#ifndef _BGC_POSITION3_H_INCLUDED_
#define _BGC_POSITION3_H_INCLUDED_

#include "vector3.h"
#include "affine3.h"
#include "turn3.h"

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

typedef struct {
    BGC_FP32_Turn3 turn;
    BGC_FP32_Vector3 shift;
} BGC_FP32_Position3;

typedef struct {
    BGC_FP64_Turn3 turn;
    BGC_FP64_Vector3 shift;
} BGC_FP64_Position3;

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

inline void bgc_fp32_position3_reset(BGC_FP32_Position3 * position)
{
    bgc_fp32_turn3_reset(&position->turn);
    bgc_fp32_vector3_reset(&position->shift);
}

inline void bgc_fp64_position3_reset(BGC_FP64_Position3 * position)
{
    bgc_fp64_turn3_reset(&position->turn);
    bgc_fp64_vector3_reset(&position->shift);
}

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

inline void bgc_fp32_position3_make(BGC_FP32_Position3* position, const BGC_FP32_Turn3 * turn, const BGC_FP32_Vector3 * shift)
{
    bgc_fp32_turn3_copy(&position->turn, turn);
    bgc_fp32_vector3_copy(&position->shift, shift);
}

inline void bgc_fp64_position3_make(BGC_FP64_Position3* position, const BGC_FP64_Turn3 * turn, const BGC_FP64_Vector3 * shift)
{
    bgc_fp64_turn3_copy(&position->turn, turn);
    bgc_fp64_vector3_copy(&position->shift, shift);
}

// ==================== Copy ===================== //

inline void bgc_fp32_position3_copy(BGC_FP32_Position3* destination, const BGC_FP32_Position3 * source)
{
    bgc_fp32_turn3_copy(&destination->turn, &source->turn);
    bgc_fp32_vector3_copy(&destination->shift, &source->shift);
}

inline void bgc_fp64_position3_copy(BGC_FP64_Position3* destination, const BGC_FP64_Position3 * source)
{
    bgc_fp64_turn3_copy(&destination->turn, &source->turn);
    bgc_fp64_vector3_copy(&destination->shift, &source->shift);
}

// ==================== Swap ===================== //

inline void bgc_fp32_position3_swap(BGC_FP32_Position3 * first, BGC_FP32_Position3 * second)
{
    bgc_fp32_turn3_swap(&first->turn, &second->turn);
    bgc_fp32_vector3_swap(&first->shift, &second->shift);
}

inline void bgc_fp64_position3_swap(BGC_FP64_Position3 * first, BGC_FP64_Position3 * second)
{
    bgc_fp64_turn3_swap(&first->turn, &second->turn);
    bgc_fp64_vector3_swap(&first->shift, &second->shift);
}

// =================== Convert =================== //

inline void bgc_fp32_position3_convert_to_fp64(BGC_FP64_Position3* destination, const BGC_FP32_Position3 * source)
{
    bgc_fp32_turn3_convert_to_fp64(&destination->turn, &source->turn);
    bgc_fp32_vector3_convert_to_fp64(&destination->shift, &source->shift);
}

inline void bgc_fp64_position3_convert_to_fp32(BGC_FP32_Position3* destination, const BGC_FP64_Position3* source)
{
    bgc_fp64_turn3_convert_to_fp32(&destination->turn, &source->turn);
    bgc_fp64_vector3_convert_to_fp32(&destination->shift, &source->shift);
}

// =================== Is Idle =================== //

inline int bgc_fp32_position3_is_idle(const BGC_FP32_Position3 * position)
{
    return bgc_fp32_vector3_is_zero(&position->shift) && bgc_fp32_turn3_is_idle(&position->turn);
}

inline int bgc_fp64_position3_is_idle(const BGC_FP64_Position3 * position)
{
    return bgc_fp64_vector3_is_zero(&position->shift) && bgc_fp64_turn3_is_idle(&position->turn);
}

