#ifndef BASIS_H
#define BASIS_H

#if defined(_WIN32)
#  ifdef _GD_CPP_CORE_API_IMPL
#    define GD_CPP_CORE_API __declspec(dllexport)
#  else
#    define GD_CPP_CORE_API __declspec(dllimport)
#  endif
#else
#  define GD_CPP_CORE_API
#endif

#include "Defs.hpp"

#include "Vector3.hpp"

namespace godot {

class Quat;

class GD_CPP_CORE_API Basis {
public:

	Vector3 elements[3];

	Basis(const Quat& p_quat); // euler
	Basis(const Vector3& p_euler); // euler
	Basis(const Vector3& p_axis, real_t p_phi);

	Basis(const Vector3& row0, const Vector3& row1, const Vector3& row2);

	Basis(real_t xx, real_t xy, real_t xz, real_t yx, real_t yy, real_t yz, real_t zx, real_t zy, real_t zz);

	Basis();





	const Vector3& operator[](int axis) const;
	Vector3& operator[](int axis);

	void invert();

	bool isequal_approx(const Basis& a, const Basis& b) const;


	bool is_orthogonal() const;

	bool is_rotation() const;

	void transpose();

	Basis inverse() const;

	Basis transposed() const;

	real_t determinant() const;

	Vector3 get_axis(int p_axis) const;

	void set_axis(int p_axis, const Vector3& p_value);

	void rotate(const Vector3& p_axis, real_t p_phi);

	Basis rotated(const Vector3& p_axis, real_t p_phi) const;

	void scale( const Vector3& p_scale );

	Basis scaled( const Vector3& p_scale ) const;

	Vector3 get_scale() const;

	Vector3 get_euler() const;

	void set_euler(const Vector3& p_euler);

	// transposed dot products
	real_t tdotx(const Vector3& v) const;
	real_t tdoty(const Vector3& v) const;
	real_t tdotz(const Vector3& v) const;

	bool operator==(const Basis& p_matrix) const;

	bool operator!=(const Basis& p_matrix) const;

	Vector3 xform(const Vector3& p_vector) const;

	Vector3 xform_inv(const Vector3& p_vector) const;
	void operator*=(const Basis& p_matrix);

	Basis operator*(const Basis& p_matrix) const;


	void operator+=(const Basis& p_matrix);

	Basis operator+(const Basis& p_matrix) const;

	void operator-=(const Basis& p_matrix);

	Basis operator-(const Basis& p_matrix) const;

	void operator*=(real_t p_val);

	Basis operator*(real_t p_val) const;

	int get_orthogonal_index() const; // down below

	void set_orthogonal_index(int p_index); // down below


	operator String() const;

	void get_axis_and_angle(Vector3 &r_axis,real_t& r_angle) const;

	/* create / set */


	void set(real_t xx, real_t xy, real_t xz, real_t yx, real_t yy, real_t yz, real_t zx, real_t zy, real_t zz);

	Vector3 get_column(int i) const;

	Vector3 get_row(int i) const;
	Vector3 get_main_diagonal() const;

	void set_row(int i, const Vector3& p_row);

	Basis transpose_xform(const Basis& m) const;

	void orthonormalize();

	Basis orthonormalized() const;

	bool is_symmetric() const;

	Basis diagonalize();

	operator Quat() const;


};

}

#endif // BASIS_H
