#ifndef _BGC_ROTATION3_H_
#define _BGC_ROTATION3_H_

#include "utilities.h"
#include "angle.h"
#include "vector3.h"

typedef struct {
    BGC_FP32_Vector3 axis;
    float radians;
} BGC_FP32_Rotation3;

typedef struct {
    BGC_FP64_Vector3 axis;
    double radians;
} BGC_FP64_Rotation3;

extern const BGC_FP32_Rotation3 BGC_FP32_IDLE_ROTATION3;

extern const BGC_FP64_Rotation3 BGC_FP64_IDLE_ROTATION3;

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

inline void bgc_fp32_rotation3_reset(BGC_FP32_Rotation3* rotation)
{
    rotation->axis.x1 = 0.0f;
    rotation->axis.x2 = 0.0f;
    rotation->axis.x3 = 0.0f;

    rotation->radians = 0.0f;
}

inline void bgc_fp64_rotation3_reset(BGC_FP64_Rotation3* rotation)
{
    rotation->axis.x1 = 0.0;
    rotation->axis.x2 = 0.0;
    rotation->axis.x3 = 0.0;

    rotation->radians = 0.0;
}

// ================= Set Values ================= //

inline void bgc_fp32_rotation3_make(const float x1, const float x2, const float x3, const float angle, const int unit, BGC_FP32_Rotation3* rotation)
{
    rotation->axis.x1 = x1;
    rotation->axis.x2 = x2;
    rotation->axis.x3 = x3;

    if (bgc_fp32_vector3_normalize(&rotation->axis)) {
        rotation->radians = bgc_fp32_angle_to_radians(angle, unit);
    }
    else {
        rotation->radians = 0.0f;
    }
}


inline void bgc_fp64_rotation3_make(const double x1, const double x2, const double x3, const double angle, const int unit, BGC_FP64_Rotation3* rotation)
{
    rotation->axis.x1 = x1;
    rotation->axis.x2 = x2;
    rotation->axis.x3 = x3;

    if (bgc_fp64_vector3_normalize(&rotation->axis)) {
        rotation->radians = bgc_fp64_angle_to_radians(angle, unit);
    }
    else {
        rotation->radians = 0.0;
    }
}

inline void bgc_fp32_rotation3_make_for_axis(const BGC_FP32_Vector3* axis, const float angle, const int unit, BGC_FP32_Rotation3* rotation)
{
    if (bgc_fp32_vector3_get_normalized(&rotation->axis, axis)) {
        rotation->radians = bgc_fp32_angle_to_radians(angle, unit);
    }
    else {
        rotation->radians = 0.0f;
    }
}

inline void bgc_fp64_rotation3_make_for_axis(const BGC_FP64_Vector3* axis, const double angle, const int unit, BGC_FP64_Rotation3* rotation)
{
    if (bgc_fp64_vector3_get_normalized(&rotation->axis, axis)) {
        rotation->radians = bgc_fp64_angle_to_radians(angle, unit);
    }
    else {
        rotation->radians = 0.0;
    }
}

#endif