn, initial_vector);
}

inline void bgc_fp64_position2_transform_vector(BGC_FP64_Vector2* const transformed_vector, const BGC_FP64_Position2* const position, const BGC_FP64_Vector2* const initial_vector)
{
    bgc_fp64_turn2_vector(transformed_vector, &position->turn, initial_vector);
}

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

inline void bgc_fp32_position2_transform_vector_back(BGC_FP32_Vector2* const transformed_vector, const BGC_FP32_Position2* const position, const BGC_FP32_Vector2* const initial_vector)
{
    bgc_fp32_turn2_vector_back(transformed_vector, &position->turn, initial_vector);
}

inline void bgc_fp64_position2_transform_vector_back(BGC_FP64_Vector2* const transformed_vector, const BGC_FP64_Position2* const position, const BGC_FP64_Vector2* const initial_vector)
{
    bgc_fp64_turn2_vector_back(transformed_vector, &position->turn, initial_vector);
}

#endif