-- EgtFrame3d.lua by EgalTech s.r.l.     2020/09/29

-- Tavola per definizione modulo (serve ma non usata)
local EgtFrame3d = {}

EgtOutLog( 'EgtFrame3d started', 1)

-- Include
require( 'EgtPoint3d')
--EnableDebug( false)


-- Definizione classe Frame3d
Frame3d = {{},{},{},{}}
Frame3d.__index = Frame3d

-- funzione di utilita' per identificazione tipo
function isFrame3d( a)
   return ( getmetatable( a) == Frame3d)
end

local function New( a, b, c, d)
   local f3d = setmetatable( {{0,0,0},{1,0,0},{0,1,0},{0,0,1}}, Frame3d)   
   local function SetVersors( type)
      if type == GDB_FR.FRONT then
         f3d[2] =  X_AX() ; f3d[3] = Z_AX() ; f3d[4] = -Y_AX()
      elseif type == GDB_FR.RIGHT then
         f3d[2] =  Y_AX() ; f3d[3] = Z_AX() ; f3d[4] = X_AX()
      elseif type == GDB_FR.BACK then
         f3d[2] = -X_AX() ; f3d[3] = Z_AX() ; f3d[4] = Y_AX()
      elseif type == GDB_FR.LEFT then
         f3d[2] = -Y_AX() ; f3d[3] = Z_AX() ; f3d[4] = -X_AX()
      elseif type == GDB_FR.BOTTOM then
         f3d[2] =  X_AX() ; f3d[3] = -Y_AX() ; f3d[4] = -Z_AX()
      else      -- GDB_FR.TOP 
         f3d[2] =  X_AX() ; f3d[3] = Y_AX() ; f3d[4] = Z_AX()
      end   
   end 
   if not a then
      f3d[1] = Point3d( 0, 0, 0)
      SetVersors( GDB_FR.TOP)
   elseif isFrame3d( a) then
      f3d[1] = a[1]
      f3d[2] = a[2]
      f3d[3] = a[3]
      f3d[4] = a[4]
   elseif type(a) == 'table' and #a >= 4 and
          type(a[1]) == 'table' and #a[1] >= 3 and
          type(a[2]) == 'table' and #a[2] >= 3 and
          type(a[3]) == 'table' and #a[3] >= 3 and
          type(a[4]) == 'table' and #a[4] >= 3 then 
      f3d[1] = Point3d( a[1])
      f3d[2] = Vector3d( a[2])
      f3d[3] = Vector3d( a[3])
      f3d[4] = Vector3d( a[4])
      f3d[2]:normalize()
      f3d[3]:normalize()
      f3d[4]:normalize()
      if not Frame3d.isValid( f3d) then
         error( 'Error in FrameIsValid', 2)
      end
   elseif isPoint3d( a) and isVector3d( b) and isVector3d( c) and isVector3d( d) then
      f3d[1] = a
      f3d[2] = b
      f3d[3] = c
      f3d[4] = d 
      f3d[2]:normalize()
      f3d[3]:normalize()
      f3d[4]:normalize()
      if not Frame3d.isValid( f3d) then
         error( 'Error in FrameIsValid', 2)
      end
   elseif isPoint3d( a) and isVector3d( b) then      
      local bOk, Ocs = EgtFrameOCS( a, b)
      if bOk then
         f3d[1] = Point3d( Ocs[1]) 
         f3d[2] = Vector3d( Ocs[2])
         f3d[3] = Vector3d( Ocs[3])
         f3d[4] = Vector3d( Ocs[4])
      else
         error( 'Error in EgtFrameOCS', 2)
      end
   elseif isPoint3d( a) and isPoint3d( b) and isPoint3d( c) then
      local bOk, f3P = EgtFrameFrom3Points( a, b, c)
      if bOk then
         f3d[1] = Point3d( f3P[1]) 
         f3d[2] = Vector3d( f3P[2])
         f3d[3] = Vector3d( f3P[3])
         f3d[4] = Vector3d( f3P[4])
      else
         error( 'Error in EgtFrameFrom3Points', 2)
      end
   elseif isPoint3d( a) then
      f3d[1] = a
      SetVersors( b)
   elseif type(a) == 'number' and type( b) == 'number' and type( c) == 'number' then
      f3d[1] = Point3d( a, b, c)
      SetVersors( d)
   else
      error( 'A parameter is wrong', 2)      
   end
   return f3d
end

setmetatable( Frame3d, { __call = function( _, ...) return New( ...) end })

