#include "tgeometry.h"

using namespace std;

const T3DPointD TConsts::nap3d((numeric_limits<double>::max)(),</double>

                               (numeric_limits<double>::max)(),</double>

                               (numeric_limits<double>::max)());</double>

const TThickPoint TConsts::natp((numeric_limits<double>::max)(),</double>

                                (numeric_limits<double>::max)(),</double>

                                (numeric_limits<double>::max)());</double>

const TPointD TConsts::napd((numeric_limits<double>::max)(),</double>

                            (numeric_limits<double>::max)());</double>

const TPointI TConsts::nap((numeric_limits<int>::max)(),</int>

                           (numeric_limits<int>::max)());</int>

const TRectD TConsts::infiniteRectD(-(numeric_limits<double>::max)(),</double>

                                    -(numeric_limits<double>::max)(),</double>

                                    (numeric_limits<double>::max)(),</double>

                                    (numeric_limits<double>::max)());</double>

const TRectI TConsts::infiniteRectI(-(numeric_limits<int>::max)(),</int>

                                    -(numeric_limits<int>::max)(),</int>

                                    (numeric_limits<int>::max)(),</int>

                                    (numeric_limits<int>::max)());</int>

//==================================================================================================

// operazioni fra affini

TAffine &TAffine::operator=(const TAffine &a) {

  a11 = a.a11;

  a12 = a.a12;

  a13 = a.a13;

  a21 = a.a21;

  a22 = a.a22;

  a23 = a.a23;

  return *this;

}

//--------------------------------------------------------------------------------------------------

TAffine TAffine::operator*(const TAffine &b) const {

  return TAffine(a11 * b.a11 + a12 * b.a21, a11 * b.a12 + a12 * b.a22,

                 a11 * b.a13 + a12 * b.a23 + a13,

                 a21 * b.a11 + a22 * b.a21, a21 * b.a12 + a22 * b.a22,

                 a21 * b.a13 + a22 * b.a23 + a23);

}

//--------------------------------------------------------------------------------------------------

TAffine TAffine::operator*=(const TAffine &b) { return *this = *this * b; }

//--------------------------------------------------------------------------------------------------

TAffine TAffine::inv() const {

  if (a12 == 0.0 && a21 == 0.0) {

    double inv_a11 =

        (a11 == 0.0 ? std::numeric_limits<double>::max() / (1 << 16)</double>

                    : 1.0 / a11);

    double inv_a22 =

        (a22 == 0.0 ? std::numeric_limits<double>::max() / (1 << 16)</double>

                    : 1.0 / a22);

    return TAffine(inv_a11, 0, -a13 * inv_a11, 0, inv_a22, -a23 * inv_a22);

  } else if (a11 == 0.0 && a22 == 0.0) {

    assert(a12 != 0.0);

    assert(a21 != 0.0);

    double inv_a21 =

        (a21 == 0.0 ? std::numeric_limits<double>::max() / (1 << 16)</double>

                    : 1.0 / a21);

    double inv_a12 =

        (a12 == 0.0 ? std::numeric_limits<double>::max() / (1 << 16)</double>

                    : 1.0 / a12);

    return TAffine(0, inv_a21, -a23 * inv_a21, inv_a12, 0, -a13 * inv_a12);

  } else {

    double d = 1. / det();

    return TAffine(a22 * d, -a12 * d, (a12 * a23 - a22 * a13) * d, -a21 * d,

                   a11 * d, (a21 * a13 - a11 * a23) * d);

  }

}

//--------------------------------------------------------------------------------------------------

double TAffine::det() const { return a11 * a22 - a12 * a21; }

//--------------------------------------------------------------------------------------------------

// Confronti tra affini

bool TAffine::operator==(const TAffine &a) const {

  return a11 == a.a11 && a12 == a.a12 && a13 == a.a13 && a21 == a.a21 &&

         a22 == a.a22 && a23 == a.a23;

}

//--------------------------------------------------------------------------------------------------

bool TAffine::operator!=(const TAffine &a) const {

  return a11 != a.a11 || a12 != a.a12 || a13 != a.a13 || a21 != a.a21 ||

         a22 != a.a22 || a23 != a.a23;

}

//--------------------------------------------------------------------------------------------------

bool TAffine::isIdentity(double err) const {

  return ((a11 - 1.0) * (a11 - 1.0) + (a22 - 1.0) * (a22 - 1.0) + a12 * a12 +

          a13 * a13 + a21 * a21 + a23 * a23) < err;

}

//--------------------------------------------------------------------------------------------------

bool TAffine::isTranslation(double err) const {

  return ((a11 - 1.0) * (a11 - 1.0) + (a22 - 1.0) * (a22 - 1.0) + a12 * a12 +

          a21 * a21) < err;

}

//--------------------------------------------------------------------------------------------------

bool TAffine::isIsotropic(double err) const {

  return areAlmostEqual(a11, a22, err) && areAlmostEqual(a12, -a21, err);

