#include <ode/ode.h>

#include <vrs/vrs.h>
#include <vrs/glut/glutcanvas.h>
#include <vrs/polygonsetbuilder.h>

#include "Car3DS.h"
#include "CarSimple.h"
#include "random_utils/LogManager.h"
#include "random_utils/ThreadSafeCanvas.h"
#include "PhysicsManager.h"
#include "PhysicsBody.h"
#include "PhysicsJointBall.h"
#include "SamplePlane.h"
#include "SampleBox.h"
#include "PlaneShape.h"
#include "BoxShape.h"

using namespace VRS;
using namespace vrsode;

class VrsTest : public SharedObj
{
public:
    VrsTest();
private:
    void keyEvent();

    SO<BehaviorCallback>                m_keyCallBack;
    SO<random_utils::ThreadSafeCanvas>  m_canvas;
    SO<SceneThing>                      m_rootNode;

    SO<PhysicsBody>                     m_boxBody;
    SO<PhysicsJointBall> m_ballJoint;
};

VrsTest::VrsTest()
{
    // initialize glut and create canvas for this application
    m_canvas = new random_utils::ThreadSafeCanvas(
        "VrsTest", 1024, 768, GLCanvas::RGBDDS);

    // create scene graph root
    m_rootNode = new SceneThing();

    // attach some background color
    m_rootNode->append(new BackgroundGL(Color(0.2),
                       Color(0.9), BackgroundGL::TopToBottom));

    // attach some nice green color as default
    m_rootNode->append(new ShapeMaterialGL(
            Color(0.5, 1.0, 0.5), Color(0.15, 0.3, 0.15)));

    m_rootNode->append(new TransparencyTechniqueGL());

    SO<SceneThing> geometryRoot = new SceneThing(m_rootNode);
        
    SO<SceneThing> boxNode = new SceneThing(geometryRoot);
    boxNode->append(new Box(Vector(-5,-5,-5), Vector(5,5,5)));
    m_boxBody = new vrsode::PhysicsBody(boxNode, CS_Sphere);

    SO<SceneThing> groundNode = new SceneThing(geometryRoot);
    groundNode->append(new Box(Vector(-100,-20,-100), Vector(100,-15,100)));
    SO<PlaneShape> groundShape = new PlaneShape(Vector(0,1,0), -15);
    SO<CollisionBody> groundBody = new CollisionBody(groundNode, groundShape);

    m_ballJoint = new PhysicsJointBall(m_boxBody, 0, Vector(5,5,5));
    SO<SceneThing> jointVisNode = new SceneThing(geometryRoot);
    jointVisNode->append(new Box(Vector(4,4,4), Vector(6,6,6)));
    
    
    // create a camera
    SO<SceneThing> view = new SceneThing();
    view->append(new Camera(
        new Perspective(72, 0.1, 200.0),
        new LookAt(Vector(-70,6,40), Vector(0,0,0))));

    // let there be light
    view->append(new DistantLight(Vector(1,1,1)));
    view->append(new PointLight(Vector(0,1,-2)));

    m_canvas->append(view);
	m_canvas->append(m_rootNode);

    // create and connect behaviors
    m_canvas->append(new TrackBall(m_rootNode));

    // add keyboard callback
    m_canvas->append(m_keyCallBack = new BehaviorCallback());
    m_keyCallBack->setCanvasCallback(
            new MethodCallback<VrsTest>(this, &VrsTest::keyEvent));
    m_keyCallBack->activate();
    
    
    PhysicsManager::get()->startThread();
}

void
VrsTest::keyEvent()
{
    KeyEvent* event = VRS_Cast(KeyEvent, m_keyCallBack->currentCanvasEvent());

    if(event != NULL && event->pressed ())
        switch(event->keyCode())
        {
            case Key::Escape: exit(0); break;
            case Key::Up: 
            m_boxBody->addForce(Vector(0,50,0)); 
            m_boxBody->addTorque(Vector(10,1,1)); 
            
            break;
            case Key::Down: 
                m_boxBody->setDebugNode(!(m_boxBody->debugNode())); break;
        }
    if(event != NULL && event->released())
        switch(event->keyCode())
        {
        }

    m_canvas->postForRedisplay();
}

// don't let SDL rename our main
#ifdef __APPLE__
  #undef main
#endif

int
main(int p_argc, char** p_argv)
{
    glutInit(&p_argc, p_argv);
    SDL_Init(SDL_INIT_EVENTTHREAD | SDL_INIT_TIMER);


    SO<VrsTest> application = new VrsTest;

    glutMainLoop();

    SDL_Quit();
    return 0;
}