#ifndef _GEOMETRY_QUATERNION_H_
#define _GEOMETRY_QUATERNION_H_

#include <math.h>

#include "basis.h"
#include "angle.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* quaternion, BgFP32Quaternion* result)
{
    result->s0 = (float) quaternion->s0;
    result->x1 = (float) quaternion->x1;
    result->x2 = (float) quaternion->x2;
    result->x3 = (float) quaternion->x3;
}

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

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

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

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

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

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

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

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

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

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

// ============= Get Square Modulus ============= //

static inline float bg_fp32_quaternion_get_square_modulus(const BgFP32Quaternion* quaternion)
{
    return (quaternion->s0 * quaternion->s0 + quaternion->x1 * quaternion->x1) + (quaternion->x2 * quaternion->x2 + quaternion->x3 * quaternion->x3);
}

static inline double bg_fp64_quaternion_get_square_modulus(const BgFP64Quaternion* quaternion)
{
    return (quaternion->s0 * quaternion->s0 + quaternion->x1 * quaternion->x1) + (quaternion->x2 * quaternion->x2 + quaternion->x3 * quaternion->x3);
}

// ================ Get Modulus ================= //

static inline float bg_fp32_quaternion_get_modulus(const BgFP32Quaternion* quaternion)
{
    return sqrtf(bg_fp32_quaternion_get_square_modulus(quaternion));
}

static inline double bg_fp64_quaternion_get_modulus(const BgFP64Quaternion* quaternion)
{
    return sqrt(bg_fp64_quaternion_get_square_modulus(quaternion));
}

// =============== Normalization ================ //

int bg_fp32_quaternion_normalize(BgFP32Quaternion* quaternion);

int bg_fp64_quaternion_normalize(BgFP64Quaternion* quaternion);

// ============ 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 * difference)
{
    difference->s0 = minuend->s0 - subtrahend->s0;
    difference->x1 = minuend->x1 - subtrahend->x1;
    difference->x2 = minuend->x2 - subtrahend->x2;
    difference->x3 = minuend->x3 - subtrahend->x3;
}

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

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

static inline void bg_fp32_quaternion_multiply(const BgFP32Quaternion* multiplicand, const float multipier, BgFP32Quaternion* product)
{
    product->s0 = multiplicand->s0 * multipier;
    product->x1 = multiplicand->x1 * multipier;
    product->x2 = multiplicand->x2 * multipier;
    product->x3 = multiplicand->x3 * multipier;
}

static inline void bg_fp64_quaternion_multiply(const BgFP64Quaternion* multiplicand, const double multipier, BgFP64Quaternion* product)
{
    product->s0 = multiplicand->s0 * multipier;
    product->x1 = multiplicand->x1 * multipier;
    product->x2 = multiplicand->x2 * multipier;
    product->x3 = multiplicand->x3 * multipier;
}

// ================== Division ================== //

static inline void bg_fp32_quaternion_divide(const BgFP32Quaternion* dividend, const float divisor, BgFP32Quaternion* quotient)
{
    bg_fp32_quaternion_multiply(dividend, 1.0f / divisor, quotient);
}

static inline void bg_fp64_quaternion_divide(const BgFP64Quaternion* dividend, const double divisor, BgFP64Quaternion* quotient)
{
    bg_fp64_quaternion_multiply(dividend, 1.0 / divisor, quotient);
}

// ================== Product =================== //

void bg_fp32_quaternion_get_product(const BgFP32Quaternion* left, const BgFP32Quaternion* right, BgFP32Quaternion* product);

void bg_fp64_quaternion_get_product(const BgFP64Quaternion* left, const BgFP64Quaternion* right, BgFP64Quaternion* product);

#endif // _GEOMETRY_QUATERNION_H_