/*
Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans  http://continuousphysics.com/Bullet/

This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose, 
including commercial applications, and to alter it and redistribute it freely, 
subject to the following restrictions:

1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/

#ifndef BT_VECTOR3_H
#define BT_VECTOR3_H

#include "btMinMax.h"
#include "btScalar.h"

#define btVector3Data btVector3FloatData
#define btVector3DataName "btVector3FloatData"

/**@brief btVector3 can be used to represent 3D points and vectors.
 * It has an un-used w component to suit 16-byte alignment when btVector3 is stored in containers. This extra component can be used by derived classes (Quaternion?) or by user
 * Ideally, this class should be replaced by a platform optimized SIMD version that keeps the data in registers
 */
class btVector3
{
public:
    btScalar m_floats[4];
public:
    /**@brief No initialization constructor */
    inline btVector3() {}

    /**@brief Constructor from scalars 
   * @param x X value
   * @param y Y value 
   * @param z Z value 
   */
    inline btVector3(const btScalar& x, const btScalar& y, const btScalar& z)
    {
        m_floats[0] = x;
        m_floats[1] = y;
        m_floats[2] = z;
        m_floats[3] = btScalar(0.);
    }

    /**@brief Add a vector to this one 
 * @param The vector to add to this one */
    inline btVector3& operator+=(const btVector3& v)
    {

        m_floats[0] += v.m_floats[0];
        m_floats[1] += v.m_floats[1];
        m_floats[2] += v.m_floats[2];
        return *this;
    }

    /**@brief Subtract a vector from this one
   * @param The vector to subtract */
    inline btVector3& operator-=(const btVector3& v)
    {
        m_floats[0] -= v.m_floats[0];
        m_floats[1] -= v.m_floats[1];
        m_floats[2] -= v.m_floats[2];
        return *this;
    }
    /**@brief Scale the vector
   * @param s Scale factor */
    inline btVector3& operator*=(const btScalar& s)
    {
        m_floats[0] *= s;
        m_floats[1] *= s;
        m_floats[2] *= s;
        return *this;
    }

    /**@brief Inversely scale the vector 
   * @param s Scale factor to divide by */
    inline btVector3& operator/=(const btScalar& s)
    {
        btFullAssert(s != btScalar(0.0));
        return * this *= btScalar(1.0) / s;
    }

    /**@brief Return the dot product
   * @param v The other vector in the dot product */
    inline btScalar dot(const btVector3& v) const
    {
        return m_floats[0] * v.m_floats[0] + m_floats[1] * v.m_floats[1] + m_floats[2] * v.m_floats[2];
    }

    /**@brief Return the length of the vector squared */
    inline btScalar length2() const
    {
        return dot(*this);
    }

    /**@brief Return the length of the vector */
    inline btScalar length() const
    {
        return btSqrt(length2());
    }

    /**@brief Return the distance squared between the ends of this and another vector
   * This is symantically treating the vector like a point */
    inline btScalar distance2(const btVector3& v) const;

    /**@brief Return the distance between the ends of this and another vector
   * This is symantically treating the vector like a point */
    inline btScalar distance(const btVector3& v) const;

    inline btVector3& safeNormalize()
    {
        btVector3 absVec = this->absolute();
        int32_t maxIndex = absVec.maxAxis();
        if (absVec[maxIndex] > 0) {
            *this /= absVec[maxIndex];
            return * this /= length();
        }
        setValue(1, 0, 0);
        return *this;
    }

    /**@brief Normalize this vector 
   * x^2 + y^2 + z^2 = 1 */
    inline btVector3& normalize()
    {
        return * this /= length();
    }

    /**@brief Return a normalized version of this vector */
    inline btVector3 normalized() const;

    /**@brief Return a rotated version of this vector
   * @param wAxis The axis to rotate about 
   * @param angle The angle to rotate by */
    inline btVector3 rotate(const btVector3& wAxis, const btScalar angle) const;

