/*************************************************************************
 *                                                                       *
 * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
 * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
 *                                                                       *
 * This library is free software; you can redistribute it and/or         *
 * modify it under the terms of EITHER:                                  *
 *   (1) The GNU Lesser General Public License as published by the Free  *
 *       Software Foundation; either version 2.1 of the License, or (at  *
 *       your option) any later version. The text of the GNU Lesser      *
 *       General Public License is included with this library in the     *
 *       file LICENSE.TXT.                                               *
 *   (2) The BSD-style license that is included with this library in     *
 *       the file LICENSE-BSD.TXT.                                       *
 *                                                                       *
 * This library is distributed in the hope that it will be useful,       *
 * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
 * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
 *                                                                       *
 *************************************************************************/

#include <ode/ode.h>
#include <drawstuff/drawstuff.h>
#include "texturepath.h"

#ifdef _MSC_VER
#pragma warning(disable:4244 4305)  // for VC++, no precision loss complaints
#endif


//<---- Icosahedron ---->
unsigned int Sphere_pointcount = 42;
unsigned int Sphere_planecount = 80;
dReal Sphere_points[126]={
0.000000,0.000000,-0.300000,
0.217080,-0.157716,-0.134164,
-0.082915,-0.255192,-0.134164,
-0.268327,0.000000,-0.134164,
-0.082915,0.255192,-0.134164,
0.217080,0.157716,-0.134164,
0.082915,-0.255192,0.134164,
-0.217080,-0.157716,0.134164,
-0.217080,0.157716,0.134164,
0.082915,0.255192,0.134164,
0.268327,0.000000,0.134164,
0.000000,0.000000,0.300000,
0.127597,-0.092703,-0.255196,
-0.048737,-0.149999,-0.255196,
0.078861,-0.242703,-0.157721,
0.127597,0.092703,-0.255196,
0.255194,0.000000,-0.157721,
-0.157719,0.000000,-0.255195,
-0.206457,-0.149999,-0.157721,
-0.048737,0.149999,-0.255196,
-0.206457,0.149999,-0.157721,
0.078861,0.242703,-0.157721,
0.285317,0.092704,0.000000,
0.285317,-0.092704,0.000000,
0.176336,-0.242705,0.000000,
0.000000,-0.300000,0.000000,
-0.176336,-0.242705,0.000000,
-0.285317,-0.092704,0.000000,
-0.285317,0.092704,0.000000,
-0.176336,0.242705,0.000000,
0.000000,0.300000,0.000000,
0.176336,0.242705,0.000000,
0.206457,-0.149999,0.157721,
-0.078861,-0.242703,0.157721,
-0.255194,0.000000,0.157721,
-0.078861,0.242703,0.157721,
0.206457,0.149999,0.157721,
0.157719,0.000000,0.255195,
0.048737,-0.149999,0.255196,
-0.127597,-0.092703,0.255196,
-0.127597,0.092703,0.255196,
0.048737,0.149999,0.255196
};
unsigned int Sphere_polygons[]={
3,14,12,1,
3,12,14,13,
3,2,13,14,
3,13,0,12,
3,16,1,12,
3,12,15,16,
3,5,16,15,
3,12,0,15,
3,18,13,2,
3,13,18,17,
3,3,17,18,
3,17,0,13,
3,20,17,3,
3,17,20,19,
3,4,19,20,
3,19,0,17,
3,21,19,4,
3,19,21,15,
3,5,15,21,
3,15,0,19,
3,23,1,16,
3,16,22,23,
3,10,23,22,
3,22,16,5,
3,25,2,14,
3,14,24,25,
3,6,25,24,
3,24,14,1,
3,27,3,18,
3,18,26,27,
3,7,27,26,
3,26,18,2,
3,29,4,20,
3,20,28,29,
3,8,29,28,
3,28,20,3,
3,31,5,21,
3,21,30,31,
3,9,31,30,
3,30,21,4,
3,32,23,10,
3,23,32,24,
3,6,24,32,
3,24,1,23,
3,33,25,6,
