package org.djutils.draw.point;
   
   import java.util.Arrays;
   import java.util.Iterator;
   import java.util.Locale;
   
   import org.djutils.draw.Oriented3d;
   import org.djutils.exceptions.Throw;
   import org.djutils.math.AngleUtil;
  
  /**
   * A OrientedPoint3d is a point with an x, y, and z coordinate, plus a 3d orientation. The orientation is specified by the
   * rotations around the x, y, and z-axis. A number of constructors and methods are provided for cases where only the rotation
   * around the z-axis is of importance. Orientation in 3D is stored as three double values dirX,dirY,dirZ. This class does
   * <b>not</b> prescribe a particular order in which these rotations are to be applied. (Applying rotations is <b>not</b>
   * commutative, so this <i>is</i> important.)
   * <p>
   * Copyright (c) 2020-2025 Delft University of Technology, PO Box 5, 2600 AA, Delft, the Netherlands. All rights reserved. <br>
   * BSD-style license. See <a href="https://djutils.org/docs/current/djutils/licenses.html">DJUTILS License</a>.
   * </p>
   * @author <a href="https://www.tudelft.nl/averbraeck">Alexander Verbraeck</a>
   * @author <a href="https://github.com/peter-knoppers">Peter Knoppers</a>
   * @author <a href="https://github.com/wjschakel">Wouter Schakel</a>
   */
  public class OrientedPoint3d extends DirectedPoint3d implements Oriented3d
  {
      /** */
      private static final long serialVersionUID = 20200828L;
  
      /** The direction as rotation around the x-axis. */
      @SuppressWarnings("checkstyle:visibilitymodifier")
      public final double dirX;
  
      /**
       * Create a new OrientedPoint3d with x, y, and z coordinates and direction 0,0,0.
       * @param x the x coordinate
       * @param y the y coordinate
       * @param z the z coordinate
       * @throws IllegalArgumentException when <code>x</code>, <code>y</code>, or <code>z</code> is <code>NaN</code>
       */
      public OrientedPoint3d(final double x, final double y, final double z)
      {
          this(x, y, z, 0.0, 0.0, 0.0);
      }
  
      /**
       * Create a new OrientedPoint3d with x, y, and z coordinates and orientation dirX,dirY,dirZ.
       * @param x the x coordinate
       * @param y the y coordinate
       * @param z the z coordinate
       * @param dirX the direction as rotation around the x-axis with the point as the center
       * @param dirY the direction as rotation around the y-axis with the point as the center
       * @param dirZ the direction as rotation around the z-axis with the point as the center
       * @throws ArithmeticException when <code>x</code>, <code>y</code>, <code>z</code>, <code>dirX</code>, <code>dirY</code>, or
       *             <code>dirZ</code> is <code>NaN</code>
       */
      public OrientedPoint3d(final double x, final double y, final double z, final double dirX, final double dirY,
              final double dirZ)
      {
          super(x, y, z, dirY, dirZ);
          Throw.whenNaN(dirX, "dirX");
          this.dirX = dirX;
      }
  
      /**
       * Create a new OrientedPoint3d with x, y, and z coordinates and direction 0,0,0.
       * @param xyz the x, y and z coordinates
       * @throws NullPointerException when <code>xyz</code> is <code>null</code>
       * @throws IllegalArgumentException when the length of the <code>xyx</code> array is not 3
       * @throws IllegalArgumentException when the <code>xyx</code> array contains a <code>NaN</code> value
       */
      public OrientedPoint3d(final double[] xyz)
      {
          super(xyz, 0, 0);
          this.dirX = 0.0;
      }
  
      /**
       * Create a new OrientedPoint3d with x, y, and z coordinates and orientation dirX,dirY,dirZ.
       * @param xyz the x, y and z coordinates
       * @param dirX the direction as rotation around the x-axis with the point as the center
       * @param dirY the direction as rotation around the y-axis with the point as the center
       * @param dirZ the direction as rotation around the z-axis with the point as the center
       * @throws NullPointerException when <code>xyx</code> is <code>null</code>
       * @throws IllegalArgumentException when the length of the xyz array is not 3
       * @throws ArithmeticException when <code>xyz</code> contains a <code>NaN</code> value, or <code>dirX</code>,
       *             <code>dirY</code>, or <code>dirZ</code> is <code>NaN</code>
       */
      public OrientedPoint3d(final double[] xyz, final double dirX, final double dirY, final double dirZ)
              throws NullPointerException, IllegalArgumentException
      {
          super(xyz, dirY, dirZ);
          Throw.whenNaN(dirX, "dirX");
          this.dirX = dirX;
      }
  
