#ifndef _GEOMETRY_QUATERNION_H_
#define _GEOMETRY_QUATERNION_H_

#include <math.h>

#include "basis.h"
#include "matrix3x3.h"

typedef struct {
    float s0, x1, x2, x3;
} BgFP32Quaternion;

typedef struct {
    double s0, x1, x2, x3;
} BgFP64Quaternion;

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

static inline void bg_fp32_quaternion_reset(BgFP32Quaternion * quaternion)
{
    quaternion->s0 = 0.0f;
    quaternion->x1 = 0.0f;
    quaternion->x2 = 0.0f;
    quaternion->x3 = 0.0f;
}

static inline void bg_fp64_quaternion_reset(BgFP64Quaternion * quaternion)
{
    quaternion->s0 = 0.0;
    quaternion->x1 = 0.0;
    quaternion->x2 = 0.0;
    quaternion->x3 = 0.0;
}

// ================== Set Unit ================== //

static inline void bg_fp32_quaternion_set_identity(BgFP32Quaternion * quaternion)
{
    quaternion->s0 = 1.0f;
    quaternion->x1 = 0.0f;
    quaternion->x2 = 0.0f;
    quaternion->x3 = 0.0f;
}

static inline void bg_fp64_quaternion_set_identity(BgFP64Quaternion * quaternion)
{
    quaternion->s0 = 1.0;
    quaternion->x1 = 0.0;
    quaternion->x2 = 0.0;
    quaternion->x3 = 0.0;
}

// ==================== Set ===================== //

static inline void bg_fp32_quaternion_set_values(const float s0, const float x1, const float x2, const float x3, BgFP32Quaternion * quaternion)
{
    quaternion->s0 = s0;
    quaternion->x1 = x1;
    quaternion->x2 = x2;
    quaternion->x3 = x3;
}

static inline void bg_fp64_quaternion_set_values(const double s0, const double x1, const double x2, const double x3, BgFP64Quaternion * quaternion)
{
    quaternion->s0 = s0;
    quaternion->x1 = x1;
    quaternion->x2 = x2;
    quaternion->x3 = x3;
}

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

static inline void bg_fp32_quaternion_copy(const BgFP32Quaternion* from, BgFP32Quaternion* to)
{
    to->s0 = from->s0;
    to->x1 = from->x1;
    to->x2 = from->x2;
    to->x3 = from->x3;
}

static inline void bg_fp64_quaternion_copy(const BgFP64Quaternion* from, BgFP64Quaternion* to)
{
    to->s0 = from->s0;
    to->x1 = from->x1;
    to->x2 = from->x2;
    to->x3 = from->x3;
}

// ============= Copy to twin type ============== //

static inline void bg_fp32_quaternion_set_from_fp64(const BgFP64Quaternion* versor, BgFP32Quaternion* result)
{
    result->s0 = (float) versor->s0;
    result->x1 = (float) versor->x1;
    result->x2 = (float) versor->x2;
    result->x3 = (float) versor->x3;
}

static inline void bg_fp64_quaternion_set_from_fp32(const BgFP32Quaternion* versor, BgFP64Quaternion* result)
{
    result->s0 = versor->s0;
    result->x1 = versor->x1;
    result->x2 = versor->x2;
    result->x3 = versor->x3;
}

// ================= Inversion ================== //

static inline void bg_fp32_quaternion_conjugate(BgFP32Quaternion* versor)
{
    versor->x1 = -versor->x1;
    versor->x2 = -versor->x2;
    versor->x3 = -versor->x3;
}

static inline void bg_fp64_quaternion_conjugate(BgFP64Quaternion* versor)
{
    versor->x1 = -versor->x1;
    versor->x2 = -versor->x2;
    versor->x3 = -versor->x3;
}

// ================ Set Conjugate =============== //

static inline void bg_fp32_quaternion_set_conjugate(const BgFP32Quaternion* versor, BgFP32Quaternion* result)
{
    result->s0 = versor->s0;
    result->x1 = -versor->x1;
    result->x2 = -versor->x2;
    result->x3 = -versor->x3;
}

static inline void bg_fp64_quaternion_set_conjugate(const BgFP64Quaternion* versor, BgFP64Quaternion* result)
{
    result->s0 = versor->s0;
    result->x1 = -versor->x1;
    result->x2 = -versor->x2;
    result->x3 = -versor->x3;
}

