/*
 * Copyright (c) 2012-2025 Daniele Bartolini et al.
 * SPDX-License-Identifier: MIT
 */

#pragma once

#include "core/math/types.h"
#include "core/math/vector3.inl"

namespace crown
{
/// @addtogroup Math
/// @{

/// Returns a new matrix from individual elements.
Matrix3x3 from_elements(f32 xx, f32 xy, f32 xz, f32 yx, f32 yy, f32 yz, f32 zx, f32 zy, f32 zz);

/// Returns a new matrix from axes @a x, @a y and @a z.
Matrix3x3 from_axes(const Vector3 &x, const Vector3 &y, const Vector3 &z);

/// Returns a new matrix that rotates around +X axis by @a angle radians.
Matrix3x3 from_x_axis_angle(f32 angle);

/// Returns a new matrix that rotates around +Y axis by @a angle radians.
Matrix3x3 from_y_axis_angle(f32 angle);

/// Returns a new matrix that rotates around +Z axis by @a angle radians.
Matrix3x3 from_z_axis_angle(f32 angle);

/// Returns a new matrix from rotation @a r.
Matrix3x3 from_quaternion(const Quaternion &r);

/// Adds the matrix @a a to @a b and returns the result.
inline Matrix3x3 &operator+=(Matrix3x3 &a, const Matrix3x3 &b)
{
	a.x += b.x;
	a.y += b.y;
	a.z += b.z;
	return a;
}

/// Subtracts the matrix @a b from @a a and returns the result.
inline Matrix3x3 &operator-=(Matrix3x3 &a, const Matrix3x3 &b)
{
	a.x -= b.x;
	a.y -= b.y;
	a.z -= b.z;
	return a;
}

/// Multiplies the matrix @a a by the scalar @a k and returns the result.
inline Matrix3x3 &operator*=(Matrix3x3 &a, f32 k)
{
	a.x *= k;
	a.y *= k;
	a.z *= k;
	return a;
}

/// Multiplies the matrix @a a by @a b and returns the result. (i.e. transforms first by @a a then by @a b)
inline Matrix3x3 &operator*=(Matrix3x3 &a, const Matrix3x3 &b)
{
	Matrix3x3 tmp;
	tmp.x.x = a.x.x*b.x.x + a.x.y*b.y.x + a.x.z*b.z.x;
	tmp.x.y = a.x.x*b.x.y + a.x.y*b.y.y + a.x.z*b.z.y;
	tmp.x.z = a.x.x*b.x.z + a.x.y*b.y.z + a.x.z*b.z.z;

	tmp.y.x = a.y.x*b.x.x + a.y.y*b.y.x + a.y.z*b.z.x;
	tmp.y.y = a.y.x*b.x.y + a.y.y*b.y.y + a.y.z*b.z.y;
	tmp.y.z = a.y.x*b.x.z + a.y.y*b.y.z + a.y.z*b.z.z;

	tmp.z.x = a.z.x*b.x.x + a.z.y*b.y.x + a.z.z*b.z.x;
	tmp.z.y = a.z.x*b.x.y + a.z.y*b.y.y + a.z.z*b.z.y;
	tmp.z.z = a.z.x*b.x.z + a.z.y*b.y.z + a.z.z*b.z.z;

	a = tmp;
	return a;
}

/// Adds the matrix @a a to @a b and returns the result.
inline Matrix3x3 operator+(Matrix3x3 a, const Matrix3x3 &b)
{
	a += b;
	return a;
}

/// Subtracts the matrix @a b from @a a and returns the result.
inline Matrix3x3 operator-(Matrix3x3 a, const Matrix3x3 &b)
{
	a -= b;
	return a;
}

/// Multiplies the matrix @a a by the scalar @a k and returns the result.
inline Matrix3x3 operator*(Matrix3x3 a, f32 k)
{
	a *= k;
	return a;
}

/// Multiplies the matrix @a a by the scalar @a k and returns the result.
inline Matrix3x3 operator*(f32 k, Matrix3x3 a)
{
	a *= k;
	return a;
}

/// Multiplies the matrix @a a by the vector @a v and returns the result.
inline Vector3 operator*(const Vector3 &v, const Matrix3x3 &a)
{
	Vector3 r;
	r.x = v.x*a.x.x + v.y*a.y.x + v.z*a.z.x;
	r.y = v.x*a.x.y + v.y*a.y.y + v.z*a.z.y;
	r.z = v.x*a.x.z + v.y*a.y.z + v.z*a.z.z;
	return r;
}

/// Multiplies the matrix @a a by @a b and returns the result. (i.e. transforms first by @a a then by @a b)
inline Matrix3x3 operator*(Matrix3x3 a, const Matrix3x3 &b)
{
	a *= b;
	return a;
}

/// Transposes the matrix @a m and returns the result.
inline Matrix3x3 &transpose(Matrix3x3 &m)
{
	exchange(m.x.y, m.y.x);
	exchange(m.x.z, m.z.x);
	exchange(m.y.z, m.z.y);
	return m;
}

/// Returns the transposed of the matrix @a m.
inline Matrix3x3 get_transposed(Matrix3x3 m)
{
	transpose(m);
	return m;
}

/// Inverts the matrix @a m and returns the result.
Matrix3x3 &invert(Matrix3x3 &m);

/// Returns the inverse of the matrix @a m.
inline Matrix3x3 get_inverted(Matrix3x3 m)
{
	invert(m);
	return m;
}

/// Sets the matrix @a m to identity.
inline void set_identity(Matrix3x3 &m)
{
	m.x.x = 1.0f;
	m.x.y = 0.0f;
	m.x.z = 0.0f;

	m.y.x = 0.0f;
	m.y.y = 1.0f;
	m.y.z = 0.0f;

	m.z.x = 0.0f;
	m.z.y = 0.0f;
	m.z.z = 1.0f;
}

/// Returns the scale of the matrix @a m.
inline Vector3 scale(const Matrix3x3 &m)
{
	const f32 sx = length(m.x);
	const f32 sy = length(m.y);
	const f32 sz = length(m.z);
	Vector3 v;
	v.x = sx;
	v.y = sy;
	v.z = sz;
	return v;
}

/// Sets the scale of the matrix @a m.
inline void set_scale(Matrix3x3 &m, const Vector3 &s)
{
	set_length(m.x, s.x);
	set_length(m.y, s.y);
	set_length(m.z, s.z);
}

/// Returns the pointer to the matrix's data
inline f32 *to_float_ptr(Matrix3x3 &m)
{
	return &m.x.x;
}

/// Returns the pointer to the matrix's data
inline const f32 *to_float_ptr(const Matrix3x3 &m)
{
	return &m.x.x;
}

/// @}

} // namespace crown