      /**
       * Create a new OrientedPoint3d from another point and specified orientation dirX,dirY,dirZ.
       * @param point the point from which this OrientedPoint3d will be instantiated
      * @param dirX the direction as rotation around the x-axis with the point as the center
      * @param dirY the direction as rotation around the y-axis with the point as the center
      * @param dirZ the direction as rotation around the z-axis with the point as the center
      * @throws NullPointerException when <code>point</code> is <code>null</code>
      * @throws ArithmeticException when <code>dirX</code>, <code>dirY</code>, or <code>dirZ</code> is <code>NaN</code>
      */
     public OrientedPoint3d(final Point3d point, final double dirX, final double dirY, final double dirZ)
     {
         this(point.x, point.y, point.z, dirX, dirY, dirZ);
     }
 
     /**
      * Verify that a double array is not null, has three elements.
      * @param orientation the array to check
      * @return the first element of the argument
      * @throws NullPointerException when <code>orientation</code> is <code>null</code>
      * @throws IllegalArgumentException when the length of the <code>orientation</code> array is not 3
      */
     private static double checkOrientationVector(final double[] orientation)
     {
         Throw.when(orientation.length != 3, IllegalArgumentException.class, "length of orientation array must be 3");
         return orientation[0];
     }
 
     /**
      * Create a new OrientedPoint3d with x, y, and z coordinates and orientation specified using a double array of three
      * elements (containing dirX,dirY,dirZ in that order).
      * @param x the x coordinate
      * @param y the y coordinate
      * @param z the z coordinate
      * @param orientation the three orientation values as rotations around the x,y,z-axes in a double array containing
      *            dirX,dirY,dirZ in that order
      * @throws NullPointerException when <code>rotation</code> is <code>null</code>
      * @throws IllegalArgumentException when the length of the <code>direction</code> array is not 3
      */
     public OrientedPoint3d(final double x, final double y, final double z, final double[] orientation)
     {
         this(x, y, z, checkOrientationVector(orientation), orientation[1], orientation[2]);
     }
 
     /**
      * Create a new OrientedPoint3d with x, y, and z coordinates packed in a double array and orientation specified using a
      * double array of three elements (containing dirX,dirY,dirZ in that order).
      * @param xyz the x, y and z coordinates in that order
      * @param orientation the three orientation values as rotations around the x,y,z-axes in a double array containing
      *            dirX,dirY,dirZ in that order
      * @throws NullPointerException when <code>xyx</code> or <code>direction</code> is <code>null</code>
      * @throws IllegalArgumentException when the length of the <code>xyx</code> array or the length of the
      *             <code>orientation</code> array is not 3
      */
     public OrientedPoint3d(final double[] xyz, final double[] orientation)
     {
         this(xyz, checkOrientationVector(orientation), orientation[1], orientation[2]);
     }
 
     @Override
     public OrientedPoint3d translate(final double dX, final double dY)
     {
         Throw.whenNaN(dX, "dX");
         Throw.whenNaN(dY, "dY");
         return new OrientedPoint3d(this.x + dX, this.y + dY, this.z, this.dirX, this.dirY, this.dirZ);
     }
 
     @Override
     public OrientedPoint3d translate(final double dX, final double dY, final double dZ)
     {
         Throw.whenNaN(dX, "dX");
         Throw.whenNaN(dY, "dY");
         Throw.whenNaN(dZ, "dZ");
         return new OrientedPoint3d(this.x + dX, this.y + dY, this.z + dZ, this.dirX, this.dirY, this.dirZ);
     }
 
     @Override
     public OrientedPoint3d scale(final double factor)
     {
         return new OrientedPoint3d(this.x * factor, this.y * factor, this.z * factor, this.dirX, this.dirY, this.dirZ);
     }
 
     @Override
     public OrientedPoint3d neg()
     {
         return new OrientedPoint3d(-this.x, -this.y, -this.z, AngleUtil.normalizeAroundZero(this.dirX + Math.PI),
                 AngleUtil.normalizeAroundZero(this.dirY + Math.PI), AngleUtil.normalizeAroundZero(this.dirZ + Math.PI));
     }
 
