#include "ImportURDFSetup.h"
#include "BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h"
#include "Bullet3Common/b3FileUtils.h"
#include "../ImportSTLDemo/LoadMeshFromSTL.h"
#include "../ImportColladaDemo/LoadMeshFromCollada.h"
#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
#include "Bullet3Common/b3FileUtils.h"

static int bodyCollisionFilterGroup=btBroadphaseProxy::CharacterFilter;
static int bodyCollisionFilterMask=btBroadphaseProxy::AllFilter&(~btBroadphaseProxy::CharacterFilter);
static bool enableConstraints = true;//false;



ImportUrdfSetup::ImportUrdfSetup()
{
    sprintf(m_fileName,"r2d2.urdf");
}

ImportUrdfSetup::~ImportUrdfSetup()
{

}

static btVector4 colors[4] =
{
	btVector4(1,0,0,1),
	btVector4(0,1,0,1),
	btVector4(0,1,1,1),
	btVector4(1,1,0,1),
};


btVector3 selectColor()
{

	static int curColor = 0;
	btVector4 color = colors[curColor];
	curColor++;
	curColor&=3;
	return color;
}

void ImportUrdfSetup::setFileName(const char* urdfFileName)
{
    memcpy(m_fileName,urdfFileName,strlen(urdfFileName)+1);
}

#include "urdf/urdfdom/urdf_parser/include/urdf_parser/urdf_parser.h"

#include "urdf_samples.h"

//#include "BulletCollision/CollisionShapes/btCylinderShape.h"
//#define USE_BARREL_VERTICES
//#include "OpenGLWindow/ShapeData.h"

#include <iostream>
#include <fstream>

using namespace urdf;

void printTree(my_shared_ptr<const Link> link,int level = 0)
{
    level+=2;
    int count = 0;
    for (std::vector<my_shared_ptr<Link> >::const_iterator child = link->child_links.begin(); child != link->child_links.end(); child++)
    {
        if (*child)
        {
            for(int j=0;j<level;j++) std::cout << "  "; //indent
            std::cout << "child(" << (count++)+1 << "):  " << (*child)->name  << std::endl;
            // first grandchild
            printTree(*child,level);
        }
        else
        {
            for(int j=0;j<level;j++) std::cout << " "; //indent
            std::cout << "root link: " << link->name << " has a null child!" << *child << std::endl;
        }
    }

}


struct URDF_LinkInformation
{
    const Link* m_thisLink;
	int m_linkIndex;
	//int m_parentIndex;

    btTransform m_localInertialFrame;
    //btTransform m_localVisualFrame;
	btTransform m_bodyWorldTransform;
	btVector3 m_localInertiaDiagonal;
	btScalar m_mass;

	btCollisionShape* m_collisionShape;
    btRigidBody* m_bulletRigidBody;

	URDF_LinkInformation()
		:m_thisLink(0),
		m_linkIndex(-2),
		//m_parentIndex(-2),
		m_collisionShape(0),
		m_bulletRigidBody(0)
	{

	}
	virtual ~URDF_LinkInformation()
	{
        printf("~\n");
	}
};

struct URDF_JointInformation
{

};


struct URDF2BulletMappings
{
    btHashMap<btHashPtr /*to Link*/, URDF_LinkInformation*> m_link2rigidbody;
    //btHashMap<btHashPtr /*to Joint*/, btTypedConstraint*> m_joint2Constraint;

	//btAlignedObjectArray<btTransform>		m_linkLocalInertiaTransforms;//Body transform is in center of mass, aligned with Principal Moment Of Inertia;
	btAlignedObjectArray<btScalar>			m_linkMasses;
	//btAlignedObjectArray<btVector3>			m_linkLocalDiagonalInertiaTensors;
	
	//btAlignedObjectArray<int>				m_parentIndices;//for root, it is identity
	//btAlignedObjectArray<btVector3>			m_jointAxisArray;
	//btAlignedObjectArray<btTransform>			m_jointOffsetInParent;
	//btAlignedObjectArray<btTransform>			m_jointOffsetInChild;
	//btAlignedObjectArray<int>				m_jointTypeArray;


	
	bool m_createMultiBody;
	int m_totalNumJoints;
	btMultiBody*	m_bulletMultiBody;

	URDF2BulletMappings()
		:m_createMultiBody(false),
		m_totalNumJoints(0),
		m_bulletMultiBody(0)
	{
	}

