#include "./matrix3x3.h"

extern inline void bgc_fp32_matrix3x3_reset(BGC_FP32_Matrix3x3* const matrix);
extern inline void bgc_fp64_matrix3x3_reset(BGC_FP64_Matrix3x3* const matrix);

extern inline void bgc_fp32_matrix3x3_make_identity(BGC_FP32_Matrix3x3* const matrix);
extern inline void bgc_fp64_matrix3x3_make_identity(BGC_FP64_Matrix3x3* const matrix);

extern inline void bgc_fp32_matrix3x3_make_diagonal(BGC_FP32_Matrix3x3* const matrix, const float d1, const float d2, const float d3);
extern inline void bgc_fp64_matrix3x3_make_diagonal(BGC_FP64_Matrix3x3* const matrix, const double d1, const double d2, const double d3);

extern inline void bgc_fp32_matrix3x3_copy(BGC_FP32_Matrix3x3* const destination, const BGC_FP32_Matrix3x3* const source);
extern inline void bgc_fp64_matrix3x3_copy(BGC_FP64_Matrix3x3* const destination, const BGC_FP64_Matrix3x3* const source);

extern inline void bgc_fp32_matrix3x3_swap(BGC_FP32_Matrix3x3* const matrix1, BGC_FP32_Matrix3x3* const matrix2);
extern inline void bgc_fp64_matrix3x3_swap(BGC_FP64_Matrix3x3* const matrix1, BGC_FP64_Matrix3x3* const matrix2);

extern inline void bgc_fp64_matrix3x3_convert_to_fp32(BGC_FP32_Matrix3x3* const destination, const BGC_FP64_Matrix3x3* const source);
extern inline void bgc_fp32_matrix3x3_convert_to_fp64(BGC_FP64_Matrix3x3* const destination, const BGC_FP32_Matrix3x3* const source);

extern inline float bgc_fp32_matrix3x3_get_determinant(const BGC_FP32_Matrix3x3* const matrix);
extern inline double bgc_fp64_matrix3x3_get_determinant(const BGC_FP64_Matrix3x3* const matrix);

extern inline int bgc_fp32_matrix3x3_is_identity(const BGC_FP32_Matrix3x3* const matrix);
extern inline int bgc_fp64_matrix3x3_is_identity(const BGC_FP64_Matrix3x3* const matrix);

extern inline int bgc_fp32_matrix3x3_is_singular(const BGC_FP32_Matrix3x3* const matrix);
extern inline int bgc_fp64_matrix3x3_is_singular(const BGC_FP64_Matrix3x3* const matrix);

extern inline int bgc_fp32_matrix3x3_is_rotation(const BGC_FP32_Matrix3x3* const matrix);
extern inline int bgc_fp64_matrix3x3_is_rotation(const BGC_FP64_Matrix3x3* const matrix);

extern inline int bgc_fp32_matrix3x3_invert(BGC_FP32_Matrix3x3* const matrix);
extern inline int bgc_fp64_matrix3x3_invert(BGC_FP64_Matrix3x3* const matrix);

extern inline void bgc_fp32_matrix3x3_transpose(BGC_FP32_Matrix3x3* const matrix);
extern inline void bgc_fp64_matrix3x3_transpose(BGC_FP64_Matrix3x3* const matrix);

extern inline void bgc_fp32_matrix3x3_get_transposed(BGC_FP32_Matrix3x3* const transposed, const BGC_FP32_Matrix3x3* const matrix);
extern inline void bgc_fp64_matrix3x3_get_transposed(BGC_FP64_Matrix3x3* const transposed, const BGC_FP64_Matrix3x3* const matrix);

extern inline void bgc_fp32_matrix3x3_get_row(BGC_FP32_Vector3* const row, const BGC_FP32_Matrix3x3* const matrix, const int row_number);
extern inline void bgc_fp64_matrix3x3_get_row(BGC_FP64_Vector3* const row, const BGC_FP64_Matrix3x3* const matrix, const int row_number);

