/* Auteur: Nicolas JANEY                                */
/* nicolas.janey@univ-fcomte.fr                         */
/* Octobre 2008                                         */
/* Un programme de test de l'utilisation                */
/* des coordonnees homogenes et des transformations     */
/* geometriques en coordonnees homogenes                */

public class MathematiquesMatricielles {
  
  public static void main(String [] args) {
    Position3D p1 = new Position3D(-1.1, 0.1, 1.0);
    Position3D p2 = new Position3D( 0.3,-1.6, 3.0);
    Position3D p3 = new Position3D( 1.2,-0.2,-1.0);
    Position3D p4 = new Position3D(-2.2, 0.9, 2.2);
    Direction3D d1 = new Direction3D(-1.1, 0.1, 1.0);
    Direction3D d2 = new Direction3D( 0.3,-1.6, 3.0);
    Direction3D d3 = new Direction3D( 1.2,-0.2,-1.0);
    Direction3D d4 = new Direction3D(-2.2, 0.9, 2.2);

    Rotation3D r = new Rotation3D(25.0,1.0,0.5,1.0);
    Translation3D t = new Translation3D(1.5,2.0,0.6);
    Scale3D s = new Scale3D(3.0,1.5,0.5);
    
    Position3D np1 = t.transform(p1);
    Position3D np2 = r.transform(p2);
    Position3D np3 = s.transform(p3);
    Direction3D nd1 = t.transform(d1);
    Direction3D nd2 = r.transform(d2);
    Direction3D nd3 = s.transform(d3);

    System.out.println("Translation");
    System.out.println(p1);
    System.out.println(np1);
    System.out.println(d1);
    System.out.println(nd1);
    System.out.println();
    System.out.println("Rotation");
    System.out.println(p2);
    System.out.println(np2);
    System.out.println(d2);
    System.out.println(nd2);
    System.out.println();
    System.out.println("Scale");
    System.out.println(p3);
    System.out.println(np3);
    System.out.println(d3);
    System.out.println(nd3);
    
    TransformationGeometrique3D tg;
    tg = TransformationGeometrique3D.compose(r,t);
    tg = TransformationGeometrique3D.compose(s,tg);
    Position3D np4 = tg.transform(p4);
    Position3D nnp4 = t.transform(p4);
    nnp4 = r.transform(nnp4);
    nnp4 = s.transform(nnp4);
    Direction3D nd4 = tg.transform(d4);
    Direction3D nnd4 = t.transform(d4);
    nnd4 = r.transform(nnd4);
    nnd4 = s.transform(nnd4);

    System.out.println();
    System.out.println("Composition");
    System.out.println();
    System.out.println(tg);
    System.out.println();
    System.out.println(p4);
    System.out.println(np4);
    System.out.println(nnp4);
    System.out.println(d4);
    System.out.println(nd4);
    System.out.println(nnd4);
    System.out.println();
  }
}