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// ****************************************************************************
// This snippet illustrates the implementation and use of a pulley joint
// using physx' custom constraint framework.
// ****************************************************************************

#include <ctype.h>
#include "PxPhysicsAPI.h"
#include "../snippetcommon/SnippetPrint.h"
#include "../snippetcommon/SnippetPVD.h"
#include "../snippetutils/SnippetUtils.h"
#include "PulleyJoint.h"

using namespace physx;

static PxDefaultAllocator		gAllocator;
static PxDefaultErrorCallback	gErrorCallback;
static PxFoundation*			gFoundation = NULL;
static PxPhysics*				gPhysics	= NULL;
static PxDefaultCpuDispatcher*	gDispatcher = NULL;
static PxScene*					gScene		= NULL;
static PxMaterial*				gMaterial	= NULL;
static PxPvd*					gPvd        = NULL;

void initPhysics(bool /*interactive*/)
{
	gFoundation = PxCreateFoundation(PX_PHYSICS_VERSION, gAllocator, gErrorCallback);
	
	gPvd = PxCreatePvd(*gFoundation);
	PxPvdTransport* transport = PxDefaultPvdSocketTransportCreate(PVD_HOST, 5425, 10);
	gPvd->connect(*transport,PxPvdInstrumentationFlag::eALL);

	gPhysics = PxCreatePhysics(PX_PHYSICS_VERSION, *gFoundation, PxTolerancesScale(), true, gPvd);
	
	PxSceneDesc sceneDesc(gPhysics->getTolerancesScale());
	sceneDesc.gravity = PxVec3(0.0f, -9.81f, 0.0f);
	gDispatcher = PxDefaultCpuDispatcherCreate(2);
	sceneDesc.cpuDispatcher	= gDispatcher;
	sceneDesc.filterShader	= PxDefaultSimulationFilterShader;
	gScene = gPhysics->createScene(sceneDesc);

	PxPvdSceneClient* pvdClient = gScene->getScenePvdClient();
	if(pvdClient)
	{
		pvdClient->setScenePvdFlag(PxPvdSceneFlag::eTRANSMIT_CONSTRAINTS, true);
		pvdClient->setScenePvdFlag(PxPvdSceneFlag::eTRANSMIT_CONTACTS, true);
		pvdClient->setScenePvdFlag(PxPvdSceneFlag::eTRANSMIT_SCENEQUERIES, true);
	}

	gMaterial = gPhysics->createMaterial(0.5f, 0.5f, 0.6f);

	PxRigidStatic* groundPlane = PxCreatePlane(*gPhysics, PxPlane(0,1,0,0), *gMaterial);
	gScene->addActor(*groundPlane);

	// two boxes connected by the pulley, one twice the density of the other

	PxBoxGeometry boxGeom(1.0f, 1.0f, 1.0f);
	PxRigidDynamic* box0 = PxCreateDynamic(*gPhysics, PxTransform(PxVec3(5,5,0)), boxGeom, *gMaterial, 1.0f);
	PxRigidDynamic* box1 = PxCreateDynamic(*gPhysics, PxTransform(PxVec3(0,5,0)), boxGeom, *gMaterial, 2.0f); 

	PulleyJoint* joint = new PulleyJoint(*gPhysics, *box0, PxTransform(PxVec3(0.0f,1.0f,0.0f)), PxVec3(5.0f,10.0f,0.0f),
												    *box1, PxTransform(PxVec3(0.0f,1.0f,0.0f)), PxVec3(0.0f,10.0f,0.0f));

	joint->setDistance(8.0f);

	gScene->addActor(*box0);
	gScene->addActor(*box1);
}

void stepPhysics(bool /*interactive*/)
{
	gScene->simulate(1.0f/60.0f);
	gScene->fetchResults(true);
}
	
void cleanupPhysics(bool /*interactive*/)
{
	PX_RELEASE(gScene);
	PX_RELEASE(gDispatcher);
	PX_RELEASE(gPhysics);
	if(gPvd)
	{
		PxPvdTransport* transport = gPvd->getTransport();
		PX_RELEASE(gPvd);
		PX_RELEASE(transport);
	}
	PX_RELEASE(gFoundation);
	
	printf("SnippetCustomJoint done.\n");
}

int snippetMain(int, const char*const*)
{
#ifdef RENDER_SNIPPET
	extern void renderLoop();
	renderLoop();
#else
	static const PxU32 frameCount = 100;
	initPhysics(false);
	for(PxU32 i=0; i<frameCount; i++)
		stepPhysics(false);
	cleanupPhysics(false);
#endif

	return 0;
}
