use std::ops::Mul;

use super::Transform;
use bevy_ecs::{component::Component, reflect::ReflectComponent};
use bevy_math::{Affine3A, Mat4, Quat, Vec3, Vec3A};
use bevy_reflect::{std_traits::ReflectDefault, Reflect};

/// Describe the position of an entity relative to the reference frame.
///
/// * To place or move an entity, you should set its [`Transform`].
/// * [`GlobalTransform`] is fully managed by bevy, you cannot mutate it, use
///   [`Transform`] instead.
/// * To get the global transform of an entity, you should get its [`GlobalTransform`].
/// * For transform hierarchies to work correctly, you must have both a [`Transform`] and a [`GlobalTransform`].
///   * You may use the [`TransformBundle`](crate::TransformBundle) to guarantee this.
///
/// ## [`Transform`] and [`GlobalTransform`]
///
/// [`Transform`] is the position of an entity relative to its parent position, or the reference
/// frame if it doesn't have a [`Parent`](bevy_hierarchy::Parent).
///
/// [`GlobalTransform`] is the position of an entity relative to the reference frame.
///
/// [`GlobalTransform`] is updated from [`Transform`] by systems in the system set
/// [`TransformPropagate`](crate::TransformSystem::TransformPropagate).
///
/// This system runs during [`PostUpdate`](bevy_app::PostUpdate). If you
/// update the [`Transform`] of an entity in this schedule or after, you will notice a 1 frame lag
/// before the [`GlobalTransform`] is updated.
///
/// # Examples
///
/// - [`transform`]
///
/// [`transform`]: https://github.com/bevyengine/bevy/blob/latest/examples/transforms/transform.rs
#[derive(Component, Debug, PartialEq, Clone, Copy, Reflect)]
#[cfg_attr(feature = "serialize", derive(serde::Serialize, serde::Deserialize))]
#[reflect(Component, Default, PartialEq)]
pub struct GlobalTransform(Affine3A);

macro_rules! impl_local_axis {
    ($pos_name: ident, $neg_name: ident, $axis: ident) => {
        #[doc=std::concat!("Return the local ", std::stringify!($pos_name), " vector (", std::stringify!($axis) ,").")]
        #[inline]
        pub fn $pos_name(&self) -> Vec3 {
            (self.0.matrix3 * Vec3::$axis).normalize()
        }

        #[doc=std::concat!("Return the local ", std::stringify!($neg_name), " vector (-", std::stringify!($axis) ,").")]
        #[inline]
        pub fn $neg_name(&self) -> Vec3 {
            -self.$pos_name()
        }
    };
}

impl GlobalTransform {
    /// An identity [`GlobalTransform`] that maps all points in space to themselves.
    pub const IDENTITY: Self = Self(Affine3A::IDENTITY);

    #[doc(hidden)]
    #[inline]
    pub fn from_xyz(x: f32, y: f32, z: f32) -> Self {
        Self::from_translation(Vec3::new(x, y, z))
    }

    #[doc(hidden)]
    #[inline]
    pub fn from_translation(translation: Vec3) -> Self {
        GlobalTransform(Affine3A::from_translation(translation))
    }

    #[doc(hidden)]
    #[inline]
    pub fn from_rotation(rotation: Quat) -> Self {
        GlobalTransform(Affine3A::from_rotation_translation(rotation, Vec3::ZERO))
    }

    #[doc(hidden)]
    #[inline]
    pub fn from_scale(scale: Vec3) -> Self {
        GlobalTransform(Affine3A::from_scale(scale))
    }

    /// Returns the 3d affine transformation matrix as a [`Mat4`].
    #[inline]
    pub fn compute_matrix(&self) -> Mat4 {
        Mat4::from(self.0)
    }

    /// Returns the 3d affine transformation matrix as an [`Affine3A`].
    #[inline]
    pub fn affine(&self) -> Affine3A {
        self.0
    }

    /// Returns the transformation as a [`Transform`].
    ///
    /// The transform is expected to be non-degenerate and without shearing, or the output
    /// will be invalid.
    #[inline]
    pub fn compute_transform(&self) -> Transform {
        let (scale, rotation, translation) = self.0.to_scale_rotation_translation();
        Transform {
            translation,
            rotation,
            scale,
        }
    }

    /// Returns the [`Transform`] `self` would have if it was a child of an entity
    /// with the `parent` [`GlobalTransform`].
    ///
    /// This is useful if you want to "reparent" an [`Entity`](bevy_ecs::entity::Entity).
    /// Say you have an entity `e1` that you want to turn into a child of `e2`,
    /// but you want `e1` to keep the same global transform, even after re-parenting. You would use:
    ///
    /// ```
    /// # use bevy_transform::prelude::{GlobalTransform, Transform};
    /// # use bevy_ecs::prelude::{Entity, Query, Component, Commands};
    /// # use bevy_hierarchy::{prelude::Parent, BuildChildren};
    /// #[derive(Component)]
    /// struct ToReparent {
    ///     new_parent: Entity,
    /// }
    /// fn reparent_system(
    ///     mut commands: Commands,
    ///     mut targets: Query<(&mut Transform, Entity, &GlobalTransform, &ToReparent)>,
    ///     transforms: Query<&GlobalTransform>,
    /// ) {
    ///     for (mut transform, entity, initial, to_reparent) in targets.iter_mut() {
    ///         if let Ok(parent_transform) = transforms.get(to_reparent.new_parent) {
    ///             *transform = initial.reparented_to(parent_transform);
    ///             commands.entity(entity)
    ///                 .remove::<ToReparent>()
    ///                 .set_parent(to_reparent.new_parent);
    ///         }
    ///     }
    /// }
    /// ```
    ///
    /// The transform is expected to be non-degenerate and without shearing, or the output
    /// will be invalid.
    #[inline]
    pub fn reparented_to(&self, parent: &GlobalTransform) -> Transform {
        let relative_affine = parent.affine().inverse() * self.affine();
        let (scale, rotation, translation) = relative_affine.to_scale_rotation_translation();
        Transform {
            translation,
            rotation,
            scale,
        }
    }

