/*
Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
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with or without modification, are permitted provided that the
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* Redistributions in binary form must reproduce the above copyright
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* Neither the name of the Sony Computer Entertainment Inc nor the names
of its contributors may be used to endorse or promote products derived
from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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*/

#ifndef BT_AOS_VECTORMATH_BULLET_CONVERT_H
#define BT_AOS_VECTORMATH_BULLET_CONVERT_H

#include "PlatformDefinitions.h"
#include "LinearMath/btVector3.h"
#include "LinearMath/btQuaternion.h"
#include "LinearMath/btMatrix3x3.h"

inline Vectormath::Aos::Vector3 getVmVector3(const btVector3& bulletVec)
{
return Vectormath::Aos::Vector3(bulletVec.getX(),bulletVec.getY(),bulletVec.getZ());
}

inline btVector3 getBtVector3(const Vectormath::Aos::Vector3& vmVec)
{
return btVector3(vmVec.getX(),vmVec.getY(),vmVec.getZ());
}
inline btVector3 getBtVector3(const Vectormath::Aos::Point3& vmVec)
{
return btVector3(vmVec.getX(),vmVec.getY(),vmVec.getZ());
}

inline Vectormath::Aos::Quat getVmQuat(const btQuaternion& bulletQuat)
{
Vectormath::Aos::Quat vmQuat(bulletQuat.getX(),bulletQuat.getY(),bulletQuat.getZ(),bulletQuat.getW());
return vmQuat;
}

inline btQuaternion getBtQuat(const Vectormath::Aos::Quat& vmQuat)
{
return btQuaternion (vmQuat.getX(),vmQuat.getY(),vmQuat.getZ(),vmQuat.getW());
}

inline Vectormath::Aos::Matrix3 getVmMatrix3(const btMatrix3x3& btMat)
{
Vectormath::Aos::Matrix3 mat(
getVmVector3(btMat.getColumn(0)),
getVmVector3(btMat.getColumn(1)),
getVmVector3(btMat.getColumn(2)));
return mat;
}


#endif //BT_AOS_VECTORMATH_BULLET_CONVERT_H