#ifndef _BASIC_GEOMETRY_VECTOR3_H_
#define _BASIC_GEOMETRY_VECTOR3_H_

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

#include <math.h>

// ================== Vector3 =================== //

typedef struct
{
    float x1, x2, x3;
} vector3_fp32_t;

typedef struct
{
    double x1, x2, x3;
} vector3_fp64_t;

// ================ Declarations ================ //
/*
extern inline void vector3_reset_fp32(vector3_fp32_t* vector);
extern inline void vector3_set_fp32(const float x1, const float x2, const float x3, vector3_fp32_t* to);
extern inline void vector3_copy_fp32(const vector3_fp32_t* from, vector3_fp32_t* to);
extern inline void vector3_fp32_convert(const vector3_fp64_t* from, vector3_fp32_t* to);
extern inline void vector3_swap_fp32(vector3_fp32_t* vector1, vector3_fp32_t* vector2);
extern inline void vector3_invert_fp32(vector3_fp32_t* vector);
extern inline void vector3_fp32_make_inverted(const vector3_fp32_t* vector, vector3_fp32_t* result);
extern inline void vector3_fp32_make_inverted_fp64(const vector3_fp64_t* vector, vector3_fp32_t* result);
extern inline float vector3_get_square_modulus_fp32(const vector3_fp32_t* vector);
extern inline float vector3_get_modulus_fp32(const vector3_fp32_t* vector);

extern inline void vector3_reset_fp64(vector3_fp64_t* vector);
extern inline void vector3_set_fp64(const double x1, const double x2, const double x3, vector3_fp64_t* to);
extern inline void vector3_copy_fp64(const vector3_fp64_t* from, vector3_fp64_t* to);
extern inline void vector3_fp64_convert(const vector3_fp32_t* from, vector3_fp64_t* to);
extern inline void vector3_swap_fp64(vector3_fp64_t* vector1, vector3_fp64_t* vector2);
extern inline void vector3_invert_fp64(vector3_fp64_t* vector);
extern inline void vector3_fp64_make_inverted(const vector3_fp64_t* vector, vector3_fp64_t* result);
extern inline void vector3_fp64_make_inverted_fp32(const vector3_fp32_t* vector, vector3_fp64_t* result);
extern inline double vector3_get_square_modulus_fp64(const vector3_fp64_t* vector);
extern inline double vector3_get_modulus_fp64(const vector3_fp64_t* vector);
*/
// =================== Reset ==================== //

inline void vector3_reset_fp32(vector3_fp32_t* vector)
{
    vector->x1 = 0.0f;
    vector->x2 = 0.0f;
    vector->x3 = 0.0f;
}

inline void vector3_reset_fp64(vector3_fp64_t* vector)
{
    vector->x1 = 0.0;
    vector->x2 = 0.0;
    vector->x3 = 0.0;
}

// ==================== Set ===================== //

inline void vector3_set_fp32(const float x1, const float x2, const float x3, vector3_fp32_t* to)
{
    to->x1 = x1;
    to->x2 = x2;
    to->x3 = x3;
}

inline void vector3_set_fp64(const double x1, const double x2, const double x3, vector3_fp64_t* to)
{
    to->x1 = x1;
    to->x2 = x2;
    to->x3 = x3;
}

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

inline void vector3_copy_fp32(const vector3_fp32_t* from, vector3_fp32_t* to)
{
    to->x1 = from->x1;
    to->x2 = from->x2;
    to->x3 = from->x3;
}

inline void vector3_copy_fp64(const vector3_fp64_t* from, vector3_fp64_t* to)
{
    to->x1 = from->x1;
    to->x2 = from->x2;
    to->x3 = from->x3;
}

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

inline void vector3_fp32_convert(const vector3_fp64_t* from, vector3_fp32_t* to)
{
    to->x1 = (float) from->x1;
    to->x2 = (float) from->x2;
    to->x3 = (float) from->x3;
}

inline void vector3_fp64_convert(const vector3_fp32_t* from, vector3_fp64_t* to)
{
    to->x1 = from->x1;
    to->x2 = from->x2;
    to->x3 = from->x3;
}