};
enum MyFileType
{
	FILE_STL=1,
	FILE_COLLADA=2
};

template <typename T>
btCollisionShape* convertURDFToCollisionShape(const T* visual, const char* pathPrefix)
{
	btCollisionShape* shape = 0;

    switch (visual->geometry->type)
    {
        case Geometry::CYLINDER:
        {
            printf("processing a cylinder\n");
            urdf::Cylinder* cyl = (urdf::Cylinder*)visual->geometry.get();

            btAlignedObjectArray<btVector3> vertices;
            //int numVerts = sizeof(barrel_vertices)/(9*sizeof(float));
            int numSteps = 32;
            for (int i=0;i<numSteps;i++)
            {

                btVector3 vert(cyl->radius*btSin(SIMD_2_PI*(float(i)/numSteps)),cyl->radius*btCos(SIMD_2_PI*(float(i)/numSteps)),cyl->length/2.);
                vertices.push_back(vert);
                vert[2] = -cyl->length/2.;
                vertices.push_back(vert);

            }
            btConvexHullShape* cylZShape = new btConvexHullShape(&vertices[0].x(), vertices.size(), sizeof(btVector3));
            cylZShape->initializePolyhedralFeatures();
			//btConvexShape* cylZShape = new btConeShapeZ(cyl->radius,cyl->length);//(vexHullShape(&vertices[0].x(), vertices.size(), sizeof(btVector3));
            
            //btVector3 halfExtents(cyl->radius,cyl->radius,cyl->length/2.);
            //btCylinderShapeZ* cylZShape = new btCylinderShapeZ(halfExtents);
            cylZShape->setMargin(0.001);

            shape = cylZShape;
            break;
        }
        case Geometry::BOX:
        {
            printf("processing a box\n");
            urdf::Box* box = (urdf::Box*)visual->geometry.get();
            btVector3 extents(box->dim.x,box->dim.y,box->dim.z);
            btBoxShape* boxShape = new btBoxShape(extents*0.5f);
			//btConvexShape* boxShape = new btConeShapeX(extents[2]*0.5,extents[0]*0.5);
            shape = boxShape;
			shape ->setMargin(0.001);
            break;
        }
        case Geometry::SPHERE:
        {
			printf("processing a sphere\n");
            urdf::Sphere* sphere = (urdf::Sphere*)visual->geometry.get();
            btScalar radius = sphere->radius;
			btSphereShape* sphereShape = new btSphereShape(radius);
            shape = sphereShape;
			shape ->setMargin(0.001);
            break;

            break;
        }
        case Geometry::MESH:
        {
			if (visual->name.length())
			{
				printf("visual->name=%s\n",visual->name.c_str());
			}
			if (visual->geometry)
			{
				const urdf::Mesh* mesh = (const urdf::Mesh*) visual->geometry.get();
				if (mesh->filename.length())
				{
					const char* filename = mesh->filename.c_str();
					printf("mesh->filename=%s\n",filename);
					char fullPath[1024];
					int fileType = 0;
					sprintf(fullPath,"%s%s",pathPrefix,filename);
					b3FileUtils::toLower(fullPath);
					if (strstr(fullPath,".dae"))
					{
						fileType = FILE_COLLADA;
					}
					if (strstr(fullPath,".stl"))
					{
						fileType = FILE_STL;
					}
					

					sprintf(fullPath,"%s%s",pathPrefix,filename);
					FILE* f = fopen(fullPath,"rb");
					if (f)
					{
						fclose(f);
						GLInstanceGraphicsShape* glmesh = 0;
						
						
						switch (fileType)
						{
						case FILE_STL:
							{
								glmesh = LoadMeshFromSTL(fullPath);
							break;
							}
						case FILE_COLLADA:
							{
								
								btAlignedObjectArray<GLInstanceGraphicsShape> visualShapes;
								btAlignedObjectArray<ColladaGraphicsInstance> visualShapeInstances;
								btTransform upAxisTrans;upAxisTrans.setIdentity();
								float unitMeterScaling=1;

								LoadMeshFromCollada(fullPath,
													visualShapes, 
													visualShapeInstances,
													upAxisTrans,
													unitMeterScaling);
								
								glmesh = new GLInstanceGraphicsShape;
								int index = 0;
								glmesh->m_indices = new b3AlignedObjectArray<int>();
								glmesh->m_vertices = new b3AlignedObjectArray<GLInstanceVertex>();

								for (int i=0;i<visualShapeInstances.size();i++)
								{
									ColladaGraphicsInstance* instance = &visualShapeInstances[i];
									GLInstanceGraphicsShape* gfxShape = &visualShapes[instance->m_shapeIndex];
		
									b3AlignedObjectArray<GLInstanceVertex> verts;
									verts.resize(gfxShape->m_vertices->size());

