#ifndef MAIN_HPP
#define MAIN_HPP

#include <irr/Irrlicht.h>
#include <iostream>
#include "newton.h"

//callback Newton
void SetMeshTransformEvent(const NewtonBody* body, const float* matrix);
void ApplyForceAndTorqueEvent(const NewtonBody* body);

void drawScene();
void initScene();

#endif

#include "main.hpp"

static NewtonWorld* world;
static NewtonBody* body;

irr::IrrlichtDevice *device = 0;
irr::video::IVideoDriver *driver = 0;
irr::scene::ISceneManager *sceneManager = 0;

irr::scene::ISceneNode *cubeNode = 0;
irr::scene::ISceneNode *cam = 0;
unsigned int lasttick;

void initScene()
{
    device = irr::createDevice(irr::video::EDT_OPENGL, irr::core::dimension2d<irr::u32>(640,480), false);
    driver = device->getVideoDriver();
    sceneManager = device->getSceneManager();
    sceneManager->addSkyBoxSceneNode(driver->getTexture("data/irrlicht2_up.bmp"),driver->getTexture("data/irrlicht2_dn.bmp"),driver->getTexture("data/irrlicht2_rt.bmp"),driver->getTexture("data/irrlicht2_lf.bmp"),driver->getTexture("data/irrlicht2_ft.bmp"),driver->getTexture("data/irrlicht2_bk.bmp"));


    world = NewtonCreate (NULL, NULL);

    irr::scene::IMesh* cubeMesh = sceneManager->getMesh("data/smallcube.3ds");
    cubeNode = sceneManager->addMeshSceneNode(cubeMesh);
    cubeNode->setMaterialTexture(0, driver->getTexture("data/crate.jpg"));
    cubeNode->setMaterialFlag(irr::video::EMF_LIGHTING, false);

    NewtonCollision *collision;
    collision = NewtonCreateBox(world, 0, 0, 0, NULL);
    body = NewtonCreateBody (world, collision);
    NewtonReleaseCollision (world, collision);   

    NewtonBodySetUserData(body,reinterpret_cast<void*>(cubeNode));
   
    float masse = 100.0;
    
    irr::scene::ICameraSceneNode* cam = sceneManager->addCameraSceneNode();
    cam->setPosition(irr::core::vector3df(200,100,0));
    cam->setTarget(irr::core::vector3df(0,0,0));
   
    irr::core::vector3df inertie;
    irr::core::vector3df taille = irr::core::vector3df(10,10,10);
    inertie.X = (masse/12)*(pow(taille.Y,2)+pow(taille.Z,2));
    inertie.Y = (masse/12)*(pow(taille.X,2)+pow(taille.Z,2));
    inertie.Z = (masse/12)*(pow(taille.X,2)+pow(taille.Y,2));
    NewtonBodySetMassMatrix (body, masse, inertie.X, inertie.Y, inertie.Z);
    
    
    NewtonBodySetTransformCallback(body, SetMeshTransformEvent);
	NewtonBodySetForceAndTorqueCallback(body, ApplyForceAndTorqueEvent);
    
    
    irr::core::matrix4 mat;
    mat.setTranslation(irr::core::vector3df(0.0,0.0,0.0));
    NewtonBodySetMatrix(body, mat.pointer());
}

// -----------------------------------------------------------------------------
// --------------------------------- CALLBACK ----------------------------------
// -----------------------------------------------------------------------------

void SetMeshTransformEvent(const NewtonBody* body, const float* matrix)
{
	irr::core::matrix4 mat;
	memcpy(mat.pointer(), matrix, sizeof(float)*16);

	irr::scene::ISceneNode *tmp = (irr::scene::ISceneNode *)NewtonBodyGetUserData(body);
	if (tmp)
	{
		tmp->setPosition(mat.getTranslation());
		tmp->setRotation(mat.getRotationDegrees());
	}
}

void ApplyForceAndTorqueEvent(const NewtonBody* body)
{ 
   float masse; 
   float inertieX; 
   float inertieY; 
   float inertieZ; 
   float force[3]; 
   float torque[3]; 

   NewtonBodyGetMassMatrix (body, &masse, &inertieX, &inertieY, &inertieZ); 

   force[0] = 0.0f; 
   force[1] = -6.81 * masse; 
   force[2] = 0.0f; 

   torque[0] = 0.0f; 
   torque[1] = 0.0f; 
   torque[2] = 0.0f; 

   NewtonBodyAddForce(body, force); 
   NewtonBodyAddTorque(body, torque); 
}

// ------------------------------- END OF CALLBACK -----------------------------

void drawScene(){
   
    if (device->getTimer()->getTime() > lasttick + 10)
    {   
    lasttick = device->getTimer()->getTime();
    NewtonUpdate(world, 0.01f);
    }
   
    irr::core::matrix4 mat;
    cubeNode->setPosition(mat.getTranslation());
    cubeNode->setRotation(mat.getRotationDegrees());
}

int main()
{
   initScene();
   
   while(device->run())
   {
      drawScene();
      driver->beginScene(true, true, irr::video::SColor(255,255,255,255));
      sceneManager->drawAll();
      driver->endScene();
   }
   
   NewtonDestroy(world);
   device->drop();
   return 0;
}