package org.djutils.draw.point;
   
   import java.util.Arrays;
   import java.util.Iterator;
   import java.util.Locale;
   import java.util.Objects;
   
   import org.djutils.draw.Directed3d;
   import org.djutils.draw.Direction3d;
  import org.djutils.exceptions.Throw;
  import org.djutils.math.AngleUtil;
  
  /**
   * A DirectedPoint3d is a point in 3d space that additionally carries a direction in 3d i.c. dirY (similar to tilt; measured as
   * an angle from the positive z-direction) and dirZ (similar to pan; measured as an angle from the positive x-direction).
   * <p>
   * Copyright (c) 2023-2025 Delft University of Technology, Jaffalaan 5, 2628 BX Delft, the Netherlands. All rights reserved. See
   * for project information <a href="https://djutils.org" target="_blank"> https://djutils.org</a>. The DJUTILS project is
   * distributed under a three-clause BSD-style license, which can be found at
   * <a href="https://djutils.org/docs/license.html" target="_blank"> https://djutils.org/docs/license.html</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 DirectedPoint3d extends Point3d implements Directed3d
  {
      /** */
      private static final long serialVersionUID = 20200828L;
  
      /** The direction as rotation around the x-axis. */
      @SuppressWarnings("checkstyle:visibilitymodifier")
      public final double dirY;
  
      /** The direction as rotation from the positive z-axis towards the x-y plane. */
      @SuppressWarnings("checkstyle:visibilitymodifier")
      public final double dirZ;
  
      /**
       * Create a new DirectedPoint3d with x, y, and z coordinates and direction dirY,dirZ.
       * @param x the x coordinate
       * @param y the y coordinate
       * @param z the z coordinate
       * @param dirY the complement of the slope
       * @param dirZ the counter-clockwise rotation around the point in radians
       * @throws ArithmeticException when <code>x</code>, <code>y</code>, <code>z</code>, <code>dirY</code>, or <code>dirZ</code>
       *             is <code>NaN</code>
       */
      public DirectedPoint3d(final double x, final double y, final double z, final double dirY, final double dirZ)
      {
          super(x, y, z);
          Throw.whenNaN(dirY, "dirY");
          Throw.whenNaN(dirZ, "dirZ");
          this.dirZ = dirZ;
          this.dirY = dirY;
      }
  
      /**
       * Create a new DirectedPoint3d with x, y and z coordinates and direction specified using a double array of two elements
       * (containing 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 (dirY and dirZ) 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>directionVector</code> is <code>null</code>
       * @throws ArithmeticException when <code>x</code>, <code>y</code>, <code>z</code> is <code>NaN</code>, or
       *             <code>directionVector</code> contains a <code>NaN</code> value
       * @throws IllegalArgumentException when the length of the <code>directionVector</code> array is not 2, or contains a
       *             <code>NaN</code> value
       */
      public DirectedPoint3d(final double x, final double y, final double z, final double[] directionVector)
      {
          this(x, y, z, checkDirectionVector(directionVector), directionVector[1]);
      }
  
      /**
       * Create a new DirectedPoint3d with x, y, and z coordinates and Direction3d.
       * @param x the x coordinate
       * @param y the y coordinate
       * @param z the z coordinate
       * @param dir the direction
       * @throws NullPointerException when <code>dir></code> is <code>null</code>
       * @throws ArithmeticException when <code>x</code>, <code>y</code>, <code>z</code>, <code>dirY</code>, or <code>dirZ</code>
       *             is <code>NaN</code>
       */
      public DirectedPoint3d(final double x, final double y, final double z, final Direction3d dir)
      {
          super(x, y, z);
          Throw.whenNull(dir, "dir");
          this.dirZ = dir.dirZ;
          this.dirY = dir.dirY;
      }
  
      /**
       * Construct a new DirectedPoint3d from three coordinates and the coordinates of a point that the direction goes through.
       * @param x the x coordinate of the new DirectedPoint
       * @param y the y coordinate of the new DirectedPoint
      * @param z the z coordinate of the new DirectedPoint
      * @param throughX the x-coordinate of a point that the direction goes through
      * @param throughY the y-coordinate of a point that the direction goes through
      * @param throughZ the z-coordinate of a point that the direction goes through
      * @throws ArithmeticException when <code>z</code>, <code>y</code>, <code>z</code>, <code>throughX</code>,
      *             <code>throughY</code>, or <code>throughZ</code> is <code>NaN</code>
      * @throws IllegalArgumentException when <code>throughX</code> == <code>x</code> and <code>throughY</code> == <code>y</code>
      *             and <code>throughZ</code> == <code>z</code>
      */
     public DirectedPoint3d(final double x, final double y, final double z, final double throughX, final double throughY,
             final double throughZ)
     {
         this(x, y, z, buildDirectionVector(throughX - x, throughY - y, throughZ - z));
     }
 
