#ifndef _BGC_DUAL_VERSOR_H_
#define _BGC_DUAL_VERSOR_H_

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

typedef struct {
    struct {
        float s0, x1, x2, x3;
    } _real, _dual;
} BGC_FP32_DualVersor;

typedef struct {
    struct {
        double s0, x1, x2, x3;
    } _real, _dual;
} BGC_FP64_DualVersor;

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

inline void bgc_fp32_dual_versor_reset(BGC_FP32_DualVersor* number)
{
    number->_real.s0 = 1.0f;
    number->_real.x1 = 0.0f;
    number->_real.x2 = 0.0f;
    number->_real.x3 = 0.0f;

    number->_dual.s0 = 0.0f;
    number->_dual.x1 = 0.0f;
    number->_dual.x2 = 0.0f;
    number->_dual.x3 = 0.0f;
}

inline void bgc_fp64_dual_versor_reset(BGC_FP64_DualVersor* number)
{
    number->_real.s0 = 1.0f;
    number->_real.x1 = 0.0f;
    number->_real.x2 = 0.0f;
    number->_real.x3 = 0.0f;

    number->_dual.s0 = 0.0f;
    number->_dual.x1 = 0.0f;
    number->_dual.x2 = 0.0f;
    number->_dual.x3 = 0.0f;
}

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

inline void bgc_fp32_dual_versor_copy(BGC_FP32_DualVersor* destination, const BGC_FP32_DualVersor* source)
{
    destination->_real.s0 = source->_real.s0;
    destination->_real.x1 = source->_real.x1;
    destination->_real.x2 = source->_real.x2;
    destination->_real.x3 = source->_real.x3;

    destination->_dual.s0 = source->_dual.s0;
    destination->_dual.x1 = source->_dual.x1;
    destination->_dual.x2 = source->_dual.x2;
    destination->_dual.x3 = source->_dual.x3;
}

inline void bgc_fp64_dual_versor_copy(BGC_FP64_DualVersor* destination, const BGC_FP64_DualVersor* source)
{
    destination->_real.s0 = source->_real.s0;
    destination->_real.x1 = source->_real.x1;
    destination->_real.x2 = source->_real.x2;
    destination->_real.x3 = source->_real.x3;

    destination->_dual.s0 = source->_dual.s0;
    destination->_dual.x1 = source->_dual.x1;
    destination->_dual.x2 = source->_dual.x2;
    destination->_dual.x3 = source->_dual.x3;
}

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

inline void bgc_fp32_dual_versor_swap(BGC_FP32_DualVersor* first, BGC_FP32_DualVersor* second)
{
    // Real
    float s0 = second->_real.s0;
    float x1 = second->_real.x1;
    float x2 = second->_real.x2;
    float x3 = second->_real.x3;

    second->_real.s0 = first->_real.s0;
    second->_real.x1 = first->_real.x1;
    second->_real.x2 = first->_real.x2;
    second->_real.x3 = first->_real.x3;

    first->_real.s0 = s0;
    first->_real.x1 = x1;
    first->_real.x2 = x2;
    first->_real.x3 = x3;

    // Dual
    s0 = second->_dual.s0;
    x1 = second->_dual.x1;
    x2 = second->_dual.x2;
    x3 = second->_dual.x3;

    second->_dual.s0 = first->_dual.s0;
    second->_dual.x1 = first->_dual.x1;
    second->_dual.x2 = first->_dual.x2;
    second->_dual.x3 = first->_dual.x3;

    first->_dual.s0 = s0;
    first->_dual.x1 = x1;
    first->_dual.x2 = x2;
    first->_dual.x3 = x3;
}

inline void bgc_fp64_dual_versor_swap(BGC_FP64_DualVersor* first, BGC_FP64_DualVersor* second)
{
    // Real
    double s0 = second->_real.s0;
    double x1 = second->_real.x1;
    double x2 = second->_real.x2;
    double x3 = second->_real.x3;

    second->_real.s0 = first->_real.s0;
    second->_real.x1 = first->_real.x1;
    second->_real.x2 = first->_real.x2;
    second->_real.x3 = first->_real.x3;

    first->_real.s0 = s0;
    first->_real.x1 = x1;
    first->_real.x2 = x2;
    first->_real.x3 = x3;

    // Dual
    s0 = second->_dual.s0;
    x1 = second->_dual.x1;
    x2 = second->_dual.x2;
    x3 = second->_dual.x3;

    second->_dual.s0 = first->_dual.s0;
    second->_dual.x1 = first->_dual.x1;
    second->_dual.x2 = first->_dual.x2;
    second->_dual.x3 = first->_dual.x3;

    first->_dual.s0 = s0;
    first->_dual.x1 = x1;
    first->_dual.x2 = x2;
    first->_dual.x3 = x3;
}


#endif