/*
Bullet Continuous Collision Detection and Physics Library
Ragdoll Demo
Copyright (c) 2007 Starbreeze Studios

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.

Written by: Marten Svanfeldt
*/


#include "btBulletDynamicsCommon.h"
#include "GlutStuff.h"
#include "GL_ShapeDrawer.h"

#include "LinearMath/btIDebugDraw.h"

#include "GLDebugDrawer.h"
#include "RagdollDemo.h"

GLDebugDrawer debugDrawer;

#define M_PI       3.14159265358979323846
#define M_PI_2     1.57079632679489661923
#define M_PI_4     0.785398163397448309616


class RagDoll
{
	enum
	{
		BODYPART_PELVIS = 0,
		BODYPART_SPINE,
		BODYPART_HEAD,

		BODYPART_LEFT_UPPER_LEG,
		BODYPART_LEFT_LOWER_LEG,

		BODYPART_RIGHT_UPPER_LEG,
		BODYPART_RIGHT_LOWER_LEG,

		BODYPART_LEFT_UPPER_ARM,
		BODYPART_LEFT_LOWER_ARM,

		BODYPART_RIGHT_UPPER_ARM,
		BODYPART_RIGHT_LOWER_ARM,

		BODYPART_COUNT
	};

	enum
	{
		JOINT_PELVIS_SPINE = 0,
		JOINT_SPINE_HEAD,

		JOINT_LEFT_HIP,
		JOINT_LEFT_KNEE,

		JOINT_RIGHT_HIP,
		JOINT_RIGHT_KNEE,

		JOINT_LEFT_SHOULDER,
		JOINT_LEFT_ELBOW,

		JOINT_RIGHT_SHOULDER,
		JOINT_RIGHT_ELBOW,

		JOINT_COUNT
	};

	btDynamicsWorld* m_ownerWorld;
	btCollisionShape* m_shapes[BODYPART_COUNT];
	btRigidBody* m_bodies[BODYPART_COUNT];
	btTypedConstraint* m_joints[JOINT_COUNT];

	btRigidBody* localCreateRigidBody (btScalar mass, const btTransform& startTransform, btCollisionShape* shape)
	{
		bool isDynamic = (mass != 0.f);

		btVector3 localInertia(0,0,0);
		if (isDynamic)
			shape->calculateLocalInertia(mass,localInertia);

		btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
		btRigidBody* body = new btRigidBody(mass,myMotionState,shape,localInertia);

		m_ownerWorld->addRigidBody(body);

		return body;
	}

public:
	RagDoll (btDynamicsWorld* ownerWorld, const btVector3& positionOffset)
		: m_ownerWorld (ownerWorld)
	{
		// Setup the geometry
		m_shapes[BODYPART_PELVIS] = new btCapsuleShape(btScalar(0.15), btScalar(0.20));
		m_shapes[BODYPART_SPINE] = new btCapsuleShape(btScalar(0.15), btScalar(0.28));
		m_shapes[BODYPART_HEAD] = new btCapsuleShape(btScalar(0.10), btScalar(0.05));
		m_shapes[BODYPART_LEFT_UPPER_LEG] = new btCapsuleShape(btScalar(0.07), btScalar(0.45));
		m_shapes[BODYPART_LEFT_LOWER_LEG] = new btCapsuleShape(btScalar(0.05), btScalar(0.37));
		m_shapes[BODYPART_RIGHT_UPPER_LEG] = new btCapsuleShape(btScalar(0.07), btScalar(0.45));
		m_shapes[BODYPART_RIGHT_LOWER_LEG] = new btCapsuleShape(btScalar(0.05), btScalar(0.37));
		m_shapes[BODYPART_LEFT_UPPER_ARM] = new btCapsuleShape(btScalar(0.05), btScalar(0.33));
		m_shapes[BODYPART_LEFT_LOWER_ARM] = new btCapsuleShape(btScalar(0.04), btScalar(0.25));
		m_shapes[BODYPART_RIGHT_UPPER_ARM] = new btCapsuleShape(btScalar(0.05), btScalar(0.33));
		m_shapes[BODYPART_RIGHT_LOWER_ARM] = new btCapsuleShape(btScalar(0.04), btScalar(0.25));

