package org.djutils.draw.point;
   
   import java.util.Arrays;
   import java.util.Iterator;
   import java.util.Locale;
   
   import org.djutils.draw.Direction3d;
   import org.djutils.draw.Drawable3d;
   import org.djutils.draw.InvalidProjectionException;
  import org.djutils.draw.bounds.Bounds3d;
  import org.djutils.exceptions.Throw;
  
  /**
   * A Point3d is an immutable point with an x, y, and z coordinate, stored with double precision. It differs from many Point
   * implementations by being immutable.
   * <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 Point3d implements Drawable3d, Point<Point3d>
  {
      /** */
      private static final long serialVersionUID = 20201201L;
  
      /** The x-coordinate. */
      @SuppressWarnings("checkstyle:visibilitymodifier")
      public final double x;
  
      /** The y-coordinate. */
      @SuppressWarnings("checkstyle:visibilitymodifier")
      public final double y;
  
      /** The z-coordinate. */
      @SuppressWarnings("checkstyle:visibilitymodifier")
      public final double z;
  
      /**
       * Create a new Point from x, y and z coordinates provided as double arguments.
       * @param x the x coordinate
       * @param y the y coordinate
       * @param z the z coordinate
       * @throws ArithmeticException when <code>x</code> or <code>y</code> or <code>z</code> is <code>NaN</code>
       */
      public Point3d(final double x, final double y, final double z)
      {
          Throw.whenNaN(x, "x");
          Throw.whenNaN(y, "y");
          Throw.whenNaN(z, "z");
          this.x = x;
          this.y = y;
          this.z = z;
      }
  
      /**
       * Create a new Point3d from x, y and z coordinates provided as values in a double array.
       * @param xyz the x, y and z coordinates
       * @throws NullPointerException when <code>xyz</code> is <code>null</code>
       * @throws IllegalArgumentException when the length of <code>xyz</code> is not 3
       * @throws ArithmeticException when <code>xyz</code> contains a <code>NaN</code> value
       */
      public Point3d(final double[] xyz) throws NullPointerException, IllegalArgumentException
      {
          this(checkLengthIsThree(Throw.whenNull(xyz, "xyz"))[0], xyz[1], xyz[2]);
      }
  
      /**
       * Create a new Point3d from x, y stored in a java.awt.geom.Point2D and double z.
       * @param point a java.awt.geom.Point2D
       * @param z the z coordinate
       * @throws NullPointerException when <code>point</code> is <code>null</code>
       * @throws ArithmeticException when <code>z</code> is <code>NaN</code>
       */
      public Point3d(final Point2d point, final double z)
      {
          Throw.whenNull(point, "point");
          Throw.whenNaN(z, "z");
          this.x = point.x;
          this.y = point.y;
          this.z = z;
      }
  
      /**
       * Create an immutable point from x, y obtained from a AWT Point2D and double z.
       * @param point a java.awt.geom.Point2D
       * @param z the z coordinate
       * @throws NullPointerException when <code>point</code> is <code>null</code>
       * @throws ArithmeticException when <code>point</code> has a <code>NaN</code> coordinate, or <code>z</code> is
       *             <code>NaN</code>
       */
      public Point3d(final java.awt.geom.Point2D point, final double z)
      {
          Throw.whenNull(point, "point");
          Throw.whenNaN(point.getX(), "point.getX()");
          Throw.whenNaN(point.getY(), "point.getY()");
          Throw.whenNaN(z, "z");
         this.x = point.getX();
         this.y = point.getY();
         this.z = z;
     }
 
     /**
      * Throw an IllegalArgumentException if the length of the provided array is not three.
      * @param xyz the provided array
      * @return the provided array
      * @throws NullPointerException when <code>xyz</code> is <code>null</code>
      * @throws IllegalArgumentException when length of <code>xyz</code> is not 3
      */
     private static double[] checkLengthIsThree(final double[] xyz)
     {
         Throw.when(xyz.length != 3, IllegalArgumentException.class, "Length of xyz-array must be 3");
         return xyz;
     }
 
