package org.djutils.draw.line;
   
   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.bounds.Bounds3d;
  import org.djutils.draw.point.DirectedPoint3d;
  import org.djutils.draw.point.Point3d;
  import org.djutils.exceptions.Throw;
  import org.djutils.math.AngleUtil;
  
  /**
   * Ray3d is a half-line in 3d; it has one end point with non-infinite coordinates; the other end point is infinitely far away.
   * <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 Ray3d extends DirectedPoint3d implements Drawable3d, Ray<Ray3d, DirectedPoint3d, Point3d>
  {
      /** */
      private static final long serialVersionUID = 20210119L;
  
      /**
       * Construct a new Ray3d.
       * @param x the x coordinate of the finite end point of the ray
       * @param y the y coordinate of the finite end point of the ray
       * @param z the z coordinate of the finite end point of the ray
       * @param dirY the angle from the positive Z axis direction in radians (the complement of the slope)
       * @param dirZ the angle from the positive X axis direction in radians
       * @throws IllegalArgumentException when <code>dirY</code>, or <code>dirZ</code> is <code>NaN</code> (should be impossible)
       */
      public Ray3d(final double x, final double y, final double z, final double dirY, final double dirZ)
      {
          super(x, y, z, dirY, dirZ);
      }
  
      /**
       * Create a new Ray3d 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 directionVector the two direction angles in a double array containing dirY and dirZ in that order. DirY
       *            is the rotation from the positive z-axis to the direction. DirZ is the angle from the positive x-axis to the
       *            projection of the direction in the x-y-plane.
       * @throws NullPointerException when <code>direction</code> is <code>null</code>
       * @throws ArithmeticException when the <code>directionVector</code> array contains a <code>NaN</code> value
       * @throws IllegalArgumentException when the length of the <code>directionVector</code> array is not 2
       */
      public Ray3d(final double x, final double y, final double z, final double[] directionVector)
      {
          super(x, y, z, directionVector);
      }
  
      /**
       * Construct a new Ray3d.
       * @param x the x coordinate of the finite end point of the ray
       * @param y the y coordinate of the finite end point of the ray
       * @param z the z coordinate of the finite end point of the ray
       * @param dir the direction
       * @throws IllegalArgumentException when <code>dirY</code>, or <code>dirZ</code> is <code>NaN</code> (should be impossible)
       */
      public Ray3d(final double x, final double y, final double z, final Direction3d dir)
      {
          super(x, y, z, dir);
      }
  
      /**
       * Construct a new Ray3d.
       * @param x the x coordinate of the finite end point of the ray
       * @param y the y coordinate of the finite end point of the ray
       * @param z the z coordinate of the finite end point of the ray
       * @param throughX the x coordinate of another point on the ray
       * @param throughY the y coordinate of another point on the ray
       * @param throughZ the z coordinate of another point on the ray
       * @throws ArithmeticException when <code>throughX</code>, or <code>throughY</code>, or <code>throughZ</code> is
       *             <code>NaN</code>
       * @throws IllegalArgumentException when <code>throughX> == x</code> and <code>throughY == y</code> and
       *             <code>throughZ == z</code>
       */
      public Ray3d(final double x, final double y, final double z, final double throughX, final double throughY,
              final double throughZ)
      {
          super(x, y, z, throughX, throughY, throughZ);
      }
  
      /**
       * Construct a new Ray3d.
       * @param x the x coordinate of the finite end point of the ray
       * @param y the y coordinate of the finite end point of the ray
       * @param z the z coordinate of the finite end point of the ray
       * @param throughPoint another point on the ray
      * @throws NullPointerException when <code>throughPoint</code> is <code>null</code>
      * @throws ArithmeticException when <code>x</code>, <code>y</code>, or <code>z</code> is <code>NaN</code>
      * @throws IllegalArgumentException when <code>throughPoint</code> is exactly at <code>(x, y)</code>
      */
     public Ray3d(final double x, final double y, final double z, final Point3d throughPoint)
     {
         super(x, y, z, throughPoint);
     }
 
     /**
      * Create a new Ray3d from x, y, and z coordinates packed in a double array of three elements and direction dirY,dirZ.
      * @param xyz the <code>x</code>, <code>y</code> and <code>z</code> coordinates in that order
      * @param dirY the angle from the positive Z axis direction in radians (the complement of the slope)
      * @param dirZ the angle from the positive X axis direction in radians
      * @throws NullPointerException when <code>xyx</code> is <code>null</code>
      * @throws IllegalArgumentException when the length of the <code>xyz</code> array is not 3, or contains a <code>NaN</code>
      *             value, or <code>dirY</code>, or <code>dirZ</code> is <code>NaN</code>
      */
     public Ray3d(final double[] xyz, final double dirY, final double dirZ)
     {
         super(xyz, dirY, dirZ);
     }
 
