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/** @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
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