/*                         A N I M _ K E Y R E A D . C
 *
 *	Convert an list of mged-style 'savekey' keyframes into an 
 *  animation table
 *
 *  The output table specifies the orientation in one of three ways:
 *
 *	default	 - quaternions in the order x, y, z, w.
 *
 *	-z option - Eulers angles, in the order xyz. The model axes are 
 *		considered to be rotated about the camera's z, y, and 
 *		x axes (in that order).
 *	
 *	-y option - Eulers angles in the form yaw, pitch, roll.
 *
 *  This is more or less a special case of anim_orient.c
 *
 *  Author -
 *	Carl J. Nuzman
 *  
 *  Source -
 *      The U. S. Army Research Laboratory
 *      Aberdeen Proving Ground, Maryland  21005-5068  USA
 *  
 *  Distribution Notice -
 *      Re-distribution of this software is restricted, as described in
 *      your "Statement of Terms and Conditions for the Release of
 *      The BRL-CAD Pacakge" agreement.
 *
 *  Copyright Notice -
 *      This software is Copyright (C) 1993-2004 by the United States Army
 *      in all countries except the USA.  All rights reserved.
 */

#include "common.h"


#include <stdio.h>
#include <math.h>
#include "machine.h"
#include "vmath.h"
#include "bu.h"

#ifndef M_PI
#define M_PI	3.14159265358979323846
#endif

#define YPR		0
#define XYZ		1
#define QUATERNION	2
 
#define DEGREES		0
#define RADIANS		1

#define NORMAL		0
#define ERROR1		1
#define ERROR2		2

#define DTOR    M_PI/180.0
#define RTOD    180.0/M_PI

int mode; 
int units;

extern int bu_optind;
extern char *bu_optarg;

int get_args(int argc, char **argv);
extern void anim_v_unpermute(fastf_t *);

int
main(int argc, char **argv)
{
	int c;
	fastf_t time, viewsize;

	fastf_t eyept[3], viewrot[16], angle[3], quat[4];
	int anim_mat2ypr(fastf_t *, fastf_t *), anim_mat2zyx(const fastf_t *, fastf_t *), anim_mat2quat(fastf_t *, const fastf_t *);

	if (!get_args(argc,argv))
		fprintf(stderr,"anim_keyread: get_args error");

	while (!feof(stdin)){  /* read one keyframe */
		scanf("%lf", &time);
		scanf("%lf", &viewsize);
		scanf("%lf %lf %lf", eyept, eyept+1, eyept+2);
		/* read in transposed matrix */
		scanf("%lf %lf %lf %lf", viewrot+0, viewrot+4, viewrot+8, viewrot+12);
		scanf("%lf %lf %lf %lf", viewrot+1, viewrot+5, viewrot+9, viewrot+13);
		scanf("%lf %lf %lf %lf", viewrot+2, viewrot+6, viewrot+10, viewrot+14);
		scanf("%lf %lf %lf %lf", viewrot+3, viewrot+7, viewrot+11, viewrot+15);

		if (feof(stdin)) break;

		printf("%.10g\t%.10g\t%.10g\t%.10g\t%.10g\t", time, viewsize,
					 eyept[0], eyept[1], eyept[2]);


		if (mode==YPR) {
			anim_v_unpermute(viewrot);
			c = anim_mat2ypr(angle,viewrot);
			if (c==ERROR1)
				fprintf(stderr,"Warning: yaw and roll arbitrarily defined at time = %f.\n",time);
			else if (c==ERROR2)
				fprintf(stderr,"Keyread: can't interpret matrix at time = %f.\n",time);
			if (units == DEGREES)
				VSCALE(angle,angle,RTOD);
			printf("%.10g\t%.10g\t%.10g\n",angle[0],angle[1],angle[2]);
		}
		else if (mode==XYZ) {
			c = anim_mat2zyx(angle,viewrot);
			if (c==ERROR1)
				fprintf(stderr,"Warning: x and z rotations arbitrarily defined at time = %f.\n",time);
			else if (c==ERROR2)
				fprintf(stderr,"Keyread: can't interpret matrix at time = %f\n.",time);
			if (units == DEGREES)
				VSCALE(angle,angle,RTOD);
			printf("%.10g\t%.10g\t%.10g\n",angle[X],angle[Y],angle[Z]);
		}
		else if (mode==QUATERNION){
			anim_mat2quat(quat,viewrot);
			printf("%.10g\t%.10g\t%.10g\t%.10g\n",quat[X],quat[Y],quat[Z],quat[W]);
		}
	}
	return( 0 );
}


#define OPT_STR "yzqr"

int get_args(int argc, char **argv)
{

	int c;

	mode = QUATERNION; /* default */
	units = DEGREES;

	while ( (c=bu_getopt(argc,argv,OPT_STR)) != EOF) {
		switch(c){
		case 'y':
			mode = YPR;
			break;
		case 'z':
			mode = XYZ;
			break;
		case 'q':
			mode = QUATERNION;
			break;
		case 'r':
			units = RADIANS;
			break;
		default:
			fprintf(stderr,"Unknown option: -%c\n",c);
			return(0);
		}
	}
	return(1);
}