#ifndef _BGC_AFFINE3_H_INCLUDED_
#define _BGC_AFFINE3_H_INCLUDED_

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

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

typedef struct {
#if BGC_AFFINE_USE_MATRIX
    BgcMatrix3x3FP32 distortion;
    BgcVector3FP32 shift;
#else
    float r1c1, r1c2, r1c3, shift1;
    float r2c1, r2c2, r2c3, shift2;
    float r3c1, r3c2, r3c3, shift3;
#endif
} BgcAffine3FP32;

typedef struct {
#if BGC_AFFINE_USE_MATRIX
    BgcMatrix3x3FP64 distortion;
    BgcVector3FP64 shift;
#else
    double r1c1, r1c2, r1c3, shift1;
    double r2c1, r2c2, r2c3, shift2;
    double r3c1, r3c2, r3c3, shift3;
#endif
} BgcAffine3FP64;

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

inline void bgc_affine3_reset_fp32(BgcAffine3FP32 * affine)
{
#if BGC_AFFINE_USE_MATRIX
    bgc_matrix3x3_set_to_identity_fp32(&affine->distortion);
    bgc_vector3_reset_fp32(&affine->shift);
#else
    affine->r1c1 = 1.0f;
    affine->r1c2 = 0.0f;
    affine->r1c3 = 0.0f;
    affine->shift1 = 0.0f;

    affine->r2c1 = 0.0f;
    affine->r2c2 = 1.0f;
    affine->r2c3 = 0.0f;
    affine->shift2 = 0.0f;

    affine->r3c1 = 0.0f;
    affine->r3c2 = 0.0f;
    affine->r3c3 = 1.0f;
    affine->shift3 = 0.0f;
#endif
}

inline void bgc_affine3_reset_fp64(BgcAffine3FP64 * affine)
{
#if BGC_AFFINE_USE_MATRIX
    bgc_matrix3x3_set_to_identity_fp64(&affine->distortion);
    bgc_vector3_reset_fp64(&affine->shift);
#else
    affine->r1c1 = 1.0;
    affine->r1c2 = 0.0;
    affine->r1c3 = 0.0;
    affine->shift1 = 0.0;

    affine->r2c1 = 0.0;
    affine->r2c2 = 1.0;
    affine->r2c3 = 0.0;
    affine->shift2 = 0.0;

    affine->r3c1 = 0.0;
    affine->r3c2 = 0.0;
    affine->r3c3 = 1.0;
    affine->shift3 = 0.0;
#endif
}

inline void bgc_affine3_reset_distortion_fp32(BgcAffine3FP32 * affine)
{
#if BGC_AFFINE_USE_MATRIX
    bgc_matrix3x3_set_to_identity_fp32(&affine->distortion);
#else
    affine->r1c1 = 1.0f;
    affine->r1c2 = 0.0f;
    affine->r1c3 = 0.0f;

    affine->r2c1 = 0.0f;
    affine->r2c2 = 1.0f;
    affine->r2c3 = 0.0f;

    affine->r3c1 = 0.0f;
    affine->r3c2 = 0.0f;
    affine->r3c3 = 1.0f;
#endif
}

inline void bgc_affine3_reset_distortion_fp64(BgcAffine3FP64 * affine)
{
#if BGC_AFFINE_USE_MATRIX
    bgc_matrix3x3_set_to_identity_fp64(&affine->distortion);
#else
    affine->r1c1 = 1.0;
    affine->r1c2 = 0.0;
    affine->r1c3 = 0.0;

    affine->r2c1 = 0.0;
    affine->r2c2 = 1.0;
    affine->r2c3 = 0.0;

    affine->r3c1 = 0.0;
    affine->r3c2 = 0.0;
    affine->r3c3 = 1.0;
#endif
}

inline void bgc_affine3_reset_shift_fp32(BgcAffine3FP32 * affine)
{
#if BGC_AFFINE_USE_MATRIX
    bgc_vector3_reset_fp32(&affine->shift);
#else
    affine->shift1 = 0.0f;
    affine->shift2 = 0.0f;
    affine->shift3 = 0.0f;
#endif
}

inline void bgc_affine3_reset_shift_fp64(BgcAffine3FP64 * affine)
{
#if BGC_AFFINE_USE_MATRIX
    bgc_vector3_reset_fp64(&affine->shift);
#else
    affine->shift1 = 0.0;
    affine->shift2 = 0.0;
    affine->shift3 = 0.0;
#endif
}