3,25,33,26,
3,7,26,33,
3,26,2,25,
3,34,27,7,
3,27,34,28,
3,8,28,34,
3,28,3,27,
3,35,29,8,
3,29,35,30,
3,9,30,35,
3,30,4,29,
3,36,31,9,
3,31,36,22,
3,10,22,36,
3,22,5,31,
3,38,6,32,
3,32,37,38,
3,11,38,37,
3,37,32,10,
3,39,7,33,
3,33,38,39,
3,11,39,38,
3,38,33,6,
3,40,8,34,
3,34,39,40,
3,11,40,39,
3,39,34,7,
3,41,9,35,
3,35,40,41,
3,11,41,40,
3,40,35,8,
3,37,10,36,
3,36,41,37,
3,11,37,41,
3,41,36,9,
};
dReal Sphere_planes[]={
0.471317,-0.583121,-0.661687,0.283056,
0.187594,-0.577345,-0.794658,0.280252,
-0.038547,-0.748789,-0.661687,0.283056,
0.102381,-0.315090,-0.943523,0.283057,
0.700228,-0.268049,-0.661688,0.283056,
0.607060,0.000000,-0.794656,0.280252,
0.700228,0.268049,-0.661688,0.283056,
0.331305,0.000000,-0.943524,0.283057,
-0.408939,-0.628443,-0.661686,0.283056,
-0.491119,-0.356821,-0.794657,0.280252,
-0.724044,-0.194735,-0.661694,0.283057,
-0.268034,-0.194737,-0.943523,0.283057,
-0.724044,0.194735,-0.661694,0.283057,
-0.491119,0.356821,-0.794657,0.280252,
-0.408939,0.628443,-0.661686,0.283056,
-0.268034,0.194737,-0.943523,0.283057,
-0.038547,0.748789,-0.661687,0.283056,
0.187594,0.577345,-0.794658,0.280252,
0.471317,0.583121,-0.661687,0.283056,
0.102381,0.315090,-0.943523,0.283057,
0.904981,-0.268049,-0.330393,0.283056,
0.982246,0.000000,-0.187599,0.280252,
0.992077,0.000000,0.125631,0.283057,
0.904981,0.268049,-0.330393,0.283056,
0.024726,-0.943519,-0.330396,0.283056,
0.303531,-0.934171,-0.187598,0.280251,
0.306568,-0.943519,0.125651,0.283056,
0.534590,-0.777851,-0.330395,0.283056,
-0.889698,-0.315092,-0.330386,0.283056,
-0.794656,-0.577348,-0.187595,0.280251,
-0.802607,-0.583125,0.125648,0.283055,
-0.574584,-0.748793,-0.330397,0.283055,
-0.574584,0.748793,-0.330397,0.283055,
-0.794656,0.577348,-0.187595,0.280251,
-0.802607,0.583125,0.125648,0.283055,
-0.889698,0.315092,-0.330386,0.283056,
0.534590,0.777851,-0.330395,0.283056,
0.303531,0.934171,-0.187598,0.280251,
0.306568,0.943519,0.125651,0.283056,
0.024726,0.943519,-0.330396,0.283056,
0.889698,-0.315092,0.330386,0.283056,
0.794656,-0.577348,0.187595,0.280251,
0.574584,-0.748793,0.330397,0.283055,
0.802607,-0.583125,-0.125648,0.283055,
-0.024726,-0.943519,0.330396,0.283055,
-0.303531,-0.934171,0.187598,0.280251,
-0.534590,-0.777851,0.330395,0.283056,
-0.306568,-0.943519,-0.125651,0.283056,
-0.904981,-0.268049,0.330393,0.283056,
-0.982246,0.000000,0.187599,0.280252,
-0.904981,0.268049,0.330393,0.283056,
-0.992077,0.000000,-0.125631,0.283057,
-0.534590,0.777851,0.330395,0.283056,
-0.303531,0.934171,0.187598,0.280251,
-0.024726,0.943519,0.330396,0.283055,
-0.306568,0.943519,-0.125651,0.283056,
0.574584,0.748793,0.330397,0.283055,
0.794656,0.577348,0.187595,0.280251,
0.889698,0.315092,0.330386,0.283056,
0.802607,0.583125,-0.125648,0.283055,
0.408939,-0.628443,0.661686,0.283056,
0.491119,-0.356821,0.794657,0.280252,
0.268034,-0.194737,0.943523,0.283057,
0.724044,-0.194735,0.661694,0.283057,
-0.471317,-0.583121,0.661687,0.283056,
-0.187594,-0.577345,0.794658,0.280252,
-0.102381,-0.315090,0.943523,0.283057,
0.038547,-0.748789,0.661687,0.283056,
-0.700228,0.268049,0.661688,0.283056,
-0.607060,0.000000,0.794656,0.280252,
-0.331305,0.000000,0.943524,0.283057,
-0.700228,-0.268049,0.661688,0.283056,
0.038547,0.748789,0.661687,0.283056,
-0.187594,0.577345,0.794658,0.280252,
-0.102381,0.315090,0.943523,0.283057,
-0.471317,0.583121,0.661687,0.283056,
0.724044,0.194735,0.661694,0.283057,
0.491119,0.356821,0.794657,0.280252,
0.268034,0.194737,0.943523,0.283057,
0.408939,0.628443,0.661686,0.283056,
};

