#ifndef _BGC_RIGID_POSE3_H_INCLUDED_
#define _BGC_RIGID_POSE3_H_INCLUDED_

#include "types.h"
#include "quaternion.h"

// ================= Normalize ================== //

void _bgc_fp32_rigid_pose3_normalize_parts(BGC_FP32_RigidPose3* pose, const float square_magnitude);

void _bgc_fp64_rigid_pose3_normalize_parts(BGC_FP64_RigidPose3* pose, const double square_magnitude);

inline void _bgc_fp32_rigid_pose3_normalize(BGC_FP32_RigidPose3* pose)
{
    const float square_magnitude = bgc_fp32_quaternion_get_square_magnitude(&pose->_real_part);

    if (!bgc_fp32_is_square_unit(square_magnitude)) {
        _bgc_fp32_rigid_pose3_normalize_parts(pose, square_magnitude);
    }

    const float dot_product = bgc_fp32_quaternion_get_dot_product(&pose->_real_part, &pose->_dual_part);

    bgc_fp32_quaternion_subtract_scaled(&pose->_dual_part, &pose->_dual_part, &pose->_real_part, dot_product);
}

inline void _bgc_fp64_rigid_pose3_normalize(BGC_FP64_RigidPose3* pose)
{
    const double square_magnitude = bgc_fp64_quaternion_get_square_magnitude(&pose->_real_part);

    if (!bgc_fp64_is_square_unit(square_magnitude)) {
        _bgc_fp64_rigid_pose3_normalize_parts(pose, square_magnitude);
    }

    const double dot_product = bgc_fp64_quaternion_get_dot_product(&pose->_real_part, &pose->_dual_part);

    bgc_fp64_quaternion_subtract_scaled(&pose->_dual_part, &pose->_dual_part, &pose->_real_part, dot_product);
}

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

inline void bgc_fp32_rigid_pose3_reset(BGC_FP32_RigidPose3* pose)
{
    pose->_real_part.s0 = 1.0f;
    pose->_real_part.x1 = 0.0f;
    pose->_real_part.x2 = 0.0f;
    pose->_real_part.x3 = 0.0f;

    pose->_dual_part.s0 = 0.0f;
    pose->_dual_part.x1 = 0.0f;
    pose->_dual_part.x2 = 0.0f;
    pose->_dual_part.x3 = 0.0f;
}

inline void bgc_fp64_rigid_pose3_reset(BGC_FP64_RigidPose3* pose)
{
    pose->_real_part.s0 = 1.0;
    pose->_real_part.x1 = 0.0;
    pose->_real_part.x2 = 0.0;
    pose->_real_part.x3 = 0.0;

    pose->_dual_part.s0 = 0.0;
    pose->_dual_part.x1 = 0.0;
    pose->_dual_part.x2 = 0.0;
    pose->_dual_part.x3 = 0.0;
}

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

inline void bgc_fp32_rigid_pose3_copy(BGC_FP32_RigidPose3* destination, const BGC_FP32_RigidPose3* source)
{
    bgc_fp32_quaternion_copy(&destination->_real_part, &source->_real_part);
    bgc_fp32_quaternion_copy(&destination->_dual_part, &source->_dual_part);
}

inline void bgc_fp64_rigid_pose3_copy(BGC_FP64_RigidPose3* destination, const BGC_FP64_RigidPose3* source)
{
    bgc_fp64_quaternion_copy(&destination->_real_part, &source->_real_part);
    bgc_fp64_quaternion_copy(&destination->_dual_part, &source->_dual_part);
}

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

inline void bgc_fp32_rigid_pose3_swap(BGC_FP32_RigidPose3* pose1, BGC_FP32_RigidPose3* pose2)
{
    bgc_fp32_quaternion_swap(&pose1->_real_part, &pose2->_real_part);
    bgc_fp32_quaternion_swap(&pose1->_dual_part, &pose2->_dual_part);
}

inline void bgc_fp64_rigid_pose3_swap(BGC_FP64_RigidPose3* pose1, BGC_FP64_RigidPose3* pose2)
{
    bgc_fp64_quaternion_swap(&pose1->_real_part, &pose2->_real_part);
    bgc_fp64_quaternion_swap(&pose1->_dual_part, &pose2->_dual_part);
}

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

inline void bgc_fp32_rigid_pose3_convert_to_fp64(BGC_FP64_RigidPose3* destination, const BGC_FP32_RigidPose3* source)
{
    bgc_fp32_quaternion_convert_to_fp64(&destination->_real_part, &source->_real_part);
    bgc_fp32_quaternion_convert_to_fp64(&destination->_dual_part, &source->_dual_part);

    _bgc_fp64_rigid_pose3_normalize(destination);
}

inline void bgc_fp64_rigid_pose3_convert_to_fp32(BGC_FP32_RigidPose3* destination, const BGC_FP64_RigidPose3* source)
{
    bgc_fp64_quaternion_convert_to_fp32(&destination->_real_part, &source->_real_part);
    bgc_fp64_quaternion_convert_to_fp32(&destination->_dual_part, &source->_dual_part);

    _bgc_fp32_rigid_pose3_normalize(destination);
}

// ================== Combine =================== //

inline void bgc_fp32_rigid_pose3_combine(BGC_FP32_RigidPose3* combination, const BGC_FP32_RigidPose3* first, const BGC_FP32_RigidPose3* second)
{
    BGC_FP32_Quaternion dual_part1, dual_part2;

    _bgc_fp32_restrict_quaternion_multiply_by_quaternion(&dual_part1, &second->_real_part, &first->_dual_part);
    _bgc_fp32_restrict_quaternion_multiply_by_quaternion(&dual_part2, &second->_dual_part, &first->_real_part);

    bgc_fp32_quaternion_multiply_by_quaternion(&combination->_real_part, &second->_real_part, &first->_real_part);
    bgc_fp32_quaternion_add(&combination->_dual_part, &dual_part1, &dual_part2);

    _bgc_fp32_rigid_pose3_normalize(combination);
}

inline void bgc_fp64_rigid_pose3_combine(BGC_FP64_RigidPose3* combination, const BGC_FP64_RigidPose3* first, const BGC_FP64_RigidPose3* second)
{
    BGC_FP64_Quaternion dual_part1, dual_part2;

    _bgc_fp64_restrict_quaternion_multiply_by_quaternion(&dual_part1, &second->_real_part, &first->_dual_part);
    _bgc_fp64_restrict_quaternion_multiply_by_quaternion(&dual_part2, &second->_dual_part, &first->_real_part);

    bgc_fp64_quaternion_multiply_by_quaternion(&combination->_real_part, &second->_real_part, &first->_real_part);
    bgc_fp64_quaternion_add(&combination->_dual_part, &dual_part1, &dual_part2);

    _bgc_fp64_rigid_pose3_normalize(combination);
}

#endif