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

inline void bgc_affine3_make_fp32(const BgcMatrix3x3FP32 * distortion, const BgcVector3FP32 * shift, BgcAffine3FP32 * affine)
{
#if BGC_AFFINE_USE_MATRIX
    bgc_matrix3x3_copy_fp32(distortion, &affine->distortion);
    bgc_vector3_copy_fp32(shift, &affine->shift);
#else
    affine->r1c1 = distortion->r1c1;
    affine->r1c2 = distortion->r1c2;
    affine->r1c3 = distortion->r1c3;
    affine->shift1 = shift->x1;

    affine->r2c1 = distortion->r2c1;
    affine->r2c2 = distortion->r2c2;
    affine->r2c3 = distortion->r2c3;
    affine->shift2 = shift->x2;

    affine->r3c1 = distortion->r3c1;
    affine->r3c2 = distortion->r3c2;
    affine->r3c3 = distortion->r3c3;
    affine->shift3 = shift->x3;
#endif
}

inline void bgc_affine3_make_fp64(const BgcMatrix3x3FP64 * distortion, const BgcVector3FP64 * shift, BgcAffine3FP64 * affine)
{
#if BGC_AFFINE_USE_MATRIX
    bgc_matrix3x3_copy_fp64(distortion, &affine->distortion);
    bgc_vector3_copy_fp64(shift, &affine->shift);
#else
    affine->r1c1 = distortion->r1c1;
    affine->r1c2 = distortion->r1c2;
    affine->r1c3 = distortion->r1c3;
    affine->shift1 = shift->x1;

    affine->r2c1 = distortion->r2c1;
    affine->r2c2 = distortion->r2c2;
    affine->r2c3 = distortion->r2c3;
    affine->shift2 = shift->x2;

    affine->r3c1 = distortion->r3c1;
    affine->r3c2 = distortion->r3c2;
    affine->r3c3 = distortion->r3c3;
    affine->shift3 = shift->x3;
#endif
}

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

inline void bgc_affine3_combine_fp32(const BgcAffine3FP32 * parent, const BgcAffine3FP32 * child, BgcAffine3FP32 * combination)
{
#if BGC_AFFINE_USE_MATRIX
    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);
#else
    const float r1c1 = parent->r1c1 * child->r1c1 + parent->r1c2 * child->r2c1 + parent->r1c3 * child->r3c1;
    const float r1c2 = parent->r1c1 * child->r1c2 + parent->r1c2 * child->r2c2 + parent->r1c3 * child->r3c2;
    const float r1c3 = parent->r1c1 * child->r1c3 + parent->r1c2 * child->r2c3 + parent->r1c3 * child->r3c3;

    const float r2c1 = parent->r2c1 * child->r1c1 + parent->r2c2 * child->r2c1 + parent->r2c3 * child->r3c1;
    const float r2c2 = parent->r2c1 * child->r1c2 + parent->r2c2 * child->r2c2 + parent->r2c3 * child->r3c2;
    const float r2c3 = parent->r2c1 * child->r1c3 + parent->r2c2 * child->r2c3 + parent->r2c3 * child->r3c3;

    const float r3c1 = parent->r3c1 * child->r1c1 + parent->r3c2 * child->r2c1 + parent->r3c3 * child->r3c1;
    const float r3c2 = parent->r3c1 * child->r1c2 + parent->r3c2 * child->r2c2 + parent->r3c3 * child->r3c2;
    const float r3c3 = parent->r3c1 * child->r1c3 + parent->r3c2 * child->r2c3 + parent->r3c3 * child->r3c3;

