/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/

This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose, 
including commercial applications, and to alter it and redistribute it freely, 
subject to the following restrictions:

1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/

#include "CcdPhysicsEnvironment.h"
#include "CcdPhysicsController.h"

//#include "GL_LineSegmentShape.h"
#include "CollisionShapes/BoxShape.h"
#include "CollisionShapes/SphereShape.h"
#include "CollisionShapes/CylinderShape.h"
#include "CollisionShapes/ConeShape.h"

#include "CollisionShapes/ConvexHullShape.h"
#include "CollisionShapes/TriangleMesh.h"
#include "CollisionShapes/ConvexTriangleMeshShape.h"
#include "CollisionShapes/TriangleMeshShape.h"


extern SimdVector3 gCameraUp;
extern int	gForwardAxis;

#include "CollisionShapes/Simplex1to4Shape.h"
#include "CollisionShapes/EmptyShape.h"

#include "Dynamics/RigidBody.h"
#include "CollisionDispatch/CollisionDispatcher.h"
#include "BroadphaseCollision/SimpleBroadphase.h"
#include "BroadphaseCollision/AxisSweep3.h"
#include "ConstraintSolver/Point2PointConstraint.h"
#include "ConstraintSolver/HingeConstraint.h"

#include "quickprof.h"
#include "IDebugDraw.h"

#include "GLDebugDrawer.h"

//either FCollada or COLLADA_DOM

//COLLADA_DOM and LibXML source code are included in Extras/ folder.
//COLLADA_DOM should compile under all platforms, and is enabled by default.

//If you want to compile with FCollada (under windows), add the FCollada sourcecode
//in Extras/FCollada, and define USE_FOLLADE, and include the library.

//#define USE_FCOLLADA 1
#ifdef USE_FCOLLADA

//Collada Physics test
//#define NO_LIBXML //need LIBXML, because FCDocument/FCDPhysicsRigidBody.h needs FUDaeWriter, through FCDPhysicsParameter.hpp
#include "FUtils/FUtils.h"
#include "FCDocument/FCDocument.h"
#include "FCDocument/FCDSceneNode.h"
#include "FUtils/FUFileManager.h"
#include "FUtils/FULogFile.h"
#include "FCDocument/FCDPhysicsSceneNode.h"
#include "FCDocument/FCDPhysicsModelInstance.h"
#include "FCDocument/FCDPhysicsRigidBodyInstance.h"
#include "FCDocument/FCDPhysicsRigidBody.h"
#include "FCDocument/FCDGeometryInstance.h"
#include "FCDocument/FCDGeometrySource.h"
#include "FCDocument/FCDGeometryMesh.h"

#include "FCDocument/FCDGeometryPolygons.h"


#include "FCDocument/FCDGeometry.h"
#include "FCDocument/FCDPhysicsAnalyticalGeometry.h"


#else
//Use Collada-dom

#include "dae.h"
#include "dom/domCOLLADA.h"


#endif





#include "PHY_Pro.h"
#include "BMF_Api.h"
#include <stdio.h> //printf debugging

float deltaTime = 1.f/60.f;
float bulletSpeed = 40.f;

#ifdef WIN32
#if _MSC_VER >= 1310
//only use SIMD Hull code under Win32
#define USE_HULL 1
#include "NarrowPhaseCollision/Hull.h"
#endif //_MSC_VER 
#endif //WIN32


#ifdef WIN32 //needed for glut.h
#include <windows.h>
#endif
#include <GL/glut.h>
#include "GL_ShapeDrawer.h"

#include "GlutStuff.h"


extern float eye[3];
extern int glutScreenWidth;
extern int glutScreenHeight;



int numObjects = 0;

const int maxNumObjects = 450;

SimdTransform startTransforms[maxNumObjects];

DefaultMotionState ms[maxNumObjects];
CcdPhysicsController* physObjects[maxNumObjects] = {0,0,0,0};

CcdPhysicsEnvironment* physicsEnvironmentPtr = 0;


#define CUBE_HALF_EXTENTS 1
#define EXTRA_HEIGHT -20.f


CollisionShape* gShapePtr[maxNumObjects];//1 rigidbody has 1 shape (no re-use of shapes)

////////////////////////////////////

///Very basic import
void	CreatePhysicsObject(bool isDynamic, float mass, const SimdTransform& startTransform,CollisionShape* shape)
{

	startTransforms[numObjects] = startTransform;

	PHY_ShapeProps shapeProps;

	shapeProps.m_do_anisotropic = false;
	shapeProps.m_do_fh = false;
	shapeProps.m_do_rot_fh = false;
	shapeProps.m_friction_scaling[0] = 1.;
	shapeProps.m_friction_scaling[1] = 1.;
	shapeProps.m_friction_scaling[2] = 1.;

	shapeProps.m_inertia = 1.f;
	shapeProps.m_lin_drag = 0.2f;
	shapeProps.m_ang_drag = 0.1f;
	shapeProps.m_mass = 10.0f;

	PHY_MaterialProps materialProps;
	materialProps.m_friction = 10.5f;
	materialProps.m_restitution = 0.0f;

	CcdConstructionInfo ccdObjectCi;
	ccdObjectCi.m_friction = 0.5f;

	ccdObjectCi.m_linearDamping = shapeProps.m_lin_drag;
	ccdObjectCi.m_angularDamping = shapeProps.m_ang_drag;

	SimdTransform tr;
	tr.setIdentity();

	int i = numObjects;
	{
		gShapePtr[i] = shape;

		shapeProps.m_shape = gShapePtr[i];
		shapeProps.m_shape->SetMargin(0.05f);

		SimdQuaternion orn = startTransform.getRotation();
		

		ms[i].setWorldOrientation(orn[0],orn[1],orn[2],orn[3]);
		ms[i].setWorldPosition(startTransform.getOrigin().getX(),startTransform.getOrigin().getY(),startTransform.getOrigin().getZ());

		ccdObjectCi.m_MotionState = &ms[i];
		ccdObjectCi.m_gravity = SimdVector3(0,0,0);
		ccdObjectCi.m_localInertiaTensor =SimdVector3(0,0,0);
		if (!isDynamic)
		{
			shapeProps.m_mass = 0.f;
			ccdObjectCi.m_mass = shapeProps.m_mass;
			ccdObjectCi.m_collisionFlags = CollisionObject::isStatic;
		}
		else
		{
			shapeProps.m_mass = mass;
			ccdObjectCi.m_mass = shapeProps.m_mass;
			ccdObjectCi.m_collisionFlags = 0;
		}


		SimdVector3 localInertia(0.f,0.f,0.f);
		
		if (isDynamic)
		{
			gShapePtr[i]->CalculateLocalInertia(shapeProps.m_mass,localInertia);
		}

		ccdObjectCi.m_localInertiaTensor = localInertia;
		ccdObjectCi.m_collisionShape = gShapePtr[i];


		physObjects[i]= new CcdPhysicsController( ccdObjectCi);

