/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2015 Google Inc. http://bulletphysics.org

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 "BasicExample.h"

#include "BulletCollision/CollisionDispatch/btGhostObject.h"

#include "btBulletDynamicsCommon.h"
#define ARRAY_SIZE_Y 1
#define ARRAY_SIZE_X 3
#define ARRAY_SIZE_Z 3
#define PI 3.14159265358979323846

#include "LinearMath/btVector3.h"
#include "LinearMath/btAlignedObjectArray.h"

#include "../CommonInterfaces/CommonRigidBodyBase.h"
#include <BulletCollision\Gimpact\btGImpactCollisionAlgorithm.h>
#include <BulletInverseDynamics\details\MultiBodyTreeImpl.hpp>
#include "LinearMath/btConvexHullComputer.h"

struct BasicExample : public CommonRigidBodyBase
{
	BasicExample(struct GUIHelperInterface* helper)
	: CommonRigidBodyBase(helper)
	{
	}
	virtual ~BasicExample() {}
	virtual void initPhysics();
	virtual void renderScene();
	virtual void stepSimulation(float deltaTime);
	virtual bool keyboardCallback(int key, int state);
	void resetCamera()
	{
		float dist = 7.66;
		float pitch = -41.2;
		float yaw = 150;
		float targetPos[3] = { 1, 1, 1 };
		m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
	}
};

static BasicExample* basicExample = NULL;

btDiscreteDynamicsWorld* world;
btRigidBody* blockRigid;

void BasicExample::initPhysics()
{
	createEmptyDynamicsWorld();
	world = m_dynamicsWorld;

	m_dynamicsWorld->getSolverInfo().m_solverMode =
		//SOLVER_RANDMIZE_ORDER | 
		//SOLVER_FRICTION_SEPARATE | 
		SOLVER_USE_WARMSTARTING |
		SOLVER_USE_2_FRICTION_DIRECTIONS |
		SOLVER_ENABLE_FRICTION_DIRECTION_CACHING |
		//SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION | 
		SOLVER_CACHE_FRIENDLY |
		SOLVER_SIMD |
		SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS;
	m_collisionConfiguration->setConvexConvexMultipointIterations(5, 5);
	m_collisionConfiguration->setPlaneConvexMultipointIterations(5, 5);
	
	printf("m_splitImpulse = %d, m_friction = %f, m_splitImpulsePenetrationThreshold = %f\n",
		m_dynamicsWorld->getSolverInfo().m_splitImpulse, m_dynamicsWorld->getSolverInfo().m_friction,
		m_dynamicsWorld->getSolverInfo().m_splitImpulsePenetrationThreshold);

	m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);

	if (m_dynamicsWorld->getDebugDrawer())
		m_dynamicsWorld->getDebugDrawer()->setDebugMode(btIDebugDraw::DBG_DrawWireframe + btIDebugDraw::DBG_DrawContactPoints);

	{
		m_dynamicsWorld->setGravity(btVector3(0, 0, 0));

		btTransform transform;
		transform.setIdentity();
		transform.setOrigin(btVector3(0, 2.0f, 0));
		
		btBoxShape* sensorShape = createBoxShape(btVector3(0.05 / 2, 0.1 / 2, 0.1 / 2));
		sensorShape->setMargin(0.025);
		m_collisionShapes.push_back(sensorShape);
		btPairCachingGhostObject* sensorGhost = new btPairCachingGhostObject();
		sensorGhost->setCollisionFlags(sensorGhost->getCollisionFlags() | btCollisionObject::CF_NO_CONTACT_RESPONSE);
		sensorGhost->setCollisionShape(sensorShape);
		sensorGhost->setUserPointer(NULL);
		sensorGhost->setWorldTransform(transform);
		m_dynamicsWorld->addCollisionObject(sensorGhost);
		//m_dynamicsWorld->addCollisionObject(sensorGhost, btBroadphaseProxy::SensorTrigger, btBroadphaseProxy::AllFilter & ~btBroadphaseProxy::SensorTrigger);
		m_dynamicsWorld->getBroadphase()->getOverlappingPairCache()->setInternalGhostPairCallback(new btGhostPairCallback());
		//m_dynamicsWorld->getPairCache()->setOverlapFilterCallback();
		

