//
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// modification, are permitted provided that the following conditions
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//    notice, this list of conditions and the following disclaimer.
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//    notice, this list of conditions and the following disclaimer in the
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//    contributors may be used to endorse or promote products derived
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//
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
// Copyright (c) 2008-2021 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  

// ****************************************************************************
// This snippet illustrates how to configure a PhysX vehicle when meters are not 
// the chosen length scale.  The snippet sets up a vehicle with meters as the 
// adopted length scale and then modifies the vehicle parameters so that they represent
// the same vehicle but with centimeters as the chosen length scale.  It is written in 
// a way that allows any length scale to be chosen.  A key function here is the function 
// customizeVehicleToLengthScale.

// It is a good idea to record and playback with pvd (PhysX Visual Debugger).
// ****************************************************************************

#include <ctype.h>

#include "PxPhysicsAPI.h"

#include "vehicle/PxVehicleUtil.h"
#include "../snippetvehiclecommon/SnippetVehicleSceneQuery.h"
#include "../snippetvehiclecommon/SnippetVehicleFilterShader.h"
#include "../snippetvehiclecommon/SnippetVehicleTireFriction.h"
#include "../snippetvehiclecommon/SnippetVehicleCreate.h"

#include "../snippetcommon/SnippetPrint.h"
#include "../snippetcommon/SnippetPVD.h"
#include "../snippetutils/SnippetUtils.h"


using namespace physx;
using namespace snippetvehicle;

PxDefaultAllocator		gAllocator;
PxDefaultErrorCallback	gErrorCallback;

PxFoundation*			gFoundation = NULL;
PxPhysics*				gPhysics	= NULL;

PxDefaultCpuDispatcher*	gDispatcher = NULL;
PxScene*				gScene		= NULL;

PxCooking*				gCooking	= NULL;

PxMaterial*				gMaterial	= NULL;

PxPvd*                  gPvd        = NULL;

VehicleSceneQueryData*	gVehicleSceneQueryData = NULL;
PxBatchQuery*			gBatchQuery = NULL;

PxVehicleDrivableSurfaceToTireFrictionPairs* gFrictionPairs = NULL;

PxRigidStatic*			gGroundPlane = NULL;
PxVehicleDrive4W*		gVehicle4W		= NULL;

bool					gIsVehicleInAir = true;

PxF32 gSteerVsForwardSpeedData[2*8]=
{
	0.0f,		0.75f,
	5.0f,		0.75f,
	30.0f,		0.125f,
	120.0f,		0.1f,
	PX_MAX_F32, PX_MAX_F32,
	PX_MAX_F32, PX_MAX_F32,
	PX_MAX_F32, PX_MAX_F32,
	PX_MAX_F32, PX_MAX_F32
};
PxFixedSizeLookupTable<8> gSteerVsForwardSpeedTable(gSteerVsForwardSpeedData,4);

PxVehicleKeySmoothingData gKeySmoothingData=
{
	{
		6.0f,	//rise rate eANALOG_INPUT_ACCEL
		6.0f,	//rise rate eANALOG_INPUT_BRAKE		
		6.0f,	//rise rate eANALOG_INPUT_HANDBRAKE	
		2.5f,	//rise rate eANALOG_INPUT_STEER_LEFT
		2.5f,	//rise rate eANALOG_INPUT_STEER_RIGHT
	},
	{
		10.0f,	//fall rate eANALOG_INPUT_ACCEL
		10.0f,	//fall rate eANALOG_INPUT_BRAKE		
		10.0f,	//fall rate eANALOG_INPUT_HANDBRAKE	
		5.0f,	//fall rate eANALOG_INPUT_STEER_LEFT
		5.0f	//fall rate eANALOG_INPUT_STEER_RIGHT
	}
};

PxVehiclePadSmoothingData gPadSmoothingData=
{
	{
		6.0f,		//rise rate eANALOG_INPUT_ACCEL
		6.0f,		//rise rate eANALOG_INPUT_BRAKE		
		6.0f,		//rise rate eANALOG_INPUT_HANDBRAKE	
		2.5f,		//rise rate eANALOG_INPUT_STEER_LEFT
		2.5f,		//rise rate eANALOG_INPUT_STEER_RIGHT
	},
	{
		10.0f,		//fall rate eANALOG_INPUT_ACCEL
		10.0f,		//fall rate eANALOG_INPUT_BRAKE		
		10.0f,		//fall rate eANALOG_INPUT_HANDBRAKE	
		5.0f,		//fall rate eANALOG_INPUT_STEER_LEFT
		5.0f		//fall rate eANALOG_INPUT_STEER_RIGHT
	}
};

