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#include "math/Mat3.h"

#include <cmath>
#include <cstring>
#include "base/Macros.h"
#include "math/Math.h"
#include "math/MathUtil.h"
#include "math/Quaternion.h"

NS_CC_MATH_BEGIN

Mat3::Mat3() {
    *this = IDENTITY;
}

Mat3::Mat3(float m00, float m01, float m02,
           float m03, float m04, float m05,
           float m06, float m07, float m08) {
    set(m00, m01, m02, m03, m04, m05, m06, m07, m08);
}

Mat3::Mat3(const float *mat) {
    set(mat);
}

Mat3::Mat3(const Mat3 &copy) {
    memcpy(m, copy.m, MATRIX3_SIZE);
}

void Mat3::set(float m00, float m01, float m02,
               float m03, float m04, float m05,
               float m06, float m07, float m08) {
    m[0] = m00;
    m[1] = m01;
    m[2] = m02;
    m[3] = m03;
    m[4] = m04;
    m[5] = m05;
    m[6] = m06;
    m[7] = m07;
    m[8] = m08;
}

void Mat3::set(const float *mat) {
    CC_ASSERT(mat);
    memcpy(this->m, mat, MATRIX3_SIZE);
}

void Mat3::set(const Mat3 &mat) {
    memcpy(this->m, mat.m, MATRIX3_SIZE);
}

void Mat3::identity(Mat3 &mat) {
    mat.m[0] = 1;
    mat.m[1] = 0;
    mat.m[2] = 0;
    mat.m[3] = 0;
    mat.m[4] = 1;
    mat.m[5] = 0;
    mat.m[6] = 0;
    mat.m[7] = 0;
    mat.m[8] = 1;
}

void Mat3::fromViewUp(const Vec3 &view, Mat3 *out) {
    CC_ASSERT(out);
    fromViewUp(view, Vec3(0, 1, 0), out);
}
void Mat3::fromViewUp(const Vec3 &view, const Vec3 &up, Mat3 *out) {
    CC_ASSERT(out);
    if (view.lengthSquared() < math::EPSILON * math::EPSILON) {
        Mat3::identity(*out);
        return;
    }
    Vec3 vTempA{Vec3::ZERO};
    Vec3 vTempB{Vec3::ZERO};

    Vec3::cross(up, view, &vTempA);
    vTempA.normalize();
    if (vTempA.lengthSquared() < math::EPSILON * math::EPSILON) {
        Mat3::identity(*out);
        return;
    }
    Vec3::cross(view, vTempA, &vTempB);
    out->set(vTempA.x, vTempA.y, vTempA.z,
             vTempB.x, vTempB.y, vTempB.z,
             view.x, view.y, view.z);
}

void Mat3::transpose() {
    float a01 = m[1];
    float a02 = m[2];
    float a12 = m[5];
    m[1] = m[3];
    m[2] = m[6];
    m[3] = a01;
    m[5] = m[7];
    m[6] = a02;
    m[7] = a12;
}

void Mat3::transpose(const Mat3 &mat, Mat3 *out) {
    CC_ASSERT(out);
    out->m[0] = mat.m[0];
    out->m[1] = mat.m[3];
    out->m[2] = mat.m[6];
    out->m[3] = mat.m[1];
    out->m[4] = mat.m[4];
    out->m[5] = mat.m[7];
    out->m[6] = mat.m[2];
    out->m[7] = mat.m[5];
    out->m[8] = mat.m[8];
}

void Mat3::inverse() {
    float a00 = m[0];
    float a01 = m[1];
    float a02 = m[2];
    float a10 = m[3];
    float a11 = m[4];
    float a12 = m[5];
    float a20 = m[6];
    float a21 = m[7];
    float a22 = m[8];

    float b01 = a22 * a11 - a12 * a21;
    float b11 = -a22 * a10 + a12 * a20;
    float b21 = a21 * a10 - a11 * a20;

    // Calculate the determinant
    float det = a00 * b01 + a01 * b11 + a02 * b21;
    if (det == 0.F) {
        set(0.F, 0.F, 0.F, 0.F, 0.F, 0.F, 0.F, 0.F, 0.F);
        return;
    }

    det = 1.0F / det;
    m[0] = b01 * det;
    m[1] = (-a22 * a01 + a02 * a21) * det;
    m[2] = (a12 * a01 - a02 * a11) * det;
    m[3] = b11 * det;
    m[4] = (a22 * a00 - a02 * a20) * det;
    m[5] = (-a12 * a00 + a02 * a10) * det;
    m[6] = b21 * det;
    m[7] = (-a21 * a00 + a01 * a20) * det;
    m[8] = (a11 * a00 - a01 * a10) * det;
}