extern inline void bgc_fp32_matrix3x3_set_row(BGC_FP32_Matrix3x3* const matrix, const int row_number, const BGC_FP32_Vector3* const row);
extern inline void bgc_fp64_matrix3x3_set_row(BGC_FP64_Matrix3x3* const matrix, const int row_number, const BGC_FP64_Vector3* const row);

extern inline void bgc_fp32_matrix3x3_get_column(BGC_FP32_Vector3* const column, const BGC_FP32_Matrix3x3* const matrix, const int column_number);
extern inline void bgc_fp64_matrix3x3_get_column(BGC_FP64_Vector3* const column, const BGC_FP64_Matrix3x3* const matrix, const int column_number);

extern inline void bgc_fp32_matrix3x3_set_column(BGC_FP32_Matrix3x3* const matrix, const int column_number, const BGC_FP32_Vector3* const column);
extern inline void bgc_fp64_matrix3x3_set_column(BGC_FP64_Matrix3x3* const matrix, const int column_number, const BGC_FP64_Vector3* const column);

extern inline void bgc_fp32_matrix3x3_add(BGC_FP32_Matrix3x3* const sum, const BGC_FP32_Matrix3x3* const matrix1, const BGC_FP32_Matrix3x3* const matrix2);
extern inline void bgc_fp64_matrix3x3_add(BGC_FP64_Matrix3x3* const sum, const BGC_FP64_Matrix3x3* const matrix1, const BGC_FP64_Matrix3x3* const matrix2);

extern inline void bgc_fp32_matrix3x3_add_scaled(BGC_FP32_Matrix3x3* const sum, const BGC_FP32_Matrix3x3* const basic_matrix, const BGC_FP32_Matrix3x3* const scalable_matrix, const float scale);
extern inline void bgc_fp64_matrix3x3_add_scaled(BGC_FP64_Matrix3x3* const sum, const BGC_FP64_Matrix3x3* const basic_matrix, const BGC_FP64_Matrix3x3* const scalable_matrix, const double scale);

extern inline void bgc_fp32_matrix3x3_subtract(BGC_FP32_Matrix3x3* const difference, const BGC_FP32_Matrix3x3* const minuend, const BGC_FP32_Matrix3x3* const subtrahend);
extern inline void bgc_fp64_matrix3x3_subtract(BGC_FP64_Matrix3x3* const difference, const BGC_FP64_Matrix3x3* const minuend, const BGC_FP64_Matrix3x3* const subtrahend);

extern inline void bgc_fp32_matrix3x3_subtract_scaled(BGC_FP32_Matrix3x3* const difference, const BGC_FP32_Matrix3x3* const basic_matrix, const BGC_FP32_Matrix3x3* const scalable_matrix, const float scale);
extern inline void bgc_fp64_matrix3x3_subtract_scaled(BGC_FP64_Matrix3x3* const difference, const BGC_FP64_Matrix3x3* const basic_matrix, const BGC_FP64_Matrix3x3* const scalable_matrix, const double scale);

extern inline void bgc_fp32_matrix3x3_multiply_by_real_number(BGC_FP32_Matrix3x3* const product, const BGC_FP32_Matrix3x3* const multiplicand, const float multiplier);
extern inline void bgc_fp64_matrix3x3_multiply_by_real_number(BGC_FP64_Matrix3x3* const product, const BGC_FP64_Matrix3x3* const multiplicand, const double multiplier);

extern inline void bgc_fp32_matrix3x3_multiply_by_vector3(BGC_FP32_Vector3* const product, const BGC_FP32_Matrix3x3* const matrix, const BGC_FP32_Vector3* const vector);
extern inline void bgc_fp64_matrix3x3_multiply_by_vector3(BGC_FP64_Vector3* const product, const BGC_FP64_Matrix3x3* const matrix, const BGC_FP64_Vector3* const vector);

extern inline void bgc_fp32_matrix3x3_multiply_by_dual_vector3(BGC_FP32_DualVector3* const product, const BGC_FP32_Matrix3x3* const matrix, const BGC_FP32_DualVector3* const vector);
extern inline void bgc_fp64_matrix3x3_multiply_by_dual_vector3(BGC_FP64_DualVector3* const product, const BGC_FP64_Matrix3x3* const matrix, const BGC_FP64_DualVector3* const vector);

