#ifndef _BGC_POSITION3_H_INCLUDED_
#define _BGC_POSITION3_H_INCLUDED_

#include "vector3.h"
#include "affine3.h"
#include "versor.h"

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

typedef struct {
    BGC_FP32_Versor turn;
    BGC_FP32_Vector3 shift;
} BGC_FP32_Position3;

typedef struct {
    BGC_FP64_Versor turn;
    BGC_FP64_Vector3 shift;
} BGC_FP64_Position3;

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

inline void bgc_fp32_position3_reset(BGC_FP32_Position3 * position)
{
    bgc_fp32_versor_reset(&position->turn);
    bgc_fp32_vector3_reset(&position->shift);
}

inline void bgc_fp64_position3_reset(BGC_FP64_Position3 * position)
{
    bgc_fp64_versor_reset(&position->turn);
    bgc_fp64_vector3_reset(&position->shift);
}

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

inline void bgc_fp32_position3_make(const BGC_FP32_Versor * turn, const BGC_FP32_Vector3 * shift, BGC_FP32_Position3 * position)
{
    bgc_fp32_versor_copy(turn, &position->turn);
    bgc_fp32_vector3_copy(shift, &position->shift);
}

inline void bgc_fp64_position3_make(const BGC_FP64_Versor * turn, const BGC_FP64_Vector3 * shift, BGC_FP64_Position3 * position)
{
    bgc_fp64_versor_copy(turn, &position->turn);
    bgc_fp64_vector3_copy(shift, &position->shift);
}

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

inline void bgc_fp32_position3_copy(const BGC_FP32_Position3 * source, BGC_FP32_Position3 * destination)
{
    bgc_fp32_versor_copy(&source->turn, &destination->turn);
    bgc_fp32_vector3_copy(&source->shift, &destination->shift);
}

inline void bgc_fp64_position3_copy(const BGC_FP64_Position3 * source, BGC_FP64_Position3 * destination)
{
    bgc_fp64_versor_copy(&source->turn, &destination->turn);
    bgc_fp64_vector3_copy(&source->shift, &destination->shift);
}

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

inline void bgc_fp32_position3_swap(BGC_FP32_Position3 * first, BGC_FP32_Position3 * second)
{
    bgc_fp32_versor_swap(&first->turn, &second->turn);
    bgc_fp32_vector3_swap(&first->shift, &second->shift);
}

inline void bgc_fp64_position3_swap(BGC_FP64_Position3 * first, BGC_FP64_Position3 * second)
{
    bgc_fp64_versor_swap(&first->turn, &second->turn);
    bgc_fp64_vector3_swap(&first->shift, &second->shift);
}

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

inline void bgc_fp64_position3_convert_to_fp32(const BGC_FP64_Position3 * source, BGC_FP32_Position3 * destination)
{
    bgc_fp64_versor_convert_to_fp32(&source->turn, &destination->turn);
    bgc_fp64_vector3_convert_to_fp32(&source->shift, &destination->shift);
}

inline void bgc_fp32_position3_convert_to_fp64(const BGC_FP32_Position3 * source, BGC_FP64_Position3 * destination)
{
    bgc_fp32_versor_convert_to_fp64(&source->turn, &destination->turn);
    bgc_fp32_vector3_convert_to_fp64(&source->shift, &destination->shift);
}

// =================== Is Idle =================== //

inline int bgc_fp32_position3_is_idle(const BGC_FP32_Position3 * position)
{
    return bgc_fp32_vector3_is_zero(&position->shift) && bgc_fp32_versor_is_idle(&position->turn);
}

inline int bgc_fp64_position3_is_idle(const BGC_FP64_Position3 * position)
{
    return bgc_fp64_vector3_is_zero(&position->shift) && bgc_fp64_versor_is_idle(&position->turn);
}