     /**
      * Construct a new DirectedPoint3d from x, y and z coordinates and a point that the direction goes through.
      * @param x the x coordinate of the new DirectedPoint3d
      * @param y the y coordinate of the new DirectedPoint3d
      * @param z the z coordinate of the new DirectedPoint3d
      * @param throughPoint a point that the direction goes through
      * @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,z)</code>
      */
     public DirectedPoint3d(final double x, final double y, final double z, final Point3d throughPoint)
     {
         this(x, y, z, Throw.whenNull(throughPoint, "througPoint").x, throughPoint.y, throughPoint.z);
     }
 
     /**
      * Create a new DirectedPoint3d with x, y, and z coordinates in a double[] and direction dirY,dirZ.
      * @param xyz the x, y and z coordinates
      * @param dirY the complement of the slope
      * @param dirZ the counter-clockwise rotation around the point 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 DirectedPoint3d(final double[] xyz, final double dirY, final double dirZ)
     {
         super(xyz);
         Throw.whenNaN(dirY, "dirY");
         Throw.whenNaN(dirZ, "dirZ");
         this.dirY = dirY;
         this.dirZ = dirZ;
     }
 
     /**
      * Create a new OrientedPoint3d 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 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 DirectedPoint3d(final double[] xyz, final double[] directionVector)
     {
         this(xyz, checkDirectionVector(directionVector), directionVector[1]);
     }
 
     /**
      * Create a new DirectedPoint3d with x, y, and z coordinates in a double[] and a Direction3d.
      * @param xyz the x, y and z coordinates
      * @param dir the direction
      * @throws NullPointerException when <code>xyx</code> is <code>null</code>, or <code>dir</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
      */
     public DirectedPoint3d(final double[] xyz, final Direction3d dir)
     {
         super(xyz);
         Throw.whenNull(dir, "dir");
         this.dirY = dir.dirY;
         this.dirZ = dir.dirZ;
     }
 
     /**
      * Create a new DirectedPoint3d from another Point3d and and direction dirY,dirZ.
      * @param point the point from which this OrientedPoint3d will be instantiated
      * @param dirY the complement of the slope
      * @param dirZ the counter-clockwise rotation around the point in radians
      * @throws ArithmeticException when <code>dirY</code>, or <code>dirZ</code> is <code>NaN</code>
      */
     public DirectedPoint3d(final Point3d point, final double dirY, final double dirZ)
     {
         this(point.x, point.y, point.z, dirY, dirZ);
     }
 
     /**
      * Create a new DirectedPoint3d from another Point3d and a Direction3d.
      * @param point the point from which this OrientedPoint3d will be instantiated
      * @param direction the direction
      * @throws NullPointerException when <code>point</code>, or <code>direction</code> is <code>null</code>
      */
     public DirectedPoint3d(final Point3d point, final Direction3d direction)
     {
         this(point.x, point.y, point.z, Throw.whenNull(direction, "direction").dirY, direction.dirZ);
     }
 
     /**
      * Construct a new DirectedPoint3d form a Point3d and the coordinates that the direction goes through.
      * @param point the point
      * @param throughX the x coordinate of a point that the direction goes through
      * @param throughY the y coordinate of a point that the direction goes through
      * @param throughZ the z coordinate of a point that the direction goes through
      * @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</code> == <code>point.x</code> and <code>throughY</code> ==
      *             <code>point.y</code> and <code>throughZ</code> == <code>point.z</code>
      */
     public DirectedPoint3d(final Point3d point, final double throughX, final double throughY, final double throughZ)
     {
         this(Throw.whenNull(point, "point").x, point.y, point.z, throughX, throughY, throughZ);
     }
 
     /**
      * Construct a new DirectedPoint3d.
      * @param point the location of the new DirectedPoint3d
      * @param throughPoint another point that the direction goes through
      * @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 DirectedPoint3d(final Point3d point, final Point3d throughPoint)
     {
         this(Throw.whenNull(point, "point").x, point.y, point.z, Throw.whenNull(throughPoint, "throughPoint").x, throughPoint.y,
                 throughPoint.z);
     }
 
     /**
      * Build the direction vector.
      * @param dX x difference
      * @param dY y difference
      * @param dZ z difference
      * @return a two-element array containing dirY and dirZ
      * @throws IllegalArgumentException when <code>dX</code> == <code>0.0</code> and <code>dY</code> == <code>0.0</code> and
      *             <code>dZ</code> == <code>0.0</code>
      */
     private static double[] buildDirectionVector(final double dX, final double dY, final double dZ)
     {
         Throw.when(0 == dX && 0 == dY && 0 == dZ, IllegalArgumentException.class, "Through point may not be equal to point");
         return new double[] {Math.atan2(Math.hypot(dX, dY), dZ), Math.atan2(dY, dX)};
     }
 
     /**
      * Verify that a double array is not null, has two elements.
      * @param direction the array to check
      * @return the first element of the argument
      * @throws NullPointerException when <code>direction</code> is <code>null</code>
      * @throws IllegalArgumentException when the length of the <code>direction</code> array is not 2
      */
     private static double checkDirectionVector(final double[] direction)
     {
         Throw.when(direction.length != 2, IllegalArgumentException.class, "length of direction array must be 2");
         return direction[0];
     }
 