									int baseIndex = glmesh->m_vertices->size();

									for (int i=0;i<gfxShape->m_vertices->size();i++)
									{
										verts[i].normal[0] = 	gfxShape->m_vertices->at(i).normal[0];
										verts[i].normal[1] = 	gfxShape->m_vertices->at(i).normal[1];
										verts[i].normal[2] = 	gfxShape->m_vertices->at(i).normal[2];
										verts[i].uv[0] = gfxShape->m_vertices->at(i).uv[0];
										verts[i].uv[1] = gfxShape->m_vertices->at(i).uv[1];
										verts[i].xyzw[0] = gfxShape->m_vertices->at(i).xyzw[0];
										verts[i].xyzw[1] = gfxShape->m_vertices->at(i).xyzw[1];
										verts[i].xyzw[2] = gfxShape->m_vertices->at(i).xyzw[2];
										verts[i].xyzw[3] = gfxShape->m_vertices->at(i).xyzw[3];

									}

									int curNumIndices = glmesh->m_indices->size();
									int additionalIndices = gfxShape->m_indices->size();
									glmesh->m_indices->resize(curNumIndices+additionalIndices);
									for (int k=0;k<additionalIndices;k++)
									{
										glmesh->m_indices->at(curNumIndices+k)=gfxShape->m_indices->at(k)+baseIndex;
									}
			
									//compensate upAxisTrans and unitMeterScaling here
									btMatrix4x4 upAxisMat;
									upAxisMat.setPureRotation(upAxisTrans.getRotation());
									btMatrix4x4 unitMeterScalingMat;
									unitMeterScalingMat.setPureScaling(btVector3(unitMeterScaling,unitMeterScaling,unitMeterScaling));
									btMatrix4x4 worldMat = unitMeterScalingMat*upAxisMat*instance->m_worldTransform;
									//btMatrix4x4 worldMat = instance->m_worldTransform;
									int curNumVertices = glmesh->m_vertices->size();
									int additionalVertices = verts.size();
									glmesh->m_vertices->reserve(curNumVertices+additionalVertices);
									
									for(int v=0;v<verts.size();v++)
									{
										btVector3 pos(verts[v].xyzw[0],verts[v].xyzw[1],verts[v].xyzw[2]);
										pos = worldMat*pos;
										verts[v].xyzw[0] = float(pos[0]);
										verts[v].xyzw[1] = float(pos[1]);
										verts[v].xyzw[2] = float(pos[2]);
										glmesh->m_vertices->push_back(verts[v]);
									}
								}
								glmesh->m_numIndices = glmesh->m_indices->size();
								glmesh->m_numvertices = glmesh->m_vertices->size();
								//glmesh = LoadMeshFromCollada(fullPath);

								break;
							}
						default:
							{
							}
						}
					

						if (glmesh && (glmesh->m_numvertices>0))
						{
							printf("extracted %d verticed from STL file %s\n", glmesh->m_numvertices,fullPath);
							//int shapeId = m_glApp->m_instancingRenderer->registerShape(&gvertices[0].pos[0],gvertices.size(),&indices[0],indices.size());
							//convex->setUserIndex(shapeId);
							btAlignedObjectArray<btVector3> convertedVerts;
							convertedVerts.reserve(glmesh->m_numvertices);
							for (int i=0;i<glmesh->m_numvertices;i++)
							{
								convertedVerts.push_back(btVector3(glmesh->m_vertices->at(i).xyzw[0],glmesh->m_vertices->at(i).xyzw[1],glmesh->m_vertices->at(i).xyzw[2]));
							}
							//btConvexHullShape* cylZShape = new btConvexHullShape(&glmesh->m_vertices->at(0).xyzw[0], glmesh->m_numvertices, sizeof(GLInstanceVertex));
							btConvexHullShape* cylZShape = new btConvexHullShape(&convertedVerts[0].getX(), convertedVerts.size(), sizeof(btVector3));
							//cylZShape->initializePolyhedralFeatures();
							//btVector3 halfExtents(cyl->radius,cyl->radius,cyl->length/2.);
							//btCylinderShapeZ* cylZShape = new btCylinderShapeZ(halfExtents);
							cylZShape->setMargin(0.001);
							shape = cylZShape;
						} else
						{
							printf("issue extracting mesh from STL file %s\n", fullPath);
						}

