// @(#)root/mathcore:$Id$
// Authors: W. Brown, M. Fischler, L. Moneta    2005  

 /**********************************************************************
  *                                                                    *
  * Copyright (c) 2005, LCG ROOT FNAL MathLib Team                    *
  *                                                                    *
  *                                                                    *
  **********************************************************************/

// Source file for something else
//
// Created by: Mark Fischler Thurs July 7, 2005
//
// Last update: Wed Thurs July 7, 2005
//


#include "Math/GenVector/3DDistances.h"

#include "Math/GenVector/Rotation3D.h"
#include "Math/GenVector/AxisAngle.h"
#include "Math/GenVector/EulerAngles.h"
#include "Math/GenVector/Quaternion.h"
#include "Math/GenVector/RotationZYX.h"
#include "Math/GenVector/RotationX.h"
#include "Math/GenVector/RotationY.h"
#include "Math/GenVector/RotationZ.h"

#include <cmath>


namespace ROOT {
namespace Math {
namespace gv_detail {


enum ERotation3DMatrixIndex
{ kXX = 0, kXY = 1, kXZ = 2
, kYX = 3, kYY = 4, kYZ = 5
, kZX = 6, kZY = 7, kZZ = 8
};


// ----------------------------------------------------------------------
// distance from Rotation3D

double dist( Rotation3D const & from, Rotation3D const & to)
{ /*TODO better */
   return Quaternion(from).Distance(Quaternion(to));
}

double dist( Rotation3D const & from, AxisAngle const & to)
{  return Quaternion(from).Distance(Quaternion(to));}

double dist( Rotation3D const & from, EulerAngles const & to)
{  return Quaternion(from).Distance(Quaternion(to)); }

double dist( Rotation3D const & from, Quaternion const & to)
{  return Quaternion(from).Distance(to); }

double dist( Rotation3D const & from, RotationZYX const & to)
{ /*TODO better */
   return Quaternion(from).Distance(Quaternion(to));
}
double dist( Rotation3D const & from, RotationX const & to)
{ /*TODO better */
   return Quaternion(from).Distance(Quaternion(to));
}

double dist( Rotation3D const & from, RotationY const & to)
{ /*TODO*/ 
   return Quaternion(from).Distance(Quaternion(to));
}

double dist( Rotation3D const & from, RotationZ const & to)
{ /*TODO*/ 
   return Quaternion(from).Distance(Quaternion(to));
}



// ----------------------------------------------------------------------
// distance from AxisAngle

double dist( AxisAngle const & from, Rotation3D const & to)
{  return Quaternion(from).Distance(Quaternion(to)); }

double dist( AxisAngle const & from, AxisAngle const & to)
{ /*TODO*/ 
   return Quaternion(from).Distance(Quaternion(to));
}

double dist( AxisAngle const & from, EulerAngles const & to)
{  return Quaternion(from).Distance(Quaternion(to)); }

double dist( AxisAngle const & from, Quaternion const & to)
{  return Quaternion(from).Distance(to); }

double dist( AxisAngle const & from, RotationZYX const & to)
{ /*TODO better */
   return Quaternion(from).Distance(Quaternion(to));
}

double dist( AxisAngle const & from, RotationX const & to)
{ /*TODO*/ 
   return Quaternion(from).Distance(Quaternion(to));
}

double dist( AxisAngle const & from, RotationY const & to)
{ /*TODO*/ 
   return Quaternion(from).Distance(Quaternion(to));
}

double dist( AxisAngle const & from, RotationZ const & to)
{ /*TODO*/ 
   return Quaternion(from).Distance(Quaternion(to));
}



// ----------------------------------------------------------------------
// distance from EulerAngles

double dist( EulerAngles const & from, Rotation3D const & to)
{  return Quaternion(from).Distance(Quaternion(to)); }

double dist( EulerAngles const & from, AxisAngle const & to)
{  return Quaternion(from).Distance(Quaternion(to)); }

double dist( EulerAngles const & from, EulerAngles const & to)
{ /*TODO*/ 
   return Quaternion(from).Distance(Quaternion(to));
}

double dist( EulerAngles const & from, Quaternion const & to)
{  return Quaternion(from).Distance(to); }

double dist( EulerAngles const & from, RotationZYX const & to)
{ /*TODO better */
   return Quaternion(from).Distance(Quaternion(to));
}

double dist( EulerAngles const & from, RotationX const & to)
{ /*TODO*/ 
   return Quaternion(from).Distance(Quaternion(to));
}

double dist( EulerAngles const & from, RotationY const & to)
{ /*TODO*/ 
   return Quaternion(from).Distance(Quaternion(to));
}

double dist( EulerAngles const & from, RotationZ const & to)
{ /*TODO*/ 
   return Quaternion(from).Distance(Quaternion(to));
}



