#ifndef _BGC_POSITION3_H_INCLUDED_
#define _BGC_POSITION3_H_INCLUDED_

#include "./types.h"
#include "./vector3.h"
#include "./matrix3x3.h"
#include "./turn3.h"

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

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

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

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

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

inline void bgc_fp64_position3_make(BGC_FP64_Position3* const position, const BGC_FP64_Turn3* const turn, const BGC_FP64_Vector3* const 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* const destination, const BGC_FP32_Position3* const 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* const destination, const BGC_FP64_Position3* const 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* const first, BGC_FP32_Position3* const 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* const first, BGC_FP64_Position3* const 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* const destination, const BGC_FP32_Position3* const 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* const destination, const BGC_FP64_Position3* const 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* const 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* const position)
{
    return bgc_fp64_vector3_is_zero(&position->shift) && bgc_fp64_turn3_is_idle(&position->turn);
}

// =================== Revert ==================== //

inline void bgc_fp32_position3_revert(BGC_FP32_Position3* const 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_revert(BGC_FP64_Position3* const 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 Reverse Position ============= //

inline void bgc_fp32_position3_get_reverse_position(BGC_FP32_Position3* const reverse, const BGC_FP32_Position3* const position)
{
    bgc_fp32_turn3_vector_back(&reverse->shift, &position->turn, &position->shift);
    bgc_fp32_turn3_get_reverse(&reverse->turn, &position->turn);
    bgc_fp32_vector3_revert(&reverse->shift);
}

inline void bgc_fp64_position3_get_reverse_position(BGC_FP64_Position3* const reverse, const BGC_FP64_Position3* const position)
{
    bgc_fp64_turn3_vector_back(&reverse->shift, &position->turn, &position->shift);
    bgc_fp64_turn3_get_reverse(&reverse->turn, &position->turn);
    bgc_fp64_vector3_revert(&reverse->shift);
}

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

inline void bgc_fp32_position3_combine(BGC_FP32_Position3* const combination, const BGC_FP32_Position3* const first, const BGC_FP32_Position3* const 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* const combination, const BGC_FP64_Position3* const first, const BGC_FP64_Position3* const 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* const difference, const BGC_FP32_Position3* const base, const BGC_FP32_Position3* const 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* const difference, const BGC_FP64_Position3* const base, const BGC_FP64_Position3* const 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 Affine ================== //

inline void bgc_fp32_position3_get_affine(BGC_FP32_Affine3* const affine_map, const BGC_FP32_Position3* const position)
{
    bgc_fp32_turn3_get_rotation_matrix(&affine_map->distortion, &position->turn);
    bgc_fp32_vector3_copy(&affine_map->shift, &position->shift);
}

inline void bgc_fp64_position3_get_affine(BGC_FP64_Affine3* const affine_map, const BGC_FP64_Position3* const position)
{
    bgc_fp64_turn3_get_rotation_matrix(&affine_map->distortion, &position->turn);
    bgc_fp64_vector3_copy(&affine_map->shift, &position->shift);
}

// ================= Set Affine ================== //

inline int bgc_fp32_position3_set_affine(BGC_FP32_Position3* const position, const BGC_FP32_Affine3* const affine_map)
{
    if (bgc_fp32_quaternion_set_rotation_matrix(&position->turn._versor, &affine_map->distortion) == BGC_SUCCESS) {
        bgc_fp32_vector3_copy(&position->shift, &affine_map->shift);
        return BGC_SUCCESS;
    }

    return BGC_FAILURE;
}

inline int bgc_fp64_position3_set_affine(BGC_FP64_Position3* const position, const BGC_FP64_Affine3* const affine_map)
{
    if (bgc_fp64_quaternion_set_rotation_matrix(&position->turn._versor, &affine_map->distortion) == BGC_SUCCESS) {
        bgc_fp64_vector3_copy(&position->shift, &affine_map->shift);
        return BGC_SUCCESS;
    }

    return BGC_FAILURE;
}

// ============= Get Reverse Affine ============== //

inline void bgc_fp32_position3_get_reverse_affine(BGC_FP32_Affine3* const affine_map, const BGC_FP32_Position3* const position)
{
    bgc_fp32_turn3_get_reverse_matrix(&affine_map->distortion, &position->turn);
    bgc_fp32_matrix3x3_multiply_by_vector3(&affine_map->shift, &affine_map->distortion, &position->shift);
    bgc_fp32_vector3_revert(&affine_map->shift);
}

inline void bgc_fp64_position3_get_reverse_affine(BGC_FP64_Affine3* const affine_map, const BGC_FP64_Position3* const position)
{
    bgc_fp64_turn3_get_reverse_matrix(&affine_map->distortion, &position->turn);
    bgc_fp64_matrix3x3_multiply_by_vector3(&affine_map->shift, &affine_map->distortion, &position->shift);
    bgc_fp64_vector3_revert(&affine_map->shift);
}