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

inline void vector3_swap_fp32(vector3_fp32_t* vector1, vector3_fp32_t* vector2)
{
    const float x1 = vector2->x1;
    const float x2 = vector2->x2;
    const float x3 = vector2->x3;

    vector2->x1 = vector1->x1;
    vector2->x2 = vector1->x2;
    vector2->x3 = vector1->x3;

    vector1->x1 = x1;
    vector1->x2 = x2;
    vector1->x3 = x3;
}

inline void vector3_swap_fp64(vector3_fp64_t* vector1, vector3_fp64_t* vector2)
{
    const double x1 = vector2->x1;
    const double x2 = vector2->x2;
    const double x3 = vector2->x3;

    vector2->x1 = vector1->x1;
    vector2->x2 = vector1->x2;
    vector2->x3 = vector1->x3;

    vector1->x1 = x1;
    vector1->x2 = x2;
    vector1->x3 = x3;
}

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

inline void vector3_invert_fp32(vector3_fp32_t* vector)
{
    vector->x1 = -vector->x1;
    vector->x2 = -vector->x2;
    vector->x3 = -vector->x3;
}

inline void vector3_invert_fp64(vector3_fp64_t* vector)
{
    vector->x1 = -vector->x1;
    vector->x2 = -vector->x2;
    vector->x3 = -vector->x3;
}

// ================ Make Inverted =============== //

inline void vector3_fp32_make_inverted(const vector3_fp32_t* vector, vector3_fp32_t* result)
{
    result->x1 = -vector->x1;
    result->x2 = -vector->x2;
    result->x3 = -vector->x3;
}

inline void vector3_fp64_make_inverted(const vector3_fp64_t* vector, vector3_fp64_t* result)
{
    result->x1 = -vector->x1;
    result->x2 = -vector->x2;
    result->x3 = -vector->x3;
}

// ============== Make Inverted Twin ============ //

inline void vector3_fp32_make_inverted_fp64(const vector3_fp32_t* vector, vector3_fp64_t* result)
{
    result->x1 = -vector->x1;
    result->x2 = -vector->x2;
    result->x3 = -vector->x3;
}

inline void vector3_fp64_make_inverted_fp32(const vector3_fp64_t* vector, vector3_fp32_t* result)
{
    result->x1 = (float) -vector->x1;
    result->x2 = (float) -vector->x2;
    result->x3 = (float) -vector->x3;
}

// =================== Module =================== //

inline float vector3_get_square_modulus_fp32(const vector3_fp32_t* vector)
{
    return vector->x1 * vector->x1 + vector->x2 * vector->x2 + vector->x3 * vector->x3;
}

inline double vector3_get_square_modulus_fp64(const vector3_fp64_t* vector)
{
    return vector->x1 * vector->x1 + vector->x2 * vector->x2 + vector->x3 * vector->x3;
}

inline float vector3_get_modulus_fp32(const vector3_fp32_t* vector)
{
    return sqrtf(vector3_get_square_modulus_fp32(vector));
}

inline double vector3_get_modulus_fp64(const vector3_fp64_t* vector)
{
    return sqrt(vector3_get_square_modulus_fp64(vector));
}

// ================= Comparison ================= //

inline int vector3_fp32_is_zero(const vector3_fp32_t* vector)
{
    return vector3_get_square_modulus_fp32(vector) <= FP32_SQUARE_EPSYLON;
}

inline int vector3_fp64_is_zero(const vector3_fp64_t* vector)
{
    return vector3_get_square_modulus_fp64(vector) <= FP64_SQUARE_EPSYLON;
}

inline int vector3_fp32_is_unit(const vector3_fp32_t* vector)
{
    const float square_modulus = vector3_get_square_modulus_fp32(vector);

    return 1.0f - FP32_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0f + FP32_TWO_EPSYLON;
}

inline int vector3_fp64_is_unit(const vector3_fp64_t* vector)
{
    const double square_modulus = vector3_get_square_modulus_fp64(vector);

    return 1.0f - FP64_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0f + FP64_TWO_EPSYLON;
}

// ==================== Add ===================== //

inline void vector3_fp32_add(const vector3_fp32_t* vector1, const vector3_fp32_t* vector2, vector3_fp32_t* sum)
{
    sum->x1 = vector1->x1 + vector2->x1;
    sum->x2 = vector1->x2 + vector2->x2;
    sum->x3 = vector1->x3 + vector2->x3;
}

inline void vector3_fp64_add(const vector3_fp64_t* vector1, const vector3_fp64_t* vector2, vector3_fp64_t* sum)
{
    sum->x1 = vector1->x1 + vector2->x1;
    sum->x2 = vector1->x2 + vector2->x2;
    sum->x3 = vector1->x3 + vector2->x3;
}

