var Vec3 = require('./Vec3');
var Quaternion = require('./Quaternion');

module.exports = Transform;

/**
 * @class Transform
 * @constructor
 */
function Transform() {
	/**
	 * @property {Vec3} position
	 */
	this.position = new Vec3();
	
	/**
	 * @property {Quaternion} quaternion
	 */
	this.quaternion = new Quaternion();
}

var tmpQuat = new Quaternion();

/**
 * @static
 * @method pointToLocaFrame
 * @param {Vec3} position
 * @param {Quaternion} quaternion
 * @param {Vec3} worldPoint
 * @param {Vec3} result
 */
Transform.pointToLocalFrame = function(position, quaternion, worldPoint, result){
    var result = result || new Vec3();
    worldPoint.vsub(position, result);
    quaternion.conjugate(tmpQuat);
    tmpQuat.vmult(result, result);
    return result;
};

/**
 * @static
 * @method pointToWorldFrame
 * @param {Vec3} position
 * @param {Vec3} quaternion
 * @param {Vec3} localPoint
 * @param {Vec3} result
 */
Transform.pointToWorldFrame = function(position, quaternion, localPoint, result){
    var result = result || new Vec3();
    quaternion.vmult(localPoint, result);
    result.vadd(position, result);
    return result;
};

Transform.prototype.vectorToWorldFrame = function(localVector, result){
    var result = result || new Vec3();
    this.quaternion.vmult(localVector, result);
    return result;
};

Transform.vectorToLocalFrame = function(position, quaternion, worldVector, result){
    var result = result || new Vec3();
    quaternion.w *= -1;
    quaternion.vmult(worldVector, result);
    quaternion.w *= -1;
    return result;
};