#include <iostream>
#include <irr/irrlicht.h>
#include <newton/newton.h>
 
using namespace std;
using namespace irr;
 
 
//Les fonctions
void addForce(const NewtonBody *nBody);
void setTransform(const NewtonBody* body, const float* matrix);
 
 
//Les variables generales
NewtonWorld *world = NewtonCreate(NULL,NULL);
scene::ISceneManager *scenegraph = NULL;
int fer = NewtonMaterialCreateGroupID(world);
 
 
class Boule
{
    public:
        void init(core::vector3df pos, core::vector3df posJoint)
        {
            //On crée un coprs qui gere la physique
            body = NewtonCreateBody(world,NewtonCreateSphere(world,2,2,2,NULL));
 
            //On ajoute une boule
            node = scenegraph->addSphereSceneNode(2);
 
            //On ajoute un fil a cette boule 
            scene::ISceneNode *tube = scenegraph->addAnimatedMeshSceneNode(
            scenegraph->getMesh("data/tube.3ds"), node);
            //On regle les parametre des fils
            tube->setPosition(core::vector3df(0,8,0));
            tube->setScale(core::vector3df(5,10,5));
 
            //On definis les proprietes du corps
            NewtonBodySetMassMatrix(body, 100,0,0,0);
            NewtonBodySetUserData(body, node);
 
            //On diminue les frotements de l'air
            NewtonBodySetLinearDamping(body, 0.001);
 
            //On lui attibue un material qui est simlaire a celui du fer
            NewtonBodySetMaterialGroupID(body, fer);
 
            //On desactive le blocage automatique
            NewtonBodySetAutoFreeze(body, 0);
 
            //On cree une matrice qui recupere la position envoiyé au body.
            //puis on la met dans les proprietes du body
            core::matrix4 mat;
            mat.setTranslation(pos);
            NewtonBodySetMatrix(body, &mat[0]);
 
 
            //Ici on s'occupe du Joint
            pJoint[0] = posJoint.X;
            pJoint[1] = posJoint.Y;
            pJoint[2] = posJoint.Z;
 
            //On cree une jointure ici un fil
            joint = NewtonConstraintCreateBall(world, pJoint, body, NULL);
 
 
 
            //On attribu les callback au body
            NewtonBodySetForceAndTorqueCallback(body, addForce);
            NewtonBodySetTransformCallback(body, setTransform);
        }
 
        void setMove()
        {
            float v[3] = {8,0,0};
            //On ajoute une vitesse
            NewtonBodySetVelocity(body, v);
        }
 
 
 
 
    private:
        NewtonBody *body;
        NewtonJoint *joint;
        scene::ISceneNode *node;
 
        float pJoint[3];
 
};
 
 
 
 
 
 
 
 
int main()
{
    //Materail fer sur fer
    NewtonMaterialSetDefaultElasticity (world, fer, fer, .97);
    NewtonMaterialSetDefaultFriction   (world, fer, fer, 0, 0.1);
 
 
    IrrlichtDevice *device = createDevice(video::EDT_DIRECT3D9,
    core::dimension2d<s32>(800,600), 32, false, true, false);
 
    scenegraph = device->getSceneManager();
    video::IVideoDriver *driver = device->getVideoDriver();
    device->setWindowCaption(L"Boulier irr/newt");
 
 
    //La camera
    scene::ICameraSceneNode *camera = scenegraph->addCameraSceