#ifndef _BASIC_GEOMETRY_ROTATION3_H_
#define _BASIC_GEOMETRY_ROTATION3_H_

#include "basis.h"
#include "angle.h"
#include "vector3.h"

typedef struct {
    vector3_fp32_t axis;
    float radians;
} rotation3_fp32_t;

typedef struct {
    vector3_fp64_t axis;
    double radians;
} rotation3_fp64_t;

extern const rotation3_fp32_t FP32_IDLE_ROTATION3;

extern const rotation3_fp64_t FP64_IDLE_ROTATION3;

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

inline void fp32_rotation_reset(rotation3_fp32_t* rotation)
{
    rotation->axis.x1 = 0.0f;
    rotation->axis.x2 = 0.0f;
    rotation->axis.x3 = 0.0f;

    rotation->radians = 0.0f;
}

inline void fp64_rotation_reset(rotation3_fp64_t* rotation)
{
    rotation->axis.x1 = 0.0;
    rotation->axis.x2 = 0.0;
    rotation->axis.x3 = 0.0;

    rotation->radians = 0.0;
}

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

inline void fp32_rotation_set_values(const float x1, const float x2, const float x3, const float angle, const angle_unit_t unit, rotation3_fp32_t* rotation)
{
    rotation->axis.x1 = x1;
    rotation->axis.x2 = x2;
    rotation->axis.x3 = x3;

    if (vector3_fp32_normalize(&rotation->axis)) {
        rotation->radians = fp32_angle_to_radians(angle, unit);
    }
    else {
        rotation->radians = 0.0f;
    }
}


inline void fp64_rotation_set_values(const double x1, const double x2, const double x3, const double angle, const angle_unit_t unit, rotation3_fp64_t* rotation)
{
    rotation->axis.x1 = x1;
    rotation->axis.x2 = x2;
    rotation->axis.x3 = x3;

    if (vector3_fp64_normalize(&rotation->axis)) {
        rotation->radians = fp64_angle_to_radians(angle, unit);
    }
    else {
        rotation->radians = 0.0;
    }
}

inline void fp32_rotation_set_with_axis(const vector3_fp32_t* axis, const float angle, const angle_unit_t unit, rotation3_fp32_t* rotation)
{
    rotation->axis.x1 = axis->x1;
    rotation->axis.x2 = axis->x2;
    rotation->axis.x3 = axis->x3;

    if (vector3_fp32_normalize(&rotation->axis)) {
        rotation->radians = fp32_angle_to_radians(angle, unit);
    }
    else {
        rotation->radians = 0.0f;
    }
}

inline void fp64_rotation_set_with_axis(const vector3_fp64_t* axis, const double angle, const angle_unit_t unit, rotation3_fp64_t* rotation)
{
    rotation->axis.x1 = axis->x1;
    rotation->axis.x2 = axis->x2;
    rotation->axis.x3 = axis->x3;

    if (vector3_fp64_normalize(&rotation->axis)) {
        rotation->radians = fp64_angle_to_radians(angle, unit);
    }
    else {
        rotation->radians = 0.0;
    }
}

#endif