/* 
 * PROJECT: NyARToolkitCS
 * --------------------------------------------------------------------------------
 * This work is based on the original ARToolKit developed by
 *   Hirokazu Kato
 *   Mark Billinghurst
 *   HITLab, University of Washington, Seattle
 * http://www.hitl.washington.edu/artoolkit/
 *
 * The NyARToolkitCS is C# edition ARToolKit class library.
 * Copyright (C)2008-2009 Ryo Iizuka
 *
 * 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 3 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, see <http://www.gnu.org/licenses/>.
 * 
 * For further information please contact.
 *	http://nyatla.jp/nyatoolkit/
 *	<airmail(at)ebony.plala.or.jp> or <nyatla(at)nyatla.jp>
 * 
 */
using System;
namespace jp.nyatla.nyartoolkit.cs.core
{
    /**
     * 回転行列計算用の、3x3行列
     *
     */
    public class NyARRotMatrix : NyARDoubleMatrix33
    {
        public NyARRotMatrix(NyARPerspectiveProjectionMatrix i_matrix)
        {
            this.__initRot_vec1 = new NyARRotVector(i_matrix);
            this.__initRot_vec2 = new NyARRotVector(i_matrix);
            return;
        }
        private NyARRotVector __initRot_vec1;
        private NyARRotVector __initRot_vec2;

        /**
         * NyARTransMatResultの内容からNyARRotMatrixを復元します。
         * @param i_prev_result
         */
        public virtual void initRotByPrevResult(NyARTransMatResult i_prev_result)
        {
            this.m00 = i_prev_result.m00;
            this.m01 = i_prev_result.m01;
            this.m02 = i_prev_result.m02;

            this.m10 = i_prev_result.m10;
            this.m11 = i_prev_result.m11;
            this.m12 = i_prev_result.m12;

            this.m20 = i_prev_result.m20;
            this.m21 = i_prev_result.m21;
            this.m22 = i_prev_result.m22;
            return;
        }

        public virtual void initRotBySquare(NyARLinear[] i_linear, NyARDoublePoint2d[] i_sqvertex)
        {
            NyARRotVector vec1 = this.__initRot_vec1;
            NyARRotVector vec2 = this.__initRot_vec2;

            //向かい合った辺から、２本のベクトルを計算

            //軸１
            vec1.exteriorProductFromLinear(i_linear[0], i_linear[2]);
            vec1.checkVectorByVertex(i_sqvertex[0], i_sqvertex[1]);

            //軸２
            vec2.exteriorProductFromLinear(i_linear[1], i_linear[3]);
            vec2.checkVectorByVertex(i_sqvertex[3], i_sqvertex[0]);

            //回転の最適化？
            NyARRotVector.checkRotation(vec1, vec2);

            this.m00 = vec1.v1;
            this.m10 = vec1.v2;
            this.m20 = vec1.v3;
            this.m01 = vec2.v1;
            this.m11 = vec2.v2;
            this.m21 = vec2.v3;

            //最後の軸を計算
            double w02 = vec1.v2 * vec2.v3 - vec1.v3 * vec2.v2;
            double w12 = vec1.v3 * vec2.v1 - vec1.v1 * vec2.v3;
            double w22 = vec1.v1 * vec2.v2 - vec1.v2 * vec2.v1;
            double w = Math.Sqrt(w02 * w02 + w12 * w12 + w22 * w22);
            this.m02 = w02 / w;
            this.m12 = w12 / w;
            this.m22 = w22 / w;
            //Matrixからangleをロード
            return;
        }
        /**
         * i_in_pointを変換行列で座標変換する。
         * @param i_in_point
         * @param i_out_point
         */
        public void getPoint3d(NyARDoublePoint3d i_in_point, NyARDoublePoint3d i_out_point)
        {
            double x = i_in_point.x;
            double y = i_in_point.y;
            double z = i_in_point.z;
            i_out_point.x = this.m00 * x + this.m01 * y + this.m02 * z;
            i_out_point.y = this.m10 * x + this.m11 * y + this.m12 * z;
            i_out_point.z = this.m20 * x + this.m21 * y + this.m22 * z;
            return;
        }
        /**
         * 複数の頂点を一括して変換する
         * @param i_in_point
         * @param i_out_point
         * @param i_number_of_vertex
         */
        public void getPoint3dBatch(NyARDoublePoint3d[] i_in_point, NyARDoublePoint3d[] i_out_point, int i_number_of_vertex)
        {
            for (int i = i_number_of_vertex - 1; i >= 0; i--)
            {
                NyARDoublePoint3d out_ptr = i_out_point[i];
                NyARDoublePoint3d in_ptr = i_in_point[i];
                double x = in_ptr.x;
                double y = in_ptr.y;
                double z = in_ptr.z;
                out_ptr.x = this.m00 * x + this.m01 * y + this.m02 * z;
                out_ptr.y = this.m10 * x + this.m11 * y + this.m12 * z;
                out_ptr.z = this.m20 * x + this.m21 * y + this.m22 * z;
            }
        }         
    }
}