#include "rigid-pose3.h"

void _bgc_fp32_rigid_pose3_normalize_parts(BGC_FP32_RigidPose3* pose, const float square_magnitude)
{
    if (square_magnitude <= BGC_FP32_SQUARE_EPSILON || isnan(square_magnitude)) {
        bgc_fp32_rigid_pose3_reset(pose);
        return;
    }

    const float multiplier = sqrtf(1.0f / square_magnitude);

    bgc_fp32_quaternion_multiply_by_real(&pose->_real_part, &pose->_real_part, multiplier);
    bgc_fp32_quaternion_multiply_by_real(&pose->_dual_part, &pose->_dual_part, multiplier);
}

void _bgc_fp64_rigid_pose3_normalize_parts(BGC_FP64_RigidPose3* pose, const double square_magnitude)
{
    if (square_magnitude <= BGC_FP64_SQUARE_EPSILON || isnan(square_magnitude)) {
        bgc_fp64_rigid_pose3_reset(pose);
        return;
    }

    const double multiplier = sqrt(1.0 / square_magnitude);

    bgc_fp64_quaternion_multiply_by_real(&pose->_real_part, &pose->_real_part, multiplier);
    bgc_fp64_quaternion_multiply_by_real(&pose->_dual_part, &pose->_dual_part, multiplier);
}

extern inline void _bgc_fp32_rigid_pose3_normalize(BGC_FP32_RigidPose3* pose);
extern inline void _bgc_fp64_rigid_pose3_normalize(BGC_FP64_RigidPose3* pose);

extern inline void bgc_fp32_rigid_pose3_reset(BGC_FP32_RigidPose3* pose);
extern inline void bgc_fp64_rigid_pose3_reset(BGC_FP64_RigidPose3* pose);

extern inline void bgc_fp32_rigid_pose3_copy(BGC_FP32_RigidPose3* destination, const BGC_FP32_RigidPose3* source);
extern inline void bgc_fp64_rigid_pose3_copy(BGC_FP64_RigidPose3* destination, const BGC_FP64_RigidPose3* source);

extern inline void bgc_fp32_rigid_pose3_swap(BGC_FP32_RigidPose3* pose1, BGC_FP32_RigidPose3* pose2);
extern inline void bgc_fp64_rigid_pose3_swap(BGC_FP64_RigidPose3* pose1, BGC_FP64_RigidPose3* pose2);

extern inline void bgc_fp32_rigid_pose3_convert_to_fp64(BGC_FP64_RigidPose3* destination, const BGC_FP32_RigidPose3* source);
extern inline void bgc_fp64_rigid_pose3_convert_to_fp32(BGC_FP32_RigidPose3* destination, const BGC_FP64_RigidPose3* source);

extern inline void bgc_fp32_rigid_pose3_combine(BGC_FP32_RigidPose3* combination, const BGC_FP32_RigidPose3* first, const BGC_FP32_RigidPose3* second);
extern inline void bgc_fp64_rigid_pose3_combine(BGC_FP64_RigidPose3* combination, const BGC_FP64_RigidPose3* first, const BGC_FP64_RigidPose3* second);