#ifndef _BGC_AFFINE3_H_INCLUDED_
#define _BGC_AFFINE3_H_INCLUDED_

#include "vector3.h"
#include "matrixes.h"
#include "matrix3x3.h"

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

typedef struct {
    BGC_FP32_Matrix3x3 distortion;
    BGC_FP32_Vector3 shift;
} BGC_FP32_Affine3;

typedef struct {
    BGC_FP64_Matrix3x3 distortion;
    BGC_FP64_Vector3 shift;
} BGC_FP64_Affine3;

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

inline void bgc_fp32_affine3_reset(BGC_FP32_Affine3 * affine)
{
    bgc_fp32_matrix3x3_make_identity(&affine->distortion);
    bgc_fp32_vector3_reset(&affine->shift);
}

inline void bgc_fp64_affine3_reset(BGC_FP64_Affine3 * affine)
{
    bgc_fp64_matrix3x3_make_identity(&affine->distortion);
    bgc_fp64_vector3_reset(&affine->shift);
}

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

inline void bgc_fp32_affine3_make(const BGC_FP32_Matrix3x3 * distortion, const BGC_FP32_Vector3 * shift, BGC_FP32_Affine3 * affine)
{
    bgc_fp32_matrix3x3_copy(distortion, &affine->distortion);
    bgc_fp32_vector3_copy(shift, &affine->shift);
}

inline void bgc_fp64_affine3_make(const BGC_FP64_Matrix3x3 * distortion, const BGC_FP64_Vector3 * shift, BGC_FP64_Affine3 * affine)
{
    bgc_fp64_matrix3x3_copy(distortion, &affine->distortion);
    bgc_fp64_vector3_copy(shift, &affine->shift);
}

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

inline void bgc_fp32_affine3_copy(const BGC_FP32_Affine3 * source, BGC_FP32_Affine3 * destination)
{
    bgc_fp32_matrix3x3_copy(&source->distortion, &destination->distortion);
    bgc_fp32_vector3_copy(&source->shift, &destination->shift);
}

inline void bgc_fp64_affine3_copy(const BGC_FP64_Affine3 * source, BGC_FP64_Affine3 * destination)
{
    bgc_fp64_matrix3x3_copy(&source->distortion, &destination->distortion);
    bgc_fp64_vector3_copy(&source->shift, &destination->shift);
}

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

inline void bgc_fp32_affine3_swap(BGC_FP32_Affine3 * first, BGC_FP32_Affine3 * second)
{
    bgc_fp32_matrix3x3_copy(&first->distortion, &second->distortion);
    bgc_fp32_vector3_copy(&first->shift, &second->shift);
}

inline void bgc_fp64_affine3_swap(BGC_FP64_Affine3 * first, BGC_FP64_Affine3 * second)
{
    bgc_fp64_matrix3x3_copy(&first->distortion, &second->distortion);
    bgc_fp64_vector3_copy(&first->shift, &second->shift);
}

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

inline void bgc_fp64_affine3_convert_to_fp32(const BGC_FP64_Affine3 * source, BGC_FP32_Affine3 * destination)
{
    bgc_fp64_matrix3x3_convert_to_fp32(&source->distortion, &destination->distortion);
    bgc_fp64_vector3_convert_to_fp32(&source->shift, &destination->shift);
}

inline void bgc_fp32_affine3_convert_to_fp64(const BGC_FP32_Affine3 * source, BGC_FP64_Affine3 * destination)
{
    bgc_fp32_matrix3x3_convert_to_fp64(&source->distortion, &destination->distortion);
    bgc_fp32_vector3_convert_to_fp64(&source->shift, &destination->shift);
}

