/*  Copyright (C) 2017 Eric Wasylishen

    This program is free software; you can redistribute it and/or modify
    it under the terms of the GNU General Public License as published by
    the Free Software Foundation; either version 2 of the License, or
    (at your option) any later version.

    This program is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU General Public License for more details.

    You should have received a copy of the GNU General Public License
    along with this program; if not, write to the Free Software
    Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA

    See file, 'COPYING', for details.
*/

#include <common/qvec.hh>

#include <cmath> // for NAN
#include <sstream>

/*
 * SGI FREE SOFTWARE LICENSE B (Version 2.0, Sept. 18, 2008)
 * Copyright (C) 1991-2000 Silicon Graphics, Inc. All Rights Reserved.
 *
 * Permission is hereby granted, free of charge, to any person obtaining a
 * copy of this software and associated documentation files (the "Software"),
 * to deal in the Software without restriction, including without limitation
 * the rights to use, copy, modify, merge, publish, distribute, sublicense,
 * and/or sell copies of the Software, and to permit persons to whom the
 * Software is furnished to do so, subject to the following conditions:
 *
 * The above copyright notice including the dates of first publication and
 * either this permission notice or a reference to
 * http://oss.sgi.com/projects/FreeB/
 * shall be included in all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
 * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
 * SILICON GRAPHICS, INC. BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF
 * OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 * SOFTWARE.
 *
 * Except as contained in this notice, the name of Silicon Graphics, Inc.
 * shall not be used in advertising or otherwise to promote the sale, use or
 * other dealings in this Software without prior written authorization from
 * Silicon Graphics, Inc.
 */
 /*
** Invert 4x4 matrix.
** Contributed by David Moore (See Mesa bug #6748)
*/
static bool gluInvertMatrixd(const double m[16], double invOut[16])
{
    double inv[16], det;
    int i;

    inv[0] =   m[5]*m[10]*m[15] - m[5]*m[11]*m[14] - m[9]*m[6]*m[15]
             + m[9]*m[7]*m[14] + m[13]*m[6]*m[11] - m[13]*m[7]*m[10];
    inv[4] =  -m[4]*m[10]*m[15] + m[4]*m[11]*m[14] + m[8]*m[6]*m[15]
             - m[8]*m[7]*m[14] - m[12]*m[6]*m[11] + m[12]*m[7]*m[10];
    inv[8] =   m[4]*m[9]*m[15] - m[4]*m[11]*m[13] - m[8]*m[5]*m[15]
             + m[8]*m[7]*m[13] + m[12]*m[5]*m[11] - m[12]*m[7]*m[9];
    inv[12] = -m[4]*m[9]*m[14] + m[4]*m[10]*m[13] + m[8]*m[5]*m[14]
             - m[8]*m[6]*m[13] - m[12]*m[5]*m[10] + m[12]*m[6]*m[9];
    inv[1] =  -m[1]*m[10]*m[15] + m[1]*m[11]*m[14] + m[9]*m[2]*m[15]
             - m[9]*m[3]*m[14] - m[13]*m[2]*m[11] + m[13]*m[3]*m[10];
    inv[5] =   m[0]*m[10]*m[15] - m[0]*m[11]*m[14] - m[8]*m[2]*m[15]
             + m[8]*m[3]*m[14] + m[12]*m[2]*m[11] - m[12]*m[3]*m[10];
    inv[9] =  -m[0]*m[9]*m[15] + m[0]*m[11]*m[13] + m[8]*m[1]*m[15]
             - m[8]*m[3]*m[13] - m[12]*m[1]*m[11] + m[12]*m[3]*m[9];
    inv[13] =  m[0]*m[9]*m[14] - m[0]*m[10]*m[13] - m[8]*m[1]*m[14]
             + m[8]*m[2]*m[13] + m[12]*m[1]*m[10] - m[12]*m[2]*m[9];
    inv[2] =   m[1]*m[6]*m[15] - m[1]*m[7]*m[14] - m[5]*m[2]*m[15]
             + m[5]*m[3]*m[14] + m[13]*m[2]*m[7] - m[13]*m[3]*m[6];
    inv[6] =  -m[0]*m[6]*m[15] + m[0]*m[7]*m[14] + m[4]*m[2]*m[15]
             - m[4]*m[3]*m[14] - m[12]*m[2]*m[7] + m[12]*m[3]*m[6];
    inv[10] =  m[0]*m[5]*m[15] - m[0]*m[7]*m[13] - m[4]*m[1]*m[15]
             + m[4]*m[3]*m[13] + m[12]*m[1]*m[7] - m[12]*m[3]*m[5];
    inv[14] = -m[0]*m[5]*m[14] + m[0]*m[6]*m[13] + m[4]*m[1]*m[14]
             - m[4]*m[2]*m[13] - m[12]*m[1]*m[6] + m[12]*m[2]*m[5];
    inv[3] =  -m[1]*m[6]*m[11] + m[1]*m[7]*m[10] + m[5]*m[2]*m[11]
             - m[5]*m[3]*m[10] - m[9]*m[2]*m[7] + m[9]*m[3]*m[6];
    inv[7] =   m[0]*m[6]*m[11] - m[0]*m[7]*m[10] - m[4]*m[2]*m[11]
             + m[4]*m[3]*m[10] + m[8]*m[2]*m[7] - m[8]*m[3]*m[6];
    inv[11] = -m[0]*m[5]*m[11] + m[0]*m[7]*m[9] + m[4]*m[1]*m[11]
             - m[4]*m[3]*m[9] - m[8]*m[1]*m[7] + m[8]*m[3]*m[5];
    inv[15] =  m[0]*m[5]*m[10] - m[0]*m[6]*m[9] - m[4]*m[1]*m[10]
             + m[4]*m[2]*m[9] + m[8]*m[1]*m[6] - m[8]*m[2]*m[5];

    det = m[0]*inv[0] + m[1]*inv[4] + m[2]*inv[8] + m[3]*inv[12];
    if (det == 0)
        return false;

    det = 1.0 / det;

    for (i = 0; i < 16; i++)
        invOut[i] = inv[i] * det;

    return true;
}

qmat4x4d qv::inverse(const qmat4x4d &input)
{
    qmat4x4d res;
    bool ok = gluInvertMatrixd(input.m_values, res.m_values);
    if (!ok) {
        res = qmat4x4d(NAN);
    }
    return res;
}

qmat4x4f qv::inverse(const qmat4x4f &input)
{
    return qmat4x4f(qv::inverse(qmat4x4d(input)));
}

qmat2x2f qv::inverse(const qmat2x2f &m)
{
    // http://www.mathwords.com/i/inverse_of_a_matrix.htm
    float a = m.at(0,0);
    float b = m.at(0,1);
    float c = m.at(1,0);
    float d = m.at(1,1);
    
    float det = a*d - b*c;
    if (det == 0) {
        return qmat2x2f(NAN);
    }
    
    qmat2x2f result {
        d, -c, // col 0
        -b, a  // col 1
    };
    
    return result * (1.0f/det);
}

std::string qv::to_string(const qvec<3,float> &v1)
{
    std::stringstream ss;
    ss << v1[0] << " " << v1[1] << " " << v1[2];
    return ss.str();
}