//<---- Convex Object
dReal planes[]= // planes for a cube, these should coincide with the face array
  {
    1.0f ,0.0f ,0.0f ,0.25f,
    0.0f ,1.0f ,0.0f ,0.25f,
    0.0f ,0.0f ,1.0f ,0.25f,
    -1.0f,0.0f ,0.0f ,0.25f,
    0.0f ,-1.0f,0.0f ,0.25f,
    0.0f ,0.0f ,-1.0f,0.25f
    /*
    1.0f ,0.0f ,0.0f ,2.0f,
    0.0f ,1.0f ,0.0f ,1.0f,
    0.0f ,0.0f ,1.0f ,1.0f,
    0.0f ,0.0f ,-1.0f,1.0f,
    0.0f ,-1.0f,0.0f ,1.0f,
    -1.0f,0.0f ,0.0f ,0.0f
    */
  };
const unsigned int planecount=6;

dReal points[]= // points for a cube
  {
    0.25f,0.25f,0.25f,  //  point 0
    -0.25f,0.25f,0.25f, //  point 1

    0.25f,-0.25f,0.25f, //  point 2
    -0.25f,-0.25f,0.25f,//  point 3

    0.25f,0.25f,-0.25f, //  point 4
    -0.25f,0.25f,-0.25f,//  point 5

    0.25f,-0.25f,-0.25f,//  point 6
    -0.25f,-0.25f,-0.25f,// point 7 
  };
const unsigned int pointcount=8;
unsigned int polygons[] = //Polygons for a cube (6 squares)
  {
    4,0,2,6,4, // positive X
    4,1,0,4,5, // positive Y
    4,0,1,3,2, // positive Z
    4,3,1,5,7, // negative X 
    4,2,3,7,6, // negative Y
    4,5,4,6,7, // negative Z
  };
//----> Convex Object

// select correct drawing functions

#ifdef dDOUBLE
#define dsDrawBox dsDrawBoxD
#define dsDrawSphere dsDrawSphereD
#define dsDrawCylinder dsDrawCylinderD
#define dsDrawCapsule dsDrawCapsuleD
#define dsDrawConvex dsDrawConvexD
#endif


// some constants

#define NUM 100			// max number of objects
#define DENSITY (5.0)		// density of all objects
#define GPB 3			// maximum number of geometries per body
#define MAX_CONTACTS 8          // maximum number of contact points per body
#define MAX_FEEDBACKNUM 20
#define GRAVITY         REAL(0.5)
#define USE_GEOM_OFFSET 1

