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

#ifdef _WIN64
#include <windows.h>
#else
#include <time.h>
#endif // _WINDOWS_

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

typedef struct {
    BGC_FP32_Turn3 versor1, versor2, result;
} structure_fp32_t;

structure_fp32_t* allocate_structures(const unsigned int amount)
{
    return calloc(amount, sizeof(structure_fp32_t));
}

structure_fp32_t* make_structures(const unsigned int amount)
{
    structure_fp32_t* list = allocate_structures(amount);

    if (list == 0) {
        return 0;
    }

    const float multiplier = 2.0f / RAND_MAX;

    for (unsigned int i = 0; i < amount; i++) {
        bgc_fp32_turn3_set_values(
            &list[i].versor1,
            rand() * multiplier - 1.0f,
            rand() * multiplier - 1.0f,
            rand() * multiplier - 1.0f,
            rand() * multiplier - 1.0f
        );

        bgc_fp32_turn3_set_values(
            &list[i].versor2,
            rand() * multiplier - 1.0f,
            rand() * multiplier - 1.0f,
            rand() * multiplier - 1.0f,
            rand() * multiplier - 1.0f
        );

        bgc_fp32_turn3_reset(&list[i].result);
    }

    return list;
}


void list_work(const uint_fast32_t amount, structure_fp32_t* list)
{
    for (uint_fast32_t j = 0; j < 1000; j++) {
        for (uint_fast32_t i = 0; i < amount; i++) {
            bgc_fp32_turn3_combine(&list[i].result, &list[i].versor1, &list[i].versor2);
        }
    }
}
/*
int main()
{
    const unsigned int amount = 1000000;
    structure_fp32_t* list = make_structures(amount);

#ifdef _WIN64
    ULONGLONG start, end;

    start = GetTickCount64();

    srand((unsigned int)(start & 0xfffffff));

    start = GetTickCount64();
#else
    struct timespec start, end;
    clock_gettime(0, &start);
    srand((unsigned int)(start.tv_nsec & 0xfffffff));

    clock_gettime(CLOCK_REALTIME, &start);
#endif // _WIN64

    list_work(amount, list);

#ifdef _WIN64
    end = GetTickCount64();

    printf("Time: %lld\n", end - start);
#else
    clock_gettime(CLOCK_REALTIME, &end);

    printf("Time: %lf\n", (end.tv_sec - start.tv_sec) * 1000.0 + (end.tv_nsec - start.tv_nsec) * 0.000001);
#endif // _WIN64

    print_fp32_quaternion(&list[10].versor1._versor);
    print_fp32_quaternion(&list[10].versor2._versor);
    print_fp32_quaternion(&list[10].result._versor);

    free(list);

    return 0;
}
*/

/*
int main() {
    BGC_FP32_Complex complex, exponent, result;

    bgc_fp32_complex_set_values(0, 1, &complex);

    bgc_fp32_complex_set_values(4, 0, &exponent);

    bgc_fp32_complex_get_exponation(&complex, exponent.real, exponent.imaginary, &result);

    printf("(%f, %f) ^ (%f, %f) = (%f, %f)\n", complex.real, complex.imaginary, exponent.real, exponent.imaginary, result.real, result.imaginary);

    return 0;
}
*/
/*
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();

    //printf("Affine3 performance test: %f\n", test_bgc_affine3_performance(10000000, 10));

    //printf("sizeof(BGC_FP32_Affine3)   = %zu\n", sizeof(BGC_FP32_Affine3));
    //printf("offsetof(shift)         = %zu\n", offsetof(BGC_FP32_Affine3, shift));
    //printf("sizeof(BGC_FP32_Matrix3x3) = %zu\n", sizeof(BGC_FP32_Matrix3x3));
    
    test_fp32_quaternion_set_matrix();

    return 0;
}