"""
This library for transformations partly derived and was re-implemented from the
following online resources:

    * http://www.lfd.uci.edu/~gohlke/code/transformations.py.html
    * http://www.euclideanspace.com/maths/geometry/rotations/
    * http://code.activestate.com/recipes/578108-determinant-of-matrix-of-any-order/
    * http://blog.acipo.com/matrix-inversion-in-javascript/

Many thanks to Christoph Gohlke, Martin John Baker, Sachin Joglekar and Andrew
Ippoliti for providing code and documentation.
"""
from compas.utilities import flatten
from compas.geometry import allclose

from .matrices import decompose_matrix
from .matrices import matrix_from_translation

from .transformation import Transformation


class Translation(Transformation):
    """Class representing a translation transformation.

    Parameters
    ----------
    matrix : list[list[float]], optional
        A 4x4 matrix (or similar) representing a translation.

    Attributes
    ----------
    translation_vector : :class:`~compas.geometry.Vector`
        The translation vector.

    Raises
    ------
    ValueError
        If the default constructor is used,
        and the provided transformation matrix is not a translation.

    Examples
    --------
    >>> T = Translation.from_vector([1, 2, 3])
    >>> T[0, 3] == 1
    True
    >>> T[1, 3] == 2
    True
    >>> T[2, 3] == 3
    True

    >>> from compas.geometry import Vector
    >>> T = Translation.from_vector(Vector(1, 2, 3))
    >>> T[0, 3] == 1
    True
    >>> T[1, 3] == 2
    True
    >>> T[2, 3] == 3
    True

    >>> T = Translation([[1, 0, 0, 1], [0, 1, 0, 2], [0, 0, 1, 3], [0, 0, 0, 1]])
    >>> T[0, 3] == 1
    True
    >>> T[1, 3] == 2
    True
    >>> T[2, 3] == 3
    True

    """

    def __init__(self, matrix=None, check=True):
        if matrix:
            _, _, _, translation, _ = decompose_matrix(matrix)
            if check:
                if not allclose(flatten(matrix), flatten(matrix_from_translation(translation))):
                    raise ValueError("This is not a proper translation matrix.")
        super(Translation, self).__init__(matrix=matrix)

    @property
    def translation_vector(self):
        from compas.geometry import Vector

        x = self.matrix[0][3]
        y = self.matrix[1][3]
        z = self.matrix[2][3]
        return Vector(x, y, z)

    def __repr__(self):
        return "Translation({0!r}, check=False)".format(self.matrix)

    @classmethod
    def from_vector(cls, vector):
        """Create a translation transformation from a translation vector.

        Parameters
        ----------
        vector : [float, float, float] | :class:`~compas.geometry.Vector`
            The translation vector.

        Returns
        -------
        :class:`~compas.geometry.Translation`
            The translation transformation.

        """
        return cls(matrix_from_translation(vector))
