#include "vector3.h"

extern inline void bgc_fp32_vector3_reset(BGC_FP32_Vector3* vector);
extern inline void bgc_fp64_vector3_reset(BGC_FP64_Vector3* vector);

extern inline void bgc_fp32_vector3_make(const float x1, const float x2, const float x3, BGC_FP32_Vector3* destination);
extern inline void bgc_fp64_vector3_make(const double x1, const double x2, const double x3, BGC_FP64_Vector3* destination);

extern inline float bgc_fp32_vector3_get_square_modulus(const BGC_FP32_Vector3* vector);
extern inline double bgc_fp64_vector3_get_square_modulus(const BGC_FP64_Vector3* vector);

extern inline float bgc_fp32_vector3_get_modulus(const BGC_FP32_Vector3* vector);
extern inline double bgc_fp64_vector3_get_modulus(const BGC_FP64_Vector3* vector);

extern inline int bgc_fp32_vector3_is_zero(const BGC_FP32_Vector3* vector);
extern inline int bgc_fp64_vector3_is_zero(const BGC_FP64_Vector3* vector);

extern inline int bgc_fp32_vector3_is_unit(const BGC_FP32_Vector3* vector);
extern inline int bgc_fp64_vector3_is_unit(const BGC_FP64_Vector3* vector);

extern inline void bgc_fp32_vector3_copy(const BGC_FP32_Vector3* source, BGC_FP32_Vector3* destination);
extern inline void bgc_fp64_vector3_copy(const BGC_FP64_Vector3* source, BGC_FP64_Vector3* destination);

extern inline void bgc_fp32_vector3_convert_to_fp64(const BGC_FP32_Vector3* source, BGC_FP64_Vector3* destination);
extern inline void bgc_fp64_vector3_convert_to_fp32(const BGC_FP64_Vector3* source, BGC_FP32_Vector3* destination);

extern inline void bgc_fp32_vector3_swap(BGC_FP32_Vector3* vector1, BGC_FP32_Vector3* vector2);
extern inline void bgc_fp64_vector3_swap(BGC_FP64_Vector3* vector1, BGC_FP64_Vector3* vector2);

extern inline void bgc_fp32_vector3_add(const BGC_FP32_Vector3* vector1, const BGC_FP32_Vector3* vector2, BGC_FP32_Vector3* sum);
extern inline void bgc_fp64_vector3_add(const BGC_FP64_Vector3* vector1, const BGC_FP64_Vector3* vector2, BGC_FP64_Vector3* sum);

extern inline void bgc_fp32_vector3_add_scaled(const BGC_FP32_Vector3* basic_vector, const BGC_FP32_Vector3* scalable_vector, const float scale, BGC_FP32_Vector3* sum);
extern inline void bgc_fp64_vector3_add_scaled(const BGC_FP64_Vector3* basic_vector, const BGC_FP64_Vector3* scalable_vector, const double scale, BGC_FP64_Vector3* sum);

extern inline void bgc_fp32_vector3_subtract(const BGC_FP32_Vector3* minuend, const BGC_FP32_Vector3* subtrahend, BGC_FP32_Vector3* difference);
extern inline void bgc_fp64_vector3_subtract(const BGC_FP64_Vector3* minuend, const BGC_FP64_Vector3* subtrahend, BGC_FP64_Vector3* difference);

extern inline void bgc_fp32_vector3_multiply(const BGC_FP32_Vector3* multiplicand, const float multiplier, BGC_FP32_Vector3* product);
extern inline void bgc_fp64_vector3_multiply(const BGC_FP64_Vector3* multiplicand, const double multiplier, BGC_FP64_Vector3* product);

extern inline void bgc_fp32_vector3_divide(const BGC_FP32_Vector3* dividend, const float divisor, BGC_FP32_Vector3* quotient);
extern inline void bgc_fp64_vector3_divide(const BGC_FP64_Vector3* dividend, const double divisor, BGC_FP64_Vector3* quotient);

