#ifndef _BGC_RIGID_POSE3_H_INCLUDED_
#define _BGC_RIGID_POSE3_H_INCLUDED_

#include <math.h>

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

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

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

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

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

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

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

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

    if (square_magnitude <= BGC_FP32_SQUARE_EPSILON || isnan(square_magnitude)) {
        bgc_fp32_rigid_pose3_reset(pose);
        return;
    }

    if (!bgc_fp32_is_square_unit(square_magnitude)) {
        const float multiplier = sqrtf(1.0f / square_magnitude);

        bgc_fp32_dual_quaternion_multiply_by_real_number(&pose->_versor, &pose->_versor, multiplier);
    }

    const float dot_product = bgc_fp32_quaternion_get_dot_product(&pose->_versor.real_part, &pose->_versor.dual_part);

    bgc_fp32_quaternion_subtract_scaled(&pose->_versor.dual_part, &pose->_versor.dual_part, &pose->_versor.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->_versor.real_part);

    if (square_magnitude <= BGC_FP64_SQUARE_EPSILON || isnan(square_magnitude)) {
        bgc_fp64_rigid_pose3_reset(pose);
        return;
    }

    if (!bgc_fp64_is_square_unit(square_magnitude)) {
        const double multiplier = sqrt(1.0 / square_magnitude);

        bgc_fp64_dual_quaternion_multiply_by_real_number(&pose->_versor, &pose->_versor, multiplier);
    }

    const double dot_product = bgc_fp64_quaternion_get_dot_product(&pose->_versor.real_part, &pose->_versor.dual_part);

    bgc_fp64_quaternion_subtract_scaled(&pose->_versor.dual_part, &pose->_versor.dual_part, &pose->_versor.real_part, dot_product);
}

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

inline void bgc_fp32_rigid_pose3_copy(BGC_FP32_RigidPose3* destination, const BGC_FP32_RigidPose3* source)
{
    bgc_fp32_dual_quaternion_copy(&destination->_versor, &source->_versor);
}

inline void bgc_fp64_rigid_pose3_copy(BGC_FP64_RigidPose3* destination, const BGC_FP64_RigidPose3* source)
{
    bgc_fp64_dual_quaternion_copy(&destination->_versor, &source->_versor);
}

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

inline void bgc_fp32_rigid_pose3_swap(BGC_FP32_RigidPose3* pose1, BGC_FP32_RigidPose3* pose2)
{
    bgc_fp32_dual_quaternion_swap(&pose1->_versor, &pose2->_versor);
}

inline void bgc_fp64_rigid_pose3_swap(BGC_FP64_RigidPose3* pose1, BGC_FP64_RigidPose3* pose2)
{
    bgc_fp64_dual_quaternion_swap(&pose1->_versor, &pose2->_versor);
}

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

inline void bgc_fp32_rigid_pose3_convert_to_fp64(BGC_FP64_RigidPose3* destination, const BGC_FP32_RigidPose3* source)
{
    bgc_fp32_dual_quaternion_convert_to_fp64(&destination->_versor, &source->_versor);
    _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_dual_quaternion_convert_to_fp32(&destination->_versor, &source->_versor);
    _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_dual_quaternion_multiply_by_dual_quaternion(&combination->_versor, &second->_versor, &first->_versor);
    _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_dual_quaternion_multiply_by_dual_quaternion(&combination->_versor, &second->_versor, &first->_versor);
    _bgc_fp64_rigid_pose3_normalize(combination);
}

#endif