					} else
					{
						printf("mesh geometry not found %s\n",fullPath);
					}
							
							
				}
			}

					
            break;
        }
        default:
        {
            printf("Error: unknown visual geometry type\n");
        }
    }
	return shape;
}
void URDFvisual2BulletCollisionShape(my_shared_ptr<const Link> link, GraphicsPhysicsBridge& gfxBridge, const btTransform& parentTransformInWorldSpace, btMultiBodyDynamicsWorld* world1, URDF2BulletMappings& mappings, const char* pathPrefix)
{
    //btCollisionShape* shape = 0;

	btTransform linkTransformInWorldSpace;
	linkTransformInWorldSpace.setIdentity();

	btScalar mass = 0;
	btTransform inertialFrame;
	inertialFrame.setIdentity();
    const Link* parentLink = (*link).getParent();
	URDF_LinkInformation* pp = 0;
	int linkIndex =  mappings.m_linkMasses.size();
	btVector3 localInertiaDiagonal(0,0,0);

	int parentIndex = -1;

	
	if (parentLink)
	{
		parentIndex = parentLink->m_link_index;
		btAssert(parentIndex>=0);
	}

    {
		URDF_LinkInformation** ppRigidBody = mappings.m_link2rigidbody.find(parentLink);
		if (ppRigidBody)
		{
			pp = (*ppRigidBody);
			btTransform tr = pp->m_bodyWorldTransform;
			printf("rigidbody origin (COM) of link(%s) parent(%s): %f,%f,%f\n",(*link).name.c_str(), parentLink->name.c_str(), tr.getOrigin().x(), tr.getOrigin().y(), tr.getOrigin().z());
		}
	}

	(*link).m_link_index = linkIndex;

	if ((*link).inertial)
	{
		mass = (*link).inertial->mass;
		localInertiaDiagonal.setValue((*link).inertial->ixx,(*link).inertial->iyy,(*link).inertial->izz);
		inertialFrame.setOrigin(btVector3((*link).inertial->origin.position.x,(*link).inertial->origin.position.y,(*link).inertial->origin.position.z));
		inertialFrame.setRotation(btQuaternion((*link).inertial->origin.rotation.x,(*link).inertial->origin.rotation.y,(*link).inertial->origin.rotation.z,(*link).inertial->origin.rotation.w));
	}

    
	btTransform parent2joint;
	parent2joint.setIdentity();

	if ((*link).parent_joint)
	{
		
		const urdf::Vector3 pos = (*link).parent_joint->parent_to_joint_origin_transform.position;
		const urdf::Rotation orn = (*link).parent_joint->parent_to_joint_origin_transform.rotation;

		parent2joint.setOrigin(btVector3(pos.x,pos.y,pos.z));
		parent2joint.setRotation(btQuaternion(orn.x,orn.y,orn.z,orn.w));
		linkTransformInWorldSpace =parentTransformInWorldSpace*parent2joint;
	} else
	{
		linkTransformInWorldSpace = parentTransformInWorldSpace;

		
		
	}


    {
        printf("converting visuals of link %s",link->name.c_str());
		

       
        {

			
			btCompoundShape* tmpGfxShape = new btCompoundShape();

			for (int v=0;v<(int)link->visual_array.size();v++)
			{
				const Visual* vis = link->visual_array[v].get();
				btCollisionShape* childShape = convertURDFToCollisionShape(vis,pathPrefix);
				if (childShape)
				{
					btVector3 childPos(vis->origin.position.x, vis->origin.position.y, vis->origin.position.z);
					btQuaternion childOrn(vis->origin.rotation.x, vis->origin.rotation.y, vis->origin.rotation.z, vis->origin.rotation.w);
					btTransform childTrans;
					childTrans.setOrigin(childPos);
					childTrans.setRotation(childOrn);
					if (!mappings.m_createMultiBody)
					{
						tmpGfxShape->addChildShape(childTrans*inertialFrame.inverse(),childShape);
					} else
					{
						tmpGfxShape->addChildShape(childTrans,childShape);
					}
				}
			}

			btCompoundShape* compoundShape = new btCompoundShape();
			for (int v=0;v<(int)link->collision_array.size();v++)
			{
				const Collision* col = link->collision_array[v].get();
				btCollisionShape* childShape = convertURDFToCollisionShape(col ,pathPrefix);
				if (childShape)
				{
					btVector3 childPos(col->origin.position.x, col->origin.position.y, col->origin.position.z);
					btQuaternion childOrn(col->origin.rotation.x, col->origin.rotation.y, col->origin.rotation.z, col->origin.rotation.w);
					btTransform childTrans;
					childTrans.setOrigin(childPos);
					childTrans.setRotation(childOrn);
					if (!mappings.m_createMultiBody)
					{
						compoundShape->addChildShape(childTrans*inertialFrame.inverse(),childShape);
					} else
					{
						compoundShape->addChildShape(childTrans,childShape);
					}
					