// ================ Subtraction ================= //

inline void vector3_fp32_subtract(const vector3_fp32_t* minuend, const vector3_fp32_t* subtrahend, vector3_fp32_t* difference)
{
    difference->x1 = minuend->x1 - subtrahend->x1;
    difference->x2 = minuend->x2 - subtrahend->x2;
    difference->x3 = minuend->x3 - subtrahend->x3;
}

inline void vector3_fp64_subtract(const vector3_fp64_t* minuend, const vector3_fp64_t* subtrahend, vector3_fp64_t* difference)
{
    difference->x1 = minuend->x1 - subtrahend->x1;
    difference->x2 = minuend->x2 - subtrahend->x2;
    difference->x3 = minuend->x3 - subtrahend->x3;
}

// =============== Multiplication =============== //

inline void vector3_fp32_multiply(const vector3_fp32_t* multiplicand, const float multiplier, vector3_fp32_t* product)
{
    product->x1 = multiplicand->x1 * multiplier;
    product->x2 = multiplicand->x2 * multiplier;
    product->x3 = multiplicand->x3 * multiplier;
}

inline void vector3_fp64_multiply(const vector3_fp64_t* multiplicand, const double multiplier, vector3_fp64_t* product)
{
    product->x1 = multiplicand->x1 * multiplier;
    product->x2 = multiplicand->x2 * multiplier;
    product->x3 = multiplicand->x3 * multiplier;
}

// ================== Division ================== //

inline void vector3_fp32_divide(const vector3_fp32_t* dividend, const float divisor, vector3_fp32_t* quotient)
{
    vector3_fp32_multiply(dividend, 1.0f / divisor, quotient);
}

inline void vector3_fp64_divide(const vector3_fp64_t* dividend, const double divisor, vector3_fp64_t* quotient)
{
    vector3_fp64_multiply(dividend, 1.0 / divisor, quotient);
}

// ================ Append scaled =============== //

inline void vector3_fp32_append_scaled(vector3_fp32_t* basic_vector, const vector3_fp32_t* scalable_vector, const float scale)
{
    basic_vector->x1 += scalable_vector->x1 * scale;
    basic_vector->x2 += scalable_vector->x2 * scale;
    basic_vector->x3 += scalable_vector->x3 * scale;
}

inline void vector3_fp64_append_scaled(vector3_fp64_t* basic_vector, const vector3_fp64_t* scalable_vector, const double scale)
{
    basic_vector->x1 += scalable_vector->x1 * scale;
    basic_vector->x2 += scalable_vector->x2 * scale;
    basic_vector->x3 += scalable_vector->x3 * scale;
}

// ================== Average2 ================== //

inline void vector3_fp32_get_mean2(const vector3_fp32_t* vector1, const vector3_fp32_t* vector2, vector3_fp32_t* result)
{
    result->x1 = (vector1->x1 + vector2->x1) * 0.5f;
    result->x2 = (vector1->x2 + vector2->x2) * 0.5f;
    result->x3 = (vector1->x3 + vector2->x3) * 0.5f;
}

inline void vector3_fp64_get_mean2(const vector3_fp64_t* vector1, const vector3_fp64_t* vector2, vector3_fp64_t* result)
{
    result->x1 = (vector1->x1 + vector2->x1) * 0.5;
    result->x2 = (vector1->x2 + vector2->x2) * 0.5;
    result->x3 = (vector1->x3 + vector2->x3) * 0.5;
}

// ================== Average3 ================== //

inline void vector3_fp32_get_mean3(const vector3_fp32_t* vector1, const vector3_fp32_t* vector2, const vector3_fp32_t* vector3, vector3_fp32_t* result)
{
    result->x1 = (vector1->x1 + vector2->x1 + vector3->x1) * FP32_ONE_THIRD;
    result->x2 = (vector1->x2 + vector2->x2 + vector3->x2) * FP32_ONE_THIRD;
    result->x3 = (vector1->x3 + vector2->x3 + vector3->x3) * FP32_ONE_THIRD;
}

inline void vector3_fp64_get_mean3(const vector3_fp64_t* vector1, const vector3_fp64_t* vector2, const vector3_fp64_t* vector3, vector3_fp64_t* result)
{
    result->x1 = (vector1->x1 + vector2->x1 + vector3->x1) * FP64_ONE_THIRD;
    result->x2 = (vector1->x2 + vector2->x2 + vector3->x2) * FP64_ONE_THIRD;
    result->x3 = (vector1->x3 + vector2->x3 + vector3->x3) * FP64_ONE_THIRD;
}

