#ifndef _BGC_POSTURE3_H_INCLUDED_
#define _BGC_POSTURE3_H_INCLUDED_

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

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

void _bgc_fp32_posture3_normalize(BGC_FP32_Posture3* posture, const float square_magnitude);

void _bgc_fp64_posture3_normalize(BGC_FP64_Posture3* posture, const double square_magnitude);

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

inline void bgc_fp32_posture3_reset(BGC_FP32_Posture3* posture)
{
    posture->_versor.real_part.s0 = 1.0f;
    posture->_versor.real_part.x1 = 0.0f;
    posture->_versor.real_part.x2 = 0.0f;
    posture->_versor.real_part.x3 = 0.0f;

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

inline void bgc_fp64_posture3_reset(BGC_FP64_Posture3* posture)
{
    posture->_versor.real_part.s0 = 1.0;
    posture->_versor.real_part.x1 = 0.0;
    posture->_versor.real_part.x2 = 0.0;
    posture->_versor.real_part.x3 = 0.0;

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

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

inline void bgc_fp32_posture3_copy(BGC_FP32_Posture3* destination, const BGC_FP32_Posture3* source)
{
    bgc_fp32_dual_quaternion_copy(&destination->_versor, &source->_versor);
}

inline void bgc_fp64_posture3_copy(BGC_FP64_Posture3* destination, const BGC_FP64_Posture3* source)
{
    bgc_fp64_dual_quaternion_copy(&destination->_versor, &source->_versor);
}

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

inline void bgc_fp32_posture3_swap(BGC_FP32_Posture3* posture1, BGC_FP32_Posture3* posture2)
{
    bgc_fp32_dual_quaternion_swap(&posture1->_versor, &posture2->_versor);
}

inline void bgc_fp64_posture3_swap(BGC_FP64_Posture3* posture1, BGC_FP64_Posture3* posture2)
{
    bgc_fp64_dual_quaternion_swap(&posture1->_versor, &posture2->_versor);
}

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

inline void bgc_fp32_posture3_convert_to_fp64(BGC_FP64_Posture3* destination, const BGC_FP32_Posture3* source)
{
    bgc_fp32_dual_quaternion_convert_to_fp64(&destination->_versor, &source->_versor);

    const double square_magnitude = bgc_fp64_quaternion_get_square_magnitude(&destination->_versor.real_part);

    if (!bgc_fp64_is_square_unit(square_magnitude)) {
        _bgc_fp64_posture3_normalize(destination, square_magnitude);
    }
}

inline void bgc_fp64_posture3_convert_to_fp32(BGC_FP32_Posture3* destination, const BGC_FP64_Posture3* source)
{
    bgc_fp64_dual_quaternion_convert_to_fp32(&destination->_versor, &source->_versor);
    
    const float square_magnitude = bgc_fp32_quaternion_get_square_magnitude(&destination->_versor.real_part);

    if (!bgc_fp32_is_square_unit(square_magnitude)) {
        _bgc_fp32_posture3_normalize(destination, square_magnitude);
    }
}

// ================== Combine =================== //

inline void bgc_fp32_posture3_combine(BGC_FP32_Posture3* combination, const BGC_FP32_Posture3* first, const BGC_FP32_Posture3* second)
{
    bgc_fp32_dual_quaternion_multiply_by_dual_quaternion(&combination->_versor, &second->_versor, &first->_versor);

    const float square_magnitude = bgc_fp32_quaternion_get_square_magnitude(&combination->_versor.real_part);

    if (!bgc_fp32_is_square_unit(square_magnitude)) {
        _bgc_fp32_posture3_normalize(combination, square_magnitude);
    }
}

inline void bgc_fp64_posture3_combine(BGC_FP64_Posture3* combination, const BGC_FP64_Posture3* first, const BGC_FP64_Posture3* second)
{
    bgc_fp64_dual_quaternion_multiply_by_dual_quaternion(&combination->_versor, &second->_versor, &first->_versor);

    const double square_magnitude = bgc_fp64_quaternion_get_square_magnitude(&combination->_versor.real_part);

    if (!bgc_fp64_is_square_unit(square_magnitude)) {
        _bgc_fp64_posture3_normalize(combination, square_magnitude);
    }
}

#endif