     @Override
     public final double getX()
     {
         return this.x;
     }
 
     @Override
     public final double getY()
     {
         return this.y;
     }
 
     /**
      * Return the z-coordinate.
      * @return the z-coordinate
      */
     public final double getZ()
     {
         return this.z;
     }
 
     @Override
     public double distanceSquared(final Point3d otherPoint) throws NullPointerException
     {
         Throw.whenNull(otherPoint, "otherPoint");
         double dx = this.x - otherPoint.x;
         double dy = this.y - otherPoint.y;
         double dz = this.z - otherPoint.z;
         return dx * dx + dy * dy + dz * dz;
     }
 
     @Override
     public double distance(final Point3d otherPoint) throws NullPointerException
     {
         Throw.whenNull(otherPoint, "otherPoint");
         return Math.sqrt(distanceSquared(otherPoint));
     }
 
     @Override
     public int size()
     {
         return 1;
     }
 
     @Override
     public Iterator<Point3d> iterator()
     {
         return Arrays.stream(new Point3d[] {this}).iterator();
     }
 
     @Override
     public Point2d project() throws InvalidProjectionException
     {
         return new Point2d(this.x, this.y);
     }
 
     /**
      * Return a new Point3d with a translation by the provided dX and dY and preserved z value.
      * @param dX the x translation
      * @param dY the y translation
      * @return a new point with the translated coordinates and the same <code>z</code> value
      * @throws ArithmeticException when <code>dX</code>, or <code>dY</code> is <code>NaN</code>
      */
     public Point3d translate(final double dX, final double dY) throws ArithmeticException
     {
         Throw.whenNaN(dX, "dX");
         Throw.whenNaN(dY, "dY");
         return new Point3d(this.x + dX, this.y + dY, this.z);
     }
 
     /**
      * Return a new Point3d with a translation by the provided dx, dy and dz.
      * @param dX the x translation
      * @param dY the y translation
      * @param dZ the z translation
      * @return a new point with the translated coordinates
      * @throws ArithmeticException when <code>dX</code>, <code>dY</code>, or <code>dZ</code> is <code>NaN</code>
      */
     public Point3d translate(final double dX, final double dY, final double dZ)
     {
         Throw.whenNaN(dX, "dX");
         Throw.whenNaN(dY, "dY");
         Throw.whenNaN(dZ, "dZ");
         return new Point3d(this.x + dX, this.y + dY, this.z + dZ);
     }
 
     @Override
     public Point3d scale(final double factor)
     {
         Throw.whenNaN(factor, "factor");
         return new Point3d(this.x * factor, this.y * factor, this.z * factor);
     }
 
     @Override
     public Point3d neg()
     {
         return scale(-1.0);
     }
 
     @Override
     public Point3d abs()
     {
         return new Point3d(Math.abs(this.x), Math.abs(this.y), Math.abs(this.z));
     }
 
     @Override
     public Point3d 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 this.scale(1.0 / length);
     }
 
     @Override
     public Point3d interpolate(final Point3d point, final double fraction)
     {
         Throw.whenNull(point, "point");
         Throw.whenNaN(fraction, "fraction");
         return new Point3d((1.0 - fraction) * this.x + fraction * point.x, (1.0 - fraction) * this.y + fraction * point.y,
                 (1.0 - fraction) * this.z + fraction * point.z);
 
     }
 
     @Override
     public boolean epsilonEquals(final Point3d otherPoint, final double epsilon)
     {
         Throw.whenNull(otherPoint, "otherPoint");
         if (Math.abs(this.x - otherPoint.x) > epsilon)
         {
             return false;
         }
         if (Math.abs(this.y - otherPoint.y) > epsilon)
         {
             return false;
         }
         if (Math.abs(this.z - otherPoint.z) > epsilon)
         {
             return false;
         }
         return true;
     }
 
     @Override
     public Bounds3d getAbsoluteBounds()
     {
         return new Bounds3d(this);
     }
 
