#include "./dual-quaternion.h"

extern inline void bgc_fp32_dual_quaternion_reset(BGC_FP32_DualQuaternion* const quaternion);
extern inline void bgc_fp64_dual_quaternion_reset(BGC_FP64_DualQuaternion* const quaternion);

extern inline void bgc_fp32_dual_quaternion_get_square_magnitude(BGC_FP32_DualNumber* const square_magnitude, const BGC_FP32_DualQuaternion* const quaternion);
extern inline void bgc_fp64_dual_quaternion_get_square_magnitude(BGC_FP64_DualNumber* const square_magnitude, const BGC_FP64_DualQuaternion* const quaternion);

extern inline void bgc_fp32_dual_quaternion_get_magnitude(BGC_FP32_DualNumber* const magnitude, const BGC_FP32_DualQuaternion* const quaternion);
extern inline void bgc_fp64_dual_quaternion_get_magnitude(BGC_FP64_DualNumber* const magnitude, const BGC_FP64_DualQuaternion* const quaternion);

extern inline void bgc_fp32_dual_quaternion_copy(BGC_FP32_DualQuaternion* const destination, const BGC_FP32_DualQuaternion* const source);
extern inline void bgc_fp64_dual_quaternion_copy(BGC_FP64_DualQuaternion* const destination, const BGC_FP64_DualQuaternion* const source);

extern inline void bgc_fp32_dual_quaternion_swap(BGC_FP32_DualQuaternion* const first, BGC_FP32_DualQuaternion* const second);
extern inline void bgc_fp64_dual_quaternion_swap(BGC_FP64_DualQuaternion* const first, BGC_FP64_DualQuaternion* const second);

extern inline void bgc_fp32_dual_quaternion_convert_to_fp64(BGC_FP64_DualQuaternion* const destination, const BGC_FP32_DualQuaternion* const source);
extern inline void bgc_fp64_dual_quaternion_convert_to_fp32(BGC_FP32_DualQuaternion* const destination, const BGC_FP64_DualQuaternion* const source);

extern inline void bgc_fp32_dual_quaternion_revert(BGC_FP32_DualQuaternion* const quaternion);
extern inline void bgc_fp64_dual_quaternion_revert(BGC_FP64_DualQuaternion* const quaternion);

extern inline void bgc_fp32_dual_quaternion_get_reverse(BGC_FP32_DualQuaternion* const reverse, const BGC_FP32_DualQuaternion* const quaternion);
extern inline void bgc_fp64_dual_quaternion_get_reverse(BGC_FP64_DualQuaternion* const reverse, const BGC_FP64_DualQuaternion* const quaternion);

extern inline int bgc_fp32_dual_quaternion_invert(BGC_FP32_DualQuaternion* const quaternion);
extern inline int bgc_fp64_dual_quaternion_invert(BGC_FP64_DualQuaternion* const quaternion);

extern inline int bgc_fp32_dual_quaternion_get_inverse(BGC_FP32_DualQuaternion* const inverse, const BGC_FP32_DualQuaternion* const quaternion);
extern inline int bgc_fp64_dual_quaternion_get_inverse(BGC_FP64_DualQuaternion* const inverse, const BGC_FP64_DualQuaternion* const quaternion);

extern inline void bgc_fp32_dual_quaternion_component_conjugate(BGC_FP32_DualQuaternion* const quaternion);
extern inline void bgc_fp64_dual_quaternion_component_conjugate(BGC_FP64_DualQuaternion* const quaternion);

extern inline void bgc_fp32_dual_quaternion_get_component_conjugate(BGC_FP32_DualQuaternion* const conjugate, const BGC_FP32_DualQuaternion* const quaternion);
extern inline void bgc_fp64_dual_quaternion_get_component_conjugate(BGC_FP64_DualQuaternion* const conjugate, const BGC_FP64_DualQuaternion* const quaternion);

extern inline void bgc_fp32_dual_quaternion_dual_conjugate(BGC_FP32_DualQuaternion* const quaternion);
extern inline void bgc_fp64_dual_quaternion_dual_conjugate(BGC_FP64_DualQuaternion* const quaternion);

extern inline void bgc_fp32_dual_quaternion_get_dual_conjugate(BGC_FP32_DualQuaternion* const conjugate, const BGC_FP32_DualQuaternion* const quaternion);
extern inline void bgc_fp64_dual_quaternion_get_dual_conjugate(BGC_FP64_DualQuaternion* const conjugate, const BGC_FP64_DualQuaternion* const quaternion);

extern inline void bgc_fp32_dual_quaternion_fully_conjugate(BGC_FP32_DualQuaternion* const quaternion);
extern inline void bgc_fp64_dual_quaternion_fully_conjugate(BGC_FP64_DualQuaternion* const quaternion);

