#include "rigid-pose3.h"

extern inline void bgc_fp32_rigid_pose3_reset(BGC_FP32_RigidPose3* const pose);
extern inline void bgc_fp64_rigid_pose3_reset(BGC_FP64_RigidPose3* const pose);

extern inline void _bgc_fp32_rigid_pose3_normalize(BGC_FP32_RigidPose3* const pose);
extern inline void _bgc_fp64_rigid_pose3_normalize(BGC_FP64_RigidPose3* const pose);

extern inline void bgc_fp32_rigid_pose3_get_dual_quaternion(BGC_FP32_DualQuaternion* const quaternion, const BGC_FP32_RigidPose3* const pose);
extern inline void bgc_fp64_rigid_pose3_get_dual_quaternion(BGC_FP64_DualQuaternion* const quaternion, const BGC_FP64_RigidPose3* const pose);

extern inline void bgc_fp32_rigid_pose3_set_dual_quaternion(BGC_FP32_RigidPose3* const pose, const BGC_FP32_DualQuaternion* const quaternion);
extern inline void bgc_fp64_rigid_pose3_set_dual_quaternion(BGC_FP64_RigidPose3* const pose, const BGC_FP64_DualQuaternion* const quaternion);

extern inline void bgc_fp32_rigid_pose3_get_real_part(BGC_FP32_Quaternion* const quaternion, const BGC_FP32_RigidPose3* const pose);
extern inline void bgc_fp64_rigid_pose3_get_real_part(BGC_FP64_Quaternion* const quaternion, const BGC_FP64_RigidPose3* const pose);

extern inline void bgc_fp32_rigid_pose3_get_dual_part(BGC_FP32_Quaternion* const quaternion, const BGC_FP32_RigidPose3* const pose);
extern inline void bgc_fp64_rigid_pose3_get_dual_part(BGC_FP64_Quaternion* const quaternion, const BGC_FP64_RigidPose3* const pose);

extern inline void bgc_fp32_rigid_pose3_copy(BGC_FP32_RigidPose3* const destination, const BGC_FP32_RigidPose3* const source);
extern inline void bgc_fp64_rigid_pose3_copy(BGC_FP64_RigidPose3* const destination, const BGC_FP64_RigidPose3* const source);

extern inline void bgc_fp32_rigid_pose3_swap(BGC_FP32_RigidPose3* const pose1, BGC_FP32_RigidPose3* const pose2);
extern inline void bgc_fp64_rigid_pose3_swap(BGC_FP64_RigidPose3* const pose1, BGC_FP64_RigidPose3* const pose2);

extern inline void bgc_fp32_rigid_pose3_convert_to_fp64(BGC_FP64_RigidPose3* const destination, const BGC_FP32_RigidPose3* const source);
extern inline void bgc_fp64_rigid_pose3_convert_to_fp32(BGC_FP32_RigidPose3* const destination, const BGC_FP64_RigidPose3* const source);

extern inline void bgc_fp32_rigid_pose3_shorten(BGC_FP32_RigidPose3* const pose);
extern inline void bgc_fp64_rigid_pose3_shorten(BGC_FP64_RigidPose3* const pose);

extern inline void bgc_fp32_rigid_pose3_get_shortened(BGC_FP32_RigidPose3* const shortened, const BGC_FP32_RigidPose3* const pose);
extern inline void bgc_fp64_rigid_pose3_get_shortened(BGC_FP64_RigidPose3* const shortened, const BGC_FP64_RigidPose3* const pose);

extern inline void bgc_fp32_rigid_pose3_alternate(BGC_FP32_RigidPose3* const pose);
extern inline void bgc_fp64_rigid_pose3_alternate(BGC_FP64_RigidPose3* const pose);

extern inline void bgc_fp32_rigid_pose3_get_alternative(BGC_FP32_RigidPose3* const alternative, const BGC_FP32_RigidPose3* const pose);
extern inline void bgc_fp64_rigid_pose3_get_alternative(BGC_FP64_RigidPose3* const alternative, const BGC_FP64_RigidPose3* const pose);

extern inline void bgc_fp32_rigid_pose3_revert(BGC_FP32_RigidPose3* const pose);
extern inline void bgc_fp64_rigid_pose3_revert(BGC_FP64_RigidPose3* const pose);

