//

//   Copyright (C) 2005-2006 Rational Discovery LLC

//

//   @@ All Rights Reserved @@

//  This file is part of the RDKit.

//  The contents are covered by the terms of the BSD license

//  which is included in the file license.txt, found at the root

//  of the RDKit source tree.

//

#include <RDGeneral/export.h>

#ifndef __RD_TRANSFORM3D_H__

#define __RD_TRANSFORM3D_H__

#include "Transform.h"

#include <Numerics/SquareMatrix.h>

namespace RDGeom {

class Point3D;

const unsigned int DIM_3D = 4;

class RDKIT_RDGEOMETRYLIB_EXPORT Transform3D

    : public RDNumeric::SquareMatrix<double> {

 public:

  //!  Constructor

  /*!

    Initialize to an identity matrix transformation.

    This is a 4x4 matrix that includes the rotation and translation parts

    see Foley's "Introduction to Computer Graphics" for the representation

    Operator *= and = are provided by the parent class square matrix.

    Operator *= needs some explanation, since the order matters. This transform

    gets set to

    the combination other and the current state of this transform

    If this_old and this_new are the states of this object before and after this

    function

    we have

            this_new(point) = this_old(other(point))

   */

  Transform3D() : RDNumeric::SquareMatrix<double>(DIM_3D, 0.0) {

    for (unsigned int i = 0; i < DIM_3D; i++) {

      unsigned int id = i * (DIM_3D + 1);

      d_data[id] = 1.0;

    }

  }

  Transform3D(const Transform3D &t) = default;

  Transform3D(Transform3D &&t) = default;

  ~Transform3D() = default;

  Transform3D &operator=(const Transform3D &t) = default;

  Transform3D &operator=(Transform3D &&t) = default;

  void setToIdentity();

  void TransformPoint(Point3D &pt) const;

  void TransformPoint(double *pt) const;

  /*! \brief Set the translation vector

   */

  void SetTranslation(const Point3D &move);

  /*! \brief set the rotation matrix

   *

   * The rotation matrix is set to rotation by the specified angle

   * about the specified axis

   */

  void SetRotation(double angle, AxisType axis);

  /*! \brief set the rotation matrix

   *

   * The rotation matrix is set to rotation by the specified angle

   * about an arbitrary axis.

   * Note: if the axis is not a unit vector scaling will also occur.

   * This can be ensured by a call to Point3D#normalize() prior to calling

   * this method

   */

  void SetRotation(double angle, const Point3D &axis);

  void SetRotation(double cosT, double sinT, const Point3D &axis);

  //! Set the rotation matrix from a quaternion

  void SetRotationFromQuaternion(const double quaternion[4]);

  //! Reflect the rotation

  void Reflect();

 private:

};

}  // namespace RDGeom

/*! \brief Combine two transforms and return the results as a new transform

 *

 * The order is important here, on two transforms t1 and t2

 * t3 = t1*t2

 * The resulting transform t3 has the following effect

 *  t3(point) = t1(t2(point))

 */

RDKIT_RDGEOMETRYLIB_EXPORT RDGeom::Transform3D operator*(

    const RDGeom::Transform3D &t1, const RDGeom::Transform3D &t2);

/*! \brief Transform a point:

 *

 */

RDKIT_RDGEOMETRYLIB_EXPORT RDGeom::Point3D operator*(

    const RDGeom::Transform3D &t, const RDGeom::Point3D &pt);

#endif