		// Only do CCD if  motion in one timestep (1.f/60.f) exceeds CUBE_HALF_EXTENTS
		physObjects[i]->GetRigidBody()->m_ccdSquareMotionTreshold = 0.f; 
		
		//Experimental: better estimation of CCD Time of Impact:
		//physObjects[i]->GetRigidBody()->m_ccdSweptShereRadius = 0.5*CUBE_HALF_EXTENTS;

		physicsEnvironmentPtr->addCcdPhysicsController( physObjects[i]);
		
	}

	numObjects++;
	
}



#ifdef USE_FCOLLADA


bool ConvertColladaPhysicsToBulletPhysics(const FCDPhysicsSceneNode* inputNode)
{

	assert(inputNode);

	/// FRSceneNodeList nodesToDelete;
	// FRMeshPhysicsController::StartCooking();

	FCDPhysicsModelInstanceList models = inputNode->GetInstances();

	//Go through all of the physics models 
	for (FCDPhysicsModelInstanceList::iterator itM=models.begin(); itM != models.end(); itM++) 
	{

		FCDEntityInstanceList& instanceList = (*itM)->GetInstances();
		//create one node per physics model. This node is pretty much only a middle man, 
		//but better describes the structure we get from the input file 
		//FRSceneNode* modelNode = new FRSceneNode(); 
		//modelNode->SetParent(outputNode); 
		//outputNode->AddChild(modelNode); 
		//Go through all of the rigid bodies and rigid constraints in that model 

		for (FCDEntityInstanceList::iterator itE=instanceList.begin(); itE!=instanceList.end(); itE++) 
		{
			if ((*itE)->GetType() == FCDEntityInstance::PHYSICS_RIGID_CONSTRAINT) 
			{
				//not yet, could add point to point / hinge support easily 
			}
			else 
				if ((*itE)->GetType() == FCDEntityInstance::PHYSICS_RIGID_BODY) 
				{

					printf("PHYSICS_RIGID_BODY\n");


					//Create a controller per rigid-body 

					physicsEnvironmentPtr->setGravity(inputNode->GetGravity().x,inputNode->GetGravity().y,inputNode->GetGravity().z);
					//FRMeshPhysicsController* controller = new FRMeshPhysicsController(inputNode->GetGravity(), inputNode->GetTimestep()); 
					FCDPhysicsRigidBodyInstance* rbInstance = (FCDPhysicsRigidBodyInstance*)(*itE);

					FCDSceneNode* targetNode = rbInstance->GetTargetNode();


					if (!targetNode) 
					{


						//DebugOut("FCTranslator: No target node defined in rigid body instance"); 

						//SAFE_DELETE(controller); 

						continue; 
					}


					//Transfer all the transforms in n into cNode, and bake
					//at the same time the scalings. It is necessary to re-translate the
					//transforms as they will get deleted when we delete the old node.
					//A better way to do this would be to steal the transforms from the old
					//nodes, and make sure they're not deleted later, but this is impractical
					//right now as we would also have to migrate all the animation curves.


					SimdVector3 localScaling(1.f,1.f,1.f);

					

					

					SimdTransform accumulatedWorldTransform;
					accumulatedWorldTransform.setIdentity();
					
					uint32 numTransforms = targetNode->GetTransformCount();

					for (uint32 i=0; i<numTransforms; i++)
					{

						if (targetNode->GetTransforms()[i]->GetType() == FCDTransform::SCALE)
						{

							FCDTScale* scaleTrans = (FCDTScale*)targetNode->GetTransforms()[i];
							const FMVector3& scaling = scaleTrans->GetScale();
							localScaling[0] = scaling.x;
							localScaling[1] = scaling.y;
							localScaling[2] = scaling.z;

						} else
						{

							FMMatrix44 mat = (targetNode->GetTransforms()[i])->ToMatrix();
							SimdVector3 pos(mat.GetTranslation().x,mat.GetTranslation().y,mat.GetTranslation().z);

							SimdMatrix3x3 rotMat(
								mat.m[0][0],mat.m[0][1],mat.m[0][2],
								mat.m[1][0],mat.m[1][1],mat.m[1][2],
								mat.m[2][0],mat.m[2][1],mat.m[2][2]);

							rotMat = rotMat.transpose();
							SimdTransform trans(rotMat,pos);

							//TODO: check pre or post multiply
							accumulatedWorldTransform = accumulatedWorldTransform * trans;
						}

					}

					//Then affect all of its geometry instances.
					//Collect all the entities inside the entity vector and inside the children nodes
/*
					FREntityList childEntities = n->GetEntities();
					FRSceneNodeList childrenToParse = n->GetChildren();

					while (!childrenToParse.empty())
					{
						FRSceneNode* child = *childrenToParse.begin();
						const FREntityList& e = child->GetEntities();
						//add the entities of that child
						childEntities.insert(childEntities.end(), e.begin(), e.end());
						//queue the grand-children nodes
						childrenToParse.insert(childrenToParse.end(), child->GetChildren().begin(), child->GetChildren().end());
						childrenToParse.erase(childrenToParse.begin());

					}
*/
					//now check which ones are geometry mesh (right now an entity is only derived by mesh
					//but do this to avoid problems in the future)
/*
					for (FREntityList::iterator itT = childEntities.begin(); itT != childEntities.end(); itT++)
					{

						if ((*itT)->GetType() == FREntity::MESH || (*itT)->GetType() == FREntity::MESH_CONTROLLER)

						{

							FRMesh* cMesh = (FRMesh*)*itT;

							//while we're here, bake the scaling transforms into the meshes

							BakeScalingIntoMesh(cMesh, scaleTransforms);

							controller->AddBindMesh((FRMesh*)*itT);

						}

					}
*/


					/////////////////////////////////////////////////////////////////////
					//We're done with the targets. Now take care of the physics shapes.
					FCDPhysicsRigidBody* rigidBody = rbInstance->FlattenRigidBody();
					FCDPhysicsMaterial* mat = rigidBody->GetPhysicsMaterial();
					FCDPhysicsShapeList shapes = rigidBody->GetPhysicsShapeList();

					CollisionShape* collisionShape = 0;


					FCDPhysicsParameter<bool>* dyn = (FCDPhysicsParameter<bool>*)rigidBody->FindParameterByReference(DAE_DYNAMIC_ELEMENT);

					bool isDynamic = true;

					if (dyn) 
					{
						isDynamic = *dyn->GetValue();
						printf("isDynamic %i\n",isDynamic);
					}

					for (uint32 i=0; i<shapes.size(); i++)
					{
						FCDPhysicsShape* OldShape = shapes[i];

						OldShape->GetType();//
						//controller->SetDensity(OldShape->GetDensity());


						if (OldShape->GetGeometryInstance())
						{
							printf("mesh/convex geometry\n");

							FCDGeometry* geoTemp = (FCDGeometry*)(OldShape->GetGeometryInstance()->GetEntity());
							
							FCDGeometryMesh* colladaMesh = geoTemp->GetMesh();
							

							if (colladaMesh)
							{
							
								if (1)
								{
									bool useConvexHull = false;

