defmodule SpaceDust.Math.Matrix.Matrix3x3 do
  @moduledoc """
  A 3x3 matrix
  """

  defstruct [
    :m11,
    :m12,
    :m13,
    :m21,
    :m22,
    :m23,
    :m31,
    :m32,
    :m33
  ]
end

defmodule SpaceDust.Math.Matrix do
  @moduledoc """
  Matrix operations
  """
  alias SpaceDust.Math.Matrix.Matrix3x3, as: Matrix3x3

  @type matrix() :: %Matrix3x3{
          m11: number,
          m12: number,
          m13: number,
          m21: number,
          m22: number,
          m23: number,
          m31: number,
          m32: number,
          m33: number
        }

  @doc "create a 3x3 matrix from a nested list"
  @spec fromNestedList([[number]]) :: matrix()
  def fromNestedList([[m11, m12, m13], [m21, m22, m23], [m31, m32, m33]]) do
    %Matrix3x3{
      m11: m11,
      m12: m12,
      m13: m13,
      m21: m21,
      m22: m22,
      m23: m23,
      m31: m31,
      m32: m32,
      m33: m33
    }
  end

  @spec get(matrix(), integer(), integer()) :: number
  @doc "get the value at a specific row and column"
  def get(a, row, col) do
    case {row, col} do
      {1, 1} -> a.m11
      {1, 2} -> a.m12
      {1, 3} -> a.m13
      {2, 1} -> a.m21
      {2, 2} -> a.m22
      {2, 3} -> a.m23
      {3, 1} -> a.m31
      {3, 2} -> a.m32
      {3, 3} -> a.m33
    end
  end

  @spec multiply(matrix(), matrix()) :: matrix()
  @doc "multiply two 3x3 matrices"
  def multiply(a, b) do
    %Matrix3x3{
      m11: a.m11 * b.m11 + a.m12 * b.m21 + a.m13 * b.m31,
      m12: a.m11 * b.m12 + a.m12 * b.m22 + a.m13 * b.m32,
      m13: a.m11 * b.m13 + a.m12 * b.m23 + a.m13 * b.m33,
      m21: a.m21 * b.m11 + a.m22 * b.m21 + a.m23 * b.m31,
      m22: a.m21 * b.m12 + a.m22 * b.m22 + a.m23 * b.m32,
      m23: a.m21 * b.m13 + a.m22 * b.m23 + a.m23 * b.m33,
      m31: a.m31 * b.m11 + a.m32 * b.m21 + a.m33 * b.m31,
      m32: a.m31 * b.m12 + a.m32 * b.m22 + a.m33 * b.m32,
      m33: a.m31 * b.m13 + a.m32 * b.m23 + a.m33 * b.m33
    }
  end

  @spec transpose(matrix()) :: matrix()
  @doc "transpose a 3x3 matrix"
  def transpose(a) do
    %Matrix3x3{
      m11: a.m11,
      m12: a.m21,
      m13: a.m31,
      m21: a.m12,
      m22: a.m22,
      m23: a.m32,
      m31: a.m13,
      m32: a.m23,
      m33: a.m33
    }
  end

  @spec determinant(matrix()) :: number
  @doc "determinant of a 3x3 matrix"
  def determinant(a) do
    a.m11 * a.m22 * a.m33 + a.m12 * a.m23 * a.m31 + a.m13 * a.m21 * a.m32 -
      a.m13 * a.m22 * a.m31 - a.m11 * a.m23 * a.m32 - a.m12 * a.m21 * a.m33
  end

  @spec rotationMatrixFromEuler(number(), number(), number()) :: matrix()
  @doc "create a 3x3 rotation matrix from Euler angles"
  def rotationMatrixFromEuler(roll, pitch, yaw) do
    cos_yaw = :math.cos(yaw)
    sin_yaw = :math.sin(yaw)
    cos_pitch = :math.cos(pitch)
    sin_pitch = :math.sin(pitch)
    cos_roll = :math.cos(roll)
    sin_roll = :math.sin(roll)

    %Matrix3x3{
      m11: cos_yaw * cos_pitch,
      m12: cos_yaw * sin_pitch * sin_roll - sin_yaw * cos_roll,
      m13: cos_yaw * sin_pitch * cos_roll + sin_yaw * sin_roll,
      m21: sin_yaw * cos_pitch,
      m22: sin_yaw * sin_pitch * sin_roll + cos_yaw * cos_roll,
      m23: sin_yaw * sin_pitch * cos_roll - cos_yaw * sin_roll,
      m31: -sin_pitch,
      m32: cos_pitch * sin_roll,
      m33: cos_pitch * cos_roll
    }
  end
end