     /**
      * Return the direction to another Point3d.
      * @param otherPoint the other point
      * @return the direction to the other point in Radians (towards infinite X is 0; towards infinite Y is &pi; / 2; etc.). If
      *         the points are identical; this method returns <code>NaN</code>.
      */
     public Direction3d directionTo(final Point3d otherPoint)
     {
         return new Direction3d(Math.atan2(Math.hypot(otherPoint.x - this.x, otherPoint.y - this.y), otherPoint.z - this.z),
                 Math.atan2(otherPoint.y - this.y, otherPoint.x - this.x));
     }
 
     @Override
     public final Point3d closestPointOnSegment(final Point3d segmentPoint1, final Point3d segmentPoint2)
     {
         Throw.whenNull(segmentPoint1, "segmentPoint1");
         Throw.whenNull(segmentPoint2, "segmentPoint2");
         return closestPointOnSegment(segmentPoint1.x, segmentPoint1.y, segmentPoint1.z, segmentPoint2.x, segmentPoint2.y,
                 segmentPoint2.z);
     }
 
     /**
      * Compute the closest point on a line with optional limiting of the result on either end.
      * @param p1X the x coordinate of the first point on the line
      * @param p1Y the y coordinate of the first point on the line
      * @param p1Z the z coordinate of the first point on the line
      * @param p2X the x coordinate of the second point on the line
      * @param p2Y the y coordinate of the second point on the line
      * @param p2Z the z coordinate of the second point on the line
      * @param lowLimitHandling controls handling of results that lie before the first point of the line. If <code>null</code>;
      *            this method returns <code>null</code>; else if <code>true</code>; this method returns (p1X,p1Y); else
      *            (lowLimitHandling is <code>false</code>); this method will return the closest point on the line
      * @param highLimitHandling controls the handling of results that lie beyond the second point of the line. If
      *            <code>null</code>; this method returns <code>null</code>; else if <code>true</code>; this method returns
      *            (p2X,p2Y); else (highLimitHandling is <code>false</code>); this method will return the closest point on the
      *            line
      * @return the closest point on the line after applying the indicated limit handling; so the result can be <code>null</code>
      * @throws ArithmeticException when any of the arguments is <code>NaN</code>
      */
     @SuppressWarnings("checkstyle:parameternumber")
     public Point3d closestPointOnLine(final double p1X, final double p1Y, final double p1Z, final double p2X, final double p2Y,
             final double p2Z, final Boolean lowLimitHandling, final Boolean highLimitHandling)
     {
         double fraction = fractionalPositionOnLine(p1X, p1Y, p1Z, p2X, p2Y, p2Z, lowLimitHandling, highLimitHandling);
         if (Double.isNaN(fraction))
         {
             return null;
         }
         if (fraction == 1.0)
         {
             return new Point3d(p2X, p2Y, p2Z); // Maximize precision in case fraction == 1.0
         }
         return new Point3d(p1X + fraction * (p2X - p1X), p1Y + fraction * (p2Y - p1Y), p1Z + fraction * (p2Z - p1Z));
     }
 