									//useConvexHull uses just the points. works, but there is no rendering at the moment
									//for convex hull shapes
									if (useConvexHull)
									{
										int count = colladaMesh->GetVertexSourceCount();
										for (int i=0;i<count;i++)
										{
											const FCDGeometrySource* geomSource = colladaMesh->GetVertexSource(i);

											if (geomSource->GetSourceType()==FUDaeGeometryInput::POSITION)
											{
												
												int numPoints = geomSource->GetSourceData().size()/3;
												SimdPoint3* points = new SimdPoint3[numPoints];
												for (int p=0;p<numPoints;p++)
												{
													points[p].setValue(geomSource->GetSourceData()[p*3],
														geomSource->GetSourceData()[p*3+1],
														geomSource->GetSourceData()[p*3+2]);
												}



												collisionShape = new ConvexHullShape(points,numPoints);
												
												delete points;

												break;
											}
										}

									}
									else
									{
										TriangleMesh* trimesh = new TriangleMesh();

										int polyCount = colladaMesh->GetPolygonsCount();
										for (uint32 j=0; j<polyCount; j++)
										{
											FCDGeometryPolygons* poly = colladaMesh->GetPolygons(j);
											poly->Triangulate();

											int numfaces = poly->GetFaceCount();
											int numfacevertex = poly->GetFaceVertexCount();
																						
											std::vector<UInt32List> dataIndices;
																				

											//for (FCDGeometryPolygonsInputList::iterator itI = poly->idxOwners.begin(); itI != idxOwners.end(); ++itI)
											//{
											//	UInt32List* indices = &(*itI)->indices;
											//	dataIndices.push_back(*indices);
											//}

																					
											
											
											FCDGeometryPolygonsInput* inputs = poly->FindInput(FUDaeGeometryInput::POSITION);
											

											int startIndex = 0;
											for (int p=0;p<numfaces;p++)
											{
												int numfacevertices = poly->GetFaceVertexCounts()[p];

												switch (numfacevertices)
												{
												case 3:
													{
														
														//float value = inputs->source->GetSourceData()[index];
														
															int offset = poly->GetFaceVertexOffset(p);
															int index;
															index = inputs->indices[offset];
													
															SimdVector3 vertex0(
															inputs->source->GetSourceData()[index*3],
															inputs->source->GetSourceData()[index*3+1],
															inputs->source->GetSourceData()[index*3+2]);

															index = inputs->indices[offset+1];
														
														SimdVector3 vertex1(
															inputs->source->GetSourceData()[index*3],
															inputs->source->GetSourceData()[index*3+1],
															inputs->source->GetSourceData()[index*3+2]);
														
															index = inputs->indices[offset+2];

														SimdVector3 vertex2(
															inputs->source->GetSourceData()[index*3],
															inputs->source->GetSourceData()[index*3+1],
															inputs->source->GetSourceData()[index*3+2]);
															
														
														trimesh->AddTriangle(vertex0,vertex1,vertex2);
													break;
													}

												case 4:
													{
															int offset = poly->GetFaceVertexOffset(p);
															int index;
															index = inputs->indices[offset];
													
															SimdVector3 vertex0(
															inputs->source->GetSourceData()[index*3],
															inputs->source->GetSourceData()[index*3+1],
															inputs->source->GetSourceData()[index*3+2]);

															index = inputs->indices[offset+1];
														
														SimdVector3 vertex1(
															inputs->source->GetSourceData()[index*3],
															inputs->source->GetSourceData()[index*3+1],
															inputs->source->GetSourceData()[index*3+2]);
														
															index = inputs->indices[offset+2];

														SimdVector3 vertex2(
															inputs->source->GetSourceData()[index*3],
															inputs->source->GetSourceData()[index*3+1],
															inputs->source->GetSourceData()[index*3+2]);
																									
														index = inputs->indices[offset+3];

														SimdVector3 vertex3(
															inputs->source->GetSourceData()[index*3],
															inputs->source->GetSourceData()[index*3+1],
															inputs->source->GetSourceData()[index*3+2]);

														trimesh->AddTriangle(vertex0,vertex1,vertex2);
														trimesh->AddTriangle(vertex0,vertex2,vertex3);

														break;
													}

													default:
														{
														}
												}
											}

											if (colladaMesh->m_convex || isDynamic)
											{
												collisionShape = new ConvexTriangleMeshShape(trimesh);
											} else
											{
												collisionShape = new TriangleMeshShape(trimesh);
											}
																						

										}
								

									}


								} else
								{
									printf("static not yet?\n");

									//should be static triangle mesh!

									//FRMesh* cMesh = ToFREntityGeometry(geoTemp);
									//BakeScalingIntoMesh(cMesh, scaleTransforms);

									for (uint32 j=0; j<colladaMesh->GetPolygonsCount(); j++)
									{
										
										/*
										FRMeshPhysicsShape* NewShape = new FRMeshPhysicsShape(controller);

										if (!NewShape->CreateTriangleMesh(cMesh, j, true))

										{

											SAFE_DELETE(NewShape);

											continue;

										}
										if (mat)
										{
											NewShape->SetMaterial(mat->GetStaticFriction(), mat->GetDynamicFriction(), mat->GetRestitution());
											//FIXME
											//NewShape->material->setFrictionCombineMode();
											//NewShape->material->setSpring();
										}

										controller->AddShape(NewShape);

									*/
								}
							}
						}
							


						}

						else

						{

							//FRMeshPhysicsShape* NewShape = new FRMeshPhysicsShape(controller);

							FCDPhysicsAnalyticalGeometry* analGeom = OldShape->GetAnalyticalGeometry();

							//increse the following value for nicer shapes with more vertices

							uint16 superEllipsoidSubdivisionLevel = 2;

							if (!analGeom)

								continue;

							switch (analGeom->GetGeomType())

							{

							case FCDPhysicsAnalyticalGeometry::BOX:

								{

									FCDPASBox* box = (FCDPASBox*)analGeom;
									printf("Box\n");
									collisionShape = new BoxShape(SimdVector3(box->halfExtents.x,box->halfExtents.y,box->halfExtents.z));

									break;

								}

							case FCDPhysicsAnalyticalGeometry::PLANE:

								{

									FCDPASPlane* plane = (FCDPASPlane*)analGeom;
									printf("Plane\n");
									break;

								}

							case FCDPhysicsAnalyticalGeometry::SPHERE:

								{

									FCDPASSphere* sphere = (FCDPASSphere*)analGeom;
									collisionShape = new SphereShape(sphere->radius);
									printf("Sphere\n");
									break;

								}

							case FCDPhysicsAnalyticalGeometry::CYLINDER:

								{

									//FIXME: only using the first radius of the cylinder

									FCDPASCylinder* cylinder = (FCDPASCylinder*)analGeom;
									printf("Cylinder\n");
									//Blender exports Z cylinders
									//collisionShape = new CylinderShapeZ(SimdVector3(cylinder->radius,cylinder->radius,cylinder->height));
									collisionShape = new CylinderShape(SimdVector3(cylinder->radius,cylinder->height,cylinder->radius));

									break;

