#include <stdio.h>
#include <math.h>
#include <basic-geometry.h>

#include "printing_utils.h"
#include "vector3_pair_difference.h"
#include "turn3_combination.h"
#include "affine3.h"

/*
int main() {
    BGC_FP32_Turn3 start = { 1.0f, 0.0f, 0.0f, 0.0f };
    BGC_FP32_Turn3 end = { 0.0f, 1.0f, 0.0f, 0.0f };
    BGC_FP32_Turn3 result;
    bgc_fp32_turn3_spherical_interpolation(&start, &end, 0.5f, &result);
    printf("Result: %0.12f, %0.12f, %0.12f, %0.12f\n", result.s0, result.x1, result.x2, result.x3);
    return 0;
}
*/

void test_fp32_quaternion_set_matrix()
{
    BGC_FP32_Turn3 turn;
    BGC_FP32_Matrix3x3 rotation;
    BGC_FP32_Quaternion quaternion;

    bgc_fp32_turn3_set_rotation(&turn, 1.0f, 1.0f, 1.0f, 120.0f, BGC_ANGLE_UNIT_DEGREES);

    bgc_fp32_turn3_get_rotation_matrix(&rotation, &turn);

    if (bgc_fp32_quaternion_set_rotation_matrix(&quaternion, &rotation) == BGC_FAILURE) {
        printf("Failed\n");
        return;
    }

    print_fp32_quaternion(&quaternion);
    print_fp32_quaternion(&turn._versor);
}

void test_fp64_quaternion_set_matrix()
{
    BGC_FP64_Turn3 turn;
    BGC_FP64_Matrix3x3 rotation;
    BGC_FP64_Quaternion quaternion;

    bgc_fp64_turn3_set_rotation(&turn, 1.0, 1.0, 1.0, 120.0, BGC_ANGLE_UNIT_DEGREES);

    bgc_fp64_turn3_get_rotation_matrix(&rotation, &turn);

    if (bgc_fp64_quaternion_set_rotation_matrix(&quaternion, &rotation) == BGC_FAILURE) {
        printf("Failed\n");
        return;
    }

    print_fp64_quaternion(&quaternion);
    print_fp64_quaternion(&turn._versor);
}

int main()
{
    //test_fp32_pair_difference();
    //test_fp64_pair_difference();

    //test_fp32_quaternion_set_matrix();
    //test_fp64_quaternion_set_matrix();

    //test_fp32_turn3_combination();
    //test_fp64_turn3_combination();

    return 0;
}