     /**
      * Compute the fractional position of the closest point on a line with optional limiting of the result on either end. If the
      * line has length 0; this method returns 0.0.
      * @param p1X the x coordinate of the first point on the line
      * @param p1Y the y coordinate of the first point on the line
      * @param p1Z the z coordinate of the first point on the line
      * @param p2X the x coordinate of the second point on the line
      * @param p2Y the y coordinate of the second point on the line
      * @param p2Z the z coordinate of the second point on the line
      * @param lowLimitHandling controls handling of results that lie before the first point of the line. If null; this method
      *            returns <code>NaN</code>; else if <code>true</code>; this method returns 0.0; else (lowLimitHandling is
      *            false); this results &lt; 0.0 are returned
      * @param highLimitHandling controls the handling of results that lie beyond the second point of the line. If null; this
      *            method returns <code>NaN</code>; else if <code>true</code>; this method returns 1.0; else (highLimitHandling
      *            is <code>false</code>); results &gt; 1.0 are returned
      * @return the fractional position of the closest point on the line. Results within the range 0.0 .. 1.0 are always returned
      *         as is.. A result &lt; 0.0 is subject to lowLimitHandling. A result &gt; 1.0 is subject to highLimitHandling
      * @throws IllegalArgumentException when any of the arguments is <code>NaN</code>
      */
     @SuppressWarnings("checkstyle:parameternumber")
     public double fractionalPositionOnLine(final double p1X, final double p1Y, final double p1Z, final double p2X,
             final double p2Y, final double p2Z, final Boolean lowLimitHandling, final Boolean highLimitHandling)
     {
         double dX = p2X - p1X;
         double dY = p2Y - p1Y;
         double dZ = p2Z - p1Z;
         Throw.whenNaN(dX, "dX");
         Throw.whenNaN(dY, "dY");
         Throw.whenNaN(dZ, "dZ");
         if (0 == dX && 0 == dY && 0 == dZ)
         {
             return 0.0;
         }
         double fraction = ((this.x - p1X) * dX + (this.y - p1Y) * dY + (this.z - p1Z) * dZ) / (dX * dX + dY * dY + dZ * dZ);
         if (fraction < 0.0)
         {
             if (lowLimitHandling == null)
             {
                 return Double.NaN;
             }
             if (lowLimitHandling)
             {
                 fraction = 0.0;
             }
         }
         else if (fraction > 1.0)
         {
             if (highLimitHandling == null)
             {
                 return Double.NaN;
             }
             if (highLimitHandling)
             {
                 fraction = 1.0;
             }
         }
         return fraction;
     }
 
     /**
      * Project a point on a line segment. If the the projected points lies outside the line segment, the nearest end point of
      * the line segment is returned. Otherwise the returned point lies between the end points of the line segment. <br>
      * Adapted from <a href="http://paulbourke.net/geometry/pointlineplane/DistancePoint.java">example code provided by Paul
      * Bourke</a>.
      * @param p1X the x coordinate of the start point of the line segment
      * @param p1Y the y coordinate of the start point of the line segment
      * @param p1Z the z coordinate of the start point of the line segment
      * @param p2X the x coordinate of the end point of the line segment
      * @param p2Y the y coordinate of the end point of the line segment
      * @param p2Z the y coordinate of the end point of the line segment
      * @return either <code>segmentPoint1</code>, or <code>segmentPoint2</code> or a new Point2d that lies somewhere in between
      *         those two.
      * @throws ArithmeticException when any of the parameters is <code>NaN</code>
      */
     public final Point3d closestPointOnSegment(final double p1X, final double p1Y, final double p1Z, final double p2X,
             final double p2Y, final double p2Z)
     {
         return closestPointOnLine(p1X, p1Y, p1Z, p2X, p2Y, p2Z, true, true);
     }
 
     @Override
     public final Point3d closestPointOnLine(final Point3d linePoint1, final Point3d linePoint2)
     {
         Throw.whenNull(linePoint1, "linePoint1");
         Throw.whenNull(linePoint2, "linePoint2");
         return closestPointOnLine(linePoint1.x, linePoint1.y, linePoint1.z, linePoint2.x, linePoint2.y, linePoint2.z);
     }
 
     /**
      * Project a point on a line. <br>
      * Adapted from <a href="http://paulbourke.net/geometry/pointlineplane/DistancePoint.java">example code provided by Paul
      * Bourke</a>.
      * @param p1X the x coordinate of a point of the line
      * @param p1Y the y coordinate of a point of the line
      * @param p1Z the z coordinate of a point on the line
      * @param p2X the x coordinate of another point on the line
      * @param p2Y the y coordinate of another point on the line
      * @param p2Z the z coordinate of another point on the line
      * @return a point on the line that goes through the points
      * @throws IllegalArgumentException when the points on the line are identical
      */
     public final Point3d closestPointOnLine(final double p1X, final double p1Y, final double p1Z, final double p2X,
             final double p2Y, final double p2Z)
     {
         Throw.when(p1X == p2X && p1Y == p2Y && p1Z == p2Z, IllegalArgumentException.class, "degenerate line not allowed");
         return closestPointOnLine(p1X, p1Y, p1Z, p2X, p2Y, p2Z, false, false);
     }
 