extern inline void _bgc_fp32_restrict_matrix3x3_multiply_by_vector3(BGC_FP32_Vector3* restrict const product, const BGC_FP32_Matrix3x3* const matrix, const BGC_FP32_Vector3* const vector);
extern inline void _bgc_fp64_restrict_matrix3x3_multiply_by_vector3(BGC_FP64_Vector3* restrict const product, const BGC_FP64_Matrix3x3* const matrix, const BGC_FP64_Vector3* const vector);

extern inline void _bgc_fp32_restrict_matrix3x3_multiply_by_dual_vector3(BGC_FP32_DualVector3* restrict const product, const BGC_FP32_Matrix3x3* const matrix, const BGC_FP32_DualVector3* const vector);
extern inline void _bgc_fp64_restrict_matrix3x3_multiply_by_dual_vector3(BGC_FP64_DualVector3* restrict const product, const BGC_FP64_Matrix3x3* const matrix, const BGC_FP64_DualVector3* const vector);

extern inline void bgc_fp32_matrix3x3_multiply_by_matrix2x3(BGC_FP32_Matrix2x3* const product, const BGC_FP32_Matrix3x3* const matrix1, const BGC_FP32_Matrix2x3* const matrix2);
extern inline void bgc_fp64_matrix3x3_multiply_by_matrix2x3(BGC_FP64_Matrix2x3* const product, const BGC_FP64_Matrix3x3* const matrix1, const BGC_FP64_Matrix2x3* const matrix2);

extern inline void bgc_fp32_matrix3x3_multiply_by_matrix3x3(BGC_FP32_Matrix3x3* const product, const BGC_FP32_Matrix3x3* const matrix1, const BGC_FP32_Matrix3x3* const matrix2);
extern inline void bgc_fp64_matrix3x3_multiply_by_matrix3x3(BGC_FP64_Matrix3x3* const product, const BGC_FP64_Matrix3x3* const matrix1, const BGC_FP64_Matrix3x3* const matrix2);

extern inline int bgc_fp32_matrix3x3_divide_by_real_number(BGC_FP32_Matrix3x3* const quotient, const BGC_FP32_Matrix3x3* const dividend, const float divisor);
extern inline int bgc_fp64_matrix3x3_divide_by_real_number(BGC_FP64_Matrix3x3* const quotient, const BGC_FP64_Matrix3x3* const dividend, const double divisor);

extern inline void bgc_fp32_matrix3x3_get_mean2(BGC_FP32_Matrix3x3* const mean, const BGC_FP32_Matrix3x3* const term1, const BGC_FP32_Matrix3x3* const term2);
extern inline void bgc_fp64_matrix3x3_get_mean2(BGC_FP64_Matrix3x3* const mean, const BGC_FP64_Matrix3x3* const term1, const BGC_FP64_Matrix3x3* const term2);

extern inline void bgc_fp32_matrix3x3_get_mean3(BGC_FP32_Matrix3x3* const mean, const BGC_FP32_Matrix3x3* const term1, const BGC_FP32_Matrix3x3* const term2, const BGC_FP32_Matrix3x3* const term3);
extern inline void bgc_fp64_matrix3x3_get_mean3(BGC_FP64_Matrix3x3* const mean, const BGC_FP64_Matrix3x3* const term1, const BGC_FP64_Matrix3x3* const term2, const BGC_FP64_Matrix3x3* const term3);

extern inline void bgc_fp32_matrix3x3_interpolate(BGC_FP32_Matrix3x3* const interpolation, const BGC_FP32_Matrix3x3* const first, const BGC_FP32_Matrix3x3* const second, const float phase);
extern inline void bgc_fp64_matrix3x3_interpolate(BGC_FP64_Matrix3x3* const interpolation, const BGC_FP64_Matrix3x3* const first, const BGC_FP64_Matrix3x3* const second, const double phase);

