#include "vector3.h"

extern inline void bgc_fp32_vector3_reset(BGC_FP32_Vector3* vector);
extern inline void bgc_fp64_vector3_reset(BGC_FP64_Vector3* vector);

extern inline void bgc_fp32_vector3_make(BGC_FP32_Vector3* destination, const float x1, const float x2, const float x3);
extern inline void bgc_fp64_vector3_make(BGC_FP64_Vector3* destination, const double x1, const double x2, const double x3);

extern inline float bgc_fp32_vector3_get_square_modulus(const BGC_FP32_Vector3* vector);
extern inline double bgc_fp64_vector3_get_square_modulus(const BGC_FP64_Vector3* vector);

extern inline float bgc_fp32_vector3_get_modulus(const BGC_FP32_Vector3* vector);
extern inline double bgc_fp64_vector3_get_modulus(const BGC_FP64_Vector3* vector);

extern inline int bgc_fp32_vector3_is_zero(const BGC_FP32_Vector3* vector);
extern inline int bgc_fp64_vector3_is_zero(const BGC_FP64_Vector3* vector);

extern inline int bgc_fp32_vector3_is_unit(const BGC_FP32_Vector3* vector);
extern inline int bgc_fp64_vector3_is_unit(const BGC_FP64_Vector3* vector);

extern inline void bgc_fp32_vector3_copy(BGC_FP32_Vector3* destination, const BGC_FP32_Vector3* source);
extern inline void bgc_fp64_vector3_copy(BGC_FP64_Vector3* destination, const BGC_FP64_Vector3* source);

extern inline void bgc_fp32_vector3_convert_to_fp64(BGC_FP64_Vector3* destination, const BGC_FP32_Vector3* source);
extern inline void bgc_fp64_vector3_convert_to_fp32(BGC_FP32_Vector3* destination, const BGC_FP64_Vector3* source);

extern inline void bgc_fp32_vector3_swap(BGC_FP32_Vector3* vector1, BGC_FP32_Vector3* vector2);
extern inline void bgc_fp64_vector3_swap(BGC_FP64_Vector3* vector1, BGC_FP64_Vector3* vector2);

extern inline void bgc_fp32_vector3_add(BGC_FP32_Vector3* sum, const BGC_FP32_Vector3* vector1, const BGC_FP32_Vector3* vector2);
extern inline void bgc_fp64_vector3_add(BGC_FP64_Vector3* sum, const BGC_FP64_Vector3* vector1, const BGC_FP64_Vector3* vector2);

extern inline void bgc_fp32_vector3_add_scaled(BGC_FP32_Vector3* sum, const BGC_FP32_Vector3* basic_vector, const BGC_FP32_Vector3* scalable_vector, const float scale);
extern inline void bgc_fp64_vector3_add_scaled(BGC_FP64_Vector3* sum, const BGC_FP64_Vector3* basic_vector, const BGC_FP64_Vector3* scalable_vector, const double scale);

extern inline void bgc_fp32_vector3_subtract(BGC_FP32_Vector3* difference, const BGC_FP32_Vector3* minuend, const BGC_FP32_Vector3* subtrahend);
extern inline void bgc_fp64_vector3_subtract(BGC_FP64_Vector3* difference, const BGC_FP64_Vector3* minuend, const BGC_FP64_Vector3* subtrahend);

extern inline void bgc_fp32_vector3_multiply(BGC_FP32_Vector3* product, const BGC_FP32_Vector3* multiplicand, const float multiplier);
extern inline void bgc_fp64_vector3_multiply(BGC_FP64_Vector3* product, const BGC_FP64_Vector3* multiplicand, const double multiplier);

extern inline void bgc_fp32_vector3_divide(BGC_FP32_Vector3* quotient, const BGC_FP32_Vector3* dividend, const float divisor);
extern inline void bgc_fp64_vector3_divide(BGC_FP64_Vector3* quotient, const BGC_FP64_Vector3* dividend, const double divisor);