PxVehicleDrive4WRawInputData gVehicleInputData;

enum DriveMode
{
	eDRIVE_MODE_ACCEL_FORWARDS=0,
	eDRIVE_MODE_ACCEL_REVERSE,
	eDRIVE_MODE_HARD_TURN_LEFT,
	eDRIVE_MODE_HANDBRAKE_TURN_LEFT,
	eDRIVE_MODE_HARD_TURN_RIGHT,
	eDRIVE_MODE_HANDBRAKE_TURN_RIGHT,
	eDRIVE_MODE_BRAKE,
	eDRIVE_MODE_NONE
};

DriveMode gDriveModeOrder[] =
{
	eDRIVE_MODE_BRAKE,
	eDRIVE_MODE_ACCEL_FORWARDS,
	eDRIVE_MODE_BRAKE,
	eDRIVE_MODE_ACCEL_REVERSE,
	eDRIVE_MODE_BRAKE,
	eDRIVE_MODE_HARD_TURN_LEFT, 
	eDRIVE_MODE_BRAKE,
	eDRIVE_MODE_HARD_TURN_RIGHT,
	eDRIVE_MODE_ACCEL_FORWARDS,
	eDRIVE_MODE_HANDBRAKE_TURN_LEFT,
	eDRIVE_MODE_ACCEL_FORWARDS,
	eDRIVE_MODE_HANDBRAKE_TURN_RIGHT,
	eDRIVE_MODE_NONE
};

PxF32					gVehicleModeLifetime = 4.0f;
PxF32					gVehicleModeTimer = 0.0f;
PxU32					gVehicleOrderProgress = 0;
bool					gVehicleOrderComplete = false;
bool					gMimicKeyInputs = true;

enum
{
	eLengthScaleCentimeters=0,
	eLengthScaleInches
};
PxF32 gLengthScales[2] = {100.0f, 39.3701f};
PxF32 gLengthScale = gLengthScales[eLengthScaleInches];

VehicleDesc initVehicleDesc()
{
	//Set up the chassis mass, dimensions, moment of inertia, and center of mass offset.
	//The moment of inertia is just the moment of inertia of a cuboid but modified for easier steering.
	//Center of mass offset is 0.65m above the base of the chassis and 0.25m towards the front.
	const PxF32 chassisMass = 1500.0f;
	const PxVec3 chassisDims(2.5f,2.0f,5.0f);
	const PxVec3 chassisMOI
		((chassisDims.y*chassisDims.y + chassisDims.z*chassisDims.z)*chassisMass/12.0f,
		 (chassisDims.x*chassisDims.x + chassisDims.z*chassisDims.z)*0.8f*chassisMass/12.0f,
		 (chassisDims.x*chassisDims.x + chassisDims.y*chassisDims.y)*chassisMass/12.0f);
	const PxVec3 chassisCMOffset(0.0f, -chassisDims.y*0.5f + 0.65f, 0.25f);

	//Set up the wheel mass, radius, width, moment of inertia, and number of wheels.
	//Moment of inertia is just the moment of inertia of a cylinder.
	const PxF32 wheelMass = 20.0f;
	const PxF32 wheelRadius = 0.5f;
	const PxF32 wheelWidth = 0.4f;
	const PxF32 wheelMOI = 0.5f*wheelMass*wheelRadius*wheelRadius;
	const PxU32 nbWheels = 4;

	VehicleDesc vehicleDesc;

	vehicleDesc.chassisMass = chassisMass;
	vehicleDesc.chassisDims = chassisDims;
	vehicleDesc.chassisMOI = chassisMOI;
	vehicleDesc.chassisCMOffset = chassisCMOffset;
	vehicleDesc.chassisMaterial = gMaterial;
	vehicleDesc.chassisSimFilterData = PxFilterData(COLLISION_FLAG_CHASSIS, COLLISION_FLAG_CHASSIS_AGAINST, 0, 0);

	vehicleDesc.wheelMass = wheelMass;
	vehicleDesc.wheelRadius = wheelRadius;
	vehicleDesc.wheelWidth = wheelWidth;
	vehicleDesc.wheelMOI = wheelMOI;
	vehicleDesc.numWheels = nbWheels;
	vehicleDesc.wheelMaterial = gMaterial;
	vehicleDesc.chassisSimFilterData = PxFilterData(COLLISION_FLAG_WHEEL, COLLISION_FLAG_WHEEL_AGAINST, 0, 0);