				}
			}

			

            
			
			if (compoundShape)
			{
				

				btVector3 color = selectColor();
				/*                if (visual->material.get())
								{
								color.setValue(visual->material->color.r,visual->material->color.g,visual->material->color.b);//,visual->material->color.a);
								}
								*/
				//btVector3 localInertiaDiagonal(0, 0, 0);
				//if (mass)
				//{
				//	shape->calculateLocalInertia(mass, localInertiaDiagonal);
				//}

				
				//btTransform visualFrameInWorldSpace = linkTransformInWorldSpace*visual_frame;
				btTransform inertialFrameInWorldSpace = linkTransformInWorldSpace*inertialFrame;
				URDF_LinkInformation* linkInfo = new URDF_LinkInformation;
				
				if (!mappings.m_createMultiBody)
				{
					btRigidBody::btRigidBodyConstructionInfo rbci(mass, 0, compoundShape, localInertiaDiagonal);
					rbci.m_startWorldTransform = inertialFrameInWorldSpace;
					linkInfo->m_bodyWorldTransform = inertialFrameInWorldSpace;//visualFrameInWorldSpace
					//rbci.m_startWorldTransform = inertialFrameInWorldSpace;//linkCenterOfMass;
					btRigidBody* body = new btRigidBody(rbci);
					world1->addRigidBody(body, bodyCollisionFilterGroup, bodyCollisionFilterMask);
					gfxBridge.createCollisionShapeGraphicsObject(tmpGfxShape);
					//hack-> transfer user inder from visual to collision shape
					compoundShape->setUserIndex(tmpGfxShape->getUserIndex());

					gfxBridge.createRigidBodyGraphicsObject(body, color);
					linkInfo->m_bulletRigidBody = body;
				} else
				{
					if (mappings.m_bulletMultiBody==0)
					{
						bool multiDof = true;
						bool canSleep = false;
						bool isFixedBase = (mass==0);//todo: figure out when base is fixed
						int totalNumJoints = mappings.m_totalNumJoints;
						mappings.m_bulletMultiBody = new btMultiBody(totalNumJoints,mass, localInertiaDiagonal, isFixedBase, canSleep, multiDof);
					}

				}


				linkInfo->m_collisionShape = compoundShape;
				linkInfo->m_localInertiaDiagonal = localInertiaDiagonal;
				linkInfo->m_mass = mass;
                //linkInfo->m_localVisualFrame =visual_frame;
                linkInfo->m_localInertialFrame =inertialFrame;
                linkInfo->m_thisLink = link.get();
                const Link* p = link.get();
                mappings.m_link2rigidbody.insert(p, linkInfo);

                //create a joint if necessary
                if ((*link).parent_joint && pp)
                {
					btAssert(pp);

                    

                    const Joint* pj = (*link).parent_joint.get();
                    btTransform offsetInA,offsetInB;
                    static bool once = true;

                    offsetInA.setIdentity();
					static bool toggle=false;
					
					//offsetInA = pp->m_localVisualFrame.inverse()*parent2joint;
					offsetInA = pp->m_localInertialFrame.inverse()*parent2joint;
					
                    offsetInB.setIdentity();
                    //offsetInB = visual_frame.inverse();
					offsetInB = inertialFrame.inverse();
					
					
					bool disableParentCollision = true;
					btVector3 jointAxis(pj->axis.x,pj->axis.y,pj->axis.z);
                    switch (pj->type)
                    {
                        case Joint::FIXED:
                        {
							if (mappings.m_createMultiBody)
							{
								//todo: adjust the center of mass transform and pivot axis properly

								printf("Fixed joint (btMultiBody)\n");
								//btVector3 dVec = quatRotate(parentComToThisCom.getRotation(),offsetInB.inverse().getOrigin());
								btQuaternion rot = parent2joint.inverse().getRotation();
								//toggle=!toggle;
								mappings.m_bulletMultiBody->setupFixed(linkIndex - 1, mass, localInertiaDiagonal, parentIndex - 1, 
									rot, parent2joint.getOrigin(), btVector3(0,0,0),disableParentCollision);
								btMatrix3x3 rm(rot);
								btScalar y,p,r;
								rm.getEulerZYX(y,p,r);
								//parent2joint.inverse().getRotation(), offsetInA.getOrigin(), -offsetInB.getOrigin(), disableParentCollision);
								//linkInfo->m_localVisualFrame.setIdentity();
								printf("y=%f,p=%f,r=%f\n", y,p,r);
								