     @Override
     public OrientedPoint3d abs()
     {
         return new OrientedPoint3d(Math.abs(this.x), Math.abs(this.y), Math.abs(this.z), this.dirX, this.dirY, this.dirZ);
     }
 
     @Override
     public OrientedPoint3d normalize() throws IllegalArgumentException
     {
         double length = Math.sqrt(this.x * this.x + this.y * this.y + this.z * this.z);
         Throw.when(length == 0.0, IllegalArgumentException.class, "cannot normalize (0.0, 0.0, 0.0)");
         return new OrientedPoint3d(this.x / length, this.y / length, this.z / length, this.dirX, this.dirY, this.dirZ);
     }
 
     /**
      * Interpolate towards another OrientedPoint3d with a fraction. It is allowed for fraction to be less than zero or larger
      * than 1. In that case the interpolation turns into an extrapolation. DirX, dirY and dirZ are interpolated/extrapolated
      * using the interpolateShortest method.
      * @param otherPoint the other point
      * @param fraction the factor for interpolation towards the other point. When &lt;code&gt;fraction&lt;/code&gt; is between 0
      *            and 1, it is an interpolation, otherwise an extrapolation. If <code>fraction</code> is 0; <code>this</code>
      *            Point is returned; if <code>fraction</code> is 1, the <code>otherPoint</code> is returned
      * @return a new <code>OrientedPoint3d</code> at the requested <code>fraction</code>
      * @throws NullPointerException when <code>otherPoint</code> is <code>null</code>
      * @throws ArithmeticException when <code>fraction</code> is <code>NaN</code>
      */
     public OrientedPoint3d interpolate(final OrientedPoint3d otherPoint, final double fraction)
     {
         Throw.whenNull(otherPoint, "otherPoint");
         Throw.whenNaN(fraction, "fraction");
         if (0.0 == fraction)
         {
             return this;
         }
         if (1.0 == fraction)
         {
             return otherPoint;
         }
         return new OrientedPoint3d((1.0 - fraction) * this.x + fraction * otherPoint.x,
                 (1.0 - fraction) * this.y + fraction * otherPoint.y, (1.0 - fraction) * this.z + fraction * otherPoint.z,
                 AngleUtil.interpolateShortest(this.dirX, otherPoint.dirX, fraction),
                 AngleUtil.interpolateShortest(this.dirY, otherPoint.dirY, fraction),
                 AngleUtil.interpolateShortest(this.dirZ, otherPoint.dirZ, fraction));
     }
 
     /**
      * Return a new OrientedPoint3d with an in-place rotation around the z-axis by the provided rotateZ. The resulting rotation
      * will be normalized between -&pi; and &pi;.
      * @param rotateZ the rotation around the z-axis
      * @return a new point with the same coordinates, <code>dirX</code> and <code>dirY</code> and modified <code>dirZ</code>
      * @throws ArithmeticException when <code>rotateZ</code> is <code>NaN</code>
      */
     @Override
     public OrientedPoint3d rotate(final double rotateZ)
     {
         Throw.whenNaN(rotateZ, "rotZ");
         return new OrientedPoint3d(this.x, this.y, this.z, this.dirX, this.dirY,
                 AngleUtil.normalizeAroundZero(this.dirZ + rotateZ));
     }
 
     /**
      * Return a new OrientedPoint3d point with an in-place rotation by the provided rotateX, rotateY, and rotateZ. The resulting
      * rotations will be normalized between -&pi; and &pi;.
      * @param rotateX the rotation around the x-axis
      * @param rotateY the rotation around the y-axis
      * @param rotateZ the rotation around the z-axis
      * @return a new point with the same coordinates and applied rotations
      * @throws ArithmeticException when any of the rotations is <code>NaN</code>
      */
     public OrientedPoint3d rotate(final double rotateX, final double rotateY, final double rotateZ)
     {
         Throw.whenNaN(rotateX, "rotateX");
         Throw.whenNaN(rotateY, "rotateY");
         Throw.whenNaN(rotateZ, "rotateZ");
         return new OrientedPoint3d(this.x, this.y, this.z, AngleUtil.normalizeAroundZero(this.dirX + rotateX),
                 AngleUtil.normalizeAroundZero(this.dirY + rotateY), AngleUtil.normalizeAroundZero(this.dirZ + rotateZ));
     }
 