		transform.setOrigin(btVector3(-0.1f, 2.0f, 0));

		btBoxShape* blockShape = createBoxShape(btVector3(0.01 / 2, 0.05 / 2, 1.0 / 2));
		blockShape->setMargin(0.005);
		m_collisionShapes.push_back(blockShape);
		blockRigid = createRigidBody(1, transform, blockShape);
		blockRigid->setUserPointer(NULL);
		blockRigid->setFriction(0.5);
		blockRigid->setCollisionFlags(blockRigid->getCollisionFlags() | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
		blockRigid->setAnisotropicFriction(btVector3(1, 1, 1), btCollisionObject::CF_ANISOTROPIC_FRICTION);
		blockRigid->setRestitution(0);
		blockRigid->setContactProcessingThreshold(0.005f);
		blockRigid->setSleepingThresholds(0.01f, 0.01f);
	}

	m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
}

bool BasicExample::keyboardCallback(int key, int state)
{
	bool handle = false;
	if (state)
	{
		switch (key)
		{
		case B3G_F2: {
						 handle = true;
						 int num = m_dynamicsWorld->getDispatcher()->getNumManifolds();
						 if (num == 0)
						 {
							 printf("getNumManifolds : 0\n");
						 }
						 for (int i = 0; i < num; i++)
						 {
							 btPersistentManifold* contactManifold = m_dynamicsWorld->getDispatcher()->getManifoldByIndexInternal(i);

							 int numContacts = contactManifold->getNumContacts();
							 printf("numContacts: %d getNumManifolds: %d \n", numContacts, num);
							 //contactManifold->getContactPoint();
							 for (int j = 0; j < numContacts; j++)
							 {
								 btManifoldPoint cp = contactManifold->getContactPoint(j);
								 btVector3 wb = cp.getPositionWorldOnB();
								 btVector3 nb = cp.m_normalWorldOnB;
								 btScalar dist = cp.m_distance1;
								 printf("%d PositionWorldOnB:(%f, %f, %f) NormalWorldOnB:(%f, %f, %f) PenetrationDistance:%f\n", j, wb.getX(), wb.getY(), wb.getZ(), nb.getX(), nb.getY(), nb.getZ(), dist);
								 //m_dynamicsWorld->getDebugDrawer()->drawContactPoint(cp.m_positionWorldOnB, cp.m_normalWorldOnB, cp.m_distance1, cp.m_lifeTime, btVector3(1, 1, 1));
							 }
						 }
						 printf("----------------------------\n");
						 break;
		}
		case B3G_F3: {
						 btMotionState* state = blockRigid->getMotionState();
						 btTransform s;
						 state->getWorldTransform(s);
						 s.setOrigin(s.getOrigin() + btVector3(0.005, 0, 0));
						 state->setWorldTransform(s);
						 //blockRigid->setCenterOfMassTransform(s);
						 blockRigid->proceedToTransform(s); //使用该方法来使刚体瞬移
						 //blockRigid->saveKinematicState(deltaTime);
						 break;
		}
		case B3G_F4: {
						 btMotionState* state = blockRigid->getMotionState();
						 btTransform s;
						 state->getWorldTransform(s);
						 s.setOrigin(s.getOrigin() + btVector3(-0.005, 0, 0));
						 state->setWorldTransform(s);
						 blockRigid->proceedToTransform(s); //使用该方法来使刚体瞬移
						 break;
		}
		default:
			break;
		}
	}
	return handle;
}

void BasicExample::renderScene()
{
	CommonRigidBodyBase::renderScene();
}

float totalTime = 0;
void BasicExample::stepSimulation(float deltaTime)
{
	CommonRigidBodyBase::stepSimulation(deltaTime);
}

CommonExampleInterface* BasicExampleCreateFunc(CommonExampleOptions& options)
{
	basicExample = new BasicExample(options.m_guiHelper);
	return basicExample;
}

B3_STANDALONE_EXAMPLE(BasicExampleCreateFunc)