							} else
							{
								printf("Fixed joint\n");
								
								btMatrix3x3 rm(offsetInA.getBasis());
								btScalar y,p,r;
								rm.getEulerZYX(y,p,r);
								//parent2joint.inverse().getRotation(), offsetInA.getOrigin(), -offsetInB.getOrigin(), disableParentCollision);
								//linkInfo->m_localVisualFrame.setIdentity();
								printf("y=%f,p=%f,r=%f\n", y,p,r);

								btGeneric6DofSpring2Constraint* dof6 = new btGeneric6DofSpring2Constraint(*pp->m_bulletRigidBody, *linkInfo->m_bulletRigidBody, offsetInA, offsetInB);
								//                            btVector3 bulletAxis(pj->axis.x,pj->axis.y,pj->axis.z);
								dof6->setLinearLowerLimit(btVector3(0,0,0));
								dof6->setLinearUpperLimit(btVector3(0,0,0));

								dof6->setAngularLowerLimit(btVector3(0,0,0));
								dof6->setAngularUpperLimit(btVector3(0,0,0));

								if (enableConstraints)
									world1->addConstraint(dof6,true);

								//                            btFixedConstraint* fixed = new btFixedConstraint(*parentBody, *body,offsetInA,offsetInB);
								//                          world->addConstraint(fixed,true);
								}
                            break;
                        }
                        case Joint::CONTINUOUS:
                        case Joint::REVOLUTE:
                        {
							if (mappings.m_createMultiBody)
							{
								//todo: adjust the center of mass transform and pivot axis properly
								mappings.m_bulletMultiBody->setupRevolute(linkIndex - 1, mass, localInertiaDiagonal, parentIndex - 1, 
									parent2joint.inverse().getRotation(), jointAxis, parent2joint.getOrigin(), 
									btVector3(0,0,0),//offsetInB.getOrigin(), 
									disableParentCollision);

								/*
								
								mappings.m_bulletMultiBody->setupRevolute(linkIndex - 1, mass, localInertiaDiagonal, parentIndex - 1,
								parent2joint.inverse().getRotation(), jointAxis, offsetInA.getOrigin(),//parent2joint.getOrigin(),
								-offsetInB.getOrigin(),
								disableParentCollision);
								linkInfo->m_localVisualFrame.setIdentity();
								*/
							} else
							{
								//only handle principle axis at the moment, 
								//@todo(erwincoumans) orient the constraint for non-principal axis
								btVector3 axis(pj->axis.x,pj->axis.y,pj->axis.z);
								int principleAxis = axis.closestAxis();
								switch (principleAxis)
								{
								case 0:
									{
										btGeneric6DofSpring2Constraint* dof6 = new btGeneric6DofSpring2Constraint(*pp->m_bulletRigidBody, *linkInfo->m_bulletRigidBody, offsetInA, offsetInB,RO_ZYX);
										dof6->setLinearLowerLimit(btVector3(0,0,0));
										dof6->setLinearUpperLimit(btVector3(0,0,0));
								
										dof6->setAngularUpperLimit(btVector3(-1,0,0));
										dof6->setAngularLowerLimit(btVector3(1,0,0));
								
										if (enableConstraints)
											world1->addConstraint(dof6,true);
										break;
									}
								case 1:
									{
										btGeneric6DofSpring2Constraint* dof6 = new btGeneric6DofSpring2Constraint(*pp->m_bulletRigidBody, *linkInfo->m_bulletRigidBody, offsetInA, offsetInB,RO_XZY);
										dof6->setLinearLowerLimit(btVector3(0,0,0));
										dof6->setLinearUpperLimit(btVector3(0,0,0));
								
										dof6->setAngularUpperLimit(btVector3(0,-1,0));
										dof6->setAngularLowerLimit(btVector3(0,1,0));
								
										if (enableConstraints)
											world1->addConstraint(dof6,true);
										break;
									}
								case 2:
								default:
									{
										btGeneric6DofSpring2Constraint* dof6 = new btGeneric6DofSpring2Constraint(*pp->m_bulletRigidBody, *linkInfo->m_bulletRigidBody, offsetInA, offsetInB,RO_XYZ);
										dof6->setLinearLowerLimit(btVector3(0,0,0));
										dof6->setLinearUpperLimit(btVector3(0,0,0));
								
										dof6->setAngularUpperLimit(btVector3(0,0,-1));
										dof6->setAngularLowerLimit(btVector3(0,0,0));
								
										if (enableConstraints)
											world1->addConstraint(dof6,true);
									}
								};
								printf("Revolute/Continuous joint\n");
							}
                            break;
                        }
                        case Joint::PRISMATIC:
                        {
							if (mappings.m_createMultiBody)
							{
								mappings.m_bulletMultiBody->setupPrismatic(linkIndex - 1, mass, localInertiaDiagonal, parentIndex - 1,
									parent2joint.inverse().getRotation(),jointAxis,parent2joint.getOrigin(),disableParentCollision);