// =================== Invert ==================== //

inline void bgc_fp32_position3_invert(BGC_FP32_Position3 * position)
{
    bgc_fp32_turn3_vector_back(&position->shift, &position->turn, &position->shift);
    bgc_fp32_turn3_revert(&position->turn);
    bgc_fp32_vector3_revert(&position->shift);
}

inline void bgc_fp64_position3_invert(BGC_FP64_Position3 * position)
{
    bgc_fp64_turn3_vector_back(&position->shift, &position->turn, &position->shift);
    bgc_fp64_turn3_revert(&position->turn);
    bgc_fp64_vector3_revert(&position->shift);
}

// ================= Get Inverse ================= //

inline void bgc_fp32_position3_get_inverse(BGC_FP32_Position3* inverse, const BGC_FP32_Position3 * position)
{
    bgc_fp32_turn3_vector_back(&inverse->shift, &position->turn, &position->shift);
    bgc_fp32_turn3_get_reverse(&inverse->turn, &position->turn);
    bgc_fp32_vector3_revert(&inverse->shift);
}

inline void bgc_fp64_position3_get_inverse(BGC_FP64_Position3* inverse, const BGC_FP64_Position3 * position)
{
    bgc_fp64_turn3_vector_back(&inverse->shift, &position->turn, &position->shift);
    bgc_fp64_turn3_get_reverse(&inverse->turn, &position->turn);
    bgc_fp64_vector3_revert(&inverse->shift);
}

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

inline void bgc_fp32_position3_combine(BGC_FP32_Position3* combination, const BGC_FP32_Position3 * first, const BGC_FP32_Position3 * second)
{
    BGC_FP32_Vector3 relative_shift;
    bgc_fp32_turn3_vector(&relative_shift, &second->turn, &first->shift);
    bgc_fp32_turn3_combine(&combination->turn, &first->turn, &second->turn);
    bgc_fp32_vector3_add(&combination->shift, &relative_shift, &second->shift);
}

inline void bgc_fp64_position3_combine(BGC_FP64_Position3* combination, const BGC_FP64_Position3 * first, const BGC_FP64_Position3 * second)
{
    BGC_FP64_Vector3 relative_shift;
    bgc_fp64_turn3_vector(&relative_shift, &second->turn, &first->shift);
    bgc_fp64_turn3_combine(&combination->turn, &first->turn, &second->turn);
    bgc_fp64_vector3_add(&combination->shift, &relative_shift, &second->shift);
}

// =================== Exclude =================== //

inline void bgc_fp32_position3_exclude(BGC_FP32_Position3* difference, const BGC_FP32_Position3 * base, const BGC_FP32_Position3 * excludant)
{
    BGC_FP32_Vector3 relative_shift;
    bgc_fp32_vector3_subtract(&relative_shift, &base->shift, &excludant->shift);
    bgc_fp32_turn3_vector_back(&difference->shift, &excludant->turn, &relative_shift);
    bgc_fp32_turn3_exclude(&difference->turn, &base->turn, &excludant->turn);
}

inline void bgc_fp64_position3_exclude(BGC_FP64_Position3* difference, const BGC_FP64_Position3 * base, const BGC_FP64_Position3 * excludant)
{
    BGC_FP64_Vector3 relative_shift;
    bgc_fp64_vector3_subtract(&relative_shift, &base->shift, &excludant->shift);
    bgc_fp64_turn3_vector_back(&difference->shift, &excludant->turn, &relative_shift);
    bgc_fp64_turn3_exclude(&difference->turn, &base->turn, &excludant->turn);
}

// ============= Get Outward Affine ============== //

inline void bgc_fp32_position3_get_outward_affine(BGC_FP32_Affine3* outward_affine_map, const BGC_FP32_Position3 * position)
{
    bgc_fp32_turn3_get_rotation_matrix(&outward_affine_map->distortion, &position->turn);
    bgc_fp32_vector3_copy(&outward_affine_map->shift, &position->shift);
}

inline void bgc_fp64_position3_get_outward_affine(BGC_FP64_Affine3* outward_affine_map, const BGC_FP64_Position3 * position)
{
    bgc_fp64_turn3_get_rotation_matrix(&outward_affine_map->distortion, &position->turn);
    bgc_fp64_vector3_copy(&outward_affine_map->shift, &position->shift);
}

