// MIT License

// Copyright (c) 2019 Erin Catto

// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:

// The above copyright notice and this permission notice shall be included in all
// copies or substantial portions of the Software.

// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
// SOFTWARE.

#include "test.h"

// This is a fun demo that shows off the wheel joint
class Car : public Test
{
public:
	Car()
	{		
		m_speed = 50.0f;

		b2Body* ground = NULL;
		{
			b2BodyDef bd;
			ground = m_world->CreateBody(&bd);

			b2EdgeShape shape;

			b2FixtureDef fd;
			fd.shape = &shape;
			fd.density = 0.0f;
			fd.friction = 0.6f;

			shape.SetTwoSided(b2Vec2(-20.0f, 0.0f), b2Vec2(20.0f, 0.0f));
			ground->CreateFixture(&fd);

			float hs[10] = {0.25f, 1.0f, 4.0f, 0.0f, 0.0f, -1.0f, -2.0f, -2.0f, -1.25f, 0.0f};

			float x = 20.0f, y1 = 0.0f, dx = 5.0f;

			for (int32 i = 0; i < 10; ++i)
			{
				float y2 = hs[i];
				shape.SetTwoSided(b2Vec2(x, y1), b2Vec2(x + dx, y2));
				ground->CreateFixture(&fd);
				y1 = y2;
				x += dx;
			}

			for (int32 i = 0; i < 10; ++i)
			{
				float y2 = hs[i];
				shape.SetTwoSided(b2Vec2(x, y1), b2Vec2(x + dx, y2));
				ground->CreateFixture(&fd);
				y1 = y2;
				x += dx;
			}

			shape.SetTwoSided(b2Vec2(x, 0.0f), b2Vec2(x + 40.0f, 0.0f));
			ground->CreateFixture(&fd);

			x += 80.0f;
			shape.SetTwoSided(b2Vec2(x, 0.0f), b2Vec2(x + 40.0f, 0.0f));
			ground->CreateFixture(&fd);

			x += 40.0f;
			shape.SetTwoSided(b2Vec2(x, 0.0f), b2Vec2(x + 10.0f, 5.0f));
			ground->CreateFixture(&fd);

			x += 20.0f;
			shape.SetTwoSided(b2Vec2(x, 0.0f), b2Vec2(x + 40.0f, 0.0f));
			ground->CreateFixture(&fd);

			x += 40.0f;
			shape.SetTwoSided(b2Vec2(x, 0.0f), b2Vec2(x, 20.0f));
			ground->CreateFixture(&fd);
		}

		// Teeter
		{
			b2BodyDef bd;
			bd.position.Set(140.0f, 1.0f);
			bd.type = b2_dynamicBody;
			b2Body* body = m_world->CreateBody(&bd);

			b2PolygonShape box;
			box.SetAsBox(10.0f, 0.25f);
			body->CreateFixture(&box, 1.0f);

			b2RevoluteJointDef jd;
			jd.Initialize(ground, body, body->GetPosition());
			jd.lowerAngle = -8.0f * b2_pi / 180.0f;
			jd.upperAngle = 8.0f * b2_pi / 180.0f;
			jd.enableLimit = true;
			m_world->CreateJoint(&jd);

			body->ApplyAngularImpulse(100.0f, true);
		}

		// Bridge
		{
			int32 N = 20;
			b2PolygonShape shape;
			shape.SetAsBox(1.0f, 0.125f);

			b2FixtureDef fd;
			fd.shape = &shape;
			fd.density = 1.0f;
			fd.friction = 0.6f;

			b2RevoluteJointDef jd;

			b2Body* prevBody = ground;
			for (int32 i = 0; i < N; ++i)
			{
				b2BodyDef bd;
				bd.type = b2_dynamicBody;
				bd.position.Set(161.0f + 2.0f * i, -0.125f);
				b2Body* body = m_world->CreateBody(&bd);
				body->CreateFixture(&fd);

				b2Vec2 anchor(160.0f + 2.0f * i, -0.125f);
				jd.Initialize(prevBody, body, anchor);
				m_world->CreateJoint(&jd);

				prevBody = body;
			}

			b2Vec2 anchor(160.0f + 2.0f * N, -0.125f);
			jd.Initialize(prevBody, ground, anchor);
			m_world->CreateJoint(&jd);
		}