		// Setup all the rigid bodies
		btTransform offset; offset.setIdentity();
		offset.setOrigin(positionOffset);

		btTransform transform;
		transform.setIdentity();
		transform.setOrigin(btVector3(btScalar(0.), btScalar(1.), btScalar(0.)));
		m_bodies[BODYPART_PELVIS] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_PELVIS]);

		transform.setIdentity();
		transform.setOrigin(btVector3(btScalar(0.), btScalar(1.2), btScalar(0.)));
		m_bodies[BODYPART_SPINE] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_SPINE]);

		transform.setIdentity();
		transform.setOrigin(btVector3(btScalar(0.), btScalar(1.6), btScalar(0.)));
		m_bodies[BODYPART_HEAD] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_HEAD]);

		transform.setIdentity();
		transform.setOrigin(btVector3(btScalar(-0.18), btScalar(0.65), btScalar(0.)));
		m_bodies[BODYPART_LEFT_UPPER_LEG] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_LEFT_UPPER_LEG]);

		transform.setIdentity();
		transform.setOrigin(btVector3(btScalar(-0.18), btScalar(0.2), btScalar(0.)));
		m_bodies[BODYPART_LEFT_LOWER_LEG] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_LEFT_LOWER_LEG]);

		transform.setIdentity();
		transform.setOrigin(btVector3(btScalar(0.18), btScalar(0.65), btScalar(0.)));
		m_bodies[BODYPART_RIGHT_UPPER_LEG] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_RIGHT_UPPER_LEG]);

		transform.setIdentity();
		transform.setOrigin(btVector3(btScalar(0.18), btScalar(0.2), btScalar(0.)));
		m_bodies[BODYPART_RIGHT_LOWER_LEG] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_RIGHT_LOWER_LEG]);

		transform.setIdentity();
		transform.setOrigin(btVector3(btScalar(-0.35), btScalar(1.45), btScalar(0.)));
		transform.getBasis().setEulerZYX(0,0,M_PI_2);
		m_bodies[BODYPART_LEFT_UPPER_ARM] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_LEFT_UPPER_ARM]);

		transform.setIdentity();
		transform.setOrigin(btVector3(btScalar(-0.7), btScalar(1.45), btScalar(0.)));
		transform.getBasis().setEulerZYX(0,0,M_PI_2);
		m_bodies[BODYPART_LEFT_LOWER_ARM] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_LEFT_LOWER_ARM]);

		transform.setIdentity();
		transform.setOrigin(btVector3(btScalar(0.35), btScalar(1.45), btScalar(0.)));
		transform.getBasis().setEulerZYX(0,0,-M_PI_2);
		m_bodies[BODYPART_RIGHT_UPPER_ARM] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_RIGHT_UPPER_ARM]);

		transform.setIdentity();
		transform.setOrigin(btVector3(btScalar(0.7), btScalar(1.45), btScalar(0.)));
		transform.getBasis().setEulerZYX(0,0,-M_PI_2);
		m_bodies[BODYPART_RIGHT_LOWER_ARM] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_RIGHT_LOWER_ARM]);

		// Setup some damping on the m_bodies
		for (int i = 0; i < BODYPART_COUNT; ++i)
		{
			m_bodies[i]->setDamping(0.05, 0.85);
			m_bodies[i]->setDeactivationTime(0.8);
			m_bodies[i]->setSleepingThresholds(1.6, 2.5);
		}

		// Now setup the constraints
		btHingeConstraint* hingeC;
		btConeTwistConstraint* coneC;

		btTransform localA, localB;

		localA.setIdentity(); localB.setIdentity();
		localA.getBasis().setEulerZYX(0,M_PI_2,0); localA.setOrigin(btVector3(btScalar(0.), btScalar(0.15), btScalar(0.)));
		localB.getBasis().setEulerZYX(0,M_PI_2,0); localB.setOrigin(btVector3(btScalar(0.), btScalar(-0.15), btScalar(0.)));
		hingeC =  new btHingeConstraint(*m_bodies[BODYPART_PELVIS], *m_bodies[BODYPART_SPINE], localA, localB);
		hingeC->setLimit(btScalar(-M_PI_4), btScalar(M_PI_2));
		m_joints[JOINT_PELVIS_SPINE] = hingeC;
		m_ownerWorld->addConstraint(m_joints[JOINT_PELVIS_SPINE], true);


		localA.setIdentity(); localB.setIdentity();
		localA.getBasis().setEulerZYX(0,0,M_PI_2); localA.setOrigin(btVector3(btScalar(0.), btScalar(0.30), btScalar(0.)));
		localB.getBasis().setEulerZYX(0,0,-M_PI_2); localB.setOrigin(btVector3(btScalar(0.), btScalar(-0.14), btScalar(0.)));
		coneC = new btConeTwistConstraint(*m_bodies[BODYPART_SPINE], *m_bodies[BODYPART_HEAD], localA, localB);
		coneC->setLimit(M_PI_4, M_PI_4, M_PI_2);
		m_joints[JOINT_SPINE_HEAD] = coneC;
		m_ownerWorld->addConstraint(m_joints[JOINT_SPINE_HEAD], true);