								//mappings.m_bulletMultiBody->setupRevolute(linkIndex - 1, mass, localInertiaDiagonal, parentIndex - 1, 
								//	parent2joint.getRotation(), jointAxis, parent2joint.getOrigin(), 
								//	offsetInB.getOrigin(), 
								//	disableParentCollision);

							} else
							{
								
								btGeneric6DofSpring2Constraint* dof6 = new btGeneric6DofSpring2Constraint(*pp->m_bulletRigidBody, *linkInfo->m_bulletRigidBody, offsetInA, offsetInB);
								dof6->setLinearLowerLimit(btVector3(pj->limits->lower,0,0));
								dof6->setLinearUpperLimit(btVector3(pj->limits->upper,0,0));

								dof6->setAngularLowerLimit(btVector3(0,0,0));
								dof6->setAngularUpperLimit(btVector3(0,0,0));

								if (enableConstraints)
									world1->addConstraint(dof6,true);

								printf("Prismatic\n");
							}
                            break;
                        }
                        default:
                        {
                            printf("Error: unsupported joint type in URDF (%d)\n", pj->type);
                        }
                    }

                }

				if (mappings.m_createMultiBody)
				{
					if (compoundShape->getNumChildShapes()>0)
					{
						btMultiBodyLinkCollider* col= new btMultiBodyLinkCollider(mappings.m_bulletMultiBody, linkIndex-1);
						
						//btCompoundShape* comp = new btCompoundShape();
						//comp->addChildShape(linkInfo->m_localVisualFrame,shape);
						
						gfxBridge.createCollisionShapeGraphicsObject(tmpGfxShape);
						compoundShape->setUserIndex(tmpGfxShape->getUserIndex());
						col->setCollisionShape(compoundShape);

						btTransform tr;
						tr.setIdentity();
						tr = linkTransformInWorldSpace;
						//if we don't set the initial pose of the btCollisionObject, the simulator will do this 
						//when syncing the btMultiBody link transforms to the btMultiBodyLinkCollider
                
						//tr.setOrigin(local_origin[0]);
						//tr.setRotation(btQuaternion(quat[0],quat[1],quat[2],quat[3]));
						col->setWorldTransform(tr);

						bool isDynamic = true;
						short collisionFilterGroup = isDynamic? short(btBroadphaseProxy::DefaultFilter) : short(btBroadphaseProxy::StaticFilter);
						short collisionFilterMask = isDynamic? 	short(btBroadphaseProxy::AllFilter) : 	short(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
		
						world1->addCollisionObject(col,collisionFilterGroup,collisionFilterMask);

						btVector3 color = selectColor();//(0.0,0.0,0.5);
						
						gfxBridge.createCollisionObjectGraphicsObject(col,color);
						btScalar friction = 0.5f;

						col->setFriction(friction);
        
						if (parentIndex>=0)
						{
							mappings.m_bulletMultiBody->getLink(linkIndex-1).m_collider=col;
						} else
						{
							mappings.m_bulletMultiBody->setBaseCollider(col);
						}
					}
				}
				
				//mappings.m_linkLocalDiagonalInertiaTensors.push_back(localInertiaDiagonal);
				//mappings.m_linkLocalInertiaTransforms.push_back(localInertialTransform);
            }

			
        }
    }

	mappings.m_linkMasses.push_back(mass);

    for (std::vector<my_shared_ptr<Link> >::const_iterator child = link->child_links.begin(); child != link->child_links.end(); child++)
    {
        if (*child)
        {
            URDFvisual2BulletCollisionShape(*child,gfxBridge, linkTransformInWorldSpace, world1,mappings,pathPrefix);

        }
        else
        {
            std::cout << "root link: " << link->name << " has a null child!" << *child << std::endl;
        }
    }