// =============== Scalar Product =============== //

inline float vector3_fp32_scalar_product(const vector3_fp32_t* vector1, const vector3_fp32_t* vector2)
{
    return vector1->x1 * vector2->x1 + vector1->x2 * vector2->x2 + vector1->x3 * vector2->x3;
}

inline double vector3_fp64_scalar_product(const vector3_fp64_t* vector1, const vector3_fp64_t* vector2)
{
    return vector1->x1 * vector2->x1 + vector1->x2 * vector2->x2 + vector1->x3 * vector2->x3;
}

// =============== Triple Product =============== //

inline float vector3_fp32_triple_product(const vector3_fp32_t* vector1, const vector3_fp32_t* vector2, const vector3_fp32_t* vector3)
{
    return vector1->x1 * (vector2->x2 * vector3->x3 - vector2->x3 * vector3->x2)
         + vector1->x2 * (vector2->x3 * vector3->x1 - vector2->x1 * vector3->x3)
         + vector1->x3 * (vector2->x1 * vector3->x2 - vector2->x2 * vector3->x1);
}

inline double vector3_fp64_triple_product(const vector3_fp64_t* vector1, const vector3_fp64_t* vector2, const vector3_fp64_t* vector3)
{
    return vector1->x1 * (vector2->x2 * vector3->x3 - vector2->x3 * vector3->x2)
         + vector1->x2 * (vector2->x3 * vector3->x1 - vector2->x1 * vector3->x3)
         + vector1->x3 * (vector2->x1 * vector3->x2 - vector2->x2 * vector3->x1);
}

// =============== Cross Product ================ //

inline void vector3_fp32_cross_product(const vector3_fp32_t* vector1, const vector3_fp32_t* vector2, vector3_fp32_t* result)
{
    const float x1 = vector1->x2 * vector2->x3 - vector1->x3 * vector2->x2;
    const float x2 = vector1->x3 * vector2->x1 - vector1->x1 * vector2->x3;
    const float x3 = vector1->x1 * vector2->x2 - vector1->x2 * vector2->x1;

    result->x1 = x1;
    result->x2 = x2;
    result->x3 = x3;
}

inline void vector3_fp64_cross_product(const vector3_fp64_t* vector1, const vector3_fp64_t* vector2, vector3_fp64_t* result)
{
    const double x1 = vector1->x2 * vector2->x3 - vector1->x3 * vector2->x2;
    const double x2 = vector1->x3 * vector2->x1 - vector1->x1 * vector2->x3;
    const double x3 = vector1->x1 * vector2->x2 - vector1->x2 * vector2->x1;

    result->x1 = x1;
    result->x2 = x2;
    result->x3 = x3;
}

// ============ Double Cross Product ============ //

inline void vector3_fp32_double_cross_product(const vector3_fp32_t* vector1, const vector3_fp32_t* vector2, const vector3_fp32_t* vector3, vector3_fp32_t* result)
{
    const float ac = vector3_fp32_scalar_product(vector1, vector3);
    const float ab = vector3_fp32_scalar_product(vector1, vector2);

    result->x1 = vector2->x1 * ac - vector3->x1 * ab;
    result->x2 = vector2->x2 * ac - vector3->x2 * ab;
    result->x3 = vector2->x3 * ac - vector3->x3 * ab;
}

inline void vector3_fp64_double_cross(const vector3_fp64_t* vector1, const vector3_fp64_t* vector2, const vector3_fp64_t* vector3, vector3_fp64_t* result)
{
    const double ac = vector3_fp64_scalar_product(vector1, vector3);
    const double ab = vector3_fp64_scalar_product(vector1, vector2);

    result->x1 = vector2->x1 * ac - vector3->x1 * ab;
    result->x2 = vector2->x2 * ac - vector3->x2 * ab;
    result->x3 = vector2->x3 * ac - vector3->x3 * ab;
}

// =============== Normalization ================ //

inline int vector3_fp32_normalize(vector3_fp32_t* vector)
{
    const float square_modulus = vector3_get_square_modulus_fp32(vector);

    if (1.0f - FP32_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0f + FP32_TWO_EPSYLON) {
        return 1;
    }

    if (square_modulus <= FP32_SQUARE_EPSYLON) {
        vector3_reset_fp32(vector);
        return 0;
    }

    vector3_fp32_multiply(vector, sqrtf(1.0f / square_modulus), vector);
    return 1;
}

inline int vector3_fp64_normalize(vector3_fp64_t* vector)
{
    const double square_modulus = vector3_get_square_modulus_fp64(vector);

    if (1.0 - FP64_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0 + FP64_TWO_EPSYLON) {
        return 1;
    }

    if (square_modulus <= FP64_SQUARE_EPSYLON) {
        vector3_reset_fp64(vector);
        return 0;
    }

    vector3_fp64_multiply(vector, sqrt(1.0 / square_modulus), vector);
    return 1;
}

