#ifndef _BGC_DUAL_QUATERNION_H_
#define _BGC_DUAL_QUATERNION_H_

#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(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(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);
}

#endif