								}

							case FCDPhysicsAnalyticalGeometry::CAPSULE:

								{

									//FIXME: only using the first radius of the capsule

									FCDPASCapsule* capsule = (FCDPASCapsule*)analGeom;
									printf("Capsule\n");

									break;

								}

							case FCDPhysicsAnalyticalGeometry::TAPERED_CAPSULE:

								{

									//FIXME: only using the first radius of the capsule

									FCDPASTaperedCapsule* tcapsule = (FCDPASTaperedCapsule*)analGeom;
									printf("TaperedCapsule\n");
									break;

								}

							case FCDPhysicsAnalyticalGeometry::TAPERED_CYLINDER:

								{

									//FIXME: only using the first radius of the cylinder

									FCDPASTaperedCylinder* tcylinder = (FCDPASTaperedCylinder*)analGeom;
									printf("TaperedCylinder, creating a cone for now\n");
									if (!tcylinder->height)
									{
										printf("tapered_cylinder with height 0.0\n");
										tcylinder->height = 1.f;
									}
									//either use radius1 or radius2 for now
									collisionShape = new ConeShape(tcylinder->radius,tcylinder->height);

									break;

								}

							default:

								{

									break;

								}

							}

							//controller->AddShape(NewShape);
						}

					}

				

					FCDPhysicsParameter<float>* mass = (FCDPhysicsParameter<float>*)rigidBody->FindParameterByReference(DAE_MASS_ELEMENT);

					float mymass = 1.f;

					if (mass) 
					{
						mymass = *mass->GetValue();
						printf("RB mass:%f\n",mymass);
					}

					FCDPhysicsParameter<FMVector3>* inertia = (FCDPhysicsParameter<FMVector3>*)rigidBody->FindParameterByReference(DAE_INERTIA_ELEMENT);

					if (inertia) 
					{
						inertia->GetValue();//this should be calculated from shape
					}

					FCDPhysicsParameter<FMVector3>* velocity = (FCDPhysicsParameter<FMVector3>*)rigidBody->FindParameterByReference(DAE_VELOCITY_ELEMENT);

					if (velocity) 
					{
						velocity->GetValue();
					}

					FCDPhysicsParameter<FMVector3>* angularVelocity = (FCDPhysicsParameter<FMVector3>*)rigidBody->FindParameterByReference(DAE_ANGULAR_VELOCITY_ELEMENT);

					if (angularVelocity) 
					{
						angularVelocity->GetValue();
					}

					static int once = true;

					if (collisionShape)
					{
						once = false;
						printf("create Physics Object\n");
						//void	CreatePhysicsObject(bool isDynamic, float mass, const SimdTransform& startTransform,CollisionShape* shape)

						collisionShape->setLocalScaling(localScaling);
						ms[numObjects].m_localScaling = localScaling;

						CreatePhysicsObject(isDynamic, mymass, accumulatedWorldTransform,collisionShape);


					}
					//controller->SetGlobalPose(n->CalculateWorldTransformation());//??

					//SAFE_DELETE(rigidBody);

				}

		}

	}

	return true; 
}

#else
//Collada-dom

#endif



////////////////////////////////////



GLDebugDrawer debugDrawer;

int main(int argc,char** argv)
{
	gCameraUp = SimdVector3(0,0,1);
	gForwardAxis = 1;

	///Setup a Physics Simulation Environment
	CollisionDispatcher* dispatcher = new	CollisionDispatcher();
	SimdVector3 worldAabbMin(-10000,-10000,-10000);
	SimdVector3 worldAabbMax(10000,10000,10000);
	BroadphaseInterface* broadphase = new AxisSweep3(worldAabbMin,worldAabbMax);
	//BroadphaseInterface* broadphase = new SimpleBroadphase();
	physicsEnvironmentPtr = new CcdPhysicsEnvironment(dispatcher,broadphase);
	physicsEnvironmentPtr->setDeactivationTime(2.f);
	physicsEnvironmentPtr->setGravity(0,-10,0);
	physicsEnvironmentPtr->setDebugDrawer(&debugDrawer);

	

	/// Import Collada 1.4 Physics objects

	//char* filename = "analyticalGeomPhysicsTest.dae";//ColladaPhysics.dae";
	//char* filename = "colladaphysics_spherebox.dae";
	//char* filename = "friction.dae";
	char* filename = "jenga.dae";
	

#ifdef USE_FCOLLADA

	FCDocument* document = new FCDocument();
	FUStatus status = document->LoadFromFile(filename);
	bool success = status.IsSuccessful();
	printf ("Collada import %i\n",success);

	if (success)
	{
		const FCDPhysicsSceneNode* physicsSceneRoot = document->GetPhysicsSceneRoot();
		if (ConvertColladaPhysicsToBulletPhysics( physicsSceneRoot ))
		{
			printf("ConvertColladaPhysicsToBulletPhysics successfull\n");
		} else
		{
			printf("ConvertColladaPhysicsToBulletPhysics failed\n");
		}
	}
#else
	//Collada-dom
	DAE *collada = new DAE;

	
	int res = collada->load(filename);//,docBuffer);
	if (res != DAE_OK)
	{
		printf("DAE/Collada-dom: Couldn't load %s\n",filename);
	} else
	{

		domCOLLADA *dom = collada->getDom(filename);
		if ( !dom )
		{
			printf("COLLADA File loaded to the dom, but query for the dom assets failed \n" );
			printf("COLLADA Load Aborted! \n" );
			delete collada;	
			
		} else
		{

			//succesfully loaded file, now convert data

			if ( dom->getAsset()->getUp_axis() )
			{
				domAsset::domUp_axis * up = dom->getAsset()->getUp_axis();
				switch( up->getValue() )
				{
					case UPAXISTYPE_X_UP:
						printf("	X is Up Data and Hiearchies must be converted!\n" ); 
						printf("  Conversion to X axis Up isn't currently supported!\n" ); 
						printf("  COLLADA_RT defaulting to Y Up \n" ); 
						physicsEnvironmentPtr->setGravity(-10,0,0);
						break; 
					case UPAXISTYPE_Y_UP:
						printf("	Y Axis is Up for this file \n" ); 
						printf("  COLLADA_RT set to Y Up \n" ); 
						physicsEnvironmentPtr->setGravity(0,-10,0);
						break;
					case UPAXISTYPE_Z_UP:
						printf("	Z Axis is Up for this file \n" ); 
						printf("  All Geometry and Hiearchies must be converted!\n" ); 
						physicsEnvironmentPtr->setGravity(0,0,-10);
						break; 
					default:
					
						break; 
				}
			}


			//we don't handle visual objects, physics objects are rendered as such
			for (int s=0;s<dom->getLibrary_visual_scenes_array().getCount();s++)
			{
				domLibrary_visual_scenesRef scenesRef = dom->getLibrary_visual_scenes_array()[s];
				for (int i=0;i<scenesRef->getVisual_scene_array().getCount();i++)
				{
					domVisual_sceneRef sceneRef = scenesRef->getVisual_scene_array()[i];
					for (int n=0;n<sceneRef->getNode_array().getCount();n++)
					{
						domNodeRef nodeRef = sceneRef->getNode_array()[n];
						nodeRef->getRotate_array();
						nodeRef->getTranslate_array();
						nodeRef->getScale_array();

