#ifndef LINUXCNC_WEB_WASM_SIM_POSEMATH_H
#define LINUXCNC_WEB_WASM_SIM_POSEMATH_H

#ifdef __cplusplus
extern "C" {
#endif

enum sim_posemath_result {
    SIM_POSEMATH_OK = 0,
    SIM_POSEMATH_ERR_ARGUMENT = -400,
    SIM_POSEMATH_ERR_NONFINITE = -401,
    SIM_POSEMATH_ERR_DEGENERATE = -402,
    SIM_POSEMATH_ERR_RANGE = -403,
};

typedef struct sim_posemath_cartesian {
    double x;
    double y;
    double z;
} sim_posemath_cartesian;

int sim_posemath_normalize(const sim_posemath_cartesian *input, sim_posemath_cartesian *output);
int sim_posemath_dot(const sim_posemath_cartesian *left, const sim_posemath_cartesian *right, double *output);
int sim_posemath_line_point(const sim_posemath_cartesian *start, const sim_posemath_cartesian *end,
                            double fraction, sim_posemath_cartesian *output);
int sim_posemath_is_finite(const sim_posemath_cartesian *value);

#ifdef __cplusplus
}
#endif

#endif