#include "Math/Transform.h"
#include "Math/Matrix4.h"

namespace XCEngine {
namespace Math {

Matrix4 Transform::ToMatrix() const {
    return Matrix4x4::TRS(position, rotation, scale);
}

Transform Transform::Inverse() const {
    Transform result;
    result.rotation = rotation.Inverse();
    result.scale = Vector3::One() / scale;
    result.position = result.rotation * (Vector3::Zero() - position) * result.scale;
    return result;
}

Transform Transform::operator*(const Transform& other) const {
    Transform result;
    result.position = position + rotation * (scale * other.position);
    result.rotation = rotation * other.rotation;
    result.scale = scale * other.scale;
    return result;
}

Vector3 Transform::TransformPoint(const Vector3& point) const {
    return position + rotation * (scale * point);
}

Vector3 Transform::TransformDirection(const Vector3& direction) const {
    return rotation * (scale * direction);
}

Vector3 Transform::InverseTransformPoint(const Vector3& point) const {
    return (rotation.Inverse() * (point - position)) / scale;
}

Vector3 Transform::InverseTransformDirection(const Vector3& direction) const {
    return rotation.Inverse() * direction / scale;
}

} // namespace Math
} // namespace XCEngine