#include "./turn2.h"

const BGC_FP32_Turn2 BGC_FP32_IDLE_TURN2 = { 1.0f, 0.0f };

const BGC_FP64_Turn2 BGC_FP64_IDLE_TURN2 = { 1.0, 0.0 };

extern inline void bgc_fp32_turn2_reset(BGC_FP32_Turn2* turn);
extern inline void bgc_fp64_turn2_reset(BGC_FP64_Turn2* turn);

extern inline void bgc_fp32_turn2_make(BGC_FP32_Turn2* turn, const float x1, const float x2);
extern inline void bgc_fp64_turn2_make(BGC_FP64_Turn2* turn, const double x1, const double x2);

extern inline void bgc_fp32_turn2_make_for_angle(BGC_FP32_Turn2* turn, const float angle, const int angle_unit);
extern inline void bgc_fp64_turn2_make_for_angle(BGC_FP64_Turn2* turn, const double angle, const int angle_unit);

extern inline int bgc_fp32_turn2_is_idle(const BGC_FP32_Turn2* turn);
extern inline int bgc_fp64_turn2_is_idle(const BGC_FP64_Turn2* turn);

extern inline float bgc_fp32_turn2_get_angle(const BGC_FP32_Turn2* turn, const int angle_unit);
extern inline double bgc_fp64_turn2_get_angle(const BGC_FP64_Turn2* turn, const int angle_unit);

extern inline void bgc_fp32_turn2_copy(BGC_FP32_Turn2* destination, const BGC_FP32_Turn2* source);
extern inline void bgc_fp64_turn2_copy(BGC_FP64_Turn2* destination, const BGC_FP64_Turn2* source);

extern inline void bgc_fp32_turn2_swap(BGC_FP32_Turn2* turn1, BGC_FP32_Turn2* turn2);
extern inline void bgc_fp64_turn2_swap(BGC_FP64_Turn2* turn1, BGC_FP64_Turn2* turn2);

extern inline void bgc_fp64_turn2_convert_to_fp32(BGC_FP32_Turn2* destination, const BGC_FP64_Turn2* source);
extern inline void bgc_fp32_turn2_convert_to_fp64(BGC_FP64_Turn2* destination, const BGC_FP32_Turn2* source);

extern inline void bgc_fp32_turn2_revert(BGC_FP32_Turn2* turn);
extern inline void bgc_fp64_turn2_revert(BGC_FP64_Turn2* turn);

extern inline void bgc_fp32_turn2_get_reverse(BGC_FP32_Turn2* reverse, const BGC_FP32_Turn2* turn);
extern inline void bgc_fp64_turn2_get_reverse(BGC_FP64_Turn2* reverse, const BGC_FP64_Turn2* turn);

extern inline void bgc_fp32_turn2_get_exponation(BGC_FP32_Turn2* power, const BGC_FP32_Turn2* base, const float exponent);
extern inline void bgc_fp64_turn2_get_exponation(BGC_FP64_Turn2* power, const BGC_FP64_Turn2* base, const double exponent);

extern inline void bgc_fp32_turn2_combine(BGC_FP32_Turn2* combination, const BGC_FP32_Turn2* turn1, const BGC_FP32_Turn2* turn2);
extern inline void bgc_fp64_turn2_combine(BGC_FP64_Turn2* combination, const BGC_FP64_Turn2* turn1, const BGC_FP64_Turn2* turn2);

extern inline void bgc_fp32_turn2_exclude(BGC_FP32_Turn2* difference, const BGC_FP32_Turn2* base, const BGC_FP32_Turn2* excludant);
extern inline void bgc_fp64_turn2_exclude(BGC_FP64_Turn2* difference, const BGC_FP64_Turn2* base, const BGC_FP64_Turn2* excludant);

extern inline void bgc_fp32_turn2_get_rotation_matrix(BGC_FP32_Matrix2x2* matrix, const BGC_FP32_Turn2* turn);
extern inline void bgc_fp64_turn2_get_rotation_matrix(BGC_FP64_Matrix2x2* matrix, const BGC_FP64_Turn2* turn);

extern inline void bgc_fp32_turn2_get_reverse_matrix(BGC_FP32_Matrix2x2* matrix, const BGC_FP32_Turn2* turn);
extern inline void bgc_fp64_turn2_get_reverse_matrix(BGC_FP64_Matrix2x2* matrix, const BGC_FP64_Turn2* turn);

extern inline void bgc_fp32_turn2_vector(BGC_FP32_Vector2* turned_vector, const BGC_FP32_Turn2* turn, const BGC_FP32_Vector2* vector);
extern inline void bgc_fp64_turn2_vector(BGC_FP64_Vector2* turned_vector, const BGC_FP64_Turn2* turn, const BGC_FP64_Vector2* vector);

extern inline void bgc_fp32_turn2_vector_back(BGC_FP32_Vector2* turned_vector, const BGC_FP32_Turn2* turn, const BGC_FP32_Vector2* vector);
extern inline void bgc_fp64_turn2_vector_back(BGC_FP64_Vector2* turned_vector, const BGC_FP64_Turn2* turn, const BGC_FP64_Vector2* vector);

extern inline int bgc_fp32_turn2_are_close(const BGC_FP32_Turn2* turn1, const BGC_FP32_Turn2* turn2);
extern inline int bgc_fp64_turn2_are_close(const BGC_FP64_Turn2* turn1, const BGC_FP64_Turn2* turn2);

void _bgc_fp32_turn2_normalize(BGC_FP32_Turn2* turn)
{
    const float square_modulus = turn->_cos * turn->_cos + turn->_sin * turn->_sin;

    if (square_modulus <= BGC_FP32_SQUARE_EPSILON || isnan(square_modulus)) {
        turn->_cos = 1.0f;
        turn->_sin = 0.0f;
        return;
    }

    const float multiplier = sqrtf(1.0f / square_modulus);

    turn->_cos *= multiplier;
    turn->_sin *= multiplier;
}

void _bgc_fp64_turn2_normalize(BGC_FP64_Turn2* turn)
{
    const double square_modulus = turn->_cos * turn->_cos + turn->_sin * turn->_sin;

    if (square_modulus <= BGC_FP64_SQUARE_EPSILON || isnan(square_modulus)) {
        turn->_cos = 1.0;
        turn->_sin = 0.0;
        return;
    }

    const double multiplier = sqrt(1.0 / square_modulus);

    turn->_cos *= multiplier;
    turn->_sin *= multiplier;
}