extern inline void bgc_fp32_rigid_pose3_get_reverse_pose(BGC_FP32_RigidPose3* const reverse, const BGC_FP32_RigidPose3* const pose);
extern inline void bgc_fp64_rigid_pose3_get_reverse_pose(BGC_FP64_RigidPose3* const reverse, const BGC_FP64_RigidPose3* const pose);

extern inline void bgc_fp32_rigid_pose3_combine(BGC_FP32_RigidPose3* const combination, const BGC_FP32_RigidPose3* const first, const BGC_FP32_RigidPose3* const second);
extern inline void bgc_fp64_rigid_pose3_combine(BGC_FP64_RigidPose3* const combination, const BGC_FP64_RigidPose3* const first, const BGC_FP64_RigidPose3* const second);

extern inline void bgc_fp32_rigid_pose3_exclude(BGC_FP32_RigidPose3* const difference, const BGC_FP32_RigidPose3* const base, const BGC_FP32_RigidPose3* const excludant);
extern inline void bgc_fp64_rigid_pose3_exclude(BGC_FP64_RigidPose3* const difference, const BGC_FP64_RigidPose3* const base, const BGC_FP64_RigidPose3* const excludant);

extern inline void bgc_fp32_rigid_pose3_get_matrix(BGC_FP32_Matrix3x3* const matrix, const BGC_FP32_RigidPose3* const pose);
extern inline void bgc_fp64_rigid_pose3_get_matrix(BGC_FP64_Matrix3x3* const matrix, const BGC_FP64_RigidPose3* const pose);

extern inline void bgc_fp32_rigid_pose3_get_reverse_matrix(BGC_FP32_Matrix3x3* const matrix, const BGC_FP32_RigidPose3* const pose);
extern inline void bgc_fp64_rigid_pose3_get_reverse_matrix(BGC_FP64_Matrix3x3* const matrix, const BGC_FP64_RigidPose3* const pose);

extern inline void bgc_fp32_rigid_pose3_get_shift(BGC_FP32_Vector3* const shift, const BGC_FP32_RigidPose3* const pose);
extern inline void bgc_fp64_rigid_pose3_get_shift(BGC_FP64_Vector3* const shift, const BGC_FP64_RigidPose3* const pose);

extern inline void bgc_fp32_rigid_pose3_get_reverse_shift(BGC_FP32_Vector3* const shift, const BGC_FP32_RigidPose3* const pose);
extern inline void bgc_fp64_rigid_pose3_get_reverse_shift(BGC_FP64_Vector3* const shift, const BGC_FP64_RigidPose3* const pose);

extern inline void bgc_fp32_rigid_pose3_get_affine(BGC_FP32_Affine3* const affine_map, const BGC_FP32_RigidPose3* const pose);
extern inline void bgc_fp64_rigid_pose3_get_affine(BGC_FP64_Affine3* const affine_map, const BGC_FP64_RigidPose3* const pose);

extern inline void bgc_fp32_rigid_pose3_get_reverse_affine(BGC_FP32_Affine3* const affine_map, const BGC_FP32_RigidPose3* const pose);
extern inline void bgc_fp64_rigid_pose3_get_reverse_affine(BGC_FP64_Affine3* const affine_map, const BGC_FP64_RigidPose3* const pose);

extern inline void bgc_fp32_rigid_pose3_get_position(BGC_FP32_Position3* const position, const BGC_FP32_RigidPose3* const pose);
extern inline void bgc_fp64_rigid_pose3_get_position(BGC_FP64_Position3* const position, const BGC_FP64_RigidPose3* const pose);

extern inline void bgc_fp32_rigid_pose3_set_position(BGC_FP32_RigidPose3* const pose, const BGC_FP32_Position3* const position);
extern inline void bgc_fp64_rigid_pose3_set_position(BGC_FP64_RigidPose3* const pose, const BGC_FP64_Position3* const position);

extern inline void bgc_fp32_rigid_pose3_get_reverse_position(BGC_FP32_Position3* const position, const BGC_FP32_RigidPose3* const pose);
extern inline void bgc_fp64_rigid_pose3_get_reverse_position(BGC_FP64_Position3* const position, const BGC_FP64_RigidPose3* const pose);

extern inline void bgc_fp32_rigid_pose3_set_reverse_position(BGC_FP32_RigidPose3* const pose, const BGC_FP32_Position3* const position);
extern inline void bgc_fp64_rigid_pose3_set_reverse_position(BGC_FP64_RigidPose3* const pose, const BGC_FP64_Position3* const position);