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

inline int bgc_fp32_affine3_invert(BGC_FP32_Affine3 * affine)
{
    if (!bgc_fp32_matrix3x3_invert(&affine->distortion)) {
        return 0;
    }

    bgc_fp32_multiply_matrix3x3_by_vector3(&affine->distortion, &affine->shift, &affine->shift);
    bgc_fp32_vector3_revert(&affine->shift);

    return 1;
}

inline int bgc_fp64_affine3_invert(BGC_FP64_Affine3 * affine)
{
    if (!bgc_fp64_matrix3x3_invert(&affine->distortion)) {
        return 0;
    }

    bgc_fp64_multiply_matrix3x3_by_vector3(&affine->distortion, &affine->shift, &affine->shift);
    bgc_fp64_vector3_revert(&affine->shift);

    return 1;
}

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

inline int bgc_fp32_affine3_get_inverse(const BGC_FP32_Affine3 * source, BGC_FP32_Affine3 * destination)
{
    if (!bgc_fp32_matrix3x3_get_inverse(&source->distortion, &destination->distortion)) {
        return 0;
    }

    bgc_fp32_multiply_matrix3x3_by_vector3(&destination->distortion, &source->shift, &destination->shift);
    bgc_fp32_vector3_revert(&destination->shift);

    return 1;
}

inline int bgc_fp64_affine3_get_inverse(const BGC_FP64_Affine3 * source, BGC_FP64_Affine3 * destination)
{
    if (!bgc_fp64_matrix3x3_get_inverse(&source->distortion, &destination->distortion)) {
        return 0;
    }

    bgc_fp64_multiply_matrix3x3_by_vector3(&destination->distortion, &source->shift, &destination->shift);
    bgc_fp64_vector3_revert(&destination->shift);

    return 1;
}

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

inline void bgc_fp32_affine3_combine(const BGC_FP32_Affine3 * first, const BGC_FP32_Affine3 * second, BGC_FP32_Affine3 * combination)
{
    BGC_FP32_Vector3 first_shift;
    bgc_fp32_multiply_matrix3x3_by_vector3(&second->distortion, &first->shift, &first_shift);
    bgc_fp32_multiply_matrix3x3_by_matrix3x3(&second->distortion, &first->distortion, &combination->distortion);
    bgc_fp32_vector3_add(&first_shift, &second->shift, &combination->shift);
}

inline void bgc_fp64_affine3_combine(const BGC_FP64_Affine3 * first, const BGC_FP64_Affine3 * second, BGC_FP64_Affine3 * combination)
{
    BGC_FP64_Vector3 first_shift;
    bgc_fp64_multiply_matrix3x3_by_vector3(&second->distortion, &first->shift, &first_shift);
    bgc_fp64_multiply_matrix3x3_by_matrix3x3(&second->distortion, &first->distortion, &combination->distortion);
    bgc_fp64_vector3_add(&first_shift, &second->shift, &combination->shift);
}

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

inline void bgc_fp32_affine3_transform_point(const BGC_FP32_Affine3 * affine, const BGC_FP32_Vector3 * initial_point, BGC_FP32_Vector3 * transformed_point)
{
    BGC_FP32_Vector3 distorted;
    bgc_fp32_multiply_matrix3x3_by_vector3(&affine->distortion, initial_point, &distorted);
    bgc_fp32_vector3_add(&affine->shift, &distorted, transformed_point);
}

inline void bgc_fp64_affine3_transform_point(const BGC_FP64_Affine3 * affine, const BGC_FP64_Vector3 * initial_point, BGC_FP64_Vector3 * transformed_point)
{
    BGC_FP64_Vector3 distorted;
    bgc_fp64_multiply_matrix3x3_by_vector3(&affine->distortion, initial_point, &distorted);
    bgc_fp64_vector3_add(&affine->shift, &distorted, transformed_point);
}

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

inline void bgc_fp32_affine3_transform_vector(const BGC_FP32_Affine3 * affine, const BGC_FP32_Vector3 * initial_vector, BGC_FP32_Vector3 * transformed_vector)
{
    bgc_fp32_multiply_matrix3x3_by_vector3(&affine->distortion, initial_vector, transformed_vector);
}

inline void bgc_fp64_affine3_transform_vector(const BGC_FP64_Affine3 * affine, const BGC_FP64_Vector3 * initial_vector, BGC_FP64_Vector3 * transformed_vector)
{
    bgc_fp64_multiply_matrix3x3_by_vector3(&affine->distortion, initial_vector, transformed_vector);
}

#endif