extern inline void bgc_fp32_vector3_get_middle2(const BGC_FP32_Vector3* vector1, const BGC_FP32_Vector3* vector2, BGC_FP32_Vector3* middle);
extern inline void bgc_fp64_vector3_get_middle2(const BGC_FP64_Vector3* vector1, const BGC_FP64_Vector3* vector2, BGC_FP64_Vector3* middle);

extern inline void bgc_fp32_vector3_get_middle3(const BGC_FP32_Vector3* vector1, const BGC_FP32_Vector3* vector2, const BGC_FP32_Vector3* vector3, BGC_FP32_Vector3* middle);
extern inline void bgc_fp64_vector3_get_middle3(const BGC_FP64_Vector3* vector1, const BGC_FP64_Vector3* vector2, const BGC_FP64_Vector3* vector3, BGC_FP64_Vector3* middle);

extern inline void bgc_fp32_vector3_interpolate(const BGC_FP32_Vector3* vector1, const BGC_FP32_Vector3* vector2, const float phase, BGC_FP32_Vector3* interpolation);
extern inline void bgc_fp64_vector3_interpolate(const BGC_FP64_Vector3* vector1, const BGC_FP64_Vector3* vector2, const double phase, BGC_FP64_Vector3* interpolation);

extern inline void bgc_fp32_vector3_revert(BGC_FP32_Vector3* vector);
extern inline void bgc_fp64_vector3_revert(BGC_FP64_Vector3* vector);

extern inline void bgc_fp32_vector3_get_reverse(const BGC_FP32_Vector3* vector, BGC_FP32_Vector3* reverse);
extern inline void bgc_fp64_vector3_get_reverse(const BGC_FP64_Vector3* vector, BGC_FP64_Vector3* reverse);

extern inline int bgc_fp32_vector3_normalize(BGC_FP32_Vector3* vector);
extern inline int bgc_fp64_vector3_normalize(BGC_FP64_Vector3* vector);

extern inline int bgc_fp32_vector3_get_normalized(const BGC_FP32_Vector3* vector, BGC_FP32_Vector3* normalized);
extern inline int bgc_fp64_vector3_get_normalized(const BGC_FP64_Vector3* vector, BGC_FP64_Vector3* normalized);

extern inline float bgc_fp32_vector3_get_dot_product(const BGC_FP32_Vector3* vector1, const BGC_FP32_Vector3* vector2);
extern inline double bgc_fp64_vector3_get_dot_product(const BGC_FP64_Vector3* vector1, const BGC_FP64_Vector3* vector2);

extern inline float bgc_fp32_vector3_get_triple_product(const BGC_FP32_Vector3* vector1, const BGC_FP32_Vector3* vector2, const BGC_FP32_Vector3* vector3);
extern inline double bgc_fp64_vector3_get_triple_product(const BGC_FP64_Vector3* vector1, const BGC_FP64_Vector3* vector2, const BGC_FP64_Vector3* vector3);

extern inline void bgc_fp32_vector3_get_cross_product(const BGC_FP32_Vector3* vector1, const BGC_FP32_Vector3* vector2, BGC_FP32_Vector3* result);
extern inline void bgc_fp64_vector3_get_cross_product(const BGC_FP64_Vector3* vector1, const BGC_FP64_Vector3* vector2, BGC_FP64_Vector3* result);

extern inline void bgc_fp32_vector3_get_double_cross(const BGC_FP32_Vector3* vector1, const BGC_FP32_Vector3* vector2, const BGC_FP32_Vector3* vector3, BGC_FP32_Vector3* result);
extern inline void bgc_fp64_vector3_get_double_cross(const BGC_FP64_Vector3* vector1, const BGC_FP64_Vector3* vector2, const BGC_FP64_Vector3* vector3, BGC_FP64_Vector3* result);

extern inline float bgc_fp32_vector3_get_square_distance(const BGC_FP32_Vector3* vector1, const BGC_FP32_Vector3* vector2);
extern inline double bgc_fp64_vector3_get_square_distance(const BGC_FP64_Vector3* vector1, const BGC_FP64_Vector3* vector2);

extern inline float bgc_fp32_vector3_get_distance(const BGC_FP32_Vector3* vector1, const BGC_FP32_Vector3* vector2);
extern inline double bgc_fp64_vector3_get_distance(const BGC_FP64_Vector3* vector1, const BGC_FP64_Vector3* vector2);

