#pragma once
#include <J3ML/LinearAlgebra.h>
#include <J3ML/LinearAlgebra/Vector3.h>

namespace LinearAlgebra {

// Essential Reading:
// http://www.essentialmath.com/GDC2012/GDC2012_JMV_Rotations.pdf
class EulerAngle {
public:
    EulerAngle();
    EulerAngle(float pitch, float yaw, float roll);
    EulerAngle(const Vector3& vec) : pitch(vec.x), yaw(vec.y), roll(vec.z) {}

    AxisAngle ToAxisAngle() const;


    explicit EulerAngle(const Quaternion& orientation);
    explicit EulerAngle(const AxisAngle& orientation);

    /// TODO: Implement separate upper and lower bounds
    /// Preserves internal value of euler angles, normalizes and clamps the output.
    /// This does not solve gimbal lock!!!
    float GetPitch(float pitch_limit) const;
    float GetYaw(float yaw_limit)     const;
    float GetRoll(float roll_limit)   const;

    bool operator==(const EulerAngle& a) const;
    void clamp();

    // TODO: Euler Angles do not represent a vector, length doesn't apply, nor is this information meaningful for this data type.
    // If you need a meaningful representation of length in 3d space, use a vector!!
    [[nodiscard]] float length() const {
        return 0;
    }
    // TODO: Implement
    Vector3 unitVector() const;

    EulerAngle movementAngle() const;
public:
    float pitch;
    float yaw;
    float roll;
};

}