     @Override
     public DirectedPoint3d translate(final double dX, final double dY)
     {
         Throw.whenNaN(dX, "dX");
         Throw.whenNaN(dY, "dY");
         return new DirectedPoint3d(this.x + dX, this.y + dY, this.z, this.dirY, this.dirZ);
     }
 
     @Override
     public DirectedPoint3d translate(final double dX, final double dY, final double dZ)
     {
         Throw.whenNaN(dX, "dX");
         Throw.whenNaN(dY, "dY");
         Throw.whenNaN(dZ, "dZ");
         return new DirectedPoint3d(this.x + dX, this.y + dY, this.z + dZ, this.dirY, this.dirZ);
     }
 
     @Override
     public DirectedPoint3d scale(final double factor)
     {
         return new DirectedPoint3d(this.x * factor, this.y * factor, this.z * factor, this.dirY, this.dirZ);
     }
 
     @Override
     public DirectedPoint3d neg()
     {
         return new DirectedPoint3d(-this.x, -this.y, -this.z, AngleUtil.normalizeAroundZero(this.dirY + Math.PI),
                 AngleUtil.normalizeAroundZero(this.dirZ + Math.PI));
     }
 
     @Override
     public DirectedPoint3d abs()
     {
         return new DirectedPoint3d(Math.abs(this.x), Math.abs(this.y), Math.abs(this.z), this.dirY, this.dirZ);
     }
 
     @Override
     public DirectedPoint3d 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 DirectedPoint3d(this.x / length, this.y / length, this.z / length, this.dirY, this.dirZ);
     }
 
     /**
      * Interpolate towards another DirectedPoint3d 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. 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>DirectedPoint3d</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 DirectedPoint3d interpolate(final DirectedPoint3d 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 DirectedPoint3d((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.dirY, otherPoint.dirY, fraction),
                 AngleUtil.interpolateShortest(this.dirZ, otherPoint.dirZ, fraction));
     }
 
     /**
      * Return a new DirectedPoint3d 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>dirY</code> and modified <code>dirZ</code>
      * @throws ArithmeticException when <code>rotateZ</code> is <code>NaN</code>
      */
     public DirectedPoint3d rotate(final double rotateZ)
     {
         Throw.whenNaN(rotateZ, "rotateZ");
         return new DirectedPoint3d(this.x, this.y, this.z, this.dirY, AngleUtil.normalizeAroundZero(this.dirZ + rotateZ));
     }
 
     /**
      * Return a new DirectedPoint3d point with an in-place rotation by the provided rotateY, and rotateZ. The resulting
      * rotations will be normalized between -&pi; and &pi;.
      * @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 <code>rotateY</code>, or <code>rotateZ</code> is <code>NaN</code>
      */
     public DirectedPoint3d rotate(final double rotateY, final double rotateZ)
     {
         Throw.whenNaN(rotateY, "rotateY");
         Throw.whenNaN(rotateZ, "rotateZ");
         return new DirectedPoint3d(this.x, this.y, this.z, AngleUtil.normalizeAroundZero(this.dirY + rotateY),
                 AngleUtil.normalizeAroundZero(this.dirZ + rotateZ));
     }
 
     @Override
     public double getDirZ()
     {
         return this.dirZ;
     }
 
     @Override
     public double getDirY()
     {
         return this.dirY;
     }
 
     @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$s, z=%2%s, dirY=%2$s, dirZ=%2$s]",
                 doNotIncludeClassName ? "" : "DirectedPoint3d ", doubleFormat);
         return String.format(Locale.US, format, this.x, this.y, this.z, 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 epsilonDirection the upper bound of difference for the direction(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 DirectedPoint3d other, final double epsilonCoordinate, final double epsilonDirection)
             throws NullPointerException, IllegalArgumentException
     {
         Throw.whenNull(other, "other");
         Throw.when(epsilonCoordinate < 0 || epsilonDirection < 0, IllegalArgumentException.class,
                 "epsilonCoordinate and epsilonDirection may not be negative");
         Throw.whenNaN(epsilonCoordinate, "epsilonCoordinate");
         Throw.whenNaN(epsilonDirection, "epsilonDirection");
         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.dirZ - other.dirZ)) > epsilonDirection)
         {
             return false;
         }
         if (Math.abs(AngleUtil.normalizeAroundZero(this.dirY - other.dirY)) > epsilonDirection)
         {
             return false;
         }
         return true;
     }
 
     @Override
     public int hashCode()
     {
         final int prime = 31;
         int result = super.hashCode();
         result = prime * result + Objects.hash(this.dirZ, this.dirY);
         return result;
     }
 
     @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;
         DirectedPoint3d other = (DirectedPoint3d) obj;
         return Double.doubleToLongBits(this.dirZ) == Double.doubleToLongBits(other.dirZ)
                 && Double.doubleToLongBits(this.dirY) == Double.doubleToLongBits(other.dirY);
     }
 
 }