// ============== Get Inward Affine ============== //

inline void bgc_fp32_position3_get_inward_affine(BGC_FP32_Affine3* inward_affine_map, const BGC_FP32_Position3 * position)
{
    bgc_fp32_turn3_get_reverse_matrix(&inward_affine_map->distortion, &position->turn);
    bgc_fp32_multiply_matrix3x3_by_vector3(&inward_affine_map->shift, &inward_affine_map->distortion, &position->shift);
    bgc_fp32_vector3_revert(&inward_affine_map->shift);
}

inline void bgc_fp64_position3_get_inward_affine(BGC_FP64_Affine3* inward_affine_map, const BGC_FP64_Position3 * position)
{
    bgc_fp64_turn3_get_reverse_matrix(&inward_affine_map->distortion, &position->turn);
    bgc_fp64_multiply_matrix3x3_by_vector3(&inward_affine_map->shift, &inward_affine_map->distortion, &position->shift);
    bgc_fp64_vector3_revert(&inward_affine_map->shift);
}

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

inline void bgc_fp32_position3_transform_point_outwards(BGC_FP32_Vector3* outer_point, const BGC_FP32_Position3 * position, const BGC_FP32_Vector3 * inner_point)
{
    BGC_FP32_Vector3 turned_point;
    bgc_fp32_turn3_vector(&turned_point, &position->turn, inner_point);
    bgc_fp32_vector3_add(outer_point, &position->shift, &turned_point);
}

inline void bgc_fp64_position3_transform_point_outwards(BGC_FP64_Vector3* outer_point, const BGC_FP64_Position3 * position, const BGC_FP64_Vector3 * inner_point)
{
    BGC_FP64_Vector3 turned_point;
    bgc_fp64_turn3_vector(&turned_point, &position->turn, inner_point);
    bgc_fp64_vector3_add(outer_point, &position->shift, &turned_point);
}

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

inline void bgc_fp32_position3_transform_point_inwards(BGC_FP32_Vector3* inner_point, const BGC_FP32_Position3 * position, const BGC_FP32_Vector3 * outer_point)
{
    BGC_FP32_Vector3 relative_point;
    bgc_fp32_vector3_subtract(&relative_point, outer_point, &position->shift);
    bgc_fp32_turn3_vector_back(inner_point, &position->turn, &relative_point);

}

inline void bgc_fp64_position3_transform_point_inwards(BGC_FP64_Vector3* inner_point, const BGC_FP64_Position3 * position, const BGC_FP64_Vector3 * outer_point)
{
    BGC_FP64_Vector3 relative_point;
    bgc_fp64_vector3_subtract(&relative_point, outer_point, &position->shift);
    bgc_fp64_turn3_vector_back(inner_point, &position->turn, &relative_point);

}

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

inline void bgc_fp32_position3_transform_vector_outwards(BGC_FP32_Vector3* outer_vector, const BGC_FP32_Position3 * position, const BGC_FP32_Vector3 * inner_vector)
{
    bgc_fp32_turn3_vector(outer_vector, &position->turn, inner_vector);
}

inline void bgc_fp64_position3_transform_vector_outwards(BGC_FP64_Vector3* outer_vector, const BGC_FP64_Position3 * position, const BGC_FP64_Vector3 * inner_vector)
{
    bgc_fp64_turn3_vector(outer_vector, &position->turn, inner_vector);
}

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

inline void bgc_fp32_position3_transform_vector_inwards(BGC_FP32_Vector3* inner_vector, const BGC_FP32_Position3 * position, const BGC_FP32_Vector3 * outer_vector)
{
    bgc_fp32_turn3_vector_back(inner_vector, &position->turn, outer_vector);
}

inline void bgc_fp64_position3_transform_vector_inwards(BGC_FP64_Vector3* inner_vector, const BGC_FP64_Position3 * position, const BGC_FP64_Vector3 * outer_vector)
{
    bgc_fp64_turn3_vector_back(inner_vector, &position->turn, outer_vector);
}

#endif // _BGC_POSITION_H_INCLUDED_