extern inline void bgc_fp32_vector3_get_mean2(BGC_FP32_Vector3* mean, const BGC_FP32_Vector3* vector1, const BGC_FP32_Vector3* vector2);
extern inline void bgc_fp64_vector3_get_mean2(BGC_FP64_Vector3* mean, const BGC_FP64_Vector3* vector1, const BGC_FP64_Vector3* vector2);

extern inline void bgc_fp32_vector3_get_mean3(BGC_FP32_Vector3* mean, const BGC_FP32_Vector3* vector1, const BGC_FP32_Vector3* vector2, const BGC_FP32_Vector3* vector3);
extern inline void bgc_fp64_vector3_get_mean3(BGC_FP64_Vector3* mean, const BGC_FP64_Vector3* vector1, const BGC_FP64_Vector3* vector2, const BGC_FP64_Vector3* vector3);

extern inline void bgc_fp32_vector3_interpolate(BGC_FP32_Vector3* interpolation, const BGC_FP32_Vector3* vector1, const BGC_FP32_Vector3* vector2, const float phase);
extern inline void bgc_fp64_vector3_interpolate(BGC_FP64_Vector3* interpolation, const BGC_FP64_Vector3* vector1, const BGC_FP64_Vector3* vector2, const double phase);

extern inline void bgc_fp32_vector3_revert(BGC_FP32_Vector3* vector);
extern inline void bgc_fp64_vector3_revert(BGC_FP64_Vector3* vector);

extern inline void bgc_fp32_vector3_get_reverse(BGC_FP32_Vector3* reverse, const BGC_FP32_Vector3* vector);
extern inline void bgc_fp64_vector3_get_reverse(BGC_FP64_Vector3* reverse, const BGC_FP64_Vector3* vector);

extern inline int bgc_fp32_vector3_normalize(BGC_FP32_Vector3* vector);
extern inline int bgc_fp64_vector3_normalize(BGC_FP64_Vector3* vector);

extern inline int bgc_fp32_vector3_get_normalized(BGC_FP32_Vector3* normalized, const BGC_FP32_Vector3* vector);
extern inline int bgc_fp64_vector3_get_normalized(BGC_FP64_Vector3* normalized, const BGC_FP64_Vector3* vector);

extern inline float bgc_fp32_vector3_get_dot_product(const BGC_FP32_Vector3* vector1, const BGC_FP32_Vector3* vector2);
extern inline double bgc_fp64_vector3_get_dot_product(const BGC_FP64_Vector3* vector1, const BGC_FP64_Vector3* vector2);

extern inline float bgc_fp32_vector3_get_triple_product(const BGC_FP32_Vector3* vector1, const BGC_FP32_Vector3* vector2, const BGC_FP32_Vector3* vector3);
extern inline double bgc_fp64_vector3_get_triple_product(const BGC_FP64_Vector3* vector1, const BGC_FP64_Vector3* vector2, const BGC_FP64_Vector3* vector3);

extern inline void bgc_fp32_vector3_get_cross_product(BGC_FP32_Vector3* product, const BGC_FP32_Vector3* vector1, const BGC_FP32_Vector3* vector2);
extern inline void bgc_fp64_vector3_get_cross_product(BGC_FP64_Vector3* product, const BGC_FP64_Vector3* vector1, const BGC_FP64_Vector3* vector2);

extern inline void bgc_fp32_vector3_get_double_cross(BGC_FP32_Vector3* product, const BGC_FP32_Vector3* vector1, const BGC_FP32_Vector3* vector2, const BGC_FP32_Vector3* vector3);
extern inline void bgc_fp64_vector3_get_double_cross(BGC_FP64_Vector3* product, const BGC_FP64_Vector3* vector1, const BGC_FP64_Vector3* vector2, const BGC_FP64_Vector3* vector3);

extern inline float bgc_fp32_vector3_get_square_distance(const BGC_FP32_Vector3* vector1, const BGC_FP32_Vector3* vector2);
extern inline double bgc_fp64_vector3_get_square_distance(const BGC_FP64_Vector3* vector1, const BGC_FP64_Vector3* vector2);

extern inline float bgc_fp32_vector3_get_distance(const BGC_FP32_Vector3* vector1, const BGC_FP32_Vector3* vector2);
extern inline double bgc_fp64_vector3_get_distance(const BGC_FP64_Vector3* vector1, const BGC_FP64_Vector3* vector2);