     /**
      * Return the direction of the point in radians with respect to the origin, ignoring the z-coordinate.
      * @return the direction of the projection of the point in the x-y plane with respect to the origin, in radians
      */
     final double horizontalDirection()
     {
         return Math.atan2(this.y, this.x);
     }
 
     /**
      * Return the direction to another point, in radians, ignoring the z-coordinate.
      * @param otherPoint the other point
      * @return the direction of the projection of the point in the x-y plane to another point, in radians
      * @throws NullPointerException when <code>otherPoint</code> is <code>null</code>
      */
     final double horizontalDirection(final Point3d otherPoint)
     {
         Throw.whenNull(otherPoint, "otherPoint");
         return Math.atan2(otherPoint.y - this.y, otherPoint.x - this.x);
     }
 
     /**
      * Return the direction with respect to the Z axis to another point, in radians.
      * @param otherPoint the other point
      * @return the direction with respect to the Z axis to another point, in radians
      * @throws NullPointerException when <code>otherPoint</code> is <code>null</code>
      */
     final double verticalDirection(final Point3d otherPoint)
     {
         Throw.whenNull(otherPoint, "otherPoint");
         return Math.atan2(Math.hypot(otherPoint.y - this.y, otherPoint.x - this.x), otherPoint.z - this.z);
     }
 
     /**
      * Return the squared distance between the coordinates of this point and the provided point, ignoring the z-coordinate.
      * @param otherPoint the other point
      * @return the squared distance between this point and the other point, ignoring the z-coordinate
      * @throws NullPointerException when <code>otherPoint</code> is <code>null</code>
      */
     final double horizontalDistanceSquared(final Point3d otherPoint)
     {
         Throw.whenNull(otherPoint, "otherPoint");
         double dx = this.x - otherPoint.x;
         double dy = this.y - otherPoint.y;
         return dx * dx + dy * dy;
     }
 
     /**
      * Return the Euclidean distance between this point and the provided point, ignoring the z-coordinate.
      * @param otherPoint the other point
      * @return the Euclidean distance between this point and the other point, ignoring the z-coordinate
      * @throws NullPointerException when <code>otherPoint</code> is <code>null</code>
      */
     final double horizontalDistance(final Point3d otherPoint)
     {
         return Math.sqrt(horizontalDistanceSquared(otherPoint));
     }
 
     @Override
     @SuppressWarnings("checkstyle:designforextension")
     public String toString()
     {
         return toString("%f");
     }
 
     @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]", doNotIncludeClassName ? "" : "Point3d ", doubleFormat);
         return String.format(Locale.US, format, this.x, this.y, this.z);
     }
 
     @Override
     public int hashCode()
     {
         final int prime = 31;
         int result = 1;
         long temp;
         temp = Double.doubleToLongBits(this.x);
         result = prime * result + (int) (temp ^ (temp >>> 32));
         temp = Double.doubleToLongBits(this.y);
         result = prime * result + (int) (temp ^ (temp >>> 32));
         temp = Double.doubleToLongBits(this.z);
         result = prime * result + (int) (temp ^ (temp >>> 32));
         return result;
     }
 
     @SuppressWarnings("checkstyle:needbraces")
     @Override
     public boolean equals(final Object obj)
     {
         if (this == obj)
             return true;
         if (obj == null)
             return false;
         if (getClass() != obj.getClass())
             return false;
         Point3d other = (Point3d) obj;
         if (Double.doubleToLongBits(this.x) != Double.doubleToLongBits(other.x))
             return false;
         if (Double.doubleToLongBits(this.y) != Double.doubleToLongBits(other.y))
             return false;
         if (Double.doubleToLongBits(this.z) != Double.doubleToLongBits(other.z))
             return false;
         return true;
     }
 
 }