     /**
      * Create a new Ray3d from x, y, and z coordinates packed in a double array of three elements and direction dirY,dirZ.
      * @param xyz the <code>x</code>, <code>y</code> and <code>z</code> coordinates in that order
      * @param directionVector the two direction angles <code>dirY</code> and <code>dirZ</code> in that order
      * @throws NullPointerException when <code>xyz</code>, or <code>directionVector</code> is <code>null</code>
      * @throws ArithmeticException when <code>xyz</code>, or <code>directionVector</code> contains a <code>NaN</code> value
      * @throws IllegalArgumentException when the length of the <code>xyx</code> is not 3 or the length of the
      *             <code>directionVector</code> is not 2
      */
     public Ray3d(final double[] xyz, final double[] directionVector)
     {
         super(xyz, directionVector);
     }
 
     /**
      * Create a new Rayt3d from x, y, and z coordinates packed in a double array of three elements and a direction specified
      * using a double array of two elements.
      * @param xyz the <code>x</code>, <code>y</code> and <code>z</code> coordinates in that order
      * @param dir the direction
      * @throws NullPointerException when <code>xyx</code> array or <code>dir</code> is <code>null</code>
      * @throws ArithmeticException when the <code>xyz</code> arraycontains a <code>NaN</code> value
      * @throws IllegalArgumentException when the length of the <code>xyx</code> array is not 3
      */
     public Ray3d(final double[] xyz, final Direction3d dir)
     {
         super(xyz, dir);
     }
 
     /**
      * Construct a new Ray3d.
      * @param point the finite end point of the ray
      * @param dirY the angle from the positive Z axis direction in radians (the complement of the slope)
      * @param dirZ the angle from the positive X axis direction in radians
      * @throws NullPointerException when <code>point</code> is <code>null</code>
      * @throws IllegalArgumentException when <code>dirY</code>, or <code>dirZ</code> is <code>NaN</code>
      */
     public Ray3d(final Point3d point, final double dirY, final double dirZ)
     {
         super(point, dirY, dirZ);
     }
 
     /**
      * Construct a new Ray3d.
      * @param point the finite end point of the ray
      * @param dir the direction
      * @throws NullPointerException when <code>point</code> is <code>null</code>, or <code>dir</code> is <code>null</code>
      */
     public Ray3d(final Point3d point, final Direction3d dir)
     {
         super(point, dir);
     }
 
     /**
      * Construct a new Ray3d.
      * @param point the finite end point of the ray
      * @param throughX the x coordinate of another point on the ray
      * @param throughY the y coordinate of another point on the ray
      * @param throughZ the z coordinate of another point on the ray
      * @throws NullPointerException when <code>point</code> is <code>null</code>
      * @throws ArithmeticException when <code>throughX</code>, or <code>throughY</code>, or <code>throughZ</code> is
      *             <code>NaN</code>
      * @throws IllegalArgumentException when <code>throughX == x</code> and <code>throughY == y</code> and
      *             <code>throughZ == z</code>
      */
     public Ray3d(final Point3d point, final double throughX, final double throughY, final double throughZ)
     {
         super(point, throughX, throughY, throughZ);
     }
 
     /**
      * Construct a new Ray3d.
      * @param point the finite end point of the ray
      * @param throughPoint another point on the ray
      * @throws NullPointerException when <code>point</code> is <code>null</code> or <code>throughPoint</code> is
      *             <code>null</code>
      * @throws IllegalArgumentException when <code>throughPoint</code> is exactly at <code>point</code>
      */
     public Ray3d(final Point3d point, final Point3d throughPoint) throws NullPointerException, IllegalArgumentException
     {
         super(point, throughPoint);
     }
 
     /**
      * Construct a new Ray3d.
      * @param directedPoint point and direction of the new Ray3d
      * @throws NullPointerException when <code>directedPoint</code> is <code>null</code>
      */
     public Ray3d(final DirectedPoint3d directedPoint)
     {
         this(directedPoint, directedPoint.dirY, directedPoint.dirZ);
     }
 
     @Override
     public final double getDirY()
     {
         return this.dirY;
     }
 
     @Override
     public final double getDirZ()
     {
         return this.dirZ;
     }
 
     @Override
     public DirectedPoint3d getEndPoint()
     {
         return this;
     }
 
     @Override
     public int size()
     {
         return 2;
     }
 
     @Override
     public Iterator<Point3d> iterator()
     {
         double sinDirZ = Math.sin(this.dirZ);
         double cosDirZ = Math.cos(this.dirZ);
         double sinDirY = Math.sin(this.dirY);
         double cosDirY = Math.cos(this.dirY);
         Point3d[] array = new Point3d[] {this,
                 new Point3d(cosDirZ * sinDirY == 0 ? this.x : cosDirZ * sinDirY * Double.POSITIVE_INFINITY,
                         cosDirZ * sinDirZ == 0 ? this.y : cosDirZ * sinDirZ * Double.POSITIVE_INFINITY,
                         cosDirY == 0 ? this.z : cosDirY * Double.POSITIVE_INFINITY)};
         return Arrays.stream(array).iterator();
     }
 