void Mat3::adjoint(const Mat3 &mat, Mat3 *out) {
    CC_ASSERT(out);
    float a00 = mat.m[0];
    float a01 = mat.m[1];
    float a02 = mat.m[2];
    float a10 = mat.m[3];
    float a11 = mat.m[4];
    float a12 = mat.m[5];
    float a20 = mat.m[6];
    float a21 = mat.m[7];
    float a22 = mat.m[8];

    out->m[0] = (a11 * a22 - a12 * a21);
    out->m[1] = (a02 * a21 - a01 * a22);
    out->m[2] = (a01 * a12 - a02 * a11);
    out->m[3] = (a12 * a20 - a10 * a22);
    out->m[4] = (a00 * a22 - a02 * a20);
    out->m[5] = (a02 * a10 - a00 * a12);
    out->m[6] = (a10 * a21 - a11 * a20);
    out->m[7] = (a01 * a20 - a00 * a21);
    out->m[8] = (a00 * a11 - a01 * a10);
}

float Mat3::determinant() {
    return m[0] * (m[8] * m[4] - m[5] * m[7]) + m[1] * (-m[8] * m[3] + m[5] * m[6]) + m[2] * (m[7] * m[3] - m[4] * m[6]);
}

void Mat3::multiply(const Mat3 &a, const Mat3 &b, Mat3 *out) {
    CC_ASSERT(out);
    float a00 = a.m[0];
    float a01 = a.m[1];
    float a02 = a.m[2];
    float a10 = a.m[3];
    float a11 = a.m[4];
    float a12 = a.m[5];
    float a20 = a.m[6];
    float a21 = a.m[7];
    float a22 = a.m[8];

    float b00 = b.m[0];
    float b01 = b.m[1];
    float b02 = b.m[2];
    float b10 = b.m[3];
    float b11 = b.m[4];
    float b12 = b.m[5];
    float b20 = b.m[6];
    float b21 = b.m[7];
    float b22 = b.m[8];

    out->m[0] = b00 * a00 + b01 * a10 + b02 * a20;
    out->m[1] = b00 * a01 + b01 * a11 + b02 * a21;
    out->m[2] = b00 * a02 + b01 * a12 + b02 * a22;

    out->m[3] = b10 * a00 + b11 * a10 + b12 * a20;
    out->m[4] = b10 * a01 + b11 * a11 + b12 * a21;
    out->m[5] = b10 * a02 + b11 * a12 + b12 * a22;

    out->m[6] = b20 * a00 + b21 * a10 + b22 * a20;
    out->m[7] = b20 * a01 + b21 * a11 + b22 * a21;
    out->m[8] = b20 * a02 + b21 * a12 + b22 * a22;
}

void Mat3::translate(const Mat3 &mat, const Vec2 &vec, Mat3 *out) {
    CC_ASSERT(out);
    float a00 = mat.m[0];
    float a01 = mat.m[1];
    float a02 = mat.m[2];
    float a10 = mat.m[3];
    float a11 = mat.m[4];
    float a12 = mat.m[5];
    float a20 = mat.m[6];
    float a21 = mat.m[7];
    float a22 = mat.m[8];
    float x = vec.x;
    float y = vec.y;

    out->m[0] = a00;
    out->m[1] = a01;
    out->m[2] = a02;

    out->m[3] = a10;
    out->m[4] = a11;
    out->m[5] = a12;

    out->m[6] = x * a00 + y * a10 + a20;
    out->m[7] = x * a01 + y * a11 + a21;
    out->m[8] = x * a02 + y * a12 + a22;
}

void Mat3::rotate(const Mat3 &mat, float rad, Mat3 *out) {
    CC_ASSERT(out);
    float a00 = mat.m[0];
    float a01 = mat.m[1];
    float a02 = mat.m[2];
    float a10 = mat.m[3];
    float a11 = mat.m[4];
    float a12 = mat.m[5];
    float a20 = mat.m[6];
    float a21 = mat.m[7];
    float a22 = mat.m[8];

    float s = sin(rad);
    float c = cos(rad);

    out->m[0] = c * a00 + s * a10;
    out->m[1] = c * a01 + s * a11;
    out->m[2] = c * a02 + s * a12;

    out->m[3] = c * a10 - s * a00;
    out->m[4] = c * a11 - s * a01;
    out->m[5] = c * a12 - s * a02;

    out->m[6] = a20;
    out->m[7] = a21;
    out->m[8] = a22;
}

void Mat3::scale(const Mat3 &mat, const Vec2 &vec, Mat3 *out) {
    CC_ASSERT(out);
    float x = vec.x;
    float y = vec.y;

    out->m[0] = x * mat.m[0];
    out->m[1] = x * mat.m[1];
    out->m[2] = x * mat.m[2];

    out->m[3] = y * mat.m[3];
    out->m[4] = y * mat.m[4];
    out->m[5] = y * mat.m[5];

    out->m[6] = mat.m[6];
    out->m[7] = mat.m[7];
    out->m[8] = mat.m[8];
}

void Mat3::fromMat4(const Mat4 &mat, Mat3 *out) {
    CC_ASSERT(out);
    out->m[0] = mat.m[0];
    out->m[1] = mat.m[1];
    out->m[2] = mat.m[2];
    out->m[3] = mat.m[4];
    out->m[4] = mat.m[5];
    out->m[5] = mat.m[6];
    out->m[6] = mat.m[8];
    out->m[7] = mat.m[9];
    out->m[8] = mat.m[10];
}

void Mat3::fromTranslation(const Vec2 &vec, Mat3 *out) {
    CC_ASSERT(out);
    out->m[0] = 1;
    out->m[1] = 0;
    out->m[2] = 0;
    out->m[3] = 0;
    out->m[4] = 1;
    out->m[5] = 0;
    out->m[6] = vec.x;
    out->m[7] = vec.y;
    out->m[8] = 1;
}

void Mat3::fromRotation(float rad, Mat3 *out) {
    CC_ASSERT(out);
    float s = sin(rad);
    float c = cos(rad);

    out->m[0] = c;
    out->m[1] = s;
    out->m[2] = 0;

    out->m[3] = -s;
    out->m[4] = c;
    out->m[5] = 0;

    out->m[6] = 0;
    out->m[7] = 0;
    out->m[8] = 1;
}

void Mat3::fromScaling(const Vec2 &vec, Mat3 *out) {
    CC_ASSERT(out);
    out->m[0] = vec.x;
    out->m[1] = 0;
    out->m[2] = 0;

    out->m[3] = 0;
    out->m[4] = vec.y;
    out->m[5] = 0;

    out->m[6] = 0;
    out->m[7] = 0;
    out->m[8] = 1;
}

void Mat3::fromQuat(const Quaternion &quat, Mat3 *out) {
    CC_ASSERT(out);
    float x = quat.x;
    float y = quat.y;
    float z = quat.z;
    float w = quat.w;
    float x2 = x + x;
    float y2 = y + y;
    float z2 = z + z;

    float xx = x * x2;
    float yx = y * x2;
    float yy = y * y2;
    float zx = z * x2;
    float zy = z * y2;
    float zz = z * z2;
    float wx = w * x2;
    float wy = w * y2;
    float wz = w * z2;

    out->m[0] = 1 - yy - zz;
    out->m[3] = yx - wz;
    out->m[6] = zx + wy;

    out->m[1] = yx + wz;
    out->m[4] = 1 - xx - zz;
    out->m[7] = zy - wx;

    out->m[2] = zx - wy;
    out->m[5] = zy + wx;
    out->m[8] = 1 - xx - yy;
}

void Mat3::add(const Mat3 &a, const Mat3 &b, Mat3 *out) {
    CC_ASSERT(out);
    out->m[0] = a.m[0] + b.m[0];
    out->m[1] = a.m[1] + b.m[1];
    out->m[2] = a.m[2] + b.m[2];
    out->m[3] = a.m[3] + b.m[3];
    out->m[4] = a.m[4] + b.m[4];
    out->m[5] = a.m[5] + b.m[5];
    out->m[6] = a.m[6] + b.m[6];
    out->m[7] = a.m[7] + b.m[7];
    out->m[8] = a.m[8] + b.m[8];
}

void Mat3::subtract(const Mat3 &a, const Mat3 &b, Mat3 *out) {
    CC_ASSERT(out);
    out->m[0] = a.m[0] - b.m[0];
    out->m[1] = a.m[1] - b.m[1];
    out->m[2] = a.m[2] - b.m[2];
    out->m[3] = a.m[3] - b.m[3];
    out->m[4] = a.m[4] - b.m[4];
    out->m[5] = a.m[5] - b.m[5];
    out->m[6] = a.m[6] - b.m[6];
    out->m[7] = a.m[7] - b.m[7];
    out->m[8] = a.m[8] - b.m[8];
}

bool Mat3::approxEquals(const Mat3 &v, float precision /* = CC_FLOAT_CMP_PRECISION */) const {
    return math::isEqualF(m[0], v.m[0], precision) &&
           math::isEqualF(m[1], v.m[1], precision) &&
           math::isEqualF(m[2], v.m[2], precision) &&
           math::isEqualF(m[3], v.m[3], precision) &&
           math::isEqualF(m[4], v.m[4], precision) &&
           math::isEqualF(m[5], v.m[5], precision) &&
           math::isEqualF(m[6], v.m[6], precision) &&
           math::isEqualF(m[7], v.m[7], precision) &&
           math::isEqualF(m[8], v.m[8], precision);
}

const Mat3 Mat3::IDENTITY = Mat3(
    1.F, 0.F, 0.F,
    0.F, 1.F, 0.F,
    0.F, 0.F, 1.F);

const Mat3 Mat3::ZERO = Mat3(
    0, 0, 0,
    0, 0, 0,
    0, 0, 0);

NS_CC_MATH_END