}

//--------------------------------------------------------------------------------------------------

// applicazione

TPointD TAffine::operator*(const TPointD &p) const {

  return TPointD(p.x * a11 + p.y * a12 + a13, p.x * a21 + p.y * a22 + a23);

}

//--------------------------------------------------------------------------------------------------

TPointD TAffine::transformDirection(const TPointD &p) const {

  return TPointD(p.x * a11 + p.y * a12, p.x * a21 + p.y * a22);

}

//--------------------------------------------------------------------------------------------------

TRectD TAffine::operator*(const TRectD &rect) const {

  if (rect != TConsts::infiniteRectD) {

    TPointD p1 = *this * rect.getP00(), p2 = *this * rect.getP01(),

            p3 = *this * rect.getP10(), p4 = *this * rect.getP11();

    return TRectD(

        std::min({p1.x, p2.x, p3.x, p4.x}), std::min({p1.y, p2.y, p3.y, p4.y}),

        std::max({p1.x, p2.x, p3.x, p4.x}), std::max({p1.y, p2.y, p3.y, p4.y}));

  } else

    return TConsts::infiniteRectD;

}

//--------------------------------------------------------------------------------------------------

TAffine TAffine::place(double u, double v, double x, double y) const {

  return TAffine(a11, a12, x - (a11 * u + a12 * v), a21, a22,

                 y - (a21 * u + a22 * v));

}

//--------------------------------------------------------------------------------------------------

TAffine TAffine::place(const TPointD &pIn, const TPointD &pOut) const {

  return TAffine(a11, a12, pOut.x - (a11 * pIn.x + a12 * pIn.y), a21, a22,

                 pOut.y - (a21 * pIn.x + a22 * pIn.y));

}

//==================================================================================================

TRotation::TRotation(double degrees) {

  double rad, sn, cs;

  int idegrees = (int)degrees;

  if ((double)idegrees == degrees && idegrees % 90 == 0) {

    switch ((idegrees / 90) & 3) {

    case 0:

      sn = 0;

      cs = 1;

      break;

    case 1:

      sn = 1;

      cs = 0;

      break;

    case 2:

      sn = 0;

      cs = -1;

      break;

    case 3:

      sn = -1;

      cs = 0;

      break;

    default:

      sn = 0;

      cs = 0;

      break;

    }

  } else {

    rad                         = degrees * M_PI_180;

    sn                          = sin(rad);

    cs                          = cos(rad);

    if (sn == 1 || sn == -1) cs = 0;

    if (cs == 1 || cs == -1) sn = 0;

  }

  a11 = cs;

  a12 = -sn;

  a21 = -a12;

  a22 = a11;

}

//--------------------------------------------------------------------------------------------------

TRotation::TRotation(const TPointD ¢er, double degrees) {

  TAffine a = TTranslation(center) * TRotation(degrees) * TTranslation(-center);

  a11       = a.a11;

  a12       = a.a12;

  a13       = a.a13;

  a21       = a.a21;

  a22       = a.a22;

  a23       = a.a23;

}

//==================================================================================================

TScale::TScale(const TPointD ¢er, double sx, double sy) {

  TAffine a = TTranslation(center) * TScale(sx, sy) * TTranslation(-center);

  a11       = a.a11;

  a12       = a.a12;

  a13       = a.a13;

  a21       = a.a21;

  a22       = a.a22;

  a23       = a.a23;

}

//--------------------------------------------------------------------------------------------------

TScale::TScale(const TPointD ¢er, double s) {

  TAffine a = TTranslation(center) * TScale(s) * TTranslation(-center);

  a11       = a.a11;

  a12       = a.a12;

  a13       = a.a13;

  a21       = a.a21;

  a22       = a.a22;

  a23       = a.a23;

}

//==================================================================================================

TPoint4D TAffine4::operator*(const TPoint4D &b) const {

  return TPoint4D(

    b.x*a11 + b.y*a21 + b.z*a31 + b.w*a41,

    b.x*a12 + b.y*a22 + b.z*a32 + b.w*a42,

    b.x*a13 + b.y*a23 + b.z*a33 + b.w*a43,

    b.x*a14 + b.y*a24 + b.z*a34 + b.w*a44 );

}

TAffine4 TAffine4::operator*(const TAffine4 &b) const {

  return TAffine4(

    *this * b.rowX(),

    *this * b.rowY(),

    *this * b.rowZ(),

    *this * b.rowW() );

}

TAffine4 TAffine4::operator*=(const TAffine4 &b)

