/*
 * Decompiled with CFR 0.152.
 * 
 * Could not load the following classes:
 *  com.mojang.datafixers.kinds.App
 *  com.mojang.datafixers.kinds.Applicative
 *  com.mojang.serialization.Codec
 *  com.mojang.serialization.codecs.RecordCodecBuilder
 *  org.apache.commons.lang3.tuple.Triple
 *  org.joml.Matrix3f
 *  org.joml.Matrix4f
 *  org.joml.Matrix4fc
 *  org.joml.Quaternionf
 *  org.joml.Quaternionfc
 *  org.joml.Vector3f
 *  org.joml.Vector3fc
 *  org.jspecify.annotations.Nullable
 */
package com.mojang.math;

import com.mojang.datafixers.kinds.App;
import com.mojang.datafixers.kinds.Applicative;
import com.mojang.math.MatrixUtil;
import com.mojang.serialization.Codec;
import com.mojang.serialization.codecs.RecordCodecBuilder;
import java.util.Objects;
import net.minecraft.util.ExtraCodecs;
import net.minecraft.util.Util;
import org.apache.commons.lang3.tuple.Triple;
import org.joml.Matrix3f;
import org.joml.Matrix4f;
import org.joml.Matrix4fc;
import org.joml.Quaternionf;
import org.joml.Quaternionfc;
import org.joml.Vector3f;
import org.joml.Vector3fc;
import org.jspecify.annotations.Nullable;

public final class Transformation {
    private final Matrix4fc matrix;
    public static final Codec<Transformation> CODEC = RecordCodecBuilder.create(i -> i.group((App)ExtraCodecs.VECTOR3F.fieldOf("translation").forGetter(e -> e.translation), (App)ExtraCodecs.QUATERNIONF.fieldOf("left_rotation").forGetter(e -> e.leftRotation), (App)ExtraCodecs.VECTOR3F.fieldOf("scale").forGetter(e -> e.scale), (App)ExtraCodecs.QUATERNIONF.fieldOf("right_rotation").forGetter(e -> e.rightRotation)).apply((Applicative)i, Transformation::new));
    public static final Codec<Transformation> EXTENDED_CODEC = Codec.withAlternative(CODEC, (Codec)ExtraCodecs.MATRIX4F.xmap(Transformation::new, Transformation::getMatrix));
    private boolean decomposed;
    private @Nullable Vector3fc translation;
    private @Nullable Quaternionfc leftRotation;
    private @Nullable Vector3fc scale;
    private @Nullable Quaternionfc rightRotation;
    private static final Transformation IDENTITY = Util.make(() -> {
        Transformation identity = new Transformation((Matrix4fc)new Matrix4f());
        identity.translation = new Vector3f();
        identity.leftRotation = new Quaternionf();
        identity.scale = new Vector3f(1.0f, 1.0f, 1.0f);
        identity.rightRotation = new Quaternionf();
        identity.decomposed = true;
        return identity;
    });

    public Transformation(@Nullable Matrix4fc matrix) {
        this.matrix = matrix == null ? new Matrix4f() : matrix;
    }

    public Transformation(@Nullable Vector3fc translation, @Nullable Quaternionfc leftRotation, @Nullable Vector3fc scale, @Nullable Quaternionfc rightRotation) {
        this.matrix = Transformation.compose(translation, leftRotation, scale, rightRotation);
        this.translation = translation != null ? translation : new Vector3f();
        this.leftRotation = leftRotation != null ? leftRotation : new Quaternionf();
        this.scale = scale != null ? scale : new Vector3f(1.0f, 1.0f, 1.0f);
        this.rightRotation = rightRotation != null ? rightRotation : new Quaternionf();
        this.decomposed = true;
    }

    public static Transformation identity() {
        return IDENTITY;
    }

    public Transformation compose(Transformation that) {
        Matrix4f matrix = this.getMatrixCopy();
        matrix.mul(that.getMatrix());
        return new Transformation((Matrix4fc)matrix);
    }

    public @Nullable Transformation inverse() {
        if (this == IDENTITY) {
            return this;
        }
        Matrix4f matrix = this.getMatrixCopy().invertAffine();
        if (matrix.isFinite()) {
            return new Transformation((Matrix4fc)matrix);
        }
        return null;
    }

    private void ensureDecomposed() {
        if (!this.decomposed) {
            float scaleFactor = 1.0f / this.matrix.m33();
            Triple<Quaternionf, Vector3f, Quaternionf> triple = MatrixUtil.svdDecompose(new Matrix3f(this.matrix).scale(scaleFactor));
            this.translation = this.matrix.getTranslation(new Vector3f()).mul(scaleFactor);
            this.leftRotation = new Quaternionf((Quaternionfc)triple.getLeft());
            this.scale = new Vector3f((Vector3fc)triple.getMiddle());
            this.rightRotation = new Quaternionf((Quaternionfc)triple.getRight());
            this.decomposed = true;
        }
    }

    private static Matrix4f compose(@Nullable Vector3fc translation, @Nullable Quaternionfc leftRotation, @Nullable Vector3fc scale, @Nullable Quaternionfc rightRotation) {
        Matrix4f result = new Matrix4f();
        if (translation != null) {
            result.translation(translation);
        }
        if (leftRotation != null) {
            result.rotate(leftRotation);
        }
        if (scale != null) {
            result.scale(scale);
        }
        if (rightRotation != null) {
            result.rotate(rightRotation);
        }
        return result;
    }

    public Matrix4fc getMatrix() {
        return this.matrix;
    }

    public Matrix4f getMatrixCopy() {
        return new Matrix4f(this.matrix);
    }

    public Vector3fc getTranslation() {
        this.ensureDecomposed();
        return this.translation;
    }

    public Quaternionfc getLeftRotation() {
        this.ensureDecomposed();
        return this.leftRotation;
    }

    public Vector3fc getScale() {
        this.ensureDecomposed();
        return this.scale;
    }

    public Quaternionfc getRightRotation() {
        this.ensureDecomposed();
        return this.rightRotation;
    }

    public boolean equals(Object o) {
        if (this == o) {
            return true;
        }
        if (o == null || this.getClass() != o.getClass()) {
            return false;
        }
        Transformation that = (Transformation)o;
        return Objects.equals(this.matrix, that.matrix);
    }

    public int hashCode() {
        return Objects.hash(this.matrix);
    }

    public Transformation slerp(Transformation that, float progress) {
        return new Transformation((Vector3fc)this.getTranslation().lerp(that.getTranslation(), progress, new Vector3f()), (Quaternionfc)this.getLeftRotation().slerp(that.getLeftRotation(), progress, new Quaternionf()), (Vector3fc)this.getScale().lerp(that.getScale(), progress, new Vector3f()), (Quaternionfc)this.getRightRotation().slerp(that.getRightRotation(), progress, new Quaternionf()));
    }
}