// dynamics and collision objects

struct MyObject {
  dBodyID body;			// the body
  dGeomID geom[GPB];		// geometries representing this body
};

static int num=0;		// number of objects in simulation
static int nextobj=0;		// next object to recycle if num==NUM
static dWorldID world;
static dSpaceID space;
static MyObject obj[NUM];
static dJointGroupID contactgroup;
static int selected = -1;	// selected object
static int show_aabb = 0;	// show geom AABBs?
static int show_contacts = 0;	// show contact points?
static int random_pos = 1;	// drop objects from random position?
static int write_world = 0;
static int show_body = 0;

struct MyFeedback {
  dJointFeedback fb;
  bool first;
};
static int doFeedback=0;
static MyFeedback feedbacks[MAX_FEEDBACKNUM];
static int fbnum=0;

// this is called by dSpaceCollide when two objects in space are
// potentially colliding.

static void nearCallback (void *data, dGeomID o1, dGeomID o2)
{
  int i;
  // if (o1->body && o2->body) return;

  // exit without doing anything if the two bodies are connected by a joint
  dBodyID b1 = dGeomGetBody(o1);
  dBodyID b2 = dGeomGetBody(o2);
  if (b1 && b2 && dAreConnectedExcluding (b1,b2,dJointTypeContact)) return;

  dContact contact[MAX_CONTACTS];   // up to MAX_CONTACTS contacts per box-box
  for (i=0; i<MAX_CONTACTS; i++) {
    contact[i].surface.mode = dContactBounce | dContactSoftCFM;
    contact[i].surface.mu = dInfinity;
    contact[i].surface.mu2 = 0;
    contact[i].surface.bounce = 0.1;
    contact[i].surface.bounce_vel = 0.1;
    contact[i].surface.soft_cfm = 0.01;
  }
  if (int numc = dCollide (o1,o2,MAX_CONTACTS,&contact[0].geom,
			   sizeof(dContact))) {
    dMatrix3 RI;
    dRSetIdentity (RI);
    const dReal ss[3] = {0.02,0.02,0.02};
    for (i=0; i<numc; i++) {
      dJointID c = dJointCreateContact (world,contactgroup,contact+i);
      dJointAttach (c,b1,b2);
      if (show_contacts) dsDrawBox (contact[i].geom.pos,RI,ss);

      if (doFeedback && (b1==obj[selected].body || b2==obj[selected].body))
      {
        if (fbnum<MAX_FEEDBACKNUM)
        {
          feedbacks[fbnum].first = b1==obj[selected].body;
          dJointSetFeedback (c,&feedbacks[fbnum++].fb);
        }
        else fbnum++;
      }
    }
  }
}


// start simulation - set viewpoint

static void start()
{
  dAllocateODEDataForThread(dAllocateMaskAll);

  static float xyz[3] = {2.1640f,-1.3079f,1.7600f};
  static float hpr[3] = {125.5000f,-17.0000f,0.0000f};
  dsSetViewpoint (xyz,hpr);
  printf ("To drop another object, press:\n");
  printf ("   b for box.\n");
  printf ("   s for sphere.\n");
  printf ("   c for capsule.\n");
  printf ("   y for cylinder.\n");
  printf ("   v for a convex object.\n");
  printf ("   x for a composite object.\n");
  printf ("To select an object, press space.\n");
  printf ("To disable the selected object, press d.\n");
  printf ("To enable the selected object, press e.\n");
  printf ("To dump transformation data for the selected object, press p.\n");
  printf ("To toggle showing the geom AABBs, press a.\n");
  printf ("To toggle showing the contact points, press t.\n");
  printf ("To toggle dropping from random position/orientation, press r.\n");
  printf ("To save the current state to 'state.dif', press 1.\n");
  printf ("To show joint feedbacks of selected object, press f.\n");
}


char locase (char c)
{
  if (c >= 'A' && c <= 'Z') return c - ('a'-'A');
  else return c;
}


