#include "coord.h"
#include "FxEngine.h"


/* Cosinus and sinus implementation */

/// Math values
const double pi=3.141592653589793238462643383279;
const double pi2=pi*2;
const double pi_sur2=pi/2;

/// Internal Use
// cos function with 0<a<pi/2
static const int precision=15;
static double reducted_cos(const double a)
{
    double u=1.0; const double a2=a*a;
    // precision%2=1 && precision>1
    for(int p=precision;p>=1;p-=2)
        u=1-a2/(p*p+p)*u;
    return u;
}

// return a with -pi<=a<pi
double FE_modulo_2pi(double a)
{
    while (a<=-pi) a+=pi2;
    while (a>pi) a-=pi2;
    return a;
}

static double cos_recursive(double angle)
{
	if (angle<0)
		return cos_recursive(-angle);
	if (angle>=pi_sur2)
		return -reducted_cos(angle-pi);
    return reducted_cos(angle); // OK
}

/// External functions
// Official FE_cos function
double FE_cos(double angle)
{
    angle=FE_modulo_2pi(angle);
    return cos_recursive(angle);
}

// Official FE_sin function
double FE_sin(double angle)
{return FE_cos(angle-pi_sur2);}


#define sgn(x) (x>=0?x:-x)

static double matrice[3][3]=
{
    {0,0,0},
    {0,0,0},
    {0,0,0}
};

void FE_calc(FE_point* point)
{
    static FE_position temp;
    temp.x = point->real.x - FE_user.x;
    temp.y = point->real.y - FE_user.y;
    temp.z = point->real.z - FE_user.z;

    point->rotated.x = (double)(matrice[0][0]*(double)temp.x + matrice[0][1]*(double)temp.y + matrice[0][2]*(double)temp.z);
    point->rotated.z = (double)(matrice[1][0]*(double)temp.x + matrice[1][1]*(double)temp.y + matrice[1][2]*(double)temp.z);
    point->rotated.y = (double)(matrice[2][0]*(double)temp.x + matrice[2][1]*(double)temp.y + matrice[2][2]*(double)temp.z);

    //point->translated.x*=10;
    //point->translated.y*=10;
    point->rotated.x*=64;
    point->rotated.y*=64;
    point->translated.z=point->rotated.z;
    if (point->translated.z>0)
    {
        point->translated.x=point->rotated.x/point->translated.z;
        point->translated.y=point->rotated.y/point->translated.z;
    }
    else
    {
        point->translated.x=point->rotated.x*10000*sgn(point->translated.z);
        point->translated.y=point->rotated.y*10000*sgn(point->translated.z);
    }
    (point->translated.x*1000)/point->translated.z;
    (point->translated.y*1000)/point->translated.z;

    point->translated.x+=63;
    point->translated.y+=31;
}


// FIABLE
void FE_set_matrice(void)
{
    const double A=FE_cos(FE_dv), B=FE_sin(FE_dv);
    const double C=FE_cos(FE_roulis), D=FE_sin(FE_roulis);
    const double E=FE_cos(FE_dh), F=FE_sin(FE_dh);

    const double AD=A*D, BD=B*D;

    matrice[0][0]=C*E;
    matrice[0][1]=-C*F;
    matrice[0][2]=D;

    matrice[1][0]=BD*E+A*F;
    matrice[1][1]=-BD*F+A*E;
    matrice[1][2]=-B*C;

    matrice[2][0]=-AD*E+B*F;
    matrice[2][1]=AD*F+B*E;
    matrice[2][2]=A*C;

}