}


void ImportUrdfSetup::initPhysics(GraphicsPhysicsBridge& gfxBridge)
{

	int upAxis = 2;
	gfxBridge.setUpAxis(2);

	this->createEmptyDynamicsWorld();
    gfxBridge.createPhysicsDebugDrawer(m_dynamicsWorld);
    m_dynamicsWorld->getDebugDrawer()->setDebugMode(
    btIDebugDraw::DBG_DrawConstraints
    +btIDebugDraw::DBG_DrawContactPoints
    +btIDebugDraw::DBG_DrawAabb
        );//+btIDebugDraw::DBG_DrawConstraintLimits);



	btVector3 gravity(0,0,0);
	gravity[upAxis]=-9.8;

	m_dynamicsWorld->setGravity(gravity);
    //int argc=0;
	char relativeFileName[1024];
	
	b3FileUtils fu;
	printf("m_fileName=%s\n", m_fileName);
	bool fileFound = fu.findFile(m_fileName, relativeFileName, 1024);



	std::string xml_string;
	char pathPrefix[1024];
	pathPrefix[0] = 0;
	
    if (!fileFound){
        std::cerr << "URDF file not found, using a dummy test URDF" << std::endl;
        xml_string = std::string(urdf_char);

    } else
    {
		
		int maxPathLen = 1024;
		fu.extractPath(relativeFileName,pathPrefix,maxPathLen);


        std::fstream xml_file(relativeFileName, std::fstream::in);
        while ( xml_file.good() )
        {
            std::string line;
            std::getline( xml_file, line);
            xml_string += (line + "\n");
        }
        xml_file.close();
    }

    my_shared_ptr<ModelInterface> robot = parseURDF(xml_string);
    if (!robot){
        std::cerr << "ERROR: Model Parsing the xml failed" << std::endl;
        return ;
    }
    std::cout << "robot name is: " << robot->getName() << std::endl;

    // get info from parser
    std::cout << "---------- Successfully Parsed XML ---------------" << std::endl;
    // get root link
    my_shared_ptr<const Link> root_link=robot->getRoot();
    if (!root_link) return ;

    std::cout << "root Link: " << root_link->name << " has " << root_link->child_links.size() << " child(ren)" << std::endl;

    // print entire tree
    printTree(root_link);
    btTransform identityTrans;
	identityTrans.setIdentity();
	
	int numJoints = (*robot).m_numJoints;

	static bool useFeatherstone = false;
    {
        URDF2BulletMappings mappings;
		mappings.m_createMultiBody = useFeatherstone;
		mappings.m_totalNumJoints = numJoints;
        URDFvisual2BulletCollisionShape(root_link, gfxBridge, identityTrans,m_dynamicsWorld,mappings,pathPrefix);
		if (useFeatherstone)
		{
			btMultiBody* mb = mappings.m_bulletMultiBody;
			mb->setHasSelfCollision(false);
			mb->finalizeMultiDof();
			m_dynamicsWorld->addMultiBody(mb);
		}
    }

	//the btMultiBody support is work-in-progress :-)

	useFeatherstone = !useFeatherstone;
	printf("numJoints/DOFS = %d\n", numJoints);

	if (0)
	{
        btVector3 halfExtents(1,1,1);
        btBoxShape* box = new btBoxShape(halfExtents);
        box->initializePolyhedralFeatures();

        gfxBridge.createCollisionShapeGraphicsObject(box);
        btTransform start; start.setIdentity();
        btVector3 origin(0,0,0);
        origin[upAxis]=5;
        start.setOrigin(origin);
        btRigidBody* body =  createRigidBody(1,start,box);
        btVector3 color(0.5,0.5,0.5);
        gfxBridge.createRigidBodyGraphicsObject(body,color);
    }

    {
        btVector3 groundHalfExtents(20,20,20);
        groundHalfExtents[upAxis]=1.f;
        btBoxShape* box = new btBoxShape(groundHalfExtents);
        box->initializePolyhedralFeatures();

        gfxBridge.createCollisionShapeGraphicsObject(box);
        btTransform start; start.setIdentity();
        btVector3 groundOrigin(0,0,0);
        groundOrigin[upAxis]=-1.5;
        start.setOrigin(groundOrigin);
        btRigidBody* body =  createRigidBody(0,start,box);
        //m_dynamicsWorld->removeRigidBody(body);
       // m_dynamicsWorld->addRigidBody(body,2,1);
        btVector3 color(0.5,0.5,0.5);
        gfxBridge.createRigidBodyGraphicsObject(body,color);
    }

	m_dynamicsWorld->stepSimulation(1. / 240., 0);// 1., 10, 1. / 240.);
}

void ImportUrdfSetup::stepSimulation(float deltaTime)
{
	if (m_dynamicsWorld)
	{
		//the maximal coordinates/iterative MLCP solver requires a smallish timestep to converge
		m_dynamicsWorld->stepSimulation(deltaTime,10,1./240.);
	}
}