		// Boxes
		{
			b2PolygonShape box;
			box.SetAsBox(0.5f, 0.5f);

			b2Body* body = NULL;
			b2BodyDef bd;
			bd.type = b2_dynamicBody;

			bd.position.Set(230.0f, 0.5f);
			body = m_world->CreateBody(&bd);
			body->CreateFixture(&box, 0.5f);

			bd.position.Set(230.0f, 1.5f);
			body = m_world->CreateBody(&bd);
			body->CreateFixture(&box, 0.5f);

			bd.position.Set(230.0f, 2.5f);
			body = m_world->CreateBody(&bd);
			body->CreateFixture(&box, 0.5f);

			bd.position.Set(230.0f, 3.5f);
			body = m_world->CreateBody(&bd);
			body->CreateFixture(&box, 0.5f);

			bd.position.Set(230.0f, 4.5f);
			body = m_world->CreateBody(&bd);
			body->CreateFixture(&box, 0.5f);
		}

		// Car
		{
			b2PolygonShape chassis;
			b2Vec2 vertices[8];
			vertices[0].Set(-1.5f, -0.5f);
			vertices[1].Set(1.5f, -0.5f);
			vertices[2].Set(1.5f, 0.0f);
			vertices[3].Set(0.0f, 0.9f);
			vertices[4].Set(-1.15f, 0.9f);
			vertices[5].Set(-1.5f, 0.2f);
			chassis.Set(vertices, 6);

			b2CircleShape circle;
			circle.m_radius = 0.4f;

			b2BodyDef bd;
			bd.type = b2_dynamicBody;
			bd.position.Set(0.0f, 1.0f);
			m_car = m_world->CreateBody(&bd);
			m_car->CreateFixture(&chassis, 1.0f);

			b2FixtureDef fd;
			fd.shape = &circle;
			fd.density = 1.0f;
			fd.friction = 0.9f;

			bd.position.Set(-1.0f, 0.35f);
			m_wheel1 = m_world->CreateBody(&bd);
			m_wheel1->CreateFixture(&fd);

			bd.position.Set(1.0f, 0.4f);
			m_wheel2 = m_world->CreateBody(&bd);
			m_wheel2->CreateFixture(&fd);

			b2WheelJointDef jd;
			b2Vec2 axis(0.0f, 1.0f);

			float mass1 = m_wheel1->GetMass();
			float mass2 = m_wheel2->GetMass();

			float hertz = 4.0f;
			float dampingRatio = 0.7f;
			float omega = 2.0f * b2_pi * hertz;

			jd.Initialize(m_car, m_wheel1, m_wheel1->GetPosition(), axis);
			jd.motorSpeed = 0.0f;
			jd.maxMotorTorque = 20.0f;
			jd.enableMotor = true;
			jd.stiffness = mass1 * omega * omega;
			jd.damping = 2.0f * mass1 * dampingRatio * omega;
			jd.lowerTranslation = -0.25f;
			jd.upperTranslation = 0.25f;
			jd.enableLimit = true;
			m_spring1 = (b2WheelJoint*)m_world->CreateJoint(&jd);

			jd.Initialize(m_car, m_wheel2, m_wheel2->GetPosition(), axis);
			jd.motorSpeed = 0.0f;
			jd.maxMotorTorque = 10.0f;
			jd.enableMotor = false;
			jd.stiffness = mass2 * omega * omega;
			jd.damping = 2.0f * mass2 * dampingRatio * omega;
			jd.lowerTranslation = -0.25f;
			jd.upperTranslation = 0.25f;
			jd.enableLimit = true;
			m_spring2 = (b2WheelJoint*)m_world->CreateJoint(&jd);
		}
	}

	void Keyboard(int key) override
	{
		switch (key)
		{
		case GLFW_KEY_A:
			m_spring1->SetMotorSpeed(m_speed);
			break;

		case GLFW_KEY_S:
			m_spring1->SetMotorSpeed(0.0f);
			break;

		case GLFW_KEY_D:
			m_spring1->SetMotorSpeed(-m_speed);
			break;
		}
	}

	void Step(Settings& settings) override
	{
		g_debugDraw.DrawString(5, m_textLine, "Keys: left = a, brake = s, right = d, hz down = q, hz up = e");
		m_textLine += m_textIncrement;

		g_camera.m_center.x = m_car->GetPosition().x;
		Test::Step(settings);
	}

	static Test* Create()
	{
		return new Car;
	}

	b2Body* m_car;
	b2Body* m_wheel1;
	b2Body* m_wheel2;

	float m_speed;
	b2WheelJoint* m_spring1;
	b2WheelJoint* m_spring2;
};

static int testIndex = RegisterTest("Examples", "Car", Car::Create);