extern inline void bgc_fp32_dual_quaternion_get_fully_conjugate(BGC_FP32_DualQuaternion* const conjugate, const BGC_FP32_DualQuaternion* const quaternion);
extern inline void bgc_fp64_dual_quaternion_get_fully_conjugate(BGC_FP64_DualQuaternion* const conjugate, const BGC_FP64_DualQuaternion* const quaternion);

extern inline int bgc_fp32_dual_quaternion_normalize(BGC_FP32_DualQuaternion* const quaternion);
extern inline int bgc_fp64_dual_quaternion_normalize(BGC_FP64_DualQuaternion* const quaternion);

extern inline int bgc_fp32_dual_quaternion_get_normalized(BGC_FP32_DualQuaternion* const normalized, const BGC_FP32_DualQuaternion* const quaternion);
extern inline int bgc_fp64_dual_quaternion_get_normalized(BGC_FP64_DualQuaternion* const normalized, const BGC_FP64_DualQuaternion* const quaternion);

extern inline void bgc_fp32_dual_quaternion_add(BGC_FP32_DualQuaternion* const sum, const BGC_FP32_DualQuaternion* const first, const BGC_FP32_DualQuaternion* const second);
extern inline void bgc_fp64_dual_quaternion_add(BGC_FP64_DualQuaternion* const sum, const BGC_FP64_DualQuaternion* const first, const BGC_FP64_DualQuaternion* const second);

extern inline void bgc_fp32_dual_quaternion_add_scaled(BGC_FP32_DualQuaternion* const sum, const BGC_FP32_DualQuaternion* const base_quaternion, const BGC_FP32_DualQuaternion* const scalable_quaternion, const float scale);
extern inline void bgc_fp64_dual_quaternion_add_scaled(BGC_FP64_DualQuaternion* const sum, const BGC_FP64_DualQuaternion* const base_quaternion, const BGC_FP64_DualQuaternion* const scalable_quaternion, const double scale);

extern inline void bgc_fp32_dual_quaternion_subtract(BGC_FP32_DualQuaternion* const difference, const BGC_FP32_DualQuaternion* const minuend, const BGC_FP32_DualQuaternion* const subtrahend);
extern inline void bgc_fp64_dual_quaternion_subtract(BGC_FP64_DualQuaternion* const difference, const BGC_FP64_DualQuaternion* const minuend, const BGC_FP64_DualQuaternion* const subtrahend);

extern inline void bgc_fp32_dual_quaternion_subtract_scaled(BGC_FP32_DualQuaternion* const difference, const BGC_FP32_DualQuaternion* const base_quaternion, const BGC_FP32_DualQuaternion* const scalable_quaternion, const float scale);
extern inline void bgc_fp64_dual_quaternion_subtract_scaled(BGC_FP64_DualQuaternion* const difference, const BGC_FP64_DualQuaternion* const base_quaternion, const BGC_FP64_DualQuaternion* const scalable_quaternion, const double scale);

extern inline void bgc_fp32_dual_quaternion_multiply_by_real_number(BGC_FP32_DualQuaternion* const product, const BGC_FP32_DualQuaternion* const multiplicand, const float multiplier);
extern inline void bgc_fp64_dual_quaternion_multiply_by_real_number(BGC_FP64_DualQuaternion* const product, const BGC_FP64_DualQuaternion* const multiplicand, const double multiplier);

extern inline void bgc_fp32_dual_quaternion_multiply_by_dual_number(BGC_FP32_DualQuaternion* const product, const BGC_FP32_DualQuaternion* const multiplicand, const BGC_FP32_DualNumber* const multiplier);
extern inline void bgc_fp64_dual_quaternion_multiply_by_dual_number(BGC_FP64_DualQuaternion* const product, const BGC_FP64_DualQuaternion* const multiplicand, const BGC_FP64_DualNumber* const multiplier);

extern inline void bgc_fp32_dual_quaternion_multiply_by_conjugate_dual_number(BGC_FP32_DualQuaternion* const product, const BGC_FP32_DualQuaternion* const multiplicand, const BGC_FP32_DualNumber* const multiplier_to_conjugate);
extern inline void bgc_fp64_dual_quaternion_multiply_by_conjugate_dual_number(BGC_FP64_DualQuaternion* const product, const BGC_FP64_DualQuaternion* const multiplicand, const BGC_FP64_DualNumber* const multiplier_to_conjugate);

extern inline void bgc_fp32_dual_quaternion_multiply_by_quaternion(BGC_FP32_DualQuaternion* const product, const BGC_FP32_DualQuaternion* const multiplicand, const BGC_FP32_Quaternion* const multiplier);
extern inline void bgc_fp64_dual_quaternion_multiply_by_quaternion(BGC_FP64_DualQuaternion* const product, const BGC_FP64_DualQuaternion* const multiplicand, const BGC_FP64_Quaternion* const multiplier);