  { return *this = *this * b; }

TAffine4 TAffine4::inv() const {

  TAffine4 r;

  r.a11 = a22*(a33*a44 - a34*a43) + a23*(a34*a42 - a32*a44) + a24*(a32*a43 - a33*a42);

  r.a12 = a21*(a34*a43 - a33*a44) + a23*(a31*a44 - a34*a41) + a24*(a33*a41 - a31*a43);

  r.a13 = a21*(a32*a44 - a34*a42) + a22*(a34*a41 - a31*a44) + a24*(a31*a42 - a32*a41);

  r.a14 = a21*(a33*a42 - a32*a43) + a22*(a31*a43 - a33*a41) + a23*(a32*a41 - a31*a42);

  double det = a11*r.a11 + a12*r.a21 + a13*r.a31 + a14*r.a41;

  if (fabs(det) > TConsts::epsilon) det = 1.0/det;

  r.a11 *= det;

  r.a12 *= det;

  r.a13 *= det;

  r.a14 *= det;

  r.a21 = det*( a12*(a34*a43 - a33*a44) + a13*(a32*a44 - a34*a42) + a14*(a33*a42 - a32*a43) );

  r.a22 = det*( a11*(a33*a44 - a34*a43) + a13*(a34*a41 - a31*a44) + a14*(a31*a43 - a33*a41) );

  r.a23 = det*( a11*(a34*a42 - a32*a44) + a12*(a31*a44 - a34*a41) + a14*(a32*a41 - a31*a42) );

  r.a24 = det*( a11*(a32*a43 - a33*a42) + a12*(a33*a41 - a31*a43) + a13*(a31*a42 - a32*a41) );

  r.a31 = det*( a12*(a23*a44 - a24*a43) + a13*(a24*a42 - a22*a44) + a14*(a22*a43 - a23*a42) );

  r.a32 = det*( a11*(a24*a43 - a23*a44) + a13*(a21*a44 - a24*a41) + a14*(a23*a41 - a21*a43) );

  r.a33 = det*( a11*(a22*a44 - a24*a42) + a12*(a24*a41 - a21*a44) + a14*(a21*a42 - a22*a41) );

  r.a34 = det*( a11*(a23*a42 - a22*a43) + a12*(a21*a43 - a23*a41) + a13*(a22*a41 - a21*a42) );

  r.a41 = det*( a12*(a24*a33 - a23*a34) + a13*(a22*a34 - a24*a32) + a14*(a23*a32 - a22*a33) );

  r.a42 = det*( a11*(a23*a34 - a24*a33) + a13*(a24*a31 - a21*a34) + a14*(a21*a33 - a23*a31) );

  r.a43 = det*( a11*(a24*a32 - a22*a34) + a12*(a21*a34 - a24*a31) + a14*(a22*a31 - a21*a32) );

  r.a44 = det*( a11*(a22*a33 - a23*a32) + a12*(a23*a31 - a21*a33) + a13*(a21*a32 - a22*a31) );

  return r;

}

TAffine TAffine4::get2d(double z) const {

  return TAffine(

    a11, a21, z*a31 + a41,

    a12, a22, z*a32 + a42 );

}

TAffine4 TAffine4::translation(double x, double y, double z) {

  TAffine4 r;

  r.rowW().x = x;

  r.rowW().y = y;

  r.rowW().z = z;

  return r;

}

TAffine4 TAffine4::scale(double x, double y, double z) {

  TAffine4 r;

  r.a11 = x;

  r.a22 = y;

  r.a33 = z;

  return r;

}

TAffine4 TAffine4::rotation(double x, double y, double z, double angle) {

  TAffine4 r;

  double k = sqrt(x*x + y*y + z*z);

  if (k > TConsts::epsilon) {

    double s = sin(angle);

    double c = cos(angle);

    double ic = 1.0 - c;

    double k = 1.0/k;

    x *= k;

    y *= k;

    z *= k;

    r.a11 = ic*x*x + c;

    r.a12 = ic*x*y + s*z;

    r.a13 = ic*z*x - s*y;

    r.a21 = ic*x*y - s*z;

    r.a22 = ic*y*y + c;

    r.a23 = ic*y*z + s*x;

    r.a31 = ic*z*x + s*y;

    r.a32 = ic*y*z - s*x;

    r.a33 = ic*z*z + c;

  }

  return r;

}

TAffine4 TAffine4::rotationX(double angle) {

  TAffine4 r;

  double s = sin(angle);

  double c = cos(angle);

  r.a22 =  c;

  r.a23 =  s;

  r.a32 = -s;

  r.a33 =  c;

  return r;

}

TAffine4 TAffine4::rotationY(double angle) {

  TAffine4 r;

  double s = sin(angle);

  double c = cos(angle);

  r.a11 =  c;

  r.a13 = -s;

  r.a31 =  s;

  r.a33 =  c;

  return r;

}

TAffine4 TAffine4::rotationZ(double angle) {

  TAffine4 r;

  double s = sin(angle);

  double c = cos(angle);

  r.a11 =  c;

  r.a12 =  s;

  r.a21 = -s;

  r.a22 =  c;

  return r;

}