     @Override
     public Bounds3d getBounds()
     {
         double sinDirZ = Math.sin(this.dirZ);
         double cosDirZ = Math.cos(this.dirZ);
         double sinDirY = Math.sin(this.dirY);
         double cosDirY = Math.cos(this.dirY);
         return new Bounds3d(cosDirZ * sinDirY >= 0 ? this.x : Double.NEGATIVE_INFINITY,
                 cosDirZ * sinDirY <= 0 ? this.x : Double.POSITIVE_INFINITY,
                 sinDirZ * sinDirY >= 0 ? this.y : Double.NEGATIVE_INFINITY,
                 sinDirZ * sinDirY <= 0 ? this.y : Double.POSITIVE_INFINITY, cosDirY >= 0 ? this.z : Double.NEGATIVE_INFINITY,
                 cosDirY <= 0 ? this.z : Double.POSITIVE_INFINITY);
     }
 
     @Override
     public Ray3d neg()
     {
         return new Ray3d(-this.x, -this.y, -this.z, AngleUtil.normalizeAroundZero(this.dirY + Math.PI),
                 AngleUtil.normalizeAroundZero(this.dirZ + Math.PI));
     }
 
     @Override
     public Ray3d flip()
     {
         return new Ray3d(this.x, this.y, this.z, AngleUtil.normalizeAroundZero(Math.PI - this.dirY),
                 AngleUtil.normalizeAroundZero(this.dirZ + Math.PI));
     }
 
     @Override
     public Ray3d getLocationExtended(final double position) throws ArithmeticException, IllegalArgumentException
     {
         Throw.whenNaN(position, "position");
         Throw.when(Double.isInfinite(position), IllegalArgumentException.class, "position must be finite");
         double sinDirY = Math.sin(this.dirY);
         double dX = Math.cos(this.dirZ) * sinDirY;
         double dY = Math.sin(this.dirZ) * sinDirY;
         double dZ = Math.cos(this.dirY);
         return new Ray3d(this.x + dX * position, this.y + dY * position, this.z + dZ * position, this.dirY, this.dirZ);
     }
 
     @Override
     public Point3d closestPointOnRay(final Point3d point) throws NullPointerException
     {
         Throw.whenNull(point, "point");
         double sinDirY = Math.sin(this.dirY);
         return point.closestPointOnLine(this.x, this.y, this.z, this.x + Math.cos(this.dirZ) * sinDirY,
                 this.y + Math.sin(this.dirZ) * sinDirY, this.z + Math.cos(this.dirY), true, false);
     }
 
     @Override
     public Point3d projectOrthogonal(final Point3d point) throws NullPointerException
     {
         Throw.whenNull(point, "point");
         double sinDirY = Math.sin(this.dirY);
         return point.closestPointOnLine(this.x, this.y, this.z, this.x + Math.cos(this.dirZ) * sinDirY,
                 this.y + Math.sin(this.dirZ) * sinDirY, this.z + Math.cos(this.dirY), null, false);
     }
 
     @Override
     public Point3d projectOrthogonalExtended(final Point3d point)
     {
         Throw.whenNull(point, "point");
         double sinDirY = Math.sin(this.dirY);
         return point.closestPointOnLine(getX(), getY(), getZ(), getX() + Math.cos(this.dirZ) * sinDirY,
                 getY() + Math.sin(this.dirZ) * sinDirY, getZ() + Math.cos(this.dirY), false, false);
     }
 
     @Override
     public double projectOrthogonalFractional(final Point3d point) throws NullPointerException
     {
         Throw.whenNull(point, "point");
         double sinDirY = Math.sin(this.dirY);
         return point.fractionalPositionOnLine(this.x, this.y, this.z, this.x + Math.cos(this.dirZ) * sinDirY,
                 this.y + Math.sin(this.dirZ) * sinDirY, this.z + Math.cos(this.dirY), null, false);
     }
 
     @Override
     public double projectOrthogonalFractionalExtended(final Point3d point) throws NullPointerException
     {
         Throw.whenNull(point, "point");
         double sinDirY = Math.sin(this.dirY);
         return point.fractionalPositionOnLine(getX(), getY(), getZ(), getX() + Math.cos(this.dirZ) * sinDirY,
                 getY() + Math.sin(this.dirZ) * sinDirY, getZ() + Math.cos(this.dirY), false, false);
     }
 
     @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, dirY=%2$s, dirZ=%2$s]",
                 doNotIncludeClassName ? "" : "Ray3d ", doubleFormat);
         return String.format(Locale.US, format, this.x, this.y, this.z, this.dirY, this.dirZ);
     }
 
     @Override
     public int hashCode()
     {
         return super.hashCode();
     }
 
     @Override
     @SuppressWarnings("checkstyle:needbraces")
     public boolean equals(final Object obj)
     {
         if (this == obj)
             return true;
         if (!super.equals(obj))
             return false;
         if (getClass() != obj.getClass())
             return false;
         return true;
     }
 
 }