// called when a key pressed

static void command (int cmd)
{
  size_t i;
  int j,k;
  dReal sides[3];
  dMass m;
  int setBody;
  
  cmd = locase (cmd);
  if (cmd == 'b' || cmd == 's' || cmd == 'c' || cmd == 'x' || cmd == 'y' || cmd == 'v')
  {
    setBody = 0;
    if (num < NUM) {
      i = num;
      num++;
    }
    else {
      i = nextobj;
      nextobj++;
      if (nextobj >= num) nextobj = 0;

      // destroy the body and geoms for slot i
      dBodyDestroy (obj[i].body);
      for (k=0; k < GPB; k++) {
	if (obj[i].geom[k]) dGeomDestroy (obj[i].geom[k]);
      }
      memset (&obj[i],0,sizeof(obj[i]));
    }

    obj[i].body = dBodyCreate (world);
    for (k=0; k<3; k++) sides[k] = dRandReal()*0.5+0.1;

    dMatrix3 R;
    if (random_pos) 
      {
	dBodySetPosition (obj[i].body,
			  dRandReal()*2-1,dRandReal()*2-1,dRandReal()+2);
	dRFromAxisAndAngle (R,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0,
			    dRandReal()*2.0-1.0,dRandReal()*10.0-5.0);
      }
    else 
      {
	dReal maxheight = 0;
	for (k=0; k<num; k++) 
	  {
	    const dReal *pos = dBodyGetPosition (obj[k].body);
	    if (pos[2] > maxheight) maxheight = pos[2];
	  }
	dBodySetPosition (obj[i].body, 0,0,maxheight+1);
	dRSetIdentity (R);
	//dRFromAxisAndAngle (R,0,0,1,/*dRandReal()*10.0-5.0*/0);
      }
    dBodySetRotation (obj[i].body,R);
    dBodySetData (obj[i].body,(void*) i);

    if (cmd == 'b') {
      dMassSetBox (&m,DENSITY,sides[0],sides[1],sides[2]);
      obj[i].geom[0] = dCreateBox (space,sides[0],sides[1],sides[2]);
    }
    else if (cmd == 'c') {
      sides[0] *= 0.5;
      dMassSetCapsule (&m,DENSITY,3,sides[0],sides[1]);
      obj[i].geom[0] = dCreateCapsule (space,sides[0],sides[1]);
    }
    //<---- Convex Object    
    else if (cmd == 'v') 
      {
	dMassSetBox (&m,DENSITY,0.25,0.25,0.25);
#if 0
	obj[i].geom[0] = dCreateConvex (space,
					planes,
					planecount,
					points,
					pointcount,
					polygons);
#else
	obj[i].geom[0] = dCreateConvex (space,
					Sphere_planes,
					Sphere_planecount,
					Sphere_points,
					Sphere_pointcount,
					Sphere_polygons);
#endif
      }
    //----> Convex Object
    else if (cmd == 'y') {
      dMassSetCylinder (&m,DENSITY,3,sides[0],sides[1]);
      obj[i].geom[0] = dCreateCylinder (space,sides[0],sides[1]);
    }
    else if (cmd == 's') {
      sides[0] *= 0.5;
      dMassSetSphere (&m,DENSITY,sides[0]);
      obj[i].geom[0] = dCreateSphere (space,sides[0]);
    }
    else if (cmd == 'x' && USE_GEOM_OFFSET) {
      setBody = 1;
      // start accumulating masses for the encapsulated geometries
      dMass m2;
      dMassSetZero (&m);

      dReal dpos[GPB][3];	// delta-positions for encapsulated geometries
      dMatrix3 drot[GPB];
      