					}
				}
			}



			
			// Load all the geometry libraries
			for ( int i = 0; i < dom->getLibrary_geometries_array().getCount(); i++)
			{
				domLibrary_geometriesRef libgeom = dom->getLibrary_geometries_array()[i];
				
				printf(" CrtScene::Reading Geometry Library \n" );
				for ( int  i = 0; i < libgeom->getGeometry_array().getCount(); i++)
				{
					//ReadGeometry(  ); 
					domGeometryRef lib = libgeom->getGeometry_array()[i];

					domMesh			*meshElement		= lib->getMesh();
					if (meshElement)
					{
						// Find out how many groups we need to allocate space for 
						int	numTriangleGroups = (int)meshElement->getTriangles_array().getCount();
						int	numPolygonGroups  = (int)meshElement->getPolygons_array().getCount();
						int	totalGroups		  = numTriangleGroups + numPolygonGroups;
						if (totalGroups == 0) 
						{
							printf("No Triangles or Polygons found int Geometry %s \n", lib->getId() ); 
						} else
						{
							printf("Found mesh geometry: numTriangleGroups:%i numPolygonGroups:%i\n",numTriangleGroups,numPolygonGroups);
						}
						

					}
					domConvex_mesh	*convexMeshElement	= lib->getConvex_mesh();
					if (convexMeshElement)
					{
						printf("found convexmesh element\n");
						// Find out how many groups we need to allocate space for 
						int	numTriangleGroups = (int)convexMeshElement->getTriangles_array().getCount();
						int	numPolygonGroups  = (int)convexMeshElement->getPolygons_array().getCount();
						int	totalGroups		  = numTriangleGroups + numPolygonGroups;
						if (totalGroups == 0) 
						{
							printf("No Triangles or Polygons found in ConvexMesh Geometry %s \n", lib->getId() ); 
						}else
						{
							printf("Found convexmesh geometry: numTriangleGroups:%i numPolygonGroups:%i\n",numTriangleGroups,numPolygonGroups);
						}
					}//fi
				}//for each geometry

			}//for all geometry libraries

			for ( int i = 0; i < dom->getLibrary_physics_scenes_array().getCount(); i++)
			{
				domLibrary_physics_scenesRef physicsScenesRef = dom->getLibrary_physics_scenes_array()[i];
				for (int s=0;s<physicsScenesRef->getPhysics_scene_array().getCount();s++)
				{
					domPhysics_sceneRef physicsSceneRef = physicsScenesRef->getPhysics_scene_array()[s];

					for (int m=0;m<physicsSceneRef->getInstance_physics_model_array().getCount();m++)
					{
						domInstance_physics_modelRef modelRef = physicsSceneRef->getInstance_physics_model_array()[m];
						

						//domPhysics_modelRef mr =;
							
						daeElementRef ref = modelRef->getUrl().getElement();
						domPhysics_modelRef model = *(domPhysics_modelRef*)&ref; 

						

						
						float mass = 1.f;
						bool isDynamics = true;
						CollisionShape* colShape = 0;
						SimdTransform	startTransform;
						startTransform.setIdentity();
						SimdVector3 startScale(1.f,1.f,1.f);

						
										

						{
							for (int r=0;r<model->getRigid_body_array().getCount();r++)
							{

								domRigid_bodyRef physicsModel = model->getRigid_body_array()[r];
																
								const domRigid_body::domTechnique_commonRef techniqueRef = physicsModel->getTechnique_common();
								if (techniqueRef)
								{
									
									mass = techniqueRef->getMass()->getValue();
									isDynamics = techniqueRef->getDynamic()->getValue();
									
									//shapes
									for (int s=0;s<techniqueRef->getShape_array().getCount();s++)
									{
										domRigid_body::domTechnique_common::domShapeRef shapeRef = techniqueRef->getShape_array()[s];
										
										
										if (shapeRef->getBox())
										{
											domBoxRef boxRef = shapeRef->getBox();
											domBox::domHalf_extentsRef	domHalfExtentsRef = boxRef->getHalf_extents();
											domFloat3& halfExtents = domHalfExtentsRef->getValue();
											float x = halfExtents.get(0);
											float y = halfExtents.get(1);
											float z = halfExtents.get(2);
											colShape = new BoxShape(SimdVector3(x,y,z));
										}
										if (shapeRef->getSphere())
										{
											domSphereRef sphereRef = shapeRef->getSphere();
											domSphere::domRadiusRef radiusRef = sphereRef->getRadius();
											domFloat radius = radiusRef->getValue();
											colShape = new SphereShape(radius);
										}

										if (shapeRef->getCylinder())
										{
											domCylinderRef cylinderRef = shapeRef->getCylinder();
											domFloat height = cylinderRef->getHeight()->getValue();
											domFloat2 radius2 = cylinderRef->getRadius()->getValue();
											domFloat radius0 = radius2.get(0);
											
											//Cylinder around the local Y axis
											colShape = new CylinderShape(SimdVector3(radius0,height,radius0));

										}

										if (shapeRef->getInstance_geometry())
										{
											const domInstance_geometryRef geomInstRef = shapeRef->getInstance_geometry();
											daeElement* geomElem = geomInstRef->getUrl().getElement();
											//elemRef->getTypeName();
											domGeometry* geom = (domGeometry*) geomElem;
											if (geom->getMesh())
											{
												const domMeshRef meshRef = geom->getMesh();

												printf("(concave) mesh not supported yet\n");
											}

											if (geom->getConvex_mesh())
											{

												{
													 const domConvex_meshRef convexRef = geom->getConvex_mesh();
													 daeElementRef otherElemRef = convexRef->getConvex_hull_of().getElement();
													 if ( otherElemRef != NULL )
													 {
		 													 domGeometryRef linkedGeom = *(domGeometryRef*)&otherElemRef;
															 printf( "otherLinked\n");
													 } else
													 {
														 printf("convexMesh polyCount = %i\n",convexRef->getPolygons_array().getCount());
														 printf("convexMesh triCount = %i\n",convexRef->getTriangles_array().getCount());
		
													 }
												}
												 


												ConvexHullShape* convexHullShape = new ConvexHullShape(0,0);
												
												//it is quite a trick to get to the vertices, using Collada.
												//we are not there yet...
												
												const domConvex_meshRef convexRef = geom->getConvex_mesh();
												daeString urlref = convexRef->getConvex_hull_of().getURI();
												daeString urlref2 = convexRef->getConvex_hull_of().getOriginalURI();
												