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

inline void bgc_fp32_position3_invert(BGC_FP32_Position3 * position)
{
    bgc_fp32_versor_turn_vector_back(&position->turn, &position->shift, &position->shift);
    bgc_fp32_versor_revert(&position->turn);
    bgc_fp32_vector3_revert(&position->shift);
}

inline void bgc_fp64_position3_invert(BGC_FP64_Position3 * position)
{
    bgc_fp64_versor_turn_vector_back(&position->turn, &position->shift, &position->shift);
    bgc_fp64_versor_revert(&position->turn);
    bgc_fp64_vector3_revert(&position->shift);
}

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

inline void bgc_fp32_position3_get_inverse(const BGC_FP32_Position3 * position, BGC_FP32_Position3 * inverted)
{
    bgc_fp32_versor_turn_vector_back(&position->turn, &position->shift, &inverted->shift);
    bgc_fp32_versor_get_reverse(&position->turn, &inverted->turn);
    bgc_fp32_vector3_revert(&inverted->shift);
}

inline void bgc_fp64_position3_get_inverse(const BGC_FP64_Position3 * position, BGC_FP64_Position3 * inverted)
{
    bgc_fp64_versor_turn_vector_back(&position->turn, &position->shift, &inverted->shift);
    bgc_fp64_versor_get_reverse(&position->turn, &inverted->turn);
    bgc_fp64_vector3_revert(&inverted->shift);
}

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

inline void bgc_fp32_position3_combine(const BGC_FP32_Position3 * first, const BGC_FP32_Position3 * second, BGC_FP32_Position3 * combination)
{
    BGC_FP32_Vector3 relative_shift;
    bgc_fp32_versor_turn_vector(&second->turn, &first->shift, &relative_shift);
    bgc_fp32_versor_combine(&first->turn, &second->turn, &combination->turn);
    bgc_fp32_vector3_add(&relative_shift, &second->shift, &combination->shift);
}

inline void bgc_fp64_position3_combine(const BGC_FP64_Position3 * first, const BGC_FP64_Position3 * second, BGC_FP64_Position3 * combination)
{
    BGC_FP64_Vector3 relative_shift;
    bgc_fp64_versor_turn_vector(&second->turn, &first->shift, &relative_shift);
    bgc_fp64_versor_combine(&first->turn, &second->turn, &combination->turn);
    bgc_fp64_vector3_add(&relative_shift, &second->shift, &combination->shift);
}

// =================== Exclude =================== //

inline void bgc_fp32_position3_exclude(const BGC_FP32_Position3 * base, const BGC_FP32_Position3 * excludant, BGC_FP32_Position3 * difference)
{
    BGC_FP32_Vector3 relative_shift;
    bgc_fp32_vector3_subtract(&base->shift, &excludant->shift, &relative_shift);
    bgc_fp32_versor_turn_vector_back(&excludant->turn, &relative_shift, &difference->shift);
    bgc_fp32_versor_exclude(&base->turn, &excludant->turn, &difference->turn);
}

inline void bgc_fp64_position3_exclude(const BGC_FP64_Position3 * base, const BGC_FP64_Position3 * excludant, BGC_FP64_Position3 * difference)
{
    BGC_FP64_Vector3 relative_shift;
    bgc_fp64_vector3_subtract(&base->shift, &excludant->shift, &relative_shift);
    bgc_fp64_versor_turn_vector_back(&excludant->turn, &relative_shift, &difference->shift);
    bgc_fp64_versor_exclude(&base->turn, &excludant->turn, &difference->turn);
}

// ============= Get Outward Affine ============== //

inline void bgc_fp32_position3_get_outward_affine(const BGC_FP32_Position3 * position, BGC_FP32_Affine3 * outward_affine_map)
{
    bgc_fp32_versor_get_rotation_matrix(&position->turn, &outward_affine_map->distortion);
    bgc_fp32_vector3_copy(&position->shift, &outward_affine_map->shift);
}

inline void bgc_fp64_position3_get_outward_affine(const BGC_FP64_Position3 * position, BGC_FP64_Affine3 * outward_affine_map)
{
    bgc_fp64_versor_get_rotation_matrix(&position->turn, &outward_affine_map->distortion);
    bgc_fp64_vector3_copy(&position->shift, &outward_affine_map->shift);
}