    /**@brief Return the angle between this and another vector
   * @param v The other vector */
    inline btScalar angle(const btVector3& v) const
    {
        btScalar s = btSqrt(length2() * v.length2());
        btFullAssert(s != btScalar(0.0));
        return btAcos(dot(v) / s);
    }
    /**@brief Return a vector will the absolute values of each element */
    inline btVector3 absolute() const
    {
        return btVector3(
            btFabs(m_floats[0]),
            btFabs(m_floats[1]),
            btFabs(m_floats[2]));
    }
    /**@brief Return the cross product between this and another vector 
   * @param v The other vector */
    inline btVector3 cross(const btVector3& v) const
    {
        return btVector3(
            m_floats[1] * v.m_floats[2] - m_floats[2] * v.m_floats[1],
            m_floats[2] * v.m_floats[0] - m_floats[0] * v.m_floats[2],
            m_floats[0] * v.m_floats[1] - m_floats[1] * v.m_floats[0]);
    }

    inline btScalar triple(const btVector3& v1, const btVector3& v2) const
    {
        return m_floats[0] * (v1.m_floats[1] * v2.m_floats[2] - v1.m_floats[2] * v2.m_floats[1]) + m_floats[1] * (v1.m_floats[2] * v2.m_floats[0] - v1.m_floats[0] * v2.m_floats[2]) + m_floats[2] * (v1.m_floats[0] * v2.m_floats[1] - v1.m_floats[1] * v2.m_floats[0]);
    }

    /**@brief Return the axis with the smallest value 
   * Note return values are 0,1,2 for x, y, or z */
    inline int32_t minAxis() const
    {
        return m_floats[0] < m_floats[1] ? (m_floats[0] < m_floats[2] ? 0 : 2) : (m_floats[1] < m_floats[2] ? 1 : 2);
    }

    /**@brief Return the axis with the largest value 
   * Note return values are 0,1,2 for x, y, or z */
    inline int32_t maxAxis() const
    {
        return m_floats[0] < m_floats[1] ? (m_floats[1] < m_floats[2] ? 2 : 1) : (m_floats[0] < m_floats[2] ? 2 : 0);
    }

    inline int32_t furthestAxis() const
    {
        return absolute().minAxis();
    }

    inline int32_t closestAxis() const
    {
        return absolute().maxAxis();
    }

    inline void setInterpolate3(const btVector3& v0, const btVector3& v1, btScalar rt)
    {
        btScalar s = btScalar(1.0) - rt;
        m_floats[0] = s * v0.m_floats[0] + rt * v1.m_floats[0];
        m_floats[1] = s * v0.m_floats[1] + rt * v1.m_floats[1];
        m_floats[2] = s * v0.m_floats[2] + rt * v1.m_floats[2];
        //don't do the unused w component
        //		m_co[3] = s * v0[3] + rt * v1[3];
    }

    /**@brief Return the linear interpolation between this and another vector 
   * @param v The other vector 
   * @param t The ration of this to v (t = 0 => return this, t=1 => return other) */
    inline btVector3 lerp(const btVector3& v, const btScalar& t) const
    {
        return btVector3(m_floats[0] + (v.m_floats[0] - m_floats[0]) * t,
            m_floats[1] + (v.m_floats[1] - m_floats[1]) * t,
            m_floats[2] + (v.m_floats[2] - m_floats[2]) * t);
    }

    /**@brief Elementwise multiply this vector by the other 
   * @param v The other vector */
    inline btVector3& operator*=(const btVector3& v)
    {
        m_floats[0] *= v.m_floats[0];
        m_floats[1] *= v.m_floats[1];
        m_floats[2] *= v.m_floats[2];
        return *this;
    }

    /**@brief Return the x value */
    inline const btScalar& getX() const { return m_floats[0]; }
    /**@brief Return the y value */
    inline const btScalar& getY() const { return m_floats[1]; }
    /**@brief Return the z value */
    inline const btScalar& getZ() const { return m_floats[2]; }
    /**@brief Set the x value */
    inline void setX(btScalar x) { m_floats[0] = x; };
    /**@brief Set the y value */
    inline void setY(btScalar y) { m_floats[1] = y; };
    /**@brief Set the z value */
    inline void setZ(btScalar z) { m_floats[2] = z; };
    /**@brief Set the w value */
    inline void setW(btScalar w) { m_floats[3] = w; };
    /**@brief Return the x value */
    inline const btScalar& x() const { return m_floats[0]; }
    /**@brief Return the y value */
    inline const btScalar& y() const { return m_floats[1]; }
    /**@brief Return the z value */
    inline const btScalar& z() const { return m_floats[2]; }
    /**@brief Return the w value */
    inline const btScalar& w() const { return m_floats[3]; }