												// Load all the geometry libraries
												for ( int i = 0; i < dom->getLibrary_geometries_array().getCount(); i++)
												{
													domLibrary_geometriesRef libgeom = dom->getLibrary_geometries_array()[i];
													//int index = libgeom->findLastIndexOf(urlref2);
													//can't find it

													for ( int  i = 0; i < libgeom->getGeometry_array().getCount(); i++)
													{
														//ReadGeometry(  ); 
														domGeometryRef lib = libgeom->getGeometry_array()[i];
														if (!strcmp(lib->getName(),urlref2))
														{
															//found convex_hull geometry
															domMesh			*meshElement		= lib->getMesh();
															if (meshElement)
															{
																const domVerticesRef vertsRef = meshElement->getVertices();
																int numInputs = vertsRef->getInput_array().getCount();
																for (int i=0;i<numInputs;i++)
																{
																	domInputLocalRef localRef = vertsRef->getInput_array()[i];
																	daeString str = localRef->getSemantic();
																	if ( !strcmp(str,"POSITION"))
																	{
																		const domURIFragmentType& frag = localRef->getSource();
																		
																		daeElementConstRef constElem = frag.getElement();
																		
																		const domSourceRef node = *(const domSourceRef*)&constElem;
																		const domFloat_arrayRef flArray = node->getFloat_array();
																		if (flArray)
																		{
																			int numElem = flArray->getCount();
																			const domListOfFloats& listFloats = flArray->getValue();

																			for (int k=0;k+2<numElem;k+=3)
																			{
																				domFloat fl0 = listFloats.get(k);
																				domFloat fl1 = listFloats.get(k+1);
																				domFloat fl2 = listFloats.get(k+2);
																				//printf("float %f %f %f\n",fl0,fl1,fl2);

																				convexHullShape->AddPoint(SimdPoint3(fl0,fl1,fl2));
																			}

																		}

																	}
																	

																}


															}
														}
													}
													

													if (convexHullShape->GetNumVertices())
													{
														colShape = convexHullShape;
														printf("created convexHullShape with %i points\n",convexHullShape->GetNumVertices());
													} else
													{
														delete convexHullShape;
														printf("failed to create convexHullShape\n");
													}
													


												}
												
												
												//domGeometryRef linkedGeom = *(domGeometryRef*)&otherElemRef;

												printf("convexmesh\n");

											}

											
											
										}



									}



								}


							}
						}

						
						for (int r=0;r<modelRef->getInstance_rigid_body_array().getCount();r++)
						{
							
							domInstance_rigid_bodyRef rigidbodyRef = modelRef->getInstance_rigid_body_array()[r];
							domInstance_rigid_body::domTechnique_commonRef techniqueRef = rigidbodyRef->getTechnique_common();
							daeElementRef elem = rigidbodyRef->getTarget().getElement();
							if (elem)
							{
								domNodeRef node = *(domNodeRef*)&elem;

								//find transform of the node that this rigidbody maps to

								int i;
								for (i=0;i<node->getRotate_array().getCount();i++)
								{
									domRotateRef rotateRef = node->getRotate_array()[i];
									domFloat4 fl4 = rotateRef->getValue();
									float angleRad = SIMD_RADS_PER_DEG*fl4.get(3);
									SimdQuaternion rotQuat(SimdVector3(fl4.get(0),fl4.get(1),fl4.get(2)),angleRad);
									startTransform.getBasis() = startTransform.getBasis() * SimdMatrix3x3(rotQuat);
								}

								for (i=0;i<node->getTranslate_array().getCount();i++)
								{
									domTranslateRef translateRef = node->getTranslate_array()[i];
									domFloat3 fl3 = translateRef->getValue();
									startTransform.getOrigin() += SimdVector3(fl3.get(0),fl3.get(1),fl3.get(2));
								}
								
								for (i=0;i<node->getScale_array().getCount();i++)
								{
									domScaleRef scaleRef = node->getScale_array()[i];
									domFloat3 fl3 = scaleRef->getValue();
									startScale = SimdVector3(fl3.get(0),fl3.get(1),fl3.get(2));
								}

							}
							

							if (techniqueRef)
							{
								mass = techniqueRef->getMass()->getValue();
								isDynamics = techniqueRef->getDynamic()->getValue();
							}

						}

						printf("mass = %f, isDynamics %i\n",mass,isDynamics);
						if (colShape)
						{
							CreatePhysicsObject(isDynamics,mass,startTransform,colShape);

						}


						//we don't handle constraints just yet
						for (int c=0;c<modelRef->getInstance_rigid_constraint_array().getCount();i++)
						{

						}

					}

				}
			}

		}



	}

#endif
	clientResetScene();

	setCameraDistance(26.f);

	return glutmain(argc, argv,640,480,"Bullet Collada Physics Viewer. http://www.continuousphysics.com/Bullet/phpBB2/");
}

//to be implemented by the demo
void renderme()
{
	debugDrawer.SetDebugMode(getDebugMode());

	

	float m[16];
	int i;


	if (getDebugMode() & IDebugDraw::DBG_DisableBulletLCP)
	{
		//don't use Bullet, use quickstep
		physicsEnvironmentPtr->setSolverType(0);
	} else
	{
		//Bullet LCP solver
		physicsEnvironmentPtr->setSolverType(1);
	}

	if (getDebugMode() & IDebugDraw::DBG_EnableCCD)
	{
		physicsEnvironmentPtr->setCcdMode(3);
	} else
	{
		physicsEnvironmentPtr->setCcdMode(0);
	}


	bool isSatEnabled = (getDebugMode() & IDebugDraw::DBG_EnableSatComparison);

	physicsEnvironmentPtr->EnableSatCollisionDetection(isSatEnabled);



	for (i=0;i<numObjects;i++)
	{
		SimdTransform transA;
		transA.setIdentity();

		float pos[3];
		float rot[4];

		ms[i].getWorldPosition(pos[0],pos[1],pos[2]);
		ms[i].getWorldOrientation(rot[0],rot[1],rot[2],rot[3]);

		SimdQuaternion q(rot[0],rot[1],rot[2],rot[3]);
		transA.setRotation(q);

		SimdPoint3 dpos;
		dpos.setValue(pos[0],pos[1],pos[2]);

		transA.setOrigin( dpos );
		transA.getOpenGLMatrix( m );


		SimdVector3 wireColor(1.f,1.0f,0.5f); //wants deactivation
		if (i & 1)
		{
			wireColor = SimdVector3(0.f,0.0f,1.f);
		}
		///color differently for active, sleeping, wantsdeactivation states
		if (physObjects[i]->GetRigidBody()->GetActivationState() == 1) //active
		{
			if (i & 1)
			{
				wireColor += SimdVector3 (1.f,0.f,0.f);
			} else
			{			
				wireColor += SimdVector3 (.5f,0.f,0.f);
			}
		}
		if (physObjects[i]->GetRigidBody()->GetActivationState() == 2) //ISLAND_SLEEPING
		{
			if (i & 1)
			{
				wireColor += SimdVector3 (0.f,1.f, 0.f);
			} else
			{
				wireColor += SimdVector3 (0.f,0.5f,0.f);
			}
		}

		char	extraDebug[125];
		
		sprintf(extraDebug,"islandId=%i, Body=%i, ShapeType=%s",physObjects[i]->GetRigidBody()->m_islandTag1,physObjects[i]->GetRigidBody()->m_debugBodyId,physObjects[i]->GetRigidBody()->GetCollisionShape()->GetName());
		physObjects[i]->GetRigidBody()->GetCollisionShape()->SetExtraDebugInfo(extraDebug);
		GL_ShapeDrawer::DrawOpenGL(m,physObjects[i]->GetRigidBody()->GetCollisionShape(),wireColor,getDebugMode());