// ============== Get Inward Affine ============== //

inline void bgc_fp32_position3_get_inward_affine(const BGC_FP32_Position3 * position, BGC_FP32_Affine3 * inward_affine_map)
{
    bgc_fp32_versor_get_reverse_matrix(&position->turn, &inward_affine_map->distortion);
    bgc_fp32_multiply_matrix3x3_by_vector3(&inward_affine_map->distortion, &position->shift, &inward_affine_map->shift);
    bgc_fp32_vector3_revert(&inward_affine_map->shift);
}

inline void bgc_fp64_position3_get_inward_affine(const BGC_FP64_Position3 * position, BGC_FP64_Affine3 * inward_affine_map)
{
    bgc_fp64_versor_get_reverse_matrix(&position->turn, &inward_affine_map->distortion);
    bgc_fp64_multiply_matrix3x3_by_vector3(&inward_affine_map->distortion, &position->shift, &inward_affine_map->shift);
    bgc_fp64_vector3_revert(&inward_affine_map->shift);
}

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

inline void bgc_fp32_position3_transform_point_outwards(const BGC_FP32_Position3 * position, const BGC_FP32_Vector3 * inner_point, BGC_FP32_Vector3 * outer_point)
{
    BGC_FP32_Vector3 turned_point;
    bgc_fp32_versor_turn_vector(&position->turn, inner_point, &turned_point);
    bgc_fp32_vector3_add(&position->shift, &turned_point, outer_point);
}

inline void bgc_fp64_position3_transform_point_outwards(const BGC_FP64_Position3 * position, const BGC_FP64_Vector3 * inner_point, BGC_FP64_Vector3 * outer_point)
{
    BGC_FP64_Vector3 turned_point;
    bgc_fp64_versor_turn_vector(&position->turn, inner_point, &turned_point);
    bgc_fp64_vector3_add(&position->shift, &turned_point, outer_point);
}

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

inline void bgc_fp32_position3_transform_point_inwards(const BGC_FP32_Position3 * position, const BGC_FP32_Vector3 * outer_point, BGC_FP32_Vector3 * inner_point)
{
    BGC_FP32_Vector3 relative_point;
    bgc_fp32_vector3_subtract(outer_point, &position->shift, &relative_point);
    bgc_fp32_versor_turn_vector_back(&position->turn, &relative_point, inner_point);

}

inline void bgc_fp64_position3_transform_point_inwards(const BGC_FP64_Position3 * position, const BGC_FP64_Vector3 * outer_point, BGC_FP64_Vector3 * inner_point)
{
    BGC_FP64_Vector3 relative_point;
    bgc_fp64_vector3_subtract(outer_point, &position->shift, &relative_point);
    bgc_fp64_versor_turn_vector_back(&position->turn, &relative_point, inner_point);

}

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

inline void bgc_fp32_position3_transform_vector_outwards(const BGC_FP32_Position3 * position, const BGC_FP32_Vector3 * inner_vector, BGC_FP32_Vector3 * outer_vector)
{
    bgc_fp32_versor_turn_vector(&position->turn, inner_vector, outer_vector);
}

inline void bgc_fp64_position3_transform_vector_outwards(const BGC_FP64_Position3 * position, const BGC_FP64_Vector3 * inner_vector, BGC_FP64_Vector3 * outer_vector)
{
    bgc_fp64_versor_turn_vector(&position->turn, inner_vector, outer_vector);
}

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

inline void bgc_fp32_position3_transform_vector_inwards(const BGC_FP32_Position3 * position, const BGC_FP32_Vector3 * outer_vector, BGC_FP32_Vector3 * inner_vector)
{
    bgc_fp32_versor_turn_vector_back(&position->turn, outer_vector, inner_vector);
}

inline void bgc_fp64_position3_transform_vector_inwards(const BGC_FP64_Position3 * position, const BGC_FP64_Vector3 * outer_vector, BGC_FP64_Vector3 * inner_vector)
{
    bgc_fp64_versor_turn_vector_back(&position->turn, outer_vector, inner_vector);
}

#endif // _BGC_POSITION_H_INCLUDED_