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

int bgc_fp32_matrix3x3_get_inverse(BGC_FP32_Matrix3x3* const inverse, const BGC_FP32_Matrix3x3* const matrix)
{
    const float determinant = bgc_fp32_matrix3x3_get_determinant(matrix);

    if (bgc_fp32_is_zero(determinant)) {
        return BGC_FAILURE;
    }

    const float r1c1 = matrix->r2c2 * matrix->r3c3 - matrix->r2c3 * matrix->r3c2;
    const float r1c2 = matrix->r1c3 * matrix->r3c2 - matrix->r1c2 * matrix->r3c3;
    const float r1c3 = matrix->r1c2 * matrix->r2c3 - matrix->r1c3 * matrix->r2c2;

    const float r2c1 = matrix->r2c3 * matrix->r3c1 - matrix->r2c1 * matrix->r3c3;
    const float r2c2 = matrix->r1c1 * matrix->r3c3 - matrix->r1c3 * matrix->r3c1;
    const float r2c3 = matrix->r1c3 * matrix->r2c1 - matrix->r1c1 * matrix->r2c3;

    const float r3c1 = matrix->r2c1 * matrix->r3c2 - matrix->r2c2 * matrix->r3c1;
    const float r3c2 = matrix->r1c2 * matrix->r3c1 - matrix->r1c1 * matrix->r3c2;
    const float r3c3 = matrix->r1c1 * matrix->r2c2 - matrix->r1c2 * matrix->r2c1;

    const float multiplier = 1.0f / determinant;

    inverse->r1c1 = r1c1 * multiplier;
    inverse->r1c2 = r1c2 * multiplier;
    inverse->r1c3 = r1c3 * multiplier;

    inverse->r2c1 = r2c1 * multiplier;
    inverse->r2c2 = r2c2 * multiplier;
    inverse->r2c3 = r2c3 * multiplier;

    inverse->r3c1 = r3c1 * multiplier;
    inverse->r3c2 = r3c2 * multiplier;
    inverse->r3c3 = r3c3 * multiplier;

    return BGC_SUCCESS;
}

int bgc_fp64_matrix3x3_get_inverse(BGC_FP64_Matrix3x3* const inverse, const BGC_FP64_Matrix3x3* const matrix)
{
    const double determinant = bgc_fp64_matrix3x3_get_determinant(matrix);

    if (bgc_fp64_is_zero(determinant)) {
        return BGC_FAILURE;
    }

    const double r1c1 = matrix->r2c2 * matrix->r3c3 - matrix->r2c3 * matrix->r3c2;
    const double r1c2 = matrix->r1c3 * matrix->r3c2 - matrix->r1c2 * matrix->r3c3;
    const double r1c3 = matrix->r1c2 * matrix->r2c3 - matrix->r1c3 * matrix->r2c2;

    const double r2c1 = matrix->r2c3 * matrix->r3c1 - matrix->r2c1 * matrix->r3c3;
    const double r2c2 = matrix->r1c1 * matrix->r3c3 - matrix->r1c3 * matrix->r3c1;
    const double r2c3 = matrix->r1c3 * matrix->r2c1 - matrix->r1c1 * matrix->r2c3;

    const double r3c1 = matrix->r2c1 * matrix->r3c2 - matrix->r2c2 * matrix->r3c1;
    const double r3c2 = matrix->r1c2 * matrix->r3c1 - matrix->r1c1 * matrix->r3c2;
    const double r3c3 = matrix->r1c1 * matrix->r2c2 - matrix->r1c2 * matrix->r2c1;

    const double multiplier = 1.0 / determinant;

    inverse->r1c1 = r1c1 * multiplier;
    inverse->r1c2 = r1c2 * multiplier;
    inverse->r1c3 = r1c3 * multiplier;

    inverse->r2c1 = r2c1 * multiplier;
    inverse->r2c2 = r2c2 * multiplier;
    inverse->r2c3 = r2c3 * multiplier;

    inverse->r3c1 = r3c1 * multiplier;
    inverse->r3c2 = r3c2 * multiplier;
    inverse->r3c3 = r3c3 * multiplier;

    return BGC_SUCCESS;
}