		///this block is just experimental code to show some internal issues with replacing shapes on the fly.
		if (getDebugMode()!=0 && (i>0))
		{
			if (physObjects[i]->GetRigidBody()->GetCollisionShape()->GetShapeType() == EMPTY_SHAPE_PROXYTYPE)
			{
				physObjects[i]->GetRigidBody()->SetCollisionShape(gShapePtr[1]);

				//remove the persistent collision pairs that were created based on the previous shape

				BroadphaseProxy* bpproxy = physObjects[i]->GetRigidBody()->m_broadphaseHandle;

				physicsEnvironmentPtr->GetBroadphase()->CleanProxyFromPairs(bpproxy);

				SimdVector3 newinertia;
				SimdScalar newmass = 10.f;
				physObjects[i]->GetRigidBody()->GetCollisionShape()->CalculateLocalInertia(newmass,newinertia);
				physObjects[i]->GetRigidBody()->setMassProps(newmass,newinertia);
				physObjects[i]->GetRigidBody()->updateInertiaTensor();

			}

		}


	}

	if (!(getDebugMode() & IDebugDraw::DBG_NoHelpText))
	{

		float xOffset = 10.f;
		float yStart = 20.f;

		float yIncr = -2.f;

		SimdVector3 offset(xOffset,0,0);
		SimdVector3 up = gCameraUp;
		char buf[124];

		glColor3f(0, 0, 0);

#ifdef USE_QUICKPROF


		if ( getDebugMode() & IDebugDraw::DBG_ProfileTimings)
		{
			static int counter = 0;
			counter++;
			std::map<std::string, hidden::ProfileBlock*>::iterator iter;
			for (iter = Profiler::mProfileBlocks.begin(); iter != Profiler::mProfileBlocks.end(); ++iter)
			{
				char blockTime[128];
				sprintf(blockTime, "%s: %lf",&((*iter).first[0]),Profiler::getBlockTime((*iter).first, Profiler::BLOCK_CYCLE_SECONDS));//BLOCK_TOTAL_PERCENT));
				glRasterPos3f(xOffset,yStart,0);
				BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),blockTime);
				yStart += yIncr;

			}
		}
#endif //USE_QUICKPROF
		//profiling << Profiler::createStatsString(Profiler::BLOCK_TOTAL_PERCENT); 
		//<< std::endl;



		glRasterPos3f(xOffset,yStart,0);
		sprintf(buf,"mouse to interact");
		BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
		yStart += yIncr;
		
		SimdVector3 textPos = offset + up*yStart;
		glRasterPos3f(textPos.getX(),textPos.getY(),textPos.getZ());
		
		sprintf(buf,"space to reset");
		BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
		yStart += yIncr;

		textPos = offset + up*yStart;
		glRasterPos3f(textPos.getX(),textPos.getY(),textPos.getZ());

		sprintf(buf,"cursor keys and z,x to navigate");
		BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
		yStart += yIncr;

		textPos = offset + up*yStart ;
		glRasterPos3f(textPos.getX(),textPos.getY(),textPos.getZ());

		sprintf(buf,"i to toggle simulation, s single step");
		BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
		yStart += yIncr;

		textPos = offset + up*yStart ;
		glRasterPos3f(textPos.getX(),textPos.getY(),textPos.getZ());

		sprintf(buf,"q to quit");
		BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
		yStart += yIncr;

		textPos = offset + up*yStart ;
		glRasterPos3f(textPos.getX(),textPos.getY(),textPos.getZ());

		sprintf(buf,"d to toggle deactivation");
		BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
		yStart += yIncr;

		textPos = offset + up*yStart ;
		glRasterPos3f(textPos.getX(),textPos.getY(),textPos.getZ());

		sprintf(buf,"a to draw temporal AABBs");
		BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
		yStart += yIncr;


		textPos = offset + up*yStart ;
		glRasterPos3f(textPos.getX(),textPos.getY(),textPos.getZ());


		sprintf(buf,"h to toggle help text");
		BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
		yStart += yIncr;

		bool useBulletLCP = !(getDebugMode() & IDebugDraw::DBG_DisableBulletLCP);

		bool useCCD = (getDebugMode() & IDebugDraw::DBG_EnableCCD);

		textPos = offset + up*yStart ;
		glRasterPos3f(textPos.getX(),textPos.getY(),textPos.getZ());


		sprintf(buf,"m Bullet GJK = %i",!isSatEnabled);
		BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
		yStart += yIncr;

		textPos = offset + up*yStart ;
		glRasterPos3f(textPos.getX(),textPos.getY(),textPos.getZ());

		sprintf(buf,"n Bullet LCP = %i",useBulletLCP);
		BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
		yStart += yIncr;

		textPos = offset + up*yStart ;
		glRasterPos3f(textPos.getX(),textPos.getY(),textPos.getZ());

		sprintf(buf,"1 CCD mode (adhoc) = %i",useCCD);
		BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
		yStart += yIncr;

		textPos = offset + up*yStart ;
		glRasterPos3f(textPos.getX(),textPos.getY(),textPos.getZ());

		sprintf(buf,"+- shooting speed = %10.2f",bulletSpeed);
		BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
		yStart += yIncr;

	}

}

void clientMoveAndDisplay()
{
	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); 

	physicsEnvironmentPtr->proceedDeltaTime(0.f,deltaTime);

	renderme();

	glFlush();
	glutSwapBuffers();

}



void clientDisplay(void) {

	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); 


	physicsEnvironmentPtr->UpdateAabbs(deltaTime);

	renderme();


	glFlush();
	glutSwapBuffers();
}



///make this positive to show stack falling from a distance
///this shows the penalty tresholds in action, springy/spungy look

void clientResetScene()
{
	for (int i=0;i<numObjects;i++)
	{
		ms[i].m_worldTransform = startTransforms[i];
		physObjects[i]->setPosition(startTransforms[i].getOrigin().getX(),startTransforms[i].getOrigin().getY(),startTransforms[i].getOrigin().getZ());
		physObjects[i]->SetLinearVelocity(0,0,0,0);
		physObjects[i]->SetAngularVelocity(0,0,0,0);
		SimdQuaternion orn;
		startTransforms[i].getBasis().getRotation(orn);
		physObjects[i]->setOrientation(orn.x(),orn.y(),orn.z(),orn[3]);
		