      // set random delta positions
      for (j=0; j<GPB; j++) {
		for (k=0; k<3; k++) dpos[j][k] = dRandReal()*0.3-0.15;
      }
    
      for (k=0; k<GPB; k++) {
		if (k==0) {
		  dReal radius = dRandReal()*0.25+0.05;
		  obj[i].geom[k] = dCreateSphere (space,radius);
		  dMassSetSphere (&m2,DENSITY,radius);
		}
		else if (k==1) {
		  obj[i].geom[k] = dCreateBox (space,sides[0],sides[1],sides[2]);
		  dMassSetBox (&m2,DENSITY,sides[0],sides[1],sides[2]);
		}
		else {
		  dReal radius = dRandReal()*0.1+0.05;
		  dReal length = dRandReal()*1.0+0.1;
		  obj[i].geom[k] = dCreateCapsule (space,radius,length);
		  dMassSetCapsule (&m2,DENSITY,3,radius,length);
		}

		dRFromAxisAndAngle (drot[k],dRandReal()*2.0-1.0,dRandReal()*2.0-1.0,
					dRandReal()*2.0-1.0,dRandReal()*10.0-5.0);
		dMassRotate (&m2,drot[k]);
		
		dMassTranslate (&m2,dpos[k][0],dpos[k][1],dpos[k][2]);

		// add to the total mass
		dMassAdd (&m,&m2);
		
	}
      for (k=0; k<GPB; k++) {
		dGeomSetBody (obj[i].geom[k],obj[i].body);
		dGeomSetOffsetPosition (obj[i].geom[k],
			  dpos[k][0]-m.c[0],
			  dpos[k][1]-m.c[1],
			  dpos[k][2]-m.c[2]);
		dGeomSetOffsetRotation(obj[i].geom[k], drot[k]);
      }
      dMassTranslate (&m,-m.c[0],-m.c[1],-m.c[2]);
	  dBodySetMass (obj[i].body,&m);
		
    }
    else if (cmd == 'x') {
      dGeomID g2[GPB];		// encapsulated geometries
      dReal dpos[GPB][3];	// delta-positions for encapsulated geometries

      // start accumulating masses for the encapsulated geometries
      dMass m2;
      dMassSetZero (&m);

      // set random delta positions
      for (j=0; j<GPB; j++) {
	for (k=0; k<3; k++) dpos[j][k] = dRandReal()*0.3-0.15;
      }

      for (k=0; k<GPB; k++) {
	obj[i].geom[k] = dCreateGeomTransform (space);
	dGeomTransformSetCleanup (obj[i].geom[k],1);
	if (k==0) {
	  dReal radius = dRandReal()*0.25+0.05;
	  g2[k] = dCreateSphere (0,radius);
	  dMassSetSphere (&m2,DENSITY,radius);
	}
	else if (k==1) {
	  g2[k] = dCreateBox (0,sides[0],sides[1],sides[2]);
	  dMassSetBox (&m2,DENSITY,sides[0],sides[1],sides[2]);
	}
	else {
	  dReal radius = dRandReal()*0.1+0.05;
	  dReal length = dRandReal()*1.0+0.1;
	  g2[k] = dCreateCapsule (0,radius,length);
	  dMassSetCapsule (&m2,DENSITY,3,radius,length);
	}
	dGeomTransformSetGeom (obj[i].geom[k],g2[k]);

	// set the transformation (adjust the mass too)
	dGeomSetPosition (g2[k],dpos[k][0],dpos[k][1],dpos[k][2]);
	dMatrix3 Rtx;
	dRFromAxisAndAngle (Rtx,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0,
			    dRandReal()*2.0-1.0,dRandReal()*10.0-5.0);
	dGeomSetRotation (g2[k],Rtx);
	dMassRotate (&m2,Rtx);

	// Translation *after* rotation
	dMassTranslate (&m2,dpos[k][0],dpos[k][1],dpos[k][2]);

	// add to the total mass
	dMassAdd (&m,&m2);
      }

      // move all encapsulated objects so that the center of mass is (0,0,0)
      for (k=0; k<GPB; k++) {
	dGeomSetPosition (g2[k],
			  dpos[k][0]-m.c[0],
			  dpos[k][1]-m.c[1],
			  dpos[k][2]-m.c[2]);
      }
      dMassTranslate (&m,-m.c[0],-m.c[1],-m.c[2]);
    }

    if (!setBody)
     for (k=0; k < GPB; k++) {
      if (obj[i].geom[k]) dGeomSetBody (obj[i].geom[k],obj[i].body);
     }