		localA.setIdentity(); localB.setIdentity();
		localA.getBasis().setEulerZYX(0,0,-M_PI_4*5); localA.setOrigin(btVector3(btScalar(-0.18), btScalar(-0.10), btScalar(0.)));
		localB.getBasis().setEulerZYX(0,0,M_PI_4*5); localB.setOrigin(btVector3(btScalar(0.), btScalar(0.225), btScalar(0.)));
		coneC = new btConeTwistConstraint(*m_bodies[BODYPART_PELVIS], *m_bodies[BODYPART_LEFT_UPPER_LEG], localA, localB);
		coneC->setLimit(M_PI_4, M_PI_4, 0);
		m_joints[JOINT_LEFT_HIP] = coneC;
		m_ownerWorld->addConstraint(m_joints[JOINT_LEFT_HIP], true);

		localA.setIdentity(); localB.setIdentity();
		localA.getBasis().setEulerZYX(0,M_PI_2,0); localA.setOrigin(btVector3(btScalar(0.), btScalar(-0.225), btScalar(0.)));
		localB.getBasis().setEulerZYX(0,M_PI_2,0); localB.setOrigin(btVector3(btScalar(0.), btScalar(0.185), btScalar(0.)));
		hingeC =  new btHingeConstraint(*m_bodies[BODYPART_LEFT_UPPER_LEG], *m_bodies[BODYPART_LEFT_LOWER_LEG], localA, localB);
		hingeC->setLimit(btScalar(0), btScalar(M_PI_2));
		m_joints[JOINT_LEFT_KNEE] = hingeC;
		m_ownerWorld->addConstraint(m_joints[JOINT_LEFT_KNEE], true);


		localA.setIdentity(); localB.setIdentity();
		localA.getBasis().setEulerZYX(0,0,M_PI_4); localA.setOrigin(btVector3(btScalar(0.18), btScalar(-0.10), btScalar(0.)));
		localB.getBasis().setEulerZYX(0,0,-M_PI_4); localB.setOrigin(btVector3(btScalar(0.), btScalar(0.225), btScalar(0.)));
		coneC = new btConeTwistConstraint(*m_bodies[BODYPART_PELVIS], *m_bodies[BODYPART_RIGHT_UPPER_LEG], localA, localB);
		coneC->setLimit(M_PI_4, M_PI_4, 0);
		m_joints[JOINT_RIGHT_HIP] = coneC;
		m_ownerWorld->addConstraint(m_joints[JOINT_RIGHT_HIP], true);

		localA.setIdentity(); localB.setIdentity();
		localA.getBasis().setEulerZYX(0,M_PI_2,0); localA.setOrigin(btVector3(btScalar(0.), btScalar(-0.225), btScalar(0.)));
		localB.getBasis().setEulerZYX(0,M_PI_2,0); localB.setOrigin(btVector3(btScalar(0.), btScalar(0.185), btScalar(0.)));
		hingeC =  new btHingeConstraint(*m_bodies[BODYPART_RIGHT_UPPER_LEG], *m_bodies[BODYPART_RIGHT_LOWER_LEG], localA, localB);
		hingeC->setLimit(btScalar(0), btScalar(M_PI_2));
		m_joints[JOINT_RIGHT_KNEE] = hingeC;
		m_ownerWorld->addConstraint(m_joints[JOINT_RIGHT_KNEE], true);


		localA.setIdentity(); localB.setIdentity();
		localA.getBasis().setEulerZYX(0,0,M_PI); localA.setOrigin(btVector3(btScalar(-0.2), btScalar(0.15), btScalar(0.)));
		localB.getBasis().setEulerZYX(0,0,-M_PI_2); localB.setOrigin(btVector3(btScalar(0.), btScalar(-0.18), btScalar(0.)));
		coneC = new btConeTwistConstraint(*m_bodies[BODYPART_SPINE], *m_bodies[BODYPART_LEFT_UPPER_ARM], localA, localB);
		coneC->setLimit(M_PI_2, M_PI_2, 0);
		m_joints[JOINT_LEFT_SHOULDER] = coneC;
		m_ownerWorld->addConstraint(m_joints[JOINT_LEFT_SHOULDER], true);

		localA.setIdentity(); localB.setIdentity();
		localA.getBasis().setEulerZYX(0,M_PI_2,0); localA.setOrigin(btVector3(btScalar(0.), btScalar(0.18), btScalar(0.)));
		localB.getBasis().setEulerZYX(0,M_PI_2,0); localB.setOrigin(btVector3(btScalar(0.), btScalar(-0.14), btScalar(0.)));
		hingeC =  new btHingeConstraint(*m_bodies[BODYPART_LEFT_UPPER_ARM], *m_bodies[BODYPART_LEFT_LOWER_ARM], localA, localB);
		hingeC->setLimit(btScalar(-M_PI_2), btScalar(0));
		m_joints[JOINT_LEFT_ELBOW] = hingeC;
		m_ownerWorld->addConstraint(m_joints[JOINT_LEFT_ELBOW], true);



