/**
 Copyright 2013 BlackBerry Inc.

 Licensed under the Apache License, Version 2.0 (the "License");
 you may not use this file except in compliance with the License.
 You may obtain a copy of the License at

 http://www.apache.org/licenses/LICENSE-2.0

 Unless required by applicable law or agreed to in writing, software
 distributed under the License is distributed on an "AS IS" BASIS,
 WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 See the License for the specific language governing permissions and
 limitations under the License.

 Original file from GamePlay3D: http://gameplay3d.org

 This file was modified to fit the cocos2d-x project
 */

#include "math/Quaternion.h"
#include <float.h>

NS_CC_MATH_BEGIN

inline Quaternion Quaternion::operator*(const Quaternion& q) const
{
    Quaternion result(*this);
    result.multiply(q);
    return result;
}

inline Quaternion& Quaternion::operator*=(const Quaternion& q)
{
    multiply(q);
    return *this;
}

inline Vec3 Quaternion::operator*(const Vec3& v) const
{
    Vec3 uv, uuv;
    Vec3 qvec(x, y, z);
    Vec3::cross(qvec, v, &uv);
    Vec3::cross(qvec, uv, &uuv);

    uv *= (2.0f * w);
    uuv *= 2.0f;

    return v + uv + uuv;
}

/* --- --- --- --- Add by XuJJ start --- --- --- --- */
float Dot( const Quaternion& q1, const Quaternion& q2 );

inline float Magnitude(const Quaternion& q)
{
//    return SqrtImpl (SqrMagnitude (q));
    return sqrt (SqrMagnitude (q));
}

inline float SqrMagnitude(const Quaternion& q)
{
    return Dot (q, q);
}

inline float Dot( const Quaternion& q1, const Quaternion& q2 )
{
    return (q1.x*q2.x + q1.y*q2.y + q1.z*q2.z + q1.w*q2.w);
}

inline Quaternion NormalizeSafe (const Quaternion& q)
{
    float mag = Magnitude (q);
    if (mag < FLT_EPSILON)
        return Quaternion::identity ();
    else
        return q / mag;
}

inline float& Quaternion::operator[] (int i)
{
    //    DebugAssertIf (i < 0 || i > 3);
    CC_ASSERT(!(i < 0 || i > 3));
    return (&x)[i];
}

inline const float& Quaternion::operator[] (int i)const
{
    //    DebugAssertIf (i < 0 || i > 3);
    CC_ASSERT(!(i < 0 || i > 3));
    return (&x)[i];
}

inline Quaternion& Quaternion::operator+= (const Quaternion& aQuat)
{
    x += aQuat.x;
    y += aQuat.y;
    z += aQuat.z;
    w += aQuat.w;
    return *this;
}

inline Quaternion& Quaternion::operator-= (const Quaternion& aQuat)
{
    x -= aQuat.x;
    y -= aQuat.y;
    z -= aQuat.z;
    w -= aQuat.w;
    return *this;
}

inline Quaternion& Quaternion::operator *= (float aScalar)
{
    x *= aScalar;
    y *= aScalar;
    z *= aScalar;
    w *= aScalar;
    return *this;
}

inline Quaternion&    Quaternion::operator /= (const float         aScalar)
{
    //    AssertIf (CompareApproximately (aScalar, 0.0F));
    x /= aScalar;
    y /= aScalar;
    z /= aScalar;
    w /= aScalar;
    return *this;
}

//inline Quaternion&    Quaternion::operator *= (const Quaternion&     rhs)
//{
//    float tempx = w*rhs.x + x*rhs.w + y*rhs.z - z*rhs.y;
//    float tempy = w*rhs.y + y*rhs.w + z*rhs.x - x*rhs.z;
//    float tempz = w*rhs.z + z*rhs.w + x*rhs.y - y*rhs.x;
//    float tempw = w*rhs.w - x*rhs.x - y*rhs.y - z*rhs.z;
//    x = tempx; y = tempy; z = tempz; w = tempw;
//    return *this;
//}

inline bool IsFinite (const Quaternion& f)
{
    unsigned int intval = *reinterpret_cast<const unsigned int*>(&(f.x));
    bool flag = ((intval & 0x7f800000) != 0x7f800000);
    intval = *reinterpret_cast<const unsigned int*>(&(f.y));
    flag = flag & ((intval & 0x7f800000) != 0x7f800000);
    intval = *reinterpret_cast<const unsigned int*>(&(f.z));
    flag = flag & ((intval & 0x7f800000) != 0x7f800000);
    intval = *reinterpret_cast<const unsigned int*>(&(f.w));
    flag = flag & ((intval & 0x7f800000) != 0x7f800000);
    return flag;
    //    return RRP::IsFinite(f.x) & RRP::IsFinite(f.y) & RRP::IsFinite(f.z) & RRP::IsFinite(f.w);
}
/* --- --- --- --- Add by XuJJ end --- --- --- --- */

NS_CC_MATH_END