    dBodySetMass (obj[i].body,&m);
  }

  if (cmd == ' ') {
    selected++;
    if (selected >= num) selected = 0;
    if (selected < 0) selected = 0;
  }
  else if (cmd == 'd' && selected >= 0 && selected < num) {
    dBodyDisable (obj[selected].body);
  }
  else if (cmd == 'e' && selected >= 0 && selected < num) {
    dBodyEnable (obj[selected].body);
  }
  else if (cmd == 'a') {
    show_aabb ^= 1;
  }
  else if (cmd == 't') {
    show_contacts ^= 1;
  }
  else if (cmd == 'r') {
    random_pos ^= 1;
  }
  else if (cmd == '1') {
    write_world = 1;
  }
  else if (cmd == 'p'&& selected >= 0)
  {
    const dReal* pos = dGeomGetPosition(obj[selected].geom[0]);
    const dReal* rot = dGeomGetRotation(obj[selected].geom[0]);
    printf("POSITION:\n\t[%f,%f,%f]\n\n",pos[0],pos[1],pos[2]);
    printf("ROTATION:\n\t[%f,%f,%f,%f]\n\t[%f,%f,%f,%f]\n\t[%f,%f,%f,%f]\n\n",
           rot[0],rot[1],rot[2],rot[3],
           rot[4],rot[5],rot[6],rot[7],
           rot[8],rot[9],rot[10],rot[11]);
  }
  else if (cmd == 'f' && selected >= 0 && selected < num) {
          if (dBodyIsEnabled(obj[selected].body))
            doFeedback = 1;
  }
}


// draw a geom

void drawGeom (dGeomID g, const dReal *pos, const dReal *R, int show_aabb)
{
  int i;
	
  if (!g) return;
  if (!pos) pos = dGeomGetPosition (g);
  if (!R) R = dGeomGetRotation (g);

  int type = dGeomGetClass (g);
  if (type == dBoxClass) {
    dVector3 sides;
    dGeomBoxGetLengths (g,sides);
    dsDrawBox (pos,R,sides);
  }
  else if (type == dSphereClass) {
    dsDrawSphere (pos,R,dGeomSphereGetRadius (g));
  }
  else if (type == dCapsuleClass) {
    dReal radius,length;
    dGeomCapsuleGetParams (g,&radius,&length);
    dsDrawCapsule (pos,R,length,radius);
  }
  //<---- Convex Object
  else if (type == dConvexClass) 
    {
#if 0
      dsDrawConvex(pos,R,planes,
		   planecount,
		   points,
		   pointcount,
		   polygons);
#else
      dsDrawConvex(pos,R,
       Sphere_planes,
		   Sphere_planecount,
		   Sphere_points,
		   Sphere_pointcount,
		   Sphere_polygons);
#endif
    }
  //----> Convex Object
  else if (type == dCylinderClass) {
    dReal radius,length;
    dGeomCylinderGetParams (g,&radius,&length);
    dsDrawCylinder (pos,R,length,radius);
  }
  else if (type == dGeomTransformClass) {
    dGeomID g2 = dGeomTransformGetGeom (g);
    const dReal *pos2 = dGeomGetPosition (g2);
    const dReal *R2 = dGeomGetRotation (g2);
    dVector3 actual_pos;
    dMatrix3 actual_R;
    dMULTIPLY0_331 (actual_pos,R,pos2);
    actual_pos[0] += pos[0];
    actual_pos[1] += pos[1];
    actual_pos[2] += pos[2];
    dMULTIPLY0_333 (actual_R,R,R2);
    drawGeom (g2,actual_pos,actual_R,0);
  }
  if (show_body) {
    dBodyID body = dGeomGetBody(g);
    if (body) {
      const dReal *bodypos = dBodyGetPosition (body); 
      const dReal *bodyr = dBodyGetRotation (body); 
      dReal bodySides[3] = { 0.1, 0.1, 0.1 };
      dsSetColorAlpha(0,1,0,1);
      dsDrawBox(bodypos,bodyr,bodySides); 
    }
  }
  if (show_aabb) {
    // draw the bounding box for this geom
    dReal aabb[6];
    dGeomGetAABB (g,aabb);
    dVector3 bbpos;
    for (i=0; i<3; i++) bbpos[i] = 0.5*(aabb[i*2] + aabb[i*2+1]);
    dVector3 bbsides;
    for (i=0; i<3; i++) bbsides[i] = aabb[i*2+1] - aabb[i*2];
    dMatrix3 RI;
    dRSetIdentity (RI);
    dsSetColorAlpha (1,0,0,0.5);
    dsDrawBox (bbpos,RI,bbsides);
  }
}