extern inline int bgc_fp32_vector3_are_close_enough(const BGC_FP32_Vector3* vector1, const BGC_FP32_Vector3* vector2, const float distance);
extern inline int bgc_fp64_vector3_are_close_enough(const BGC_FP64_Vector3* vector1, const BGC_FP64_Vector3* vector2, const double distance);

extern inline int bgc_fp32_vector3_are_close(const BGC_FP32_Vector3* vector1, const BGC_FP32_Vector3* vector2);
extern inline int bgc_fp64_vector3_are_close(const BGC_FP64_Vector3* vector1, const BGC_FP64_Vector3* vector2);

extern inline int bgc_fp32_vector3_are_parallel(const BGC_FP32_Vector3* vector1, const BGC_FP32_Vector3* vector2);
extern inline int bgc_fp64_vector3_are_parallel(const BGC_FP64_Vector3* vector1, const BGC_FP64_Vector3* vector2);

extern inline int bgc_fp32_vector3_are_orthogonal(const BGC_FP32_Vector3* vector1, const BGC_FP32_Vector3* vector2);
extern inline int bgc_fp64_vector3_are_orthogonal(const BGC_FP64_Vector3* vector1, const BGC_FP64_Vector3* vector2);

extern inline int bgc_fp32_vector3_get_attitude(const BGC_FP32_Vector3* vector1, const BGC_FP32_Vector3* vector2);
extern inline int bgc_fp64_vector3_get_attitude(const BGC_FP64_Vector3* vector1, const BGC_FP64_Vector3* vector2);

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

float bgc_fp32_vector3_get_angle(const BGC_FP32_Vector3* vector1, const BGC_FP32_Vector3* vector2, const int angle_unit)
{
    const float square_modulus1 = bgc_fp32_vector3_get_square_modulus(vector1);

    // square_modulus1 != square_modulus1 is check for NaN value at square_modulus1
    if (square_modulus1 <= BGC_FP32_SQUARE_EPSILON || square_modulus1 != square_modulus1) {
        return 0.0f;
    }

    const float square_modulus2 = bgc_fp32_vector3_get_square_modulus(vector2);

    // square_modulus2 != square_modulus2 is check for NaN value at square_modulus2
    if (square_modulus2 <= BGC_FP32_SQUARE_EPSILON || square_modulus2 != square_modulus2) {
        return 0.0f;
    }

    BGC_FP32_Vector3 cross_product;

    bgc_fp32_vector3_get_cross_product(&cross_product, vector1, vector2);

    const float scalar = bgc_fp32_vector3_get_dot_product(vector1, vector2);

    const float cross = bgc_fp32_vector3_get_modulus(&cross_product);

    return bgc_fp32_radians_to_units(atan2f(cross, scalar), angle_unit);
}

double bgc_fp64_vector3_get_angle(const BGC_FP64_Vector3* vector1, const BGC_FP64_Vector3* vector2, const int angle_unit)
{
    const double square_modulus1 = bgc_fp64_vector3_get_square_modulus(vector1);

    // square_modulus1 != square_modulus1 is check for NaN value at square_modulus1
    if (square_modulus1 <= BGC_FP64_SQUARE_EPSILON || square_modulus1 != square_modulus1) {
        return 0.0;
    }

    const double square_modulus2 = bgc_fp64_vector3_get_square_modulus(vector2);

    // square_modulus2 != square_modulus2 is check for NaN value at square_modulus2
    if (square_modulus2 <= BGC_FP64_SQUARE_EPSILON || square_modulus2 != square_modulus2) {
        return 0.0;
    }

    BGC_FP64_Vector3 cross_product;

    bgc_fp64_vector3_get_cross_product(&cross_product, vector1, vector2);

    const double scalar = bgc_fp64_vector3_get_dot_product(vector1, vector2);

    const double cross = bgc_fp64_vector3_get_modulus(&cross_product);

    return bgc_fp64_radians_to_units(atan2(cross, scalar), angle_unit);
}