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+/****************************************************************************
+**
+** Copyright (C) 2017 Klaralvdalens Datakonsult AB (KDAB).
+** Contact: https://www.qt.io/licensing/
+**
+** This file is part of the Qt3D module of the Qt Toolkit.
+**
+** $QT_BEGIN_LICENSE:BSD$
+** Commercial License Usage
+** Licensees holding valid commercial Qt licenses may use this file in
+** accordance with the commercial license agreement provided with the
+** Software or, alternatively, in accordance with the terms contained in
+** a written agreement between you and The Qt Company. For licensing terms
+** and conditions see https://www.qt.io/terms-conditions. For further
+** information use the contact form at https://www.qt.io/contact-us.
+**
+** BSD License Usage
+** Alternatively, you may use this file under the terms of the BSD license
+** as follows:
+**
+** "Redistribution and use in source and binary forms, with or without
+** modification, are permitted provided that the following conditions are
+** met:
+**   * Redistributions of source code must retain the above copyright
+**     notice, this list of conditions and the following disclaimer.
+**   * Redistributions in binary form must reproduce the above copyright
+**     notice, this list of conditions and the following disclaimer in
+**     the documentation and/or other materials provided with the
+**     distribution.
+**   * Neither the name of The Qt Company Ltd 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 CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+** LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+** DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+** THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+** (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+** OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE."
+**
+** $QT_END_LICENSE$
+**
+****************************************************************************/
+
+#import <Foundation/Foundation.h>
+#import <UIKit/UIKit.h>
+
+#include "iosdeviceorientation.h"
+#import "iosdeviceorientation_p.h"
+
+#define RADIANS_TO_DEGREES(radians) ((radians) * (180.0 / M_PI))
+#define DEGREES_TO_RADIANS(angle) ((angle) / 180.0 * M_PI)
+
+
+@interface QIOSMotionManager : NSObject {
+}
+
++ (CMMotionManager *)sharedManager;
+@end
+
+@interface iOSDeviceOrientationP()
+{
+    BOOL active;
+    iOSDeviceOrientation* handler;
+}
+
+@property (strong) CMMotionManager *motionManager;
+@end
+
+
+
+@implementation iOSDeviceOrientationP
+
+#define kUpdateFrequency 20.0
+
+
++ (iOSDeviceOrientationP*)instance
+{
+    static iOSDeviceOrientationP* _myInstance = 0;
+    if (0 == _myInstance)
+        _myInstance = [[iOSDeviceOrientationP alloc] init];
+    return _myInstance;
+}
+
+- (id)init
+{
+    self = [super init];
+    if (self) {
+        self.motionManager = [QIOSMotionManager sharedManager]; // [[CMMotionManager alloc] init];
+        self.motionManager.deviceMotionUpdateInterval = 1. / kUpdateFrequency;
+
+        active = FALSE;
+    }
+    return self;
+}
+
+- (void)setHandler:(iOSDeviceOrientation*)h
+{
+    handler = h;
+}
+
+- (BOOL)isActive
+{
+    return active;
+}
+
+- (void)start
+{
+    // Motion updates
+    [self.motionManager startDeviceMotionUpdatesUsingReferenceFrame:CMAttitudeReferenceFrameXArbitraryCorrectedZVertical
+                                                            toQueue:[NSOperationQueue currentQueue]
+                                                        withHandler: ^(CMDeviceMotion *motion, NSError *error) {
+        //CMAttitude *attitude = motion.attitude;
+        //NSLog(@"rotation rate = [%f, %f, %f]", attitude.pitch, attitude.roll, attitude.yaw);
+        if (error)
+            NSLog(@"%@", [error description]);
+        else
+            [self performSelectorOnMainThread:@selector(handleDeviceMotion:) withObject:motion waitUntilDone:YES];
+    }];
+    active = TRUE;
+}
+
+- (void)stop
+{
+    [_motionManager stopDeviceMotionUpdates];
+    active = FALSE;
+}
+
+- (void)handleDeviceMotion:(CMDeviceMotion*)motion
+{
+    if (!active)
+        return;
+
+    if (motion.magneticField.accuracy == CMMagneticFieldCalibrationAccuracyUncalibrated)
+        return;
+
+    // X: A pitch is a rotation around a lateral axis that passes through the device from side to side.
+    // Y: A roll is a rotation around a longitudinal axis that passes through the device from its top to bottom.
+    // Z: A yaw is a rotation around an axis that runs vertically through the device. It is perpendicular to the
+    //    body of the device, with its origin at the center of gravity and directed toward the bottom of the device.
+
+    CMAttitude *attitude = motion.attitude;
+    handler->setRoll(90 - RADIANS_TO_DEGREES(attitude.roll));
+    handler->setPitch(RADIANS_TO_DEGREES(attitude.pitch));
+    handler->setYaw(RADIANS_TO_DEGREES(attitude.yaw));
+}
+
+@end