// simulation loop

static void simLoop (int pause)
{
  dsSetColor (0,0,2);
  dSpaceCollide (space,0,&nearCallback);
  if (!pause) dWorldQuickStep (world,0.02);

  if (write_world) {
    FILE *f = fopen ("state.dif","wt");
    if (f) {
      dWorldExportDIF (world,f,"X");
      fclose (f);
    }
    write_world = 0;
  }


  if (doFeedback)
  {
    if (fbnum>MAX_FEEDBACKNUM)
      printf("joint feedback buffer overflow!\n");
    else
    {
      dVector3 sum = {0, 0, 0};
      printf("\n");
      for (int i=0; i<fbnum; i++) {
        dReal* f = feedbacks[i].first?feedbacks[i].fb.f1:feedbacks[i].fb.f2;
        printf("%f %f %f\n", f[0], f[1], f[2]);
        sum[0] += f[0];
        sum[1] += f[1];
        sum[2] += f[2];
      }
      printf("Sum: %f %f %f\n", sum[0], sum[1], sum[2]);
      dMass m;
      dBodyGetMass(obj[selected].body, &m);
      printf("Object G=%f\n", GRAVITY*m.mass);
    }
    doFeedback = 0;
    fbnum = 0;
  }

  // remove all contact joints
  dJointGroupEmpty (contactgroup);

  dsSetColor (1,1,0);
  dsSetTexture (DS_WOOD);
  for (int i=0; i<num; i++) {
    for (int j=0; j < GPB; j++) {
      if (i==selected) {
	dsSetColor (0,0.7,1);
      }
      else if (! dBodyIsEnabled (obj[i].body)) {
	dsSetColor (1,0.8,0);
      }
      else {
	dsSetColor (1,1,0);
      }
      drawGeom (obj[i].geom[j],0,0,show_aabb);
    }
  }
}


int main (int argc, char **argv)
{
  // setup pointers to drawstuff callback functions
  dsFunctions fn;
  fn.version = DS_VERSION;
  fn.start = &start;
  fn.step = &simLoop;
  fn.command = &command;
  fn.stop = 0;
  fn.path_to_textures = DRAWSTUFF_TEXTURE_PATH;
  if(argc==2)
    {
        fn.path_to_textures = argv[1];
    }

  // create world
  dInitODE2(0);
  world = dWorldCreate();
  space = dHashSpaceCreate (0);
  contactgroup = dJointGroupCreate (0);
  dWorldSetGravity (world,0,0,-GRAVITY);
  dWorldSetCFM (world,1e-5);
  dWorldSetAutoDisableFlag (world,1);

#if 1

  dWorldSetAutoDisableAverageSamplesCount( world, 10 );

#endif

  dWorldSetLinearDamping(world, 0.00001);
  dWorldSetAngularDamping(world, 0.005);
  dWorldSetMaxAngularSpeed(world, 200);

  dWorldSetContactMaxCorrectingVel (world,0.1);
  dWorldSetContactSurfaceLayer (world,0.001);
  dCreatePlane (space,0,0,1,0);
  memset (obj,0,sizeof(obj));

  // run simulation
  dsSimulationLoop (argc,argv,352,288,&fn);

  dJointGroupDestroy (contactgroup);
  dSpaceDestroy (space);
  dWorldDestroy (world);
  dCloseODE();
  return 0;
}