#ifndef _BGC_DUAL_QUATERNION_H_INCLUDED_
#define _BGC_DUAL_QUATERNION_H_INCLUDED_

#include "quaternion.h"

// =================== Types ==================== //

typedef struct {
    BGC_FP32_Quaternion real, dual;
} BGC_FP32_DualQuaternion;

typedef struct {
    BGC_FP64_Quaternion real, dual;
} BGC_FP64_DualQuaternion;

// =================== Reset ==================== //

inline void bgc_fp32_dual_quaternion_reset(BGC_FP32_DualQuaternion* quaternion)
{
    bgc_fp32_quaternion_reset(&quaternion->real);
    bgc_fp32_quaternion_reset(&quaternion->dual);
}

inline void bgc_fp64_dual_quaternion_reset(BGC_FP64_DualQuaternion* quaternion)
{
    bgc_fp64_quaternion_reset(&quaternion->real);
    bgc_fp64_quaternion_reset(&quaternion->dual);
}

// ==================== Copy ==================== //

inline void bgc_fp32_dual_quaternion_copy(BGC_FP32_DualQuaternion* destination, const BGC_FP32_DualQuaternion* source)
{
    bgc_fp32_quaternion_copy(&destination->real, &source->real);
    bgc_fp32_quaternion_copy(&destination->dual, &source->dual);
}

inline void bgc_fp64_dual_quaternion_copy(BGC_FP64_DualQuaternion* destination, const BGC_FP64_DualQuaternion* source)
{
    bgc_fp64_quaternion_copy(&destination->real, &source->real);
    bgc_fp64_quaternion_copy(&destination->dual, &source->dual);
}

// ==================== Swap ==================== //

inline void bgc_fp32_dual_quaternion_swap(BGC_FP32_DualQuaternion* first, BGC_FP32_DualQuaternion* second)
{
    bgc_fp32_quaternion_swap(&first->real, &second->real);
    bgc_fp32_quaternion_swap(&first->dual, &second->dual);
}

inline void bgc_fp64_dual_quaternion_swap(BGC_FP64_DualQuaternion* first, BGC_FP64_DualQuaternion* second)
{
    bgc_fp64_quaternion_swap(&first->real, &second->real);
    bgc_fp64_quaternion_swap(&first->dual, &second->dual);
}

// ================== Convert =================== //

inline void bgc_fp32_dual_quaternion_convert_to_fp64(BGC_FP64_DualQuaternion* destination, const BGC_FP32_DualQuaternion* source)
{
    bgc_fp32_quaternion_convert_to_fp64(&destination->real, &source->real);
    bgc_fp32_quaternion_convert_to_fp64(&destination->dual, &source->dual);
}

inline void bgc_fp64_dual_quaternion_convert_to_fp32(BGC_FP32_DualQuaternion* destination, const BGC_FP64_DualQuaternion* source)
{
    bgc_fp64_quaternion_convert_to_fp32(&destination->real, &source->real);
    bgc_fp64_quaternion_convert_to_fp32(&destination->dual, &source->dual);
}

// ==================== Add ===================== //

inline void bgc_fp32_dual_quaternion_add(BGC_FP32_DualQuaternion* sum, const BGC_FP32_DualQuaternion* first, const BGC_FP32_DualQuaternion* second)
{
    bgc_fp32_quaternion_add(&sum->real, &first->real, &second->real);
    bgc_fp32_quaternion_add(&sum->dual, &first->dual, &second->dual);
}

inline void bgc_fp64_dual_quaternion_add(BGC_FP64_DualQuaternion* sum, const BGC_FP64_DualQuaternion* first, const BGC_FP64_DualQuaternion* second)
{
    bgc_fp64_quaternion_add(&sum->real, &first->real, &second->real);
    bgc_fp64_quaternion_add(&sum->dual, &first->dual, &second->dual);
}