    /// Extracts `scale`, `rotation` and `translation` from `self`.
    ///
    /// The transform is expected to be non-degenerate and without shearing, or the output
    /// will be invalid.
    #[inline]
    pub fn to_scale_rotation_translation(&self) -> (Vec3, Quat, Vec3) {
        self.0.to_scale_rotation_translation()
    }

    impl_local_axis!(right, left, X);
    impl_local_axis!(up, down, Y);
    impl_local_axis!(back, forward, Z);

    /// Get the translation as a [`Vec3`].
    #[inline]
    pub fn translation(&self) -> Vec3 {
        self.0.translation.into()
    }

    /// Get the translation as a [`Vec3A`].
    #[inline]
    pub fn translation_vec3a(&self) -> Vec3A {
        self.0.translation
    }

    /// Get an upper bound of the radius from the given `extents`.
    #[inline]
    pub fn radius_vec3a(&self, extents: Vec3A) -> f32 {
        (self.0.matrix3 * extents).length()
    }

    /// Transforms the given `point`, applying shear, scale, rotation and translation.
    ///
    /// This moves `point` into the local space of this [`GlobalTransform`].
    #[inline]
    pub fn transform_point(&self, point: Vec3) -> Vec3 {
        self.0.transform_point3(point)
    }

    /// Multiplies `self` with `transform` component by component, returning the
    /// resulting [`GlobalTransform`]
    #[inline]
    pub fn mul_transform(&self, transform: Transform) -> Self {
        Self(self.0 * transform.compute_affine())
    }
}

impl Default for GlobalTransform {
    fn default() -> Self {
        Self::IDENTITY
    }
}

impl From<Transform> for GlobalTransform {
    fn from(transform: Transform) -> Self {
        Self(transform.compute_affine())
    }
}

impl From<Affine3A> for GlobalTransform {
    fn from(affine: Affine3A) -> Self {
        Self(affine)
    }
}

impl From<Mat4> for GlobalTransform {
    fn from(matrix: Mat4) -> Self {
        Self(Affine3A::from_mat4(matrix))
    }
}

impl Mul<GlobalTransform> for GlobalTransform {
    type Output = GlobalTransform;

    #[inline]
    fn mul(self, global_transform: GlobalTransform) -> Self::Output {
        GlobalTransform(self.0 * global_transform.0)
    }
}

impl Mul<Transform> for GlobalTransform {
    type Output = GlobalTransform;

    #[inline]
    fn mul(self, transform: Transform) -> Self::Output {
        self.mul_transform(transform)
    }
}

impl Mul<Vec3> for GlobalTransform {
    type Output = Vec3;

    #[inline]
    fn mul(self, value: Vec3) -> Self::Output {
        self.transform_point(value)
    }
}

#[cfg(test)]
mod test {
    use super::*;

    use bevy_math::EulerRot::XYZ;

    fn transform_equal(left: GlobalTransform, right: Transform) -> bool {
        left.0.abs_diff_eq(right.compute_affine(), 0.01)
    }

    #[test]
    fn reparented_to_transform_identity() {
        fn reparent_to_same(t1: GlobalTransform, t2: GlobalTransform) -> Transform {
            t2.mul_transform(t1.into()).reparented_to(&t2)
        }
        let t1 = GlobalTransform::from(Transform {
            translation: Vec3::new(1034.0, 34.0, -1324.34),
            rotation: Quat::from_euler(XYZ, 1.0, 0.9, 2.1),
            scale: Vec3::new(1.0, 1.0, 1.0),
        });
        let t2 = GlobalTransform::from(Transform {
            translation: Vec3::new(0.0, -54.493, 324.34),
            rotation: Quat::from_euler(XYZ, 1.9, 0.3, 3.0),
            scale: Vec3::new(1.345, 1.345, 1.345),
        });
        let retransformed = reparent_to_same(t1, t2);
        assert!(
            transform_equal(t1, retransformed),
            "t1:{:#?} retransformed:{:#?}",
            t1.compute_transform(),
            retransformed,
        );
    }
    #[test]
    fn reparented_usecase() {
        let t1 = GlobalTransform::from(Transform {
            translation: Vec3::new(1034.0, 34.0, -1324.34),
            rotation: Quat::from_euler(XYZ, 0.8, 1.9, 2.1),
            scale: Vec3::new(10.9, 10.9, 10.9),
        });
        let t2 = GlobalTransform::from(Transform {
            translation: Vec3::new(28.0, -54.493, 324.34),
            rotation: Quat::from_euler(XYZ, 0.0, 3.1, 0.1),
            scale: Vec3::new(0.9, 0.9, 0.9),
        });
        // goal: find `X` such as `t2 * X = t1`
        let reparented = t1.reparented_to(&t2);
        let t1_prime = t2 * reparented;
        assert!(
            transform_equal(t1, t1_prime.into()),
            "t1:{:#?} t1_prime:{:#?}",
            t1.compute_transform(),
            t1_prime.compute_transform(),
        );
    }
}