// ============= Set Reverse Affine ============== //

inline int bgc_fp32_position3_set_reverse_affine(BGC_FP32_Position3* const position, const BGC_FP32_Affine3* const affine_map)
{
    if (bgc_fp32_quaternion_set_rotation_matrix(&position->turn._versor, &affine_map->distortion) == BGC_SUCCESS) {
        bgc_fp32_vector3_multiply_by_matrix3x3(&position->shift, &affine_map->shift, &affine_map->distortion);
        bgc_fp32_quaternion_conjugate(&position->turn._versor);
        bgc_fp32_vector3_revert(&position->shift);
        return BGC_SUCCESS;
    }

    return BGC_FAILURE;
}

inline int bgc_fp64_position3_set_reverse_affine(BGC_FP64_Position3* const position, const BGC_FP64_Affine3* const affine_map)
{
    if (bgc_fp64_quaternion_set_rotation_matrix(&position->turn._versor, &affine_map->distortion) == BGC_SUCCESS) {
        bgc_fp64_vector3_multiply_by_matrix3x3(&position->shift, &affine_map->shift, &affine_map->distortion);
        bgc_fp64_quaternion_conjugate(&position->turn._versor);
        bgc_fp64_vector3_revert(&position->shift);
        return BGC_SUCCESS;
    }

    return BGC_FAILURE;
}

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

inline void bgc_fp32_position3_transform_point(BGC_FP32_Vector3* const transformed_point, const BGC_FP32_Position3* const position, const BGC_FP32_Vector3* const initial_point)
{
    BGC_FP32_Vector3 turned_point;
    bgc_fp32_turn3_vector(&turned_point, &position->turn, initial_point);
    bgc_fp32_vector3_add(transformed_point, &position->shift, &turned_point);
}

inline void bgc_fp64_position3_transform_point(BGC_FP64_Vector3* const transformed_point, const BGC_FP64_Position3* const position, const BGC_FP64_Vector3* const initial_point)
{
    BGC_FP64_Vector3 turned_point;
    bgc_fp64_turn3_vector(&turned_point, &position->turn, initial_point);
    bgc_fp64_vector3_add(transformed_point, &position->shift, &turned_point);
}

// ========== Transform Point Backwards ========== //

inline void bgc_fp32_position3_transform_point_back(BGC_FP32_Vector3* const transformed_point, const BGC_FP32_Position3 * const position, const BGC_FP32_Vector3 * const initial_point)
{
    BGC_FP32_Vector3 relative_point;
    bgc_fp32_vector3_subtract(&relative_point, initial_point, &position->shift);
    bgc_fp32_turn3_vector_back(transformed_point, &position->turn, &relative_point);
}

inline void bgc_fp64_position3_transform_point_back(BGC_FP64_Vector3* const transformed_point, const BGC_FP64_Position3* const position, const BGC_FP64_Vector3* const initial_point)
{
    BGC_FP64_Vector3 relative_point;
    bgc_fp64_vector3_subtract(&relative_point, initial_point, &position->shift);
    bgc_fp64_turn3_vector_back(transformed_point, &position->turn, &relative_point);
}

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

inline void bgc_fp32_position3_transform_vector(BGC_FP32_Vector3* const transformed_vector, const BGC_FP32_Position3* const position, const BGC_FP32_Vector3* const initial_vector)
{
    bgc_fp32_turn3_vector(transformed_vector, &position->turn, initial_vector);
}

inline void bgc_fp64_position3_transform_vector(BGC_FP64_Vector3* const transformed_vector, const BGC_FP64_Position3* const position, const BGC_FP64_Vector3* const initial_vector)
{
    bgc_fp64_turn3_vector(transformed_vector, &position->turn, initial_vector);
}

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

inline void bgc_fp32_position3_transform_vector_back(BGC_FP32_Vector3* const transformed_vector, const BGC_FP32_Position3* const position, const BGC_FP32_Vector3* const initial_vector)
{
    bgc_fp32_turn3_vector_back(transformed_vector, &position->turn, initial_vector);
}

inline void bgc_fp64_position3_transform_vector_back(BGC_FP64_Vector3* const transformed_vector, const BGC_FP64_Position3* const position, const BGC_FP64_Vector3* const initial_vector)
{
    bgc_fp64_turn3_vector_back(transformed_vector, &position->turn, initial_vector);
}

#endif // _BGC_POSITION_H_INCLUDED_