// ================ Get Inverted ================ //

static inline void bg_fp32_quaternion_set_conjugate_fp64(const BgFP64Quaternion* versor, BgFP32Quaternion* result)
{
    result->s0 = (float) versor->s0;
    result->x1 = (float) -versor->x1;
    result->x2 = (float) -versor->x2;
    result->x3 = (float) -versor->x3;
}

static inline void bg_fp64_quaternion_set_conjugate_fp32(const BgFP32Quaternion* versor, BgFP64Quaternion* result)
{
    result->s0 = versor->s0;
    result->x1 = -versor->x1;
    result->x2 = -versor->x2;
    result->x3 = -versor->x3;
}

// ============ Make Rotation Matrix ============ //

void bg_fp32_quaternion_get_rotation_matrix(const BgFP32Quaternion* quaternion, BgFP32Matrix3x3* matrix);

void bg_fp64_quaternion_get_rotation_matrix(const BgFP64Quaternion* quaternion, BgFP64Matrix3x3* matrix);

// ============ Make Reverse Matrix ============= //

void bg_fp32_quaternion_get_reverse_matrix(const BgFP32Quaternion* quaternion, BgFP32Matrix3x3* matrix);

void bg_fp64_quaternion_get_reverse_matrix(const BgFP64Quaternion* quaternion, BgFP64Matrix3x3* matrix);

// ==================== Add ===================== //

static inline void bg_fp32_quaternion_add(const BgFP32Quaternion * quaternion1, const BgFP32Quaternion * quaternion2, BgFP32Quaternion * result)
{
    result->s0 = quaternion1->s0 + quaternion2->s0;
    result->x1 = quaternion1->x1 + quaternion2->x1;
    result->x2 = quaternion1->x2 + quaternion2->x2;
    result->x3 = quaternion1->x3 + quaternion2->x3;
}

static inline void bg_fp64_quaternion_add(const BgFP64Quaternion * quaternion1, const BgFP64Quaternion * quaternion2, BgFP64Quaternion * result)
{
    result->s0 = quaternion1->s0 + quaternion2->s0;
    result->x1 = quaternion1->x1 + quaternion2->x1;
    result->x2 = quaternion1->x2 + quaternion2->x2;
    result->x3 = quaternion1->x3 + quaternion2->x3;
}

// ================== Subtract ================== //

static inline void bg_fp32_quaternion_subtract(const BgFP32Quaternion * minuend, const BgFP32Quaternion * subtrahend, BgFP32Quaternion * result)
{
    result->s0 = minuend->s0 - subtrahend->s0;
    result->x1 = minuend->x1 - subtrahend->x1;
    result->x2 = minuend->x2 - subtrahend->x2;
    result->x3 = minuend->x3 - subtrahend->x3;
}

static inline void bg_fp64_quaternion_subtract(const BgFP64Quaternion * minuend, const BgFP64Quaternion * subtrahend, BgFP64Quaternion * result)
{
    result->s0 = minuend->s0 - subtrahend->s0;
    result->x1 = minuend->x1 - subtrahend->x1;
    result->x2 = minuend->x2 - subtrahend->x2;
    result->x3 = minuend->x3 - subtrahend->x3;
}

// =============== Multiplication =============== //

static inline void bg_fp32_quaternion_multiply(const BgFP32Quaternion* left, const BgFP32Quaternion* right, BgFP32Quaternion* result)
{
    const float s0 = (left->s0 * right->s0 - left->x1 * right->x1) - (left->x2 * right->x2 + left->x3 * right->x3);
    const float x1 = (left->x1 * right->s0 + left->s0 * right->x1) - (left->x3 * right->x2 - left->x2 * right->x3);
    const float x2 = (left->x2 * right->s0 + left->s0 * right->x2) - (left->x1 * right->x3 - left->x3 * right->x1);
    const float x3 = (left->x3 * right->s0 + left->s0 * right->x3) - (left->x2 * right->x1 - left->x1 * right->x2);

    result->s0 = s0;
    result->x1 = x1;
    result->x2 = x2;
    result->x3 = x3;
}

static inline void bg_fp64_quaternion_multiply(const BgFP64Quaternion* left, const BgFP64Quaternion* right, BgFP64Quaternion* result)
{
    const double s0 = (left->s0 * right->s0 - left->x1 * right->x1) - (left->x2 * right->x2 + left->x3 * right->x3);
    const double x1 = (left->x1 * right->s0 + left->s0 * right->x1) - (left->x3 * right->x2 - left->x2 * right->x3);
    const double x2 = (left->x2 * right->s0 + left->s0 * right->x2) - (left->x1 * right->x3 - left->x3 * right->x1);
    const double x3 = (left->x3 * right->s0 + left->s0 * right->x3) - (left->x2 * right->x1 - left->x1 * right->x2);

    result->s0 = s0;
    result->x1 = x1;
    result->x2 = x2;
    result->x3 = x3;
}

#endif // _GEOMETRY_QUATERNION_H_