using System;
using System.Collections.Generic;
using System.Linq;
using System.Runtime.InteropServices;
using System.Text;
using System.Threading.Tasks;

public static class Sixense
{
    public struct ControllerData
    {
        public float pos_x;
        public float pos_y;
        public float pos_z;
        public float rot_mat_00;
        public float rot_mat_01;
        public float rot_mat_02;
        public float rot_mat_10;
        public float rot_mat_11;
        public float rot_mat_12;
        public float rot_mat_20;
        public float rot_mat_21;
        public float rot_mat_22;
        public float joystick_x;
        public float joystick_y;
        public float trigger;
        public uint buttons;
        public byte sequence_number;
        public float rot_quat0;
        public float rot_quat1;
        public float rot_quat2;
        public float rot_quat3;
        public ushort firmware_revision;
        public ushort hardware_revision;
        public ushort packet_type;
        public ushort magnetic_frequency;
        public int enabled;
        public int controller_index;
        public byte is_docked;
        public byte which_hand;
        public byte hemi_tracking_enabled;
    }

    public struct ControllerAngles
    {
        public float yaw;
        public float pitch;
        public float roll;
    }

    public const int SUCCESS = 0;
    public const int FAILURE = 1;

    public const int BUTTON_BUMPER = (0x01 << 7);
    public const int BUTTON_JOYSTICK = (0x01 << 8);
    public const int BUTTON_1 = (0x01 << 5);
    public const int BUTTON_2 = (0x01 << 6);
    public const int BUTTON_3 = (0x01 << 3);
    public const int BUTTON_4 = (0x01 << 4);
    public const int BUTTON_START = (0x01 << 0);


    [DllImport("sixense.dll", SetLastError = false, EntryPoint = "sixenseInit", CallingConvention = CallingConvention.Cdecl)]
    public static extern int Init();

    [DllImport("sixense.dll", SetLastError = false, EntryPoint = "sixenseExit", CallingConvention = CallingConvention.Cdecl)]
    public static extern int Exit();

    [DllImport("sixense.dll", SetLastError = false, EntryPoint = "sixenseIsBaseConnected", CallingConvention = CallingConvention.Cdecl)]
    public static extern int IsBaseConnected(int base_num);

    [DllImport("sixense.dll", SetLastError = false, EntryPoint = "sixenseSetActiveBase", CallingConvention = CallingConvention.Cdecl)]
    public static extern int SetActiveBase(int base_num);

    [DllImport("sixense.dll", SetLastError = false, EntryPoint = "sixenseGetNewestData", CallingConvention = CallingConvention.Cdecl)]
    public static extern int GetNewestData(int which, out ControllerData data);
}