     @Override
     public double getDirX()
     {
         return this.dirX;
     }
 
     @Override
     public double getDirY()
     {
         return this.dirY;
     }
 
     @Override
     public double getDirZ()
     {
         return this.dirZ;
     }
 
     @Override
     public Iterator<Point3d> iterator()
     {
         return Arrays.stream(new Point3d[] {this}).iterator();
     }
 
     @Override
     public String toString()
     {
         return toString("%f", false);
     }
 
     @Override
     public String toString(final String doubleFormat, final boolean doNotIncludeClassName)
     {
         String format = String.format("%1$s[x=%2$s, y=%2$s, z=%2$s, rotX=%2$s, rotY=%2$s, rotZ=%2$s]",
                 doNotIncludeClassName ? "" : "OrientedPoint3d ", doubleFormat);
         return String.format(Locale.US, format, this.x, this.y, this.z, this.dirX, this.dirY, this.dirZ);
     }
 
     /**
      * Compare this Directed with another Directed with specified tolerances in the coordinates and the angles.
      * @param other the Directed to compare to
      * @param epsilonCoordinate the upper bound of difference for one of the coordinates; use Double.POSITIVE_INFINITY if you do
      *            not want to check the coordinates
      * @param epsilonRotation the upper bound of difference for the rotation(s); use Double.POSITIVE_INFINITY if you do not want
      *            to check the angles
      * @return boolean;<code>true</code> if <code>x</code>, <code>y</code>, and possibly <code>z</code> are less than
      *         <code>epsilonCoordinate</code> apart, and <code>rotZ</code> and possibly <code>rotX</code>, and possibly
      *         <code>rotY</code>are less than <code>epsilonDirection</code> apart, otherwise <code>false</code>
      * @throws NullPointerException when <code>other</code> is <code>null</code>
      * @throws ArithmeticException when <code>epsilonCoordinate</code> or <code>epsilonDirection</code> is <code>NaN</code>
      * @throws IllegalArgumentException <code>epsilonCoordinate</code> or <code>epsilonDirection</code> is <code>negative</code>
      */
     public boolean epsilonEquals(final OrientedPoint3d other, final double epsilonCoordinate, final double epsilonRotation)
             throws NullPointerException, IllegalArgumentException
     {
         Throw.whenNull(other, "other");
         if (Math.abs(this.x - other.x) > epsilonCoordinate)
         {
             return false;
         }
         if (Math.abs(this.y - other.y) > epsilonCoordinate)
         {
             return false;
         }
         if (Math.abs(this.z - other.z) > epsilonCoordinate)
         {
             return false;
         }
         if (Math.abs(AngleUtil.normalizeAroundZero(this.dirX - other.dirX)) > epsilonRotation)
         {
             return false;
         }
         if (Math.abs(AngleUtil.normalizeAroundZero(this.dirY - other.dirY)) > epsilonRotation)
         {
             return false;
         }
         if (Math.abs(AngleUtil.normalizeAroundZero(this.dirZ - other.dirZ)) > epsilonRotation)
         {
             return false;
         }
         return true;
     }
 
     @Override
     public int hashCode()
     {
         final int prime = 31;
         int result = super.hashCode();
         long temp;
         temp = Double.doubleToLongBits(this.dirX);
         result = prime * result + (int) (temp ^ (temp >>> 32));
         temp = Double.doubleToLongBits(this.dirY);
         result = prime * result + (int) (temp ^ (temp >>> 32));
         temp = Double.doubleToLongBits(this.dirZ);
         result = prime * result + (int) (temp ^ (temp >>> 32));
         return result;
     }
 
     @Override
     @SuppressWarnings("checkstyle:needbraces")
     public boolean equals(final Object obj)
     {
         if (this == obj)
             return true;
         if (!super.equals(obj))
             return false;
         OrientedPoint3d other = (OrientedPoint3d) obj;
         if (Double.doubleToLongBits(this.dirX) != Double.doubleToLongBits(other.dirX))
             return false;
         if (Double.doubleToLongBits(this.dirY) != Double.doubleToLongBits(other.dirY))
             return false;
         if (Double.doubleToLongBits(this.dirZ) != Double.doubleToLongBits(other.dirZ))
             return false;
         return true;
     }
 
 }