	return vehicleDesc;
}

void startAccelerateForwardsMode()
{
	if(gMimicKeyInputs)
	{
		gVehicleInputData.setDigitalAccel(true);
	}
	else
	{
		gVehicleInputData.setAnalogAccel(1.0f);
	}
}

void startAccelerateReverseMode()
{
	gVehicle4W->mDriveDynData.forceGearChange(PxVehicleGearsData::eREVERSE);

	if(gMimicKeyInputs)
	{
		gVehicleInputData.setDigitalAccel(true);
	}
	else
	{
		gVehicleInputData.setAnalogAccel(1.0f);
	}
}

void startBrakeMode()
{
	if(gMimicKeyInputs)
	{
		gVehicleInputData.setDigitalBrake(true);
	}
	else
	{
		gVehicleInputData.setAnalogBrake(1.0f);
	}
}

void startTurnHardLeftMode()
{
	if(gMimicKeyInputs)
	{
		gVehicleInputData.setDigitalAccel(true);
		gVehicleInputData.setDigitalSteerLeft(true);
	}
	else
	{
		gVehicleInputData.setAnalogAccel(true);
		gVehicleInputData.setAnalogSteer(-1.0f);
	}
}

void startTurnHardRightMode()
{
	if(gMimicKeyInputs)
	{
		gVehicleInputData.setDigitalAccel(true);
		gVehicleInputData.setDigitalSteerRight(true);
	}
	else
	{
		gVehicleInputData.setAnalogAccel(1.0f);
		gVehicleInputData.setAnalogSteer(1.0f);
	}
}

void startHandbrakeTurnLeftMode()
{
	if(gMimicKeyInputs)
	{
		gVehicleInputData.setDigitalSteerLeft(true);
		gVehicleInputData.setDigitalHandbrake(true);
	}
	else
	{
		gVehicleInputData.setAnalogSteer(-1.0f);
		gVehicleInputData.setAnalogHandbrake(1.0f);
	}
}

void startHandbrakeTurnRightMode()
{
	if(gMimicKeyInputs)
	{
		gVehicleInputData.setDigitalSteerRight(true);
		gVehicleInputData.setDigitalHandbrake(true);
	}
	else
	{
		gVehicleInputData.setAnalogSteer(1.0f);
		gVehicleInputData.setAnalogHandbrake(1.0f);
	}
}


void releaseAllControls()
{
	if(gMimicKeyInputs)
	{
		gVehicleInputData.setDigitalAccel(false);
		gVehicleInputData.setDigitalSteerLeft(false);
		gVehicleInputData.setDigitalSteerRight(false);
		gVehicleInputData.setDigitalBrake(false);
		gVehicleInputData.setDigitalHandbrake(false);
	}
	else
	{
		gVehicleInputData.setAnalogAccel(0.0f);
		gVehicleInputData.setAnalogSteer(0.0f);
		gVehicleInputData.setAnalogBrake(0.0f);
		gVehicleInputData.setAnalogHandbrake(0.0f);
	}
}


void initPhysics()
{
	gFoundation = PxCreateFoundation(PX_PHYSICS_VERSION, gAllocator, gErrorCallback);
	PxTolerancesScale scale;
	scale.length = gLengthScale;
	scale.speed = 10.0f * gLengthScale;
	gPvd = PxCreatePvd(*gFoundation);
	PxPvdTransport* transport = PxDefaultPvdSocketTransportCreate(PVD_HOST, 5425, 10);
	gPvd->connect(*transport,PxPvdInstrumentationFlag::eALL);
	gPhysics = PxCreatePhysics(PX_PHYSICS_VERSION, *gFoundation, scale, true, gPvd);

	PxSceneDesc sceneDesc(gPhysics->getTolerancesScale());
	sceneDesc.gravity = PxVec3(0.0f, -9.81f*gLengthScale, 0.0f);
	
	PxU32 numWorkers = 1;
	gDispatcher = PxDefaultCpuDispatcherCreate(numWorkers);
	sceneDesc.cpuDispatcher	= gDispatcher;
	sceneDesc.filterShader	= VehicleFilterShader;

	gScene = gPhysics->createScene(sceneDesc);

