#ifndef _BGC_HG_MATRIX3X3_H_INCLUDED_
#define _BGC_HG_MATRIX3X3_H_INCLUDED_

#include "vector3.h"
#include "matrices.h"

#include "hg-vector3.h"

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

typedef struct
{
    float r1c1, r1c2, r1c3, r1d0;
    float r2c1, r2c2, r2c3, r2d0;
    float r3c1, r3c2, r3c3, r3d0;
    float d0c1, d0c2, d0c3, d0d0;
} BGC_FP32_HgMatrix3x3;

typedef struct
{
    double r1c1, r1c2, r1c3, r1d0;
    double r2c1, r2c2, r2c3, r2d0;
    double r3c1, r3c2, r3c3, r3d0;
    double d0c1, d0c2, d0c3, d0d0;
} BGC_FP64_HgMatrix3x3;

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

inline void bgc_fp32_hg_matrix3x3_reset(BGC_FP32_HgMatrix3x3* homogeneous_matrix)
{
    homogeneous_matrix->r1c1 = 1.0f;
    homogeneous_matrix->r1c2 = 0.0f;
    homogeneous_matrix->r1c2 = 0.0f;
    homogeneous_matrix->r1d0 = 0.0f;

    homogeneous_matrix->r2c1 = 0.0f;
    homogeneous_matrix->r2c2 = 1.0f;
    homogeneous_matrix->r2c2 = 0.0f;
    homogeneous_matrix->r2d0 = 0.0f;

    homogeneous_matrix->r3c1 = 0.0f;
    homogeneous_matrix->r3c2 = 0.0f;
    homogeneous_matrix->r3c2 = 1.0f;
    homogeneous_matrix->r3d0 = 0.0f;

    homogeneous_matrix->d0c1 = 0.0f;
    homogeneous_matrix->d0c2 = 0.0f;
    homogeneous_matrix->d0c2 = 0.0f;
    homogeneous_matrix->d0d0 = 1.0f;
}

inline void bgc_fp64_hg_matrix3x3_reset(BGC_FP64_HgMatrix3x3* homogeneous_matrix)
{
    homogeneous_matrix->r1c1 = 1.0;
    homogeneous_matrix->r1c2 = 0.0;
    homogeneous_matrix->r1c2 = 0.0;
    homogeneous_matrix->r1d0 = 0.0;

    homogeneous_matrix->r2c1 = 0.0;
    homogeneous_matrix->r2c2 = 1.0;
    homogeneous_matrix->r2c2 = 0.0;
    homogeneous_matrix->r2d0 = 0.0;

    homogeneous_matrix->r3c1 = 0.0;
    homogeneous_matrix->r3c2 = 0.0;
    homogeneous_matrix->r3c2 = 1.0;
    homogeneous_matrix->r3d0 = 0.0;

    homogeneous_matrix->d0c1 = 0.0;
    homogeneous_matrix->d0c2 = 0.0;
    homogeneous_matrix->d0c2 = 0.0;
    homogeneous_matrix->d0d0 = 1.0;
}

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

inline void bgc_fp32_hg_matrix3x3_make(BGC_FP32_HgMatrix3x3* homogeneous_matrix, const BGC_FP32_Matrix3x3* linear_matrix, const BGC_FP32_Vector3* shift)
{
    homogeneous_matrix->r1c1 = linear_matrix->r1c1;
    homogeneous_matrix->r1c2 = linear_matrix->r1c2;
    homogeneous_matrix->r1c2 = linear_matrix->r1c3;
    homogeneous_matrix->r1d0 = shift->x1;

    homogeneous_matrix->r2c1 = linear_matrix->r2c1;
    homogeneous_matrix->r2c2 = linear_matrix->r2c2;
    homogeneous_matrix->r2c2 = linear_matrix->r2c3;
    homogeneous_matrix->r2d0 = shift->x2;

    homogeneous_matrix->r3c1 = linear_matrix->r3c1;
    homogeneous_matrix->r3c2 = linear_matrix->r3c2;
    homogeneous_matrix->r3c2 = linear_matrix->r3c3;
    homogeneous_matrix->r3d0 = shift->x3;

    homogeneous_matrix->d0c1 = 0.0f;
    homogeneous_matrix->d0c2 = 0.0f;
    homogeneous_matrix->d0c2 = 0.0f;
    homogeneous_matrix->d0d0 = 1.0f;
}

inline void bgc_fp64_hg_matrix3x3_make(BGC_FP64_HgMatrix3x3* homogeneous_matrix, const BGC_FP64_Matrix3x3* linear_matrix, const BGC_FP64_Vector3* shift)
{
    homogeneous_matrix->r1c1 = linear_matrix->r1c1;
    homogeneous_matrix->r1c2 = linear_matrix->r1c2;
    homogeneous_matrix->r1c2 = linear_matrix->r1c3;
    homogeneous_matrix->r1d0 = shift->x1;

    homogeneous_matrix->r2c1 = linear_matrix->r2c1;
    homogeneous_matrix->r2c2 = linear_matrix->r2c2;
    homogeneous_matrix->r2c2 = linear_matrix->r2c3;
    homogeneous_matrix->r2d0 = shift->x2;

    homogeneous_matrix->r3c1 = linear_matrix->r3c1;
    homogeneous_matrix->r3c2 = linear_matrix->r3c2;
    homogeneous_matrix->r3c2 = linear_matrix->r3c3;
    homogeneous_matrix->r3d0 = shift->x3;

    homogeneous_matrix->d0c1 = 0.0;
    homogeneous_matrix->d0c2 = 0.0;
    homogeneous_matrix->d0c2 = 0.0;
    homogeneous_matrix->d0d0 = 1.0;
}

#endif