		localA.setIdentity(); localB.setIdentity();
		localA.getBasis().setEulerZYX(0,0,0); localA.setOrigin(btVector3(btScalar(0.2), btScalar(0.15), btScalar(0.)));
		localB.getBasis().setEulerZYX(0,0,-M_PI_2); localB.setOrigin(btVector3(btScalar(0.), btScalar(-0.18), btScalar(0.)));
		coneC = new btConeTwistConstraint(*m_bodies[BODYPART_SPINE], *m_bodies[BODYPART_RIGHT_UPPER_ARM], localA, localB);
		coneC->setLimit(M_PI_2, M_PI_2, 0);
		m_joints[JOINT_RIGHT_SHOULDER] = coneC;
		m_ownerWorld->addConstraint(m_joints[JOINT_RIGHT_SHOULDER], true);

		localA.setIdentity(); localB.setIdentity();
		localA.getBasis().setEulerZYX(0,M_PI_2,0); localA.setOrigin(btVector3(btScalar(0.), btScalar(0.18), btScalar(0.)));
		localB.getBasis().setEulerZYX(0,M_PI_2,0); localB.setOrigin(btVector3(btScalar(0.), btScalar(-0.14), btScalar(0.)));
		hingeC =  new btHingeConstraint(*m_bodies[BODYPART_RIGHT_UPPER_ARM], *m_bodies[BODYPART_RIGHT_LOWER_ARM], localA, localB);
		hingeC->setLimit(btScalar(-M_PI_2), btScalar(0));
		m_joints[JOINT_RIGHT_ELBOW] = hingeC;
		m_ownerWorld->addConstraint(m_joints[JOINT_RIGHT_ELBOW], true);
	}

	~RagDoll ()
	{
		// Remove all constraints
		for (int i = 0; i < JOINT_COUNT; ++i)
		{
			m_ownerWorld->removeConstraint(m_joints[i]);
			delete m_joints[i]; m_joints[i] = 0;
		}

		// Remove all bodies and shapes
		for (int i = 0; i < BODYPART_COUNT; ++i)
		{
			m_ownerWorld->removeRigidBody(m_bodies[i]);
			
			delete m_bodies[i]->getMotionState();

			delete m_bodies[i]; m_bodies[i] = 0;
			delete m_shapes[i]; m_shapes[i] = 0;
		}
	}
};



int main(int argc,char* argv[])
{
	RagdollDemo demoApp;

	demoApp.initPhysics();
	demoApp.setCameraDistance(btScalar(10.));

	return glutmain(argc, argv,640,480,"Bullet Physics Demo. http://bullet.sf.net",&demoApp);
}


void RagdollDemo::initPhysics()
{
	// Setup the basic world

	btCollisionDispatcher* dispatcher = new btCollisionDispatcher;

	btPoint3 worldAabbMin(-10000,-10000,-10000);
	btPoint3 worldAabbMax(10000,10000,10000);
	btBroadphaseInterface* overlappingPairCache = new btAxisSweep3 (worldAabbMin, worldAabbMax);

	btConstraintSolver* solver = new btSequentialImpulseConstraintSolver;

	m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,overlappingPairCache,solver);

	m_dynamicsWorld->setDebugDrawer(&debugDrawer);

	// Setup a big ground box
	{
		btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(200.),btScalar(10.),btScalar(200.)));
		btTransform groundTransform;
		groundTransform.setIdentity();
		groundTransform.setOrigin(btVector3(0,-10,0));
		localCreateRigidBody(btScalar(0.),groundTransform,groundShape);
	}

	// Spawn one ragdoll
	spawnRagdoll();

	clientResetScene();		
}

void RagdollDemo::spawnRagdoll(bool random)
{
	RagDoll* ragDoll = new RagDoll (m_dynamicsWorld, btVector3 (0,1,0));
	m_ragdolls.push_back(ragDoll);
}	

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

	//simple dynamics world doesn't handle fixed-time-stepping
	float ms = m_clock.getTimeMicroseconds();
	m_clock.reset();
	float minFPS = 1000000.f/60.f;
	if (ms > minFPS)
		ms = minFPS;

	if (m_dynamicsWorld)
		m_dynamicsWorld->stepSimulation(ms / 1000000.f);

	renderme(); 

	glFlush();

	glutSwapBuffers();
}

void RagdollDemo::displayCallback()
{
	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); 

	if (m_dynamicsWorld)
		m_dynamicsWorld->updateAabbs();

	renderme();

	glFlush();
	glutSwapBuffers();
}

void RagdollDemo::keyboardCallback(unsigned char key, int x, int y)
{
	switch (key)
	{
	case 'e':
		spawnRagdoll(true);
		break;
	default:
		DemoApplication::keyboardCallback(key, x, y);
	}

	
}