	}

	//delete and reload, or keep transforms ready?
}



void	shootBox(const SimdVector3& destination)
{
	//no objects to shoot
	if (!numObjects)
		return;

	int i  = numObjects-1;



	SimdVector3 linVel(destination[0]-eye[0],destination[1]-eye[1],destination[2]-eye[2]);
	linVel.normalize();
	linVel*=bulletSpeed;

	physObjects[i]->setPosition(eye[0],eye[1],eye[2]);
	physObjects[i]->setOrientation(0,0,0,1);
	physObjects[i]->SetLinearVelocity(linVel[0],linVel[1],linVel[2],false);
	physObjects[i]->SetAngularVelocity(0,0,0,false);
}

void clientKeyboard(unsigned char key, int x, int y)
{

	if (key == '.')
	{
		shootBox(SimdVector3(0,0,0));
	}

	if (key == '+')
	{
		bulletSpeed += 10.f;
	}
	if (key == '-')
	{
		bulletSpeed -= 10.f;
	}

	defaultKeyboard(key, x, y);
}

int gPickingConstraintId = 0;
SimdVector3 gOldPickingPos;
float gOldPickingDist  = 0.f;
RigidBody* pickedBody = 0;//for deactivation state



SimdVector3	GetRayTo(int x,int y)
{
	float top = 1.f;
	float bottom = -1.f;
	float nearPlane = 1.f;
	float tanFov = (top-bottom)*0.5f / nearPlane;
	float fov = 2.0 * atanf (tanFov);

	SimdVector3	rayFrom(eye[0],eye[1],eye[2]);
	SimdVector3 rayForward = -rayFrom;
	rayForward.normalize();
	float farPlane = 600.f;
	rayForward*= farPlane;

	SimdVector3 rightOffset;
	SimdVector3 vertical = gCameraUp;

	SimdVector3 hor;
	hor = rayForward.cross(vertical);
	hor.normalize();
	vertical = hor.cross(rayForward);
	vertical.normalize();

	float tanfov = tanf(0.5f*fov);
	hor *= 2.f * farPlane * tanfov;
	vertical *= 2.f * farPlane * tanfov;
	SimdVector3 rayToCenter = rayFrom + rayForward;
	SimdVector3 dHor = hor * 1.f/float(glutScreenWidth);
	SimdVector3 dVert = vertical * 1.f/float(glutScreenHeight);
	SimdVector3 rayTo = rayToCenter - 0.5f * hor + 0.5f * vertical;
	rayTo += x * dHor;
	rayTo -= y * dVert;
	return rayTo;
}
void clientMouseFunc(int button, int state, int x, int y)
{
	//printf("button %i, state %i, x=%i,y=%i\n",button,state,x,y);
	//button 0, state 0 means left mouse down

	SimdVector3 rayTo = GetRayTo(x,y);

	switch (button)
	{
	case 2:
		{
			if (state==0)
			{
				shootBox(rayTo);
			}
			break;
		};
	case 1:
		{
			if (state==0)
			{
				//apply an impulse
				if (physicsEnvironmentPtr)
				{
					float hit[3];
					float normal[3];
					PHY_IPhysicsController* hitObj = physicsEnvironmentPtr->rayTest(0,eye[0],eye[1],eye[2],rayTo.getX(),rayTo.getY(),rayTo.getZ(),hit[0],hit[1],hit[2],normal[0],normal[1],normal[2]);
					if (hitObj)
					{
						CcdPhysicsController* physCtrl = static_cast<CcdPhysicsController*>(hitObj);
						RigidBody* body = physCtrl->GetRigidBody();
						if (body)
						{
							body->SetActivationState(ACTIVE_TAG);
							SimdVector3 impulse = rayTo;
							impulse.normalize();
							float impulseStrength = 10.f;
							impulse *= impulseStrength;
							SimdVector3 relPos(
								hit[0] - body->getCenterOfMassPosition().getX(),						
								hit[1] - body->getCenterOfMassPosition().getY(),
								hit[2] - body->getCenterOfMassPosition().getZ());

							body->applyImpulse(impulse,relPos);
						}

					}

				}

			} else
			{

			}
			break;	
		}
	case 0:
		{
			if (state==0)
			{
				//add a point to point constraint for picking
				if (physicsEnvironmentPtr)
				{
					float hit[3];
					float normal[3];
					PHY_IPhysicsController* hitObj = physicsEnvironmentPtr->rayTest(0,eye[0],eye[1],eye[2],rayTo.getX(),rayTo.getY(),rayTo.getZ(),hit[0],hit[1],hit[2],normal[0],normal[1],normal[2]);
					if (hitObj)
					{

						CcdPhysicsController* physCtrl = static_cast<CcdPhysicsController*>(hitObj);
						RigidBody* body = physCtrl->GetRigidBody();

						if (body)
						{
							pickedBody = body;
							pickedBody->SetActivationState(DISABLE_DEACTIVATION);

							SimdVector3 pickPos(hit[0],hit[1],hit[2]);

							SimdVector3 localPivot = body->getCenterOfMassTransform().inverse() * pickPos;

							gPickingConstraintId = physicsEnvironmentPtr->createConstraint(physCtrl,0,PHY_POINT2POINT_CONSTRAINT,
								localPivot.getX(),
								localPivot.getY(),
								localPivot.getZ(),
								0,0,0);
							//printf("created constraint %i",gPickingConstraintId);

							//save mouse position for dragging
							gOldPickingPos = rayTo;


							SimdVector3 eyePos(eye[0],eye[1],eye[2]);

							gOldPickingDist  = (pickPos-eyePos).length();

							Point2PointConstraint* p2p = static_cast<Point2PointConstraint*>(physicsEnvironmentPtr->getConstraintById(gPickingConstraintId));
							if (p2p)
							{
								//very weak constraint for picking
								p2p->m_setting.m_tau = 0.1f;
							}
						}
					}
				}
			} else
			{
				if (gPickingConstraintId && physicsEnvironmentPtr)
				{
					physicsEnvironmentPtr->removeConstraint(gPickingConstraintId);
					//printf("removed constraint %i",gPickingConstraintId);
					gPickingConstraintId = 0;
					pickedBody->ForceActivationState(ACTIVE_TAG);
					pickedBody->m_deactivationTime = 0.f;
					pickedBody = 0;


				}
			}

			break;

		}
	default:
		{
		}
	}

}

void	clientMotionFunc(int x,int y)
{

	if (gPickingConstraintId && physicsEnvironmentPtr)
	{

		//move the constraint pivot

		Point2PointConstraint* p2p = static_cast<Point2PointConstraint*>(physicsEnvironmentPtr->getConstraintById(gPickingConstraintId));
		if (p2p)
		{
			//keep it at the same picking distance

			SimdVector3 newRayTo = GetRayTo(x,y);
			SimdVector3 eyePos(eye[0],eye[1],eye[2]);
			SimdVector3 dir = newRayTo-eyePos;
			dir.normalize();
			dir *= gOldPickingDist;

			SimdVector3 newPos = eyePos + dir;
			p2p->SetPivotB(newPos);
		}

	}
}