using PropertyTools.DataAnnotations;
using System;

namespace VisionCommon {
    public class Angle : ICloneable {
        private double mRadian;
        [System.ComponentModel.Browsable(false)]
        public double Radian {
            get { return mRadian; }
            set {
                mRadian = value;
                mDegree = MathUtil.ConvertRadianToDegree(value);
            }
        }

        private double mDegree;
        [DisplayName("Deg")]
        public double Degree {
            get { return mDegree; }
            set {
                mDegree = value;
                mRadian = MathUtil.ConvertDegreeToRadian(value);
            }
        }

        public Angle() {
            this.Radian = default(double);
            this.Degree = default(double);
        }

        public static Angle CreateWithRadian(double radian) {
            var angle = new Angle();
            angle.Radian = radian;
            return angle;
        }

        public static Angle CreateWithDegree(double degree) {
            var angle = new Angle();
            angle.Degree = degree % 360;
            return angle;
        }

        public static Angle operator +(Angle a) {
            return a;
        }

        public static Angle operator +(Angle a1, Angle a2) {
            return Angle.CreateWithDegree(a1.Degree + a2.Degree);
        }

        public static Angle operator -(Angle a) {
            return Angle.CreateWithDegree(-a.Degree);
        }

        public static Angle operator -(Angle a1, Angle a2) {
            return Angle.CreateWithDegree(a1.Degree - a2.Degree);
        }

        public static Angle operator *(Angle a1, double b) {
            return Angle.CreateWithDegree(a1.Degree * b);
        }

        public static bool operator >(Angle a1, Angle a2) {
            return (a1.Degree > a2.Degree);
        }

        public static bool operator <(Angle a1, Angle a2) {
            return (a1.Degree < a2.Degree);
        }

        public static Angle NormalizeAngle(Angle angle) {
            // Normalized Degree [-180, 180) -> -180 ~ 179
            double normalizedDeg = angle.Degree % 360;

            if (normalizedDeg < -180) {
                normalizedDeg += 360;
            }
            else if (normalizedDeg >= 180) {
                normalizedDeg -= 360;
            }

            return Angle.CreateWithDegree(normalizedDeg);
        }

        public static Angle DenormalizeAngle(Angle angle) {
            // Denormalized Degree [0, 360) -> 0 ~ 359
            double denormalizedDeg = angle.Degree;

            if (denormalizedDeg < 0) {
                denormalizedDeg += 360;
            }

            return Angle.CreateWithDegree(denormalizedDeg);
        }

        public static Angle GetSignedNormalizeAngle(double acos, double asin) {
            // acos : Magnitude
            // asin : Direction
            double normalizedRadian = (asin > 0) ? acos : (acos * -1);

            return Angle.CreateWithRadian(normalizedRadian);
        }

        public override bool Equals(object obj) {
            var a = obj as Angle;

            return MathUtil.Equals(this.Degree, a.Degree);
        }

        public override string ToString() {
            return String.Format("Angle : {0} [deg], {1} [rad]", Degree.ToString("F4"), Radian.ToString("F4"));
        }

        public string ToStringOnlyDeg() {
            return String.Format("{0} [deg]", Degree.ToString("F4"));
        }

        public object Clone() {
            return Angle.CreateWithDegree(Degree);
        }

        public override int GetHashCode() {
            return base.GetHashCode();
        }
    }
}