	PxPvdSceneClient* pvdClient = gScene->getScenePvdClient();
	if(pvdClient)
	{
		pvdClient->setScenePvdFlag(PxPvdSceneFlag::eTRANSMIT_CONSTRAINTS, true);
		pvdClient->setScenePvdFlag(PxPvdSceneFlag::eTRANSMIT_CONTACTS, true);
		pvdClient->setScenePvdFlag(PxPvdSceneFlag::eTRANSMIT_SCENEQUERIES, true);
	}

	gMaterial = gPhysics->createMaterial(0.5f, 0.5f, 0.6f);

	gCooking = 	PxCreateCooking(PX_PHYSICS_VERSION, *gFoundation, PxCookingParams(PxTolerancesScale()));	

	/////////////////////////////////////////////

	PxInitVehicleSDK(*gPhysics);
	PxVehicleSetBasisVectors(PxVec3(0,1,0), PxVec3(0,0,1));
	PxVehicleSetUpdateMode(PxVehicleUpdateMode::eVELOCITY_CHANGE);

	//Create the batched scene queries for the suspension raycasts.
	gVehicleSceneQueryData = VehicleSceneQueryData::allocate(1, PX_MAX_NB_WHEELS, 1, 1, WheelSceneQueryPreFilterBlocking, NULL, gAllocator);
	gBatchQuery = VehicleSceneQueryData::setUpBatchedSceneQuery(0, *gVehicleSceneQueryData, gScene);

	//Create the friction table for each combination of tire and surface type.
	gFrictionPairs = createFrictionPairs(gMaterial);
	
	//Create a plane to drive on.
	PxFilterData groundPlaneSimFilterData(COLLISION_FLAG_GROUND, COLLISION_FLAG_GROUND_AGAINST, 0, 0);
	gGroundPlane = createDrivablePlane(groundPlaneSimFilterData, gMaterial, gPhysics);
	gScene->addActor(*gGroundPlane);

	//Create a vehicle that will drive on the plane.
	VehicleDesc vehicleDesc = initVehicleDesc();
	gVehicle4W = createVehicle4W(vehicleDesc, gPhysics, gCooking);
	//Convert the vehicle from meters to the chosen length scale.
	customizeVehicleToLengthScale(gLengthScale, gVehicle4W->getRigidDynamicActor(), &gVehicle4W->mWheelsSimData, &gVehicle4W->mDriveSimData);
	//Convert the steer angle vs forward speed table to the chosen length scale.
	for(PxU32 i = 0; i < gSteerVsForwardSpeedTable.mNbDataPairs; i++)
	{
		gSteerVsForwardSpeedTable.mDataPairs[2*i +0] *= gLengthScale;
	}
	PxTransform startTransform(PxVec3(0, ((vehicleDesc.chassisDims.y*0.5f + vehicleDesc.wheelRadius + 1.0f)*gLengthScale), 0), PxQuat(PxIdentity));
	gVehicle4W->getRigidDynamicActor()->setGlobalPose(startTransform);
	gScene->addActor(*gVehicle4W->getRigidDynamicActor());

	//Set the vehicle to rest in first gear.
	//Set the vehicle to use auto-gears.
	gVehicle4W->setToRestState();
	gVehicle4W->mDriveDynData.forceGearChange(PxVehicleGearsData::eFIRST);
	gVehicle4W->mDriveDynData.setUseAutoGears(true);

	gVehicleModeTimer = 0.0f;
	gVehicleOrderProgress = 0;
	startBrakeMode();
}

void incrementDrivingMode(const PxF32 timestep)
{
	gVehicleModeTimer += timestep;
	if(gVehicleModeTimer > gVehicleModeLifetime)
	{
		//If the mode just completed was eDRIVE_MODE_ACCEL_REVERSE then switch back to forward gears.
		if(eDRIVE_MODE_ACCEL_REVERSE == gDriveModeOrder[gVehicleOrderProgress])
		{
			gVehicle4W->mDriveDynData.forceGearChange(PxVehicleGearsData::eFIRST);
		}

		//Increment to next driving mode.
		gVehicleModeTimer = 0.0f;
		gVehicleOrderProgress++;
		releaseAllControls();

		//If we are at the end of the list of driving modes then start again.
		if(eDRIVE_MODE_NONE == gDriveModeOrder[gVehicleOrderProgress])
		{
			gVehicleOrderProgress = 0;
			gVehicleOrderComplete = true;
		}