extern inline int bgc_fp32_vector3_are_close_enough(const BGC_FP32_Vector3* vector1, const BGC_FP32_Vector3* vector2, const float distance);
extern inline int bgc_fp64_vector3_are_close_enough(const BGC_FP64_Vector3* vector1, const BGC_FP64_Vector3* vector2, const double distance);

extern inline int bgc_fp32_vector3_are_close(const BGC_FP32_Vector3* vector1, const BGC_FP32_Vector3* vector2);
extern inline int bgc_fp64_vector3_are_close(const BGC_FP64_Vector3* vector1, const BGC_FP64_Vector3* vector2);

extern inline int bgc_fp32_vector3_are_parallel(const BGC_FP32_Vector3* vector1, const BGC_FP32_Vector3* vector2);
extern inline int bgc_fp64_vector3_are_parallel(const BGC_FP64_Vector3* vector1, const BGC_FP64_Vector3* vector2);

extern inline int bgc_fp32_vector3_are_orthogonal(const BGC_FP32_Vector3* vector1, const BGC_FP32_Vector3* vector2);
extern inline int bgc_fp64_vector3_are_orthogonal(const BGC_FP64_Vector3* vector1, const BGC_FP64_Vector3* vector2);

extern inline int bgc_fp32_vector3_get_attitude(const BGC_FP32_Vector3* vector1, const BGC_FP32_Vector3* vector2);
extern inline int bgc_fp64_vector3_get_attitude(const BGC_FP64_Vector3* vector1, const BGC_FP64_Vector3* vector2);

// =================== Angle ==================== //

float bgc_fp32_vector3_get_angle(const BGC_FP32_Vector3* vector1, const BGC_FP32_Vector3* vector2, const int angle_unit)
{
    const float square_modulus1 = bgc_fp32_vector3_get_square_modulus(vector1);

    // square_modulus1 != square_modulus1 is check for NaN value at square_modulus1
    if (square_modulus1 <= BGC_FP32_SQUARE_EPSYLON || square_modulus1 != square_modulus1) {
        return 0.0f;
    }

    const float square_modulus2 = bgc_fp32_vector3_get_square_modulus(vector2);

    // square_modulus2 != square_modulus2 is check for NaN value at square_modulus2
    if (square_modulus2 <= BGC_FP32_SQUARE_EPSYLON || square_modulus2 != square_modulus2) {
        return 0.0f;
    }

    BGC_FP32_Vector3 cross_product;

    bgc_fp32_vector3_get_cross_product(vector1, vector2, &cross_product);

    const float scalar = bgc_fp32_vector3_get_dot_product(vector1, vector2);

    const float cross = bgc_fp32_vector3_get_modulus(&cross_product);

    return bgc_fp32_radians_to_units(atan2f(cross, scalar), angle_unit);
}

double bgc_fp64_vector3_get_angle(const BGC_FP64_Vector3* vector1, const BGC_FP64_Vector3* vector2, const int angle_unit)
{
    const double square_modulus1 = bgc_fp64_vector3_get_square_modulus(vector1);

    // square_modulus1 != square_modulus1 is check for NaN value at square_modulus1
    if (square_modulus1 <= BGC_FP64_SQUARE_EPSYLON || square_modulus1 != square_modulus1) {
        return 0.0;
    }

    const double square_modulus2 = bgc_fp64_vector3_get_square_modulus(vector2);

    // square_modulus2 != square_modulus2 is check for NaN value at square_modulus2
    if (square_modulus2 <= BGC_FP64_SQUARE_EPSYLON || square_modulus2 != square_modulus2) {
        return 0.0;
    }

    BGC_FP64_Vector3 cross_product;

    bgc_fp64_vector3_get_cross_product(vector1, vector2, &cross_product);

    const double scalar = bgc_fp64_vector3_get_dot_product(vector1, vector2);

    const double cross = bgc_fp64_vector3_get_modulus(&cross_product);

    return bgc_fp64_radians_to_units(atan2(cross, scalar), angle_unit);
}