// =============== Get Normalized =============== //

inline int vector3_fp32_set_normalized(const vector3_fp32_t* vector, vector3_fp32_t* result)
{
    vector3_copy_fp32(vector, result);
    return vector3_fp32_normalize(result);
}

inline int vector3_fp64_set_normalized(const vector3_fp64_t* vector, vector3_fp64_t* result)
{
    vector3_copy_fp64(vector, result);
    return vector3_fp64_normalize(result);
}

// =================== Angle ==================== //

float vector3_fp32_get_angle(const vector3_fp32_t* vector1, const vector3_fp32_t* vector2, const angle_unit_t unit);

double vector3_fp64_get_angle(const vector3_fp64_t* vector1, const vector3_fp64_t* vector2, const angle_unit_t unit);

// =============== Square Distance ============== //

inline float vector3_fp32_get_square_distance(const vector3_fp32_t* vector1, const vector3_fp32_t* vector2)
{
    const float dx1 = (vector1->x1 - vector2->x1);
    const float dx2 = (vector1->x2 - vector2->x2);
    const float dx3 = (vector1->x3 - vector2->x3);

    return dx1 * dx1 + dx2 * dx2 + dx3 * dx3;
}

inline double vector3_fp64_get_square_distance(const vector3_fp64_t* vector1, const vector3_fp64_t* vector2)
{
    const double dx1 = (vector1->x1 - vector2->x1);
    const double dx2 = (vector1->x2 - vector2->x2);
    const double dx3 = (vector1->x3 - vector2->x3);

    return dx1 * dx1 + dx2 * dx2 + dx3 * dx3;
}

// ================== Distance ================== //

inline float vector3_fp32_get_distance(const vector3_fp32_t* vector1, const vector3_fp32_t* vector2)
{
    return sqrtf(vector3_fp32_get_square_distance(vector1, vector2));
}

inline double vector3_fp64_get_distance(const vector3_fp64_t* vector1, const vector3_fp64_t* vector2)
{
    return sqrt(vector3_fp64_get_square_distance(vector1, vector2));
}

// ================== Are Equal ================= //

inline int vector3_fp32_are_equal(const vector3_fp32_t* vector1, const vector3_fp32_t* vector2)
{
    const float square_modulus1 = vector3_get_square_modulus_fp32(vector1);
    const float square_modulus2 = vector3_get_square_modulus_fp32(vector2);
    const float square_modulus3 = vector3_fp32_get_square_distance(vector1, vector2);

    // 3.0f means dimension amount
    if (square_modulus1 < FP32_EPSYLON_EFFECTIVENESS_LIMIT || square_modulus2 < FP32_EPSYLON_EFFECTIVENESS_LIMIT) {
        return square_modulus3 < (3.0f * FP32_SQUARE_EPSYLON);
    }

    if (square_modulus1 <= square_modulus2) {
        return square_modulus3 <= (3.0f * FP32_SQUARE_EPSYLON) * square_modulus2;
    }

    return square_modulus3 <= (3.0f * FP32_SQUARE_EPSYLON) * square_modulus1;
}

inline int vector3_fp64_are_equal(const vector3_fp64_t* vector1, const vector3_fp64_t* vector2)
{
    const double square_modulus1 = vector3_get_square_modulus_fp64(vector1);
    const double square_modulus2 = vector3_get_square_modulus_fp64(vector2);
    const double square_modulus3 = vector3_fp64_get_square_distance(vector1, vector2);

    // 3.0 means dimension amount
    if (square_modulus1 < FP64_EPSYLON_EFFECTIVENESS_LIMIT || square_modulus2 < FP64_EPSYLON_EFFECTIVENESS_LIMIT) {
        return square_modulus3 < (3.0 * FP64_SQUARE_EPSYLON);
    }

    if (square_modulus1 <= square_modulus2) {
        return square_modulus3 <= (3.0 * FP64_SQUARE_EPSYLON) * square_modulus2;
    }

    return square_modulus3 <= (3.0 * FP64_SQUARE_EPSYLON) * square_modulus1;
}

#endif