    const float shift1 = parent->r1c1 * child->shift1 + parent->r1c2 * child->shift2 + parent->r1c3 * child->shift3;
    const float shift2 = parent->r2c1 * child->shift1 + parent->r2c2 * child->shift2 + parent->r2c3 * child->shift3;
    const float shift3 = parent->r3c1 * child->shift1 + parent->r3c2 * child->shift2 + parent->r3c3 * child->shift3;

    combination->r1c1 = r1c1;
    combination->r1c2 = r1c2;
    combination->r1c3 = r1c3;
    combination->shift1 = shift1;

    combination->r2c1 = r2c1;
    combination->r2c2 = r2c2;
    combination->r2c3 = r2c3;
    combination->shift2 = shift2;

    combination->r3c1 = r3c1;
    combination->r3c2 = r3c2;
    combination->r3c3 = r3c3;
    combination->shift3 = shift3;
#endif
}

inline void bgc_affine3_combine_fp64(const BgcAffine3FP64 * parent, const BgcAffine3FP64 * child, BgcAffine3FP64 * combination)
{
#if BGC_AFFINE_USE_MATRIX
    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);
#else
    const double r1c1 = parent->r1c1 * child->r1c1 + parent->r1c2 * child->r2c1 + parent->r1c3 * child->r3c1;
    const double r1c2 = parent->r1c1 * child->r1c2 + parent->r1c2 * child->r2c2 + parent->r1c3 * child->r3c2;
    const double r1c3 = parent->r1c1 * child->r1c3 + parent->r1c2 * child->r2c3 + parent->r1c3 * child->r3c3;

    const double r2c1 = parent->r2c1 * child->r1c1 + parent->r2c2 * child->r2c1 + parent->r2c3 * child->r3c1;
    const double r2c2 = parent->r2c1 * child->r1c2 + parent->r2c2 * child->r2c2 + parent->r2c3 * child->r3c2;
    const double r2c3 = parent->r2c1 * child->r1c3 + parent->r2c2 * child->r2c3 + parent->r2c3 * child->r3c3;

    const double r3c1 = parent->r3c1 * child->r1c1 + parent->r3c2 * child->r2c1 + parent->r3c3 * child->r3c1;
    const double r3c2 = parent->r3c1 * child->r1c2 + parent->r3c2 * child->r2c2 + parent->r3c3 * child->r3c2;
    const double r3c3 = parent->r3c1 * child->r1c3 + parent->r3c2 * child->r2c3 + parent->r3c3 * child->r3c3;

    const double shift1 = parent->r1c1 * child->shift1 + parent->r1c2 * child->shift2 + parent->r1c3 * child->shift3;
    const double shift2 = parent->r2c1 * child->shift1 + parent->r2c2 * child->shift2 + parent->r2c3 * child->shift3;
    const double shift3 = parent->r3c1 * child->shift1 + parent->r3c2 * child->shift2 + parent->r3c3 * child->shift3;

    combination->r1c1 = r1c1;
    combination->r1c2 = r1c2;
    combination->r1c3 = r1c3;
    combination->shift1 = shift1;

    combination->r2c1 = r2c1;
    combination->r2c2 = r2c2;
    combination->r2c3 = r2c3;
    combination->shift2 = shift2;

    combination->r3c1 = r3c1;
    combination->r3c2 = r3c2;
    combination->r3c3 = r3c3;
    combination->shift3 = shift3;
#endif
}

