--!native
--!optimize 2
-- Compiled with roblox-ts v3.0.0
local TS = _G[script]
local CFrameTools = TS.import(script, script.Parent, "cframe_tools").CFrameTools
local Vector3Tools = TS.import(script, script.Parent, "vector3_tools").Vector3Tools
local MatrixTools = TS.import(script, script.Parent, "matrix_tools").MatrixTools
--TODO finish
local SplineTools = {}
do
	local _container = SplineTools
	local b_spline_matrix = MatrixTools.MultiplyScalarByNumber(1 / 6, { { 1, 4, 1, 0 }, { -3, 0, 3, 0 }, { 3, -6, 3, 0 }, { -1, 3, -3, 1 } })
	local bezier_spline_matrix = { { 1, 0, 0, 0 }, { -3, 3, 0, 0 }, { 3, -6, 3, 0 }, { -1, 3, -3, 1 } }
	local catmull_rom_sline_matrix = MatrixTools.MultiplyScalarByNumber(1 / 2, { { 0, 2, 0, 0 }, { -1, 0, 1, 0 }, { 2, -5, 4, -1 }, { -1, 3, -3, 1 } })
	local matrices = {
		[0] = b_spline_matrix,
		[1] = bezier_spline_matrix,
		[2] = catmull_rom_sline_matrix,
	}
	--TODO hermite spline
	--[[
		*
			 * @link https://www.youtube.com/watch?v=jvPPXbo87ds&ab_channel=FreyaHolm%C3%A9r
			 
	]]
	local function GetSpline(points, t, bezier_type)
		local points_matrix = { { points[1] }, { points[2] }, { points[3] }, { points[4] } }
		local numbers_matrix = matrices[bezier_type]
		local t_matrix = { { 1, t, t * t, t * t * t } }
		local bernstein_matrix = MatrixTools.MultiplyMatrices(t_matrix, numbers_matrix)
		local summ = MatrixTools.MultiplyNumberByVector3(bernstein_matrix, points_matrix)
		return summ[1][1]
	end
	_container.GetSpline = GetSpline
	local function GetSplineVector(points, t, bezier_type)
		local points_matrix = { { points[1] }, { points[2] }, { points[3] }, { points[4] } }
		local numbers_matrix = matrices[bezier_type]
		local t_matrix = { { 1, t, t * t, t * t * t } }
		local bernstein_matrix = MatrixTools.MultiplyMatrices(t_matrix, numbers_matrix)
		local summ = MatrixTools.MultiplyNumberByVector(bernstein_matrix, points_matrix)
		return summ[1][1]
	end
	_container.GetSplineVector = GetSplineVector
	local function GetSplineCFrame(points, t, bezier_type)
		local points_matrix = { { points[1] }, { points[2] }, { points[3] }, { points[4] } }
		local numbers_matrix = matrices[bezier_type]
		local t_matrix = { { 1, t, t * t, t * t * t } }
		local bernstein_matrix = MatrixTools.MultiplyMatrices(t_matrix, numbers_matrix)
		local summ = MatrixTools.MultiplyNumberByCFrame(bernstein_matrix, points_matrix)
		return summ[1][1]
	end
	_container.GetSplineCFrame = GetSplineCFrame
	--[[
		*
			 * used for the splines that dont start from the first point, extends the start and the end of the full path
			 * @returns $tuple([point_0, point_1, point_2, point_3], local_t);
			 
	]]
	local function Get4PointsWithExtention(points, t)
		local size = #points
		local _arg0 = size > 1
		assert(_arg0, "No enough points provided")
		--will break on 1;
		t = math.clamp(t, 0, 0.9999)
		local index_float = (size - 1) * t
		local local_t = index_float % 1
		local index = math.floor(index_float)
		--reflects point 1 around start to get pre start point
		local point_0 = points[index] or Vector3Tools.Mirror(points[2], points[1])
		local point_1 = points[index + 1]
		local point_2 = points[index + 2]
		--reflects pre last point around last to get extention at the end
		local point_3 = points[index + 3] or Vector3Tools.Mirror(points[size - 1], points[size])
		return { point_0, point_1, point_2, point_3 }, local_t
	end
	--[[
		*
			 * used for the splines that dont start from the first point, extends the start and the end of the full path
			 * @returns $tuple([point_0, point_1, point_2, point_3], local_t);
			 
	]]
	local function Get4PointsWithExtentionVector(points, t)
		local size = #points
		local _arg0 = size > 1
		assert(_arg0, "No enough points provided")
		--will break on 1;
		t = math.clamp(t, 0, 0.9999)
		local index_float = (size - 1) * t
		local local_t = index_float % 1
		local index = math.floor(index_float)
		--reflects point 1 around start to get pre start point
		local point_0 = points[index] or points[2]:MirrorAround(points[1])
		local point_1 = points[index + 1]
		local point_2 = points[index + 2]
		--reflects pre last point around last to get extention at the end
		local point_3 = points[index + 3] or points[size - 1]:MirrorAround(points[size])
		return { point_0, point_1, point_2, point_3 }, local_t
	end
	local MirrorPostionAround = CFrameTools.MirrorPositionAround
	--[[
		*
			 * used for the splines that dont start from the first point, extends the start and the end of the full path
			 * @returns $tuple([point_0, point_1, point_2, point_3], local_t);
			 
	]]
	local function Get4PointsWithExtentionCFrame(points, t)
		local size = #points
		local _arg0 = size > 1
		assert(_arg0, "No enough points provided")
		--will break on 1;
		t = math.clamp(t, 0, 0.9999)
		local index_float = (size - 1) * t
		local local_t = index_float % 1
		local index = math.floor(index_float)
		--reflects point 1 around start to get pre start point
		local point_0 = points[index] or MirrorPostionAround(points[2], points[1], true)
		local point_1 = points[index + 1]
		local point_2 = points[index + 2]
		--reflects pre last point around last to get extention at the end
		local point_3 = points[index + 3] or MirrorPostionAround(points[size - 1], points[size], true)
		return { point_0, point_1, point_2, point_3 }, local_t
	end
	local function InterpolateBSpline(points, t)
		local control_points, local_t = Get4PointsWithExtention(points, t)
		return GetSpline(control_points, local_t, 0)
	end
	_container.InterpolateBSpline = InterpolateBSpline
	local function InterpolateBSplineVector(points, t)
		local control_points, local_t = Get4PointsWithExtentionVector(points, t)
		return GetSplineVector(control_points, local_t, 0)
	end
	_container.InterpolateBSplineVector = InterpolateBSplineVector
	local function InterpolateBSplineCFrame(points, t)
		local control_points, local_t = Get4PointsWithExtentionCFrame(points, t)
		return GetSplineCFrame(control_points, local_t, 0)
	end
	_container.InterpolateBSplineCFrame = InterpolateBSplineCFrame
	local function InterpolateCatmullRom(points, t)
		local control_points, local_t = Get4PointsWithExtention(points, t)
		return GetSpline(control_points, local_t, 2)
	end
	_container.InterpolateCatmullRom = InterpolateCatmullRom
	local function InterpolateCatmullRomVector(points, t)
		local control_points, local_t = Get4PointsWithExtentionVector(points, t)
		return GetSplineVector(control_points, local_t, 2)
	end
	_container.InterpolateCatmullRomVector = InterpolateCatmullRomVector
end
return {
	SplineTools = SplineTools,
}