#ifndef _BGC_POSTURE3_H_INCLUDED_
#define _BGC_POSTURE3_H_INCLUDED_

#include "types.h"
#include "quaternion.h"
#include "dual-quaternion.h"

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

inline void bgc_fp32_posture3_reset(BGC_FP32_Posture3* posture)
{
    posture->_dual_versor.real_part.s0 = 1.0f;
    posture->_dual_versor.real_part.x1 = 0.0f;
    posture->_dual_versor.real_part.x2 = 0.0f;
    posture->_dual_versor.real_part.x3 = 0.0f;

    posture->_dual_versor.dual_part.s0 = 0.0f;
    posture->_dual_versor.dual_part.x1 = 0.0f;
    posture->_dual_versor.dual_part.x2 = 0.0f;
    posture->_dual_versor.dual_part.x3 = 0.0f;
}

inline void bgc_fp64_posture3_reset(BGC_FP64_Posture3* posture)
{
    posture->_dual_versor.real_part.s0 = 1.0;
    posture->_dual_versor.real_part.x1 = 0.0;
    posture->_dual_versor.real_part.x2 = 0.0;
    posture->_dual_versor.real_part.x3 = 0.0;

    posture->_dual_versor.dual_part.s0 = 0.0;
    posture->_dual_versor.dual_part.x1 = 0.0;
    posture->_dual_versor.dual_part.x2 = 0.0;
    posture->_dual_versor.dual_part.x3 = 0.0;
}

void _bgc_fp32_posture3_normalize(BGC_FP32_Posture3* posture);


#endif