// ----------------------------------------------------------------------
// distance from Quaternion

double dist( Quaternion const & from, Rotation3D const & to)
{  return from.Distance(Quaternion(to)); }

double dist( Quaternion const & from, AxisAngle const & to)
{  return from.Distance(Quaternion(to)); }

double dist( Quaternion const & from, EulerAngles const & to)
{  return from.Distance(Quaternion(to)); }

double dist( Quaternion const & from, Quaternion const & to)
{  return from.Distance(to); }

double dist( Quaternion const & from, RotationZYX const & to)
{  return from.Distance(Quaternion(to)); }

double dist( Quaternion const & from, RotationX const & to)
{ /*TODO*/ 
   return from.Distance(Quaternion(to)); 
}

double dist( Quaternion const & from, RotationY const & to)
{ /*TODO*/ 
   return from.Distance(Quaternion(to)); 
}

double dist( Quaternion const & from, RotationZ const & to)
{ /*TODO*/ 
   return from.Distance(Quaternion(to)); 
}

// ----------------------------------------------------------------------
// distance from RotationZYX

double dist( RotationZYX const & from, Rotation3D const & to)
{  return Quaternion(from).Distance(Quaternion(to)); }

double dist( RotationZYX const & from, AxisAngle const & to)
{  return Quaternion(from).Distance(Quaternion(to)); }

double dist( RotationZYX const & from, EulerAngles const & to)
{  return Quaternion(from).Distance(Quaternion(to)); }

double dist( RotationZYX const & from, Quaternion const & to)
{  return Quaternion(from).Distance(to); }

double dist( RotationZYX const & from, RotationZYX const & to)
{ /*TODO better */
   return Quaternion(from).Distance(Quaternion(to));
}

double dist( RotationZYX const & from, RotationX const & to)
{ /*TODO*/ 
   return Quaternion(from).Distance(Quaternion(to));
}

double dist( RotationZYX const & from, RotationY const & to)
{ /*TODO*/ 
   return Quaternion(from).Distance(Quaternion(to));
}

double dist( RotationZYX const & from, RotationZ const & to)
{ /*TODO*/ 
   return Quaternion(from).Distance(Quaternion(to));
}



// ----------------------------------------------------------------------
// distance from RotationX

double dist( RotationX const & from, Rotation3D const & to)
{  return Quaternion(from).Distance(Quaternion(to)); }

double dist( RotationX const & from, AxisAngle const & to)
{  return Quaternion(from).Distance(Quaternion(to)); }

double dist( RotationX const & from, EulerAngles const & to)
{  return Quaternion(from).Distance(Quaternion(to)); }

double dist( RotationX const & from, Quaternion const & to)
{  return Quaternion(from).Distance(to); }

double dist( RotationX const & from, RotationZYX const & to)
{ /*TODO better */
   return Quaternion(from).Distance(Quaternion(to));
}

double dist( RotationX const & from, RotationX const & to)
{ /*TODO*/ 
   return Quaternion(from).Distance(Quaternion(to));
}

double dist( RotationX const & from, RotationY const & to)
{ /*TODO*/ 
   return Quaternion(from).Distance(Quaternion(to));
}

double dist( RotationX const & from, RotationZ const & to)
{ /*TODO*/ 
   return Quaternion(from).Distance(Quaternion(to));
}



// ----------------------------------------------------------------------
// distance from RotationY

double dist( RotationY const & from, Rotation3D const & to)
{  return Quaternion(from).Distance(Quaternion(to)); }

double dist( RotationY const & from, AxisAngle const & to)
{  return Quaternion(from).Distance(Quaternion(to)); }

double dist( RotationY const & from, EulerAngles const & to)
{  return Quaternion(from).Distance(Quaternion(to)); }

double dist( RotationY const & from, Quaternion const & to)
{  return Quaternion(from).Distance(to); }

double dist( RotationY const & from, RotationZYX const & to)
{ /*TODO better */
   return Quaternion(from).Distance(Quaternion(to));
}

double dist( RotationY const & from, RotationX const & to)
{ /*TODO*/ 
   return Quaternion(from).Distance(Quaternion(to));
}

double dist( RotationY const & from, RotationY const & to)
{ /*TODO*/ 
   return Quaternion(from).Distance(Quaternion(to));
}

double dist( RotationY const & from, RotationZ const & to)
{ /*TODO*/ 
   return Quaternion(from).Distance(Quaternion(to));
}



// ----------------------------------------------------------------------
// distance from RotationZ

double dist( RotationZ const & from, Rotation3D const & to)
{  return Quaternion(from).Distance(Quaternion(to)); }

double dist( RotationZ const & from, AxisAngle const & to)
{  return Quaternion(from).Distance(Quaternion(to)); }

double dist( RotationZ const & from, EulerAngles const & to)
{  return Quaternion(from).Distance(Quaternion(to)); }

double dist( RotationZ const & from, Quaternion const & to)
{  return Quaternion(from).Distance(to); }

double dist( RotationZ const & from, RotationZYX const & to)
{ /*TODO better */
   return Quaternion(from).Distance(Quaternion(to));
}

double dist( RotationZ const & from, RotationX const & to)
{ /*TODO*/ 
   return Quaternion(from).Distance(Quaternion(to));
}

double dist( RotationZ const & from, RotationY const & to)
{ /*TODO*/ 
   return Quaternion(from).Distance(Quaternion(to));
}

double dist( RotationZ const & from, RotationZ const & to)
{ /*TODO*/ 
   return Quaternion(from).Distance(Quaternion(to));
}


} //namespace gv_detail
} //namespace Math
} //namespace ROOT