		//Start driving in the selected mode.
		DriveMode eDriveMode = gDriveModeOrder[gVehicleOrderProgress];
		switch(eDriveMode)
		{
		case eDRIVE_MODE_ACCEL_FORWARDS:
			startAccelerateForwardsMode();
			break;
		case eDRIVE_MODE_ACCEL_REVERSE:
			startAccelerateReverseMode();
			break;
		case eDRIVE_MODE_HARD_TURN_LEFT:
			startTurnHardLeftMode();
			break;
		case eDRIVE_MODE_HANDBRAKE_TURN_LEFT:
			startHandbrakeTurnLeftMode();
			break;
		case eDRIVE_MODE_HARD_TURN_RIGHT:
			startTurnHardRightMode();
			break;
		case eDRIVE_MODE_HANDBRAKE_TURN_RIGHT:
			startHandbrakeTurnRightMode();
			break;
		case eDRIVE_MODE_BRAKE:
			startBrakeMode();
			break;
		case eDRIVE_MODE_NONE:
			break;
		};

		//If the mode about to start is eDRIVE_MODE_ACCEL_REVERSE then switch to reverse gears.
		if(eDRIVE_MODE_ACCEL_REVERSE == gDriveModeOrder[gVehicleOrderProgress])
		{
			gVehicle4W->mDriveDynData.forceGearChange(PxVehicleGearsData::eREVERSE);
		}
	}
}

void stepPhysics()
{
	const PxF32 timestep = 1.0f/60.0f;

	//Cycle through the driving modes to demonstrate how to accelerate/reverse/brake/turn etc.
	incrementDrivingMode(timestep);

	//Update the control inputs for the vehicle.
	if(gMimicKeyInputs)
	{
		PxVehicleDrive4WSmoothDigitalRawInputsAndSetAnalogInputs(gKeySmoothingData, gSteerVsForwardSpeedTable, gVehicleInputData, timestep, gIsVehicleInAir, *gVehicle4W);
	}
	else
	{
		PxVehicleDrive4WSmoothAnalogRawInputsAndSetAnalogInputs(gPadSmoothingData, gSteerVsForwardSpeedTable, gVehicleInputData, timestep, gIsVehicleInAir, *gVehicle4W);
	}

	//Raycasts.
	PxVehicleWheels* vehicles[1] = {gVehicle4W};
	PxRaycastQueryResult* raycastResults = gVehicleSceneQueryData->getRaycastQueryResultBuffer(0);
	const PxU32 raycastResultsSize = gVehicleSceneQueryData->getQueryResultBufferSize();
	PxVehicleSuspensionRaycasts(gBatchQuery, 1, vehicles, raycastResultsSize, raycastResults);

	//Vehicle update.
	const PxVec3 grav = gScene->getGravity();
	PxWheelQueryResult wheelQueryResults[PX_MAX_NB_WHEELS];
	PxVehicleWheelQueryResult vehicleQueryResults[1] = {{wheelQueryResults, gVehicle4W->mWheelsSimData.getNbWheels()}};
	PxVehicleUpdates(timestep, grav, *gFrictionPairs, 1, vehicles, vehicleQueryResults);

	//Work out if the vehicle is in the air.
	gIsVehicleInAir = gVehicle4W->getRigidDynamicActor()->isSleeping() ? false : PxVehicleIsInAir(vehicleQueryResults[0]);

	//Scene update.
	gScene->simulate(timestep);
	gScene->fetchResults(true);
}
	
void cleanupPhysics()
{
	gVehicle4W->getRigidDynamicActor()->release();
	gVehicle4W->free();
	PX_RELEASE(gGroundPlane);
	PX_RELEASE(gBatchQuery);
	gVehicleSceneQueryData->free(gAllocator);
	PX_RELEASE(gFrictionPairs);
	PxCloseVehicleSDK();

	PX_RELEASE(gMaterial);
	PX_RELEASE(gCooking);
	PX_RELEASE(gScene);
	PX_RELEASE(gDispatcher);
	PX_RELEASE(gPhysics);
	if(gPvd)
	{
		PxPvdTransport* transport = gPvd->getTransport();
		gPvd->release();	gPvd = NULL;
		PX_RELEASE(transport);
	}
	
  	PX_RELEASE(gFoundation);

	printf("SnippetVehicleScale done.\n");
}

void keyPress(unsigned char key, const PxTransform& camera)
{
	PX_UNUSED(camera);
	PX_UNUSED(key);
}

int snippetMain(int, const char*const*)
{
#ifdef RENDER_SNIPPET
	extern void renderLoop();
	renderLoop();
#else
	initPhysics();
	while(!gVehicleOrderComplete)
	{
		stepPhysics();
	}
	cleanupPhysics();
#endif

	return 0;
}