// ================= Add Scaled ================= //

inline void bgc_fp32_dual_quaternion_add_scaled(BGC_FP32_DualQuaternion* sum, const BGC_FP32_DualQuaternion* base_quaternion, const BGC_FP32_DualQuaternion* scalable_quaternion, const float scale)
{
    bgc_fp32_quaternion_add_scaled(&sum->real, &base_quaternion->real, &scalable_quaternion->real, scale);
    bgc_fp32_quaternion_add_scaled(&sum->dual, &base_quaternion->dual, &scalable_quaternion->dual, scale);
}

inline void bgc_fp64_dual_quaternion_add_scaled(BGC_FP64_DualQuaternion* sum, const BGC_FP64_DualQuaternion* base_quaternion, const BGC_FP64_DualQuaternion* scalable_quaternion, const double scale)
{
    bgc_fp64_quaternion_add_scaled(&sum->real, &base_quaternion->real, &scalable_quaternion->real, scale);
    bgc_fp64_quaternion_add_scaled(&sum->dual, &base_quaternion->dual, &scalable_quaternion->dual, scale);
}

// ================== Subtract ================== //

inline void bgc_fp32_dual_quaternion_subtract(BGC_FP32_DualQuaternion* difference, const BGC_FP32_DualQuaternion* minuend, const BGC_FP32_DualQuaternion* subtrahend)
{
    bgc_fp32_quaternion_subtract(&difference->real, &minuend->real, &subtrahend->real);
    bgc_fp32_quaternion_subtract(&difference->dual, &minuend->dual, &subtrahend->dual);
}

inline void bgc_fp64_dual_quaternion_subtract(BGC_FP64_DualQuaternion* difference, const BGC_FP64_DualQuaternion* minuend, const BGC_FP64_DualQuaternion* subtrahend)
{
    bgc_fp64_quaternion_subtract(&difference->real, &minuend->real, &subtrahend->real);
    bgc_fp64_quaternion_subtract(&difference->dual, &minuend->dual, &subtrahend->dual);
}

// ================== Multiply ================== //

inline void bgc_fp32_dual_quaternion_multiply(BGC_FP32_DualQuaternion* product, const BGC_FP32_DualQuaternion* multiplicand, const float multipier)
{
    bgc_fp32_quaternion_multiply(&product->real, &multiplicand->real, multipier);
    bgc_fp32_quaternion_multiply(&product->dual, &multiplicand->dual, multipier);
}

inline void bgc_fp64_dual_quaternion_multiply(BGC_FP64_DualQuaternion* product, const BGC_FP64_DualQuaternion* multiplicand, const double multipier)
{
    bgc_fp64_quaternion_multiply(&product->real, &multiplicand->real, multipier);
    bgc_fp64_quaternion_multiply(&product->dual, &multiplicand->dual, multipier);
}

// =================== Divide =================== //

inline void bgc_fp32_dual_quaternion_divide(BGC_FP32_DualQuaternion* quotient, const BGC_FP32_DualQuaternion* divident, const float divisor)
{
    bgc_fp32_dual_quaternion_multiply(quotient, divident, 1.0f / divisor);
}

inline void bgc_fp64_dual_quaternion_divide(BGC_FP64_DualQuaternion* quotient, const BGC_FP64_DualQuaternion* divident, const double divisor)
{
    bgc_fp64_dual_quaternion_multiply(quotient, divident, 1.0 / divisor);
}

// ================ Mean of Two ================= //

inline void bgc_fp32_dual_quaternion_get_mean2(BGC_FP32_DualQuaternion* mean, const BGC_FP32_DualQuaternion* quaternion1, const BGC_FP32_DualQuaternion* quaternion2)
{
    bgc_fp32_quaternion_get_mean2(&mean->real, &quaternion1->real, &quaternion2->real);
    bgc_fp32_quaternion_get_mean2(&mean->dual, &quaternion1->dual, &quaternion2->dual);
}

inline void bgc_fp64_dual_quaternion_get_mean2(BGC_FP64_DualQuaternion* mean, const BGC_FP64_DualQuaternion* quaternion1, const BGC_FP64_DualQuaternion* quaternion2)
{
    bgc_fp64_quaternion_get_mean2(&mean->real, &quaternion1->real, &quaternion2->real);
    bgc_fp64_quaternion_get_mean2(&mean->dual, &quaternion1->dual, &quaternion2->dual);
}

