/** @file
    @brief Header

    Must be c-safe!

    @date 2014

    @author
    Sensics, Inc.
    <http://sensics.com/osvr>
*/

/*
// Copyright 2014 Sensics, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
*/

#ifndef INCLUDED_QuatlibInteropC_h_GUID_85D92019_F0CC_419C_5F6D_F5A3134AA5D4
#define INCLUDED_QuatlibInteropC_h_GUID_85D92019_F0CC_419C_5F6D_F5A3134AA5D4

/* Internal Includes */
#include <osvr/Util/APIBaseC.h>
#include <osvr/Util/Pose3C.h>

/* Library/third-party includes */
#include <quat.h>

/* Standard includes */
#include <string.h>

OSVR_EXTERN_C_BEGIN

/** @addtogroup UtilMath
    @{
*/
OSVR_INLINE void osvrQuatToQuatlib(q_type dest, OSVR_Quaternion const* src) {
  dest[Q_W] = osvrQuatGetW(src);
  dest[Q_X] = osvrQuatGetX(src);
  dest[Q_Y] = osvrQuatGetY(src);
  dest[Q_Z] = osvrQuatGetZ(src);
}

OSVR_INLINE void osvrQuatFromQuatlib(OSVR_Quaternion* dest, q_type const src) {
  osvrQuatSetW(dest, src[Q_W]);
  osvrQuatSetX(dest, src[Q_X]);
  osvrQuatSetY(dest, src[Q_Y]);
  osvrQuatSetZ(dest, src[Q_Z]);
}

OSVR_INLINE void osvrVec3ToQuatlib(q_vec_type dest, OSVR_Vec3 const* src) {
  memcpy((void*)(dest), (void const*)(src->data), sizeof(double) * 3);
}

OSVR_INLINE void osvrVec3FromQuatlib(OSVR_Vec3* dest, q_vec_type const src) {
  memcpy((void*)(dest->data), (void const*)(src), sizeof(double) * 3);
}

OSVR_INLINE void osvrPose3ToQuatlib(q_xyz_quat_type* dest,
                                    OSVR_Pose3 const* src) {
  osvrVec3ToQuatlib(dest->xyz, &(src->translation));
  osvrQuatToQuatlib(dest->quat, &(src->rotation));
}

OSVR_INLINE void osvrPose3FromQuatlib(OSVR_Pose3* dest,
                                      q_xyz_quat_type const* src) {
  osvrVec3FromQuatlib(&(dest->translation), src->xyz);
  osvrQuatFromQuatlib(&(dest->rotation), src->quat);
}

/** @} */

OSVR_EXTERN_C_END
#endif