extern inline void bgc_fp32_dual_quaternion_multiply_by_conjugate_quaternion(BGC_FP32_DualQuaternion* const product, const BGC_FP32_DualQuaternion* const multiplicand, const BGC_FP32_Quaternion* const multiplier_to_conjugate);
extern inline void bgc_fp64_dual_quaternion_multiply_by_conjugate_quaternion(BGC_FP64_DualQuaternion* const product, const BGC_FP64_DualQuaternion* const multiplicand, const BGC_FP64_Quaternion* const multiplier_to_conjugate);

extern inline void bgc_fp32_dual_quaternion_multiply_by_dual_quaternion(BGC_FP32_DualQuaternion* const product, const BGC_FP32_DualQuaternion* const left, const BGC_FP32_DualQuaternion* const right);
extern inline void bgc_fp64_dual_quaternion_multiply_by_dual_quaternion(BGC_FP64_DualQuaternion* const product, const BGC_FP64_DualQuaternion* const left, const BGC_FP64_DualQuaternion* const right);

extern inline int bgc_fp32_dual_quaternion_divide_by_real_number(BGC_FP32_DualQuaternion* const quotient, const BGC_FP32_DualQuaternion* const divident, const float divisor);
extern inline int bgc_fp64_dual_quaternion_divide_by_real_number(BGC_FP64_DualQuaternion* const quotient, const BGC_FP64_DualQuaternion* const divident, const double divisor);

extern inline int bgc_fp32_dual_quaternion_divide_by_dual_number(BGC_FP32_DualQuaternion* const quotient, const BGC_FP32_DualQuaternion* const dividend, const BGC_FP32_DualNumber* const divisor);
extern inline int bgc_fp64_dual_quaternion_divide_by_dual_number(BGC_FP64_DualQuaternion* const quotient, const BGC_FP64_DualQuaternion* const dividend, const BGC_FP64_DualNumber* const divisor);

extern inline int bgc_fp32_dual_quaternion_divide_by_conjugate_dual_number(BGC_FP32_DualQuaternion* const quotient, const BGC_FP32_DualQuaternion* const dividend, const BGC_FP32_DualNumber* const divisor_to_conjugate);
extern inline int bgc_fp64_dual_quaternion_divide_by_conjugate_dual_number(BGC_FP64_DualQuaternion* const quotient, const BGC_FP64_DualQuaternion* const dividend, const BGC_FP64_DualNumber* const divisor_to_conjugate);

extern inline int bgc_fp32_dual_quaternion_divide_by_quaternion(BGC_FP32_DualQuaternion* const quotient, const BGC_FP32_DualQuaternion* const dividend, const BGC_FP32_Quaternion* const divisor);
extern inline int bgc_fp64_dual_quaternion_divide_by_quaternion(BGC_FP64_DualQuaternion* const quotient, const BGC_FP64_DualQuaternion* const dividend, const BGC_FP64_Quaternion* const divisor);

extern inline int bgc_fp32_dual_quaternion_divide_by_conjugate_quaternion(BGC_FP32_DualQuaternion* const quotient, const BGC_FP32_DualQuaternion* const dividend, const BGC_FP32_Quaternion* const divisor_to_conjugate);
extern inline int bgc_fp64_dual_quaternion_divide_by_conjugate_quaternion(BGC_FP64_DualQuaternion* const quotient, const BGC_FP64_DualQuaternion* const dividend, const BGC_FP64_Quaternion* const divisor_to_conjugate);

extern inline void bgc_fp32_dual_quaternion_get_mean2(BGC_FP32_DualQuaternion* const mean, const BGC_FP32_DualQuaternion* const quaternion1, const BGC_FP32_DualQuaternion* const quaternion2);
extern inline void bgc_fp64_dual_quaternion_get_mean2(BGC_FP64_DualQuaternion* const mean, const BGC_FP64_DualQuaternion* const quaternion1, const BGC_FP64_DualQuaternion* const quaternion2);

extern inline void bgc_fp32_dual_quaternion_get_mean3(BGC_FP32_DualQuaternion* const mean, const BGC_FP32_DualQuaternion* const quaternion1, const BGC_FP32_DualQuaternion* const quaternion2, const BGC_FP32_DualQuaternion* const quaternion3);
extern inline void bgc_fp64_dual_quaternion_get_mean3(BGC_FP64_DualQuaternion* const mean, const BGC_FP64_DualQuaternion* const quaternion1, const BGC_FP64_DualQuaternion* const quaternion2, const BGC_FP64_DualQuaternion* const quaternion3);

extern inline void bgc_fp32_dual_quaternion_interpolate(BGC_FP32_DualQuaternion* const interpolation, const BGC_FP32_DualQuaternion* const first, const BGC_FP32_DualQuaternion* const second, const float phase);
extern inline void bgc_fp64_dual_quaternion_interpolate(BGC_FP64_DualQuaternion* const interpolation, const BGC_FP64_DualQuaternion* const first, const BGC_FP64_DualQuaternion* const second, const double phase);