/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/

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.
*/


///create 125 (5x5x5) dynamic object
#define ARRAY_SIZE_X 5
#define ARRAY_SIZE_Y 5
#define ARRAY_SIZE_Z 5

//maximum number of objects (and allow user to shoot additional boxes)
#define MAX_PROXIES (ARRAY_SIZE_X*ARRAY_SIZE_Y*ARRAY_SIZE_Z + 1024)

///scaling of the objects (0.1 = 20 centimeter boxes )
#define SCALING 1.
#define START_POS_X -5
#define START_POS_Y -5
#define START_POS_Z -3

#include "BasicDemo.h"
#include "GlutStuff.h"
///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
#include "btBulletDynamicsCommon.h"

#include <stdio.h> //printf debugging
#include "GLDebugDrawer.h"
#include "LinearMath/btAabbUtil2.h"

static GLDebugDrawer gDebugDraw;

///The MyOverlapCallback is used to show how to collect object that overlap with a given bounding box defined by aabbMin and aabbMax. 
///See m_physicsSetup.m_dynamicsWorld->getBroadphase()->aabbTest.
struct	MyOverlapCallback : public btBroadphaseAabbCallback
{
	btVector3 m_queryAabbMin;
	btVector3 m_queryAabbMax;
	
	int m_numOverlap;
	MyOverlapCallback(const btVector3& aabbMin, const btVector3& aabbMax ) : m_queryAabbMin(aabbMin),m_queryAabbMax(aabbMax),m_numOverlap(0)	{}
	virtual bool	process(const btBroadphaseProxy* proxy)
	{
		btVector3 proxyAabbMin,proxyAabbMax;
		btCollisionObject* colObj0 = (btCollisionObject*)proxy->m_clientObject;
		colObj0->getCollisionShape()->getAabb(colObj0->getWorldTransform(),proxyAabbMin,proxyAabbMax);
		if (TestAabbAgainstAabb2(proxyAabbMin,proxyAabbMax,m_queryAabbMin,m_queryAabbMax))
		{
			m_numOverlap++;
		}
		return true;
	}
};

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

	//simple dynamics world doesn't handle fixed-time-stepping
	float ms = getDeltaTimeMicroseconds();
	
	m_physicsSetup.stepSimulation(ms/1000000.f);
	m_physicsSetup.m_dynamicsWorld->debugDrawWorld();

	/*
	///step the simulation
	if (m_physicsSetup.m_dynamicsWorld)
	{
		m_physicsSetup.m_dynamicsWorld->stepSimulation(ms / 1000000.f);
		//optional but useful: debug drawing
		m_physicsSetup.m_dynamicsWorld->debugDrawWorld();

		btVector3 aabbMin(1,1,1);
		btVector3 aabbMax(2,2,2);

		MyOverlapCallback aabbOverlap(aabbMin,aabbMax);
		m_physicsSetup.m_dynamicsWorld->getBroadphase()->aabbTest(aabbMin,aabbMax,aabbOverlap);
		
		//if (aabbOverlap.m_numOverlap)
		//	printf("#aabb overlap = %d\n", aabbOverlap.m_numOverlap);
	}
		*/
	renderme(); 

	glFlush();

	swapBuffers();

}



void BasicDemo::displayCallback(void) {

	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); 
	
	renderme();

	//optional but useful: debug drawing to detect problems
	if (m_physicsSetup.m_dynamicsWorld)
		m_physicsSetup.m_dynamicsWorld->debugDrawWorld();

	glFlush();
	swapBuffers();
}





void	BasicDemo::initPhysics()
{
	setTexturing(true);
	setShadows(true);

	setCameraDistance(btScalar(SCALING*50.));
	GraphicsPhysicsBridge gfxBridge;
	m_physicsSetup.initPhysics(gfxBridge);

	m_dynamicsWorld = m_physicsSetup.m_dynamicsWorld;
	m_dynamicsWorld->setDebugDrawer(&gDebugDraw);

}
void	BasicDemo::clientResetScene()
{
	exitPhysics();
	initPhysics();
}
	

void	BasicDemo::exitPhysics()
{
	m_physicsSetup.exitPhysics();	
}