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

inline void bgc_affine3_transform_point_fp32(const BgcAffine3FP32 * affine, const BgcVector3FP32 * initial_point, BgcVector3FP32 * transformed_point)
{
#if BGC_AFFINE_USE_MATRIX
    BgcVector3FP32 distorted;
    bgc_matrix3x3_get_right_product_fp32(&affine->distortion, initial_point, &distorted);
    bgc_vector3_add_fp32(&affine->shift, &distorted, transformed_point);
#else
    const float x1 = (affine->r1c1 * initial_point->x1 + affine->r1c2 * initial_point->x2) + (affine->r1c3 * initial_point->x3 + affine->shift1);
    const float x2 = (affine->r2c1 * initial_point->x1 + affine->r2c2 * initial_point->x2) + (affine->r2c3 * initial_point->x3 + affine->shift2);
    const float x3 = (affine->r3c1 * initial_point->x1 + affine->r3c2 * initial_point->x2) + (affine->r3c3 * initial_point->x3 + affine->shift3);

    transformed_point->x1 = x1;
    transformed_point->x2 = x2;
    transformed_point->x3 = x3;
#endif
}

inline void bgc_affine3_transform_point_fp64(const BgcAffine3FP64 * affine, const BgcVector3FP64 * initial_point, BgcVector3FP64 * transformed_point)
{
#if BGC_AFFINE_USE_MATRIX
    BgcVector3FP64 distorted;
    bgc_matrix3x3_get_right_product_fp64(&affine->distortion, initial_point, &distorted);
    bgc_vector3_add_fp64(&affine->shift, &distorted, transformed_point);
#else
    const double x1 = affine->r1c1 * initial_point->x1 + affine->r1c2 * initial_point->x2 + affine->r1c3 * initial_point->x3 + affine->shift1;
    const double x2 = affine->r2c1 * initial_point->x1 + affine->r2c2 * initial_point->x2 + affine->r2c3 * initial_point->x3 + affine->shift2;
    const double x3 = affine->r3c1 * initial_point->x1 + affine->r3c2 * initial_point->x2 + affine->r3c3 * initial_point->x3 + affine->shift3;

    transformed_point->x1 = x1;
    transformed_point->x2 = x2;
    transformed_point->x3 = x3;
#endif
}

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

inline void bgc_affine3_transform_vector_fp32(const BgcAffine3FP32 * affine, const BgcVector3FP32 * initial_vector, BgcVector3FP32 * transformed_vector)
{
#if BGC_AFFINE_USE_MATRIX
    bgc_matrix3x3_get_right_product_fp32(&affine->distortion, initial_vector, transformed_vector);
#else
    const float x1 = affine->r1c1 * initial_vector->x1 + affine->r1c2 * initial_vector->x2 + affine->r1c3 * initial_vector->x3;
    const float x2 = affine->r2c1 * initial_vector->x1 + affine->r2c2 * initial_vector->x2 + affine->r2c3 * initial_vector->x3;
    const float x3 = affine->r3c1 * initial_vector->x1 + affine->r3c2 * initial_vector->x2 + affine->r3c3 * initial_vector->x3;

    transformed_vector->x1 = x1;
    transformed_vector->x2 = x2;
    transformed_vector->x3 = x3;
#endif
}

inline void bgc_affine3_transform_vector_fp64(const BgcAffine3FP64 * affine, const BgcVector3FP64 * initial_vector, BgcVector3FP64 * transformed_vector)
{
#if BGC_AFFINE_USE_MATRIX
    bgc_matrix3x3_get_right_product_fp64(&affine->distortion, initial_vector, transformed_vector);
#else
    const double x1 = affine->r1c1 * initial_vector->x1 + affine->r1c2 * initial_vector->x2 + affine->r1c3 * initial_vector->x3;
    const double x2 = affine->r2c1 * initial_vector->x1 + affine->r2c2 * initial_vector->x2 + affine->r2c3 * initial_vector->x3;
    const double x3 = affine->r3c1 * initial_vector->x1 + affine->r3c2 * initial_vector->x2 + affine->r3c3 * initial_vector->x3;

    transformed_vector->x1 = x1;
    transformed_vector->x2 = x2;
    transformed_vector->x3 = x3;
#endif
}

#endif // _BGC_AFFINE3_H_INCLUDED_