-- verifica validità
function Frame3d:isValid()
   -- verifico che i versori siano normalizzati
   if not self[2]:isNormalized() or
      not self[3]:isNormalized() or
      not self[4]:isNormalized() then
      return false
   end   
   -- verifico che i versori siano mutuamente ortogonali
   if math.abs( self[2][1] * self[3][1] + self[2][2] * self[3][2] + self[2][3] * self[3][3]) > GEO.EPS_ZERO or
      math.abs( self[3][1] * self[4][1] + self[3][2] * self[4][2] + self[3][3] * self[4][3]) > GEO.EPS_ZERO or
      math.abs( self[4][1] * self[2][1] + self[4][2] * self[2][2] + self[4][3] * self[2][3]) > GEO.EPS_ZERO then
      return false
   end
   -- verifico il senso destrorso della terna
   if Vector3d.TripleProd( self[2], self[3], self[4]) < GEO.EPS_ZERO then
      return false
   end
   -- tutto bene
   return true
end

-- traslazione
function Frame3d:move( m)
   if not isFrame3d( self) then
      return false
   end
   if isVector3d( m) then
     self[1] = self[1] + m
     return true
   elseif type( m) == 'table' and #m >= 3 then
      self[1] = self[1] + Vector3d( m)
      return true
   else
      return false
   end
end  

-- rotazione
function Frame3d:rotate( ptAx, vtAx, dAngDeg)
   if not isFrame3d( self) or not isPoint3d( ptAx) or not isVector3d( vtAx) or type( dAngDeg) ~= 'number' then
      return false
   end
   local bOk, fRot = EgtFrameRotate( self, ptAx, vtAx, dAngDeg)
   if bOk then
      self[1] = Point3d( fRot[1]) 
      self[2] = Vector3d( fRot[2])
      self[3] = Vector3d( fRot[3])
      self[4] = Vector3d( fRot[4]) 
   end   
   return bOk
end

-- inversione (trasformazione inversa)
function Frame3d:invert()
   if not isFrame3d( self) then
      return false
   end
   local bOk, frInv = EgtFrameToLoc( Frame3d(), self)
   if bOk then
      self[1] = Point3d( frInv[1]) 
      self[2] = Vector3d( frInv[2])
      self[3] = Vector3d( frInv[3])
      self[4] = Vector3d( frInv[4]) 
   end   
   return bOk  
end

-- trasformazione di riferimento verso globale
function Frame3d:toGlob( fTool)
   if not isFrame3d( self) or not isFrame3d( fTool) then
      return false
   end
   local bOk, fNew = EgtFrameToGlob( self, fTool)
   if bOk then
      self[1] = Point3d( fNew[1]) 
      self[2] = Vector3d( fNew[2])
      self[3] = Vector3d( fNew[3])
      self[4] = Vector3d( fNew[4]) 
   end   
   return bOk  
end

-- trasformazione di riferimento verso locale
function Frame3d:toLoc( fTool)
   if not isFrame3d( self) or not isFrame3d( fTool) then
      return false
   end
   local bOk, fNew = EgtFrameToLoc( self, fTool)
   if bOk then
      self[1] = Point3d( fNew[1]) 
      self[2] = Vector3d( fNew[2])
      self[3] = Vector3d( fNew[3])
      self[4] = Vector3d( fNew[4]) 
   end   
   return bOk  
end

-- trasformazione di riferimento da locale a locale
function Frame3d:locToLoc( fOri, fDest)
   if not isFrame3d( self) or not isFrame3d( fOri) or not isFrame3d( fDest) then
      return false
   end
   local bOk, fNew = EgtFrameLocToLoc( self, fOri, fDest)
   if bOk then
      self[1] = Point3d( fNew[1]) 
      self[2] = Vector3d( fNew[2])
      self[3] = Vector3d( fNew[3])
      self[4] = Vector3d( fNew[4]) 
   end   
   return bOk  
end

-- restituzione componenti
function Frame3d:getOrigin()
   return self[1]
end

function Frame3d:getVersX()
   return self[2]
end

function Frame3d:getVersY()
   return self[3]
end

function Frame3d:getVersZ()
   return self[4]
end

-- conversione in stringa (tostring)
function Frame3d:__tostring()
  return '('.. tostring(self[1])..','..tostring(self[2])..','..tostring(self[3])..','..tostring(self[4]) ..')'
end

-- Angoli di rotazione di Eulero da Frame
function GetRotCAC1FromFrame( frRef)
   if not isFrame3d( frRef) then
      return nil
   end
   return EgtFrameGetRotCAC1( frRef)
end

-- Angoli di rotazione attorno ad assi XYZ fissi da Frame
function GetFixedAxesRotABCFromFrame( frRef)
   if not isFrame3d( frRef) then
      return nil
   end
   return EgtFrameGetFixedAxesRotABC( frRef)
end

-- Riferimenti notevoli
function GLOB_FRM()
   return Frame3d()
end
 
return EgtFrame3d