#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);
}

#endif