    //inline btScalar&       operator[](int32_t i)       { return (&m_floats[0])[i];	}
    //inline const btScalar& operator[](int32_t i) const { return (&m_floats[0])[i]; }
    ///operator btScalar*() replaces operator[], using implicit conversion. We added operator != and operator == to avoid pointer comparisons.
    inline operator btScalar*() { return &m_floats[0]; }
    inline operator const btScalar*() const { return &m_floats[0]; }

    inline bool operator==(const btVector3& other) const
    {
        return ((m_floats[3] == other.m_floats[3]) && (m_floats[2] == other.m_floats[2]) && (m_floats[1] == other.m_floats[1]) && (m_floats[0] == other.m_floats[0]));
    }

    inline bool operator!=(const btVector3& other) const
    {
        return !(*this == other);
    }

    /**@brief Set each element to the max of the current values and the values of another btVector3
   * @param other The other btVector3 to compare with 
   */
    inline void setMax(const btVector3& other)
    {
        btSetMax(m_floats[0], other.m_floats[0]);
        btSetMax(m_floats[1], other.m_floats[1]);
        btSetMax(m_floats[2], other.m_floats[2]);
        btSetMax(m_floats[3], other.w());
    }
    /**@brief Set each element to the min of the current values and the values of another btVector3
   * @param other The other btVector3 to compare with 
   */
    inline void setMin(const btVector3& other)
    {
        btSetMin(m_floats[0], other.m_floats[0]);
        btSetMin(m_floats[1], other.m_floats[1]);
        btSetMin(m_floats[2], other.m_floats[2]);
        btSetMin(m_floats[3], other.w());
    }

    inline void setValue(const btScalar& x, const btScalar& y, const btScalar& z)
    {
        m_floats[0] = x;
        m_floats[1] = y;
        m_floats[2] = z;
        m_floats[3] = btScalar(0.);
    }

    void getSkewSymmetricMatrix(btVector3 * v0, btVector3 * v1, btVector3 * v2) const
    {
        v0->setValue(0., -z(), y());
        v1->setValue(z(), 0., -x());
        v2->setValue(-y(), x(), 0.);
    }

    void setZero()
    {
        setValue(btScalar(0.), btScalar(0.), btScalar(0.));
    }

    inline bool isZero() const
    {
        return m_floats[0] == btScalar(0) && m_floats[1] == btScalar(0) && m_floats[2] == btScalar(0);
    }

    inline bool fuzzyZero() const
    {
        return length2() < FLT_EPSILON;
    }

    inline void serialize(struct btVector3Data & dataOut) const;

    inline void deSerialize(const struct btVector3Data& dataIn);

    inline void serializeFloat(struct btVector3FloatData & dataOut) const;

    inline void deSerializeFloat(const struct btVector3FloatData& dataIn);

    inline void serializeDouble(struct btVector3DoubleData & dataOut) const;

    inline void deSerializeDouble(const struct btVector3DoubleData& dataIn);
};

/**@brief Return the sum of two vectors (Point symantics)*/
inline btVector3
operator+(const btVector3& v1, const btVector3& v2)
{
    return btVector3(v1.m_floats[0] + v2.m_floats[0], v1.m_floats[1] + v2.m_floats[1], v1.m_floats[2] + v2.m_floats[2]);
}

/**@brief Return the elementwise product of two vectors */
inline btVector3
operator*(const btVector3& v1, const btVector3& v2)
{
    return btVector3(v1.m_floats[0] * v2.m_floats[0], v1.m_floats[1] * v2.m_floats[1], v1.m_floats[2] * v2.m_floats[2]);
}

/**@brief Return the difference between two vectors */
inline btVector3
operator-(const btVector3& v1, const btVector3& v2)
{
    return btVector3(v1.m_floats[0] - v2.m_floats[0], v1.m_floats[1] - v2.m_floats[1], v1.m_floats[2] - v2.m_floats[2]);
}
/**@brief Return the negative of the vector */
inline btVector3
operator-(const btVector3& v)
{
    return btVector3(-v.m_floats[0], -v.m_floats[1], -v.m_floats[2]);
}

/**@brief Return the vector scaled by s */
inline btVector3
operator*(const btVector3& v, const btScalar& s)
{
    return btVector3(v.m_floats[0] * s, v.m_floats[1] * s, v.m_floats[2] * s);
}

/**@brief Return the vector scaled by s */
inline btVector3
operator*(const btScalar& s, const btVector3& v)
{
    return v * s;
}

/**@brief Return the vector inversely scaled by s */
inline btVector3
operator/(const btVector3& v, const btScalar& s)
{
    btFullAssert(s != btScalar(0.0));
    return v * (btScalar(1.0) / s);
}

/**@brief Return the vector inversely scaled by s */
inline btVector3
operator/(const btVector3& v1, const btVector3& v2)
{
    return btVector3(v1.m_floats[0] / v2.m_floats[0], v1.m_floats[1] / v2.m_floats[1], v1.m_floats[2] / v2.m_floats[2]);
}

/**@brief Return the dot product between two vectors */
inline btScalar
btDot(const btVector3& v1, const btVector3& v2)
{
    return v1.dot(v2);
}

/**@brief Return the distance squared between two vectors */
inline btScalar
btDistance2(const btVector3& v1, const btVector3& v2)
{
    return v1.distance2(v2);
}

/**@brief Return the distance between two vectors */
inline btScalar
btDistance(const btVector3& v1, const btVector3& v2)
{
    return v1.distance(v2);
}

/**@brief Return the angle between two vectors */
inline btScalar
btAngle(const btVector3& v1, const btVector3& v2)
{
    return v1.angle(v2);
}

/**@brief Return the cross product of two vectors */
inline btVector3
btCross(const btVector3& v1, const btVector3& v2)
{
    return v1.cross(v2);
}

inline btScalar
btTriple(const btVector3& v1, const btVector3& v2, const btVector3& v3)
{
    return v1.triple(v2, v3);
}

/**@brief Return the linear interpolation between two vectors
 * @param v1 One vector 
 * @param v2 The other vector 
 * @param t The ration of this to v (t = 0 => return v1, t=1 => return v2) */
inline btVector3
lerp(const btVector3& v1, const btVector3& v2, const btScalar& t)
{
    return v1.lerp(v2, t);
}

inline btScalar btVector3::distance2(const btVector3& v) const
{
    return (v - *this).length2();
}

inline btScalar btVector3::distance(const btVector3& v) const
{
    return (v - *this).length();
}

inline btVector3 btVector3::normalized() const
{
    return *this / length();
}

inline btVector3 btVector3::rotate(const btVector3& wAxis, const btScalar angle) const
{
    // wAxis must be a unit lenght vector

    btVector3 o = wAxis * wAxis.dot(*this);
    btVector3 x = *this - o;
    btVector3 y;

    y = wAxis.cross(*this);

    return (o + x * btCos(angle) + y * btSin(angle));
}

class btVector4 : public btVector3 {
public:
    inline btVector4() {}

    inline btVector4(const btScalar& x, const btScalar& y, const btScalar& z, const btScalar& w)
        : btVector3(x, y, z)
    {
        m_floats[3] = w;
    }

    inline btVector4 absolute4() const
    {
        return btVector4(
            btFabs(m_floats[0]),
            btFabs(m_floats[1]),
            btFabs(m_floats[2]),
            btFabs(m_floats[3]));
    }

    btScalar getW() const { return m_floats[3]; }

    inline int32_t maxAxis4() const
    {
        int32_t maxIndex = -1;
        btScalar maxVal = btScalar(-BT_LARGE_FLOAT);
        if (m_floats[0] > maxVal) {
            maxIndex = 0;
            maxVal = m_floats[0];
        }
        if (m_floats[1] > maxVal) {
            maxIndex = 1;
            maxVal = m_floats[1];
        }
        if (m_floats[2] > maxVal) {
            maxIndex = 2;
            maxVal = m_floats[2];
        }
        if (m_floats[3] > maxVal) {
            maxIndex = 3;
        }
        return maxIndex;
    }

    inline int32_t minAxis4() const
    {
        int32_t minIndex = -1;
        btScalar minVal = btScalar(BT_LARGE_FLOAT);
        if (m_floats[0] < minVal) {
            minIndex = 0;
            minVal = m_floats[0];
        }
        if (m_floats[1] < minVal) {
            minIndex = 1;
            minVal = m_floats[1];
        }
        if (m_floats[2] < minVal) {
            minIndex = 2;
            minVal = m_floats[2];
        }
        if (m_floats[3] < minVal) {
            minIndex = 3;
        }

        return minIndex;
    }

    inline int32_t closestAxis4() const
    {
        return absolute4().maxAxis4();
    }

    /**@brief Set x,y,z and zero w 
   * @param x Value of x
   * @param y Value of y
   * @param z Value of z
   */

    /*		void getValue(btScalar *m) const 
		{
			m[0] = m_floats[0];
			m[1] = m_floats[1];
			m[2] =m_floats[2];
		}
*/
    /**@brief Set the values 
   * @param x Value of x
   * @param y Value of y
   * @param z Value of z
   * @param w Value of w
   */
    inline void setValue(const btScalar& x, const btScalar& y, const btScalar& z, const btScalar& w)
    {
        m_floats[0] = x;
        m_floats[1] = y;
        m_floats[2] = z;
        m_floats[3] = w;
    }
};

///btSwapVector3Endian swaps vector endianness, useful for network and cross-platform serialization
inline void btSwapScalarEndian(const btScalar& sourceVal, btScalar& destVal)
{
    unsigned char* dest = (unsigned char*)&destVal;
    unsigned char* src = (unsigned char*)&sourceVal;
    dest[0] = src[3];
    dest[1] = src[2];
    dest[2] = src[1];
    dest[3] = src[0];
}
///btSwapVector3Endian swaps vector endianness, useful for network and cross-platform serialization
inline void btSwapVector3Endian(const btVector3& sourceVec, btVector3& destVec)
{
    for (int32_t i = 0; i < 4; i++) {
        btSwapScalarEndian(sourceVec[i], destVec[i]);
    }
}

///btUnSwapVector3Endian swaps vector endianness, useful for network and cross-platform serialization
inline void btUnSwapVector3Endian(btVector3& vector)
{

    btVector3 swappedVec;
    for (int32_t i = 0; i < 4; i++) {
        btSwapScalarEndian(vector[i], swappedVec[i]);
    }
    vector = swappedVec;
}

template <class T>
inline void btPlaneSpace1(const T& n, T& p, T& q)
{
    if (btFabs(n[2]) > SIMDSQRT12) {
        // choose p in y-z plane
        btScalar a = n[1] * n[1] + n[2] * n[2];
        btScalar k = btRecipSqrt(a);
        p[0] = 0;
        p[1] = -n[2] * k;
        p[2] = n[1] * k;
        // set q = n x p
        q[0] = a * k;
        q[1] = -n[0] * p[2];
        q[2] = n[0] * p[1];
    }
    else {
        // choose p in x-y plane
        btScalar a = n[0] * n[0] + n[1] * n[1];
        btScalar k = btRecipSqrt(a);
        p[0] = -n[1] * k;
        p[1] = n[0] * k;
        p[2] = 0;
        // set q = n x p
        q[0] = -n[2] * p[1];
        q[1] = n[2] * p[0];
        q[2] = a * k;
    }
}

struct btVector3FloatData {
    float m_floats[4];
};

struct btVector3DoubleData {
    double m_floats[4];
};

inline void btVector3::serializeFloat(struct btVector3FloatData& dataOut) const
{
    ///could also do a memcpy, check if it is worth it
    for (int32_t i = 0; i < 4; i++)
        dataOut.m_floats[i] = float(m_floats[i]);
}

inline void btVector3::deSerializeFloat(const struct btVector3FloatData& dataIn)
{
    for (int32_t i = 0; i < 4; i++)
        m_floats[i] = btScalar(dataIn.m_floats[i]);
}

inline void btVector3::serializeDouble(struct btVector3DoubleData& dataOut) const
{
    ///could also do a memcpy, check if it is worth it
    for (int32_t i = 0; i < 4; i++)
        dataOut.m_floats[i] = double(m_floats[i]);
}

inline void btVector3::deSerializeDouble(const struct btVector3DoubleData& dataIn)
{
    for (int32_t i = 0; i < 4; i++)
        m_floats[i] = btScalar(dataIn.m_floats[i]);
}

inline void btVector3::serialize(struct btVector3Data& dataOut) const
{
    ///could also do a memcpy, check if it is worth it
    for (int32_t i = 0; i < 4; i++)
        dataOut.m_floats[i] = m_floats[i];
}

inline void btVector3::deSerialize(const struct btVector3Data& dataIn)
{
    for (int32_t i = 0; i < 4; i++)
        m_floats[i] = dataIn.m_floats[i];
}

#endif //BT_VECTOR3_H