// =============== Mean of Three ================ //

inline void bgc_fp32_dual_quaternion_get_mean3(BGC_FP32_DualQuaternion* mean, const BGC_FP32_DualQuaternion* quaternion1, const BGC_FP32_DualQuaternion* quaternion2, const BGC_FP32_DualQuaternion* quaternion3)
{
    bgc_fp32_quaternion_get_mean3(&mean->real, &quaternion1->real, &quaternion2->real, &quaternion3->real);
    bgc_fp32_quaternion_get_mean3(&mean->dual, &quaternion1->dual, &quaternion2->dual, &quaternion3->dual);
}

inline void bgc_fp64_dual_quaternion_get_mean3(BGC_FP64_DualQuaternion* mean, const BGC_FP64_DualQuaternion* quaternion1, const BGC_FP64_DualQuaternion* quaternion2, const BGC_FP64_DualQuaternion* quaternion3)
{
    bgc_fp64_quaternion_get_mean3(&mean->real, &quaternion1->real, &quaternion2->real, &quaternion3->real);
    bgc_fp64_quaternion_get_mean3(&mean->dual, &quaternion1->dual, &quaternion2->dual, &quaternion3->dual);
}

// ============ Linear Interpolation ============ //

inline void bgc_fp32_dual_quaternion_interpolate(BGC_FP32_DualQuaternion* interpolation, const BGC_FP32_DualQuaternion* first, const BGC_FP32_DualQuaternion* second, const float phase)
{
    bgc_fp32_quaternion_interpolate(&interpolation->real, &first->real, &second->real, phase);
    bgc_fp32_quaternion_interpolate(&interpolation->dual, &first->dual, &second->dual, phase);
}

inline void bgc_fp64_dual_quaternion_interpolate(BGC_FP64_DualQuaternion* interpolation, const BGC_FP64_DualQuaternion* first, const BGC_FP64_DualQuaternion* second, const double phase)
{
    bgc_fp64_quaternion_interpolate(&interpolation->real, &first->real, &second->real, phase);
    bgc_fp64_quaternion_interpolate(&interpolation->dual, &first->dual, &second->dual, phase);
}

// =================== Revert =================== //

inline void bgc_fp32_dual_quaternion_revert(BGC_FP32_DualQuaternion* quaternion)
{
    bgc_fp32_quaternion_revert(&quaternion->real);
    bgc_fp32_quaternion_revert(&quaternion->dual);
}

inline void bgc_fp64_dual_quaternion_revert(BGC_FP64_DualQuaternion* quaternion)
{
    bgc_fp64_quaternion_revert(&quaternion->real);
    bgc_fp64_quaternion_revert(&quaternion->dual);
}

// ================ Get Reverse ================= //

inline void bgc_fp32_dual_quaternion_get_reverse(BGC_FP32_DualQuaternion* reverse, const BGC_FP32_DualQuaternion* quaternion)
{
    bgc_fp32_quaternion_get_reverse(&reverse->real, &quaternion->real);
    bgc_fp32_quaternion_get_reverse(&reverse->dual, &quaternion->dual);
}

inline void bgc_fp64_dual_quaternion_get_reverse(BGC_FP64_DualQuaternion* reverse, const BGC_FP64_DualQuaternion* quaternion)
{
    bgc_fp64_quaternion_get_reverse(&reverse->real, &quaternion->real);
    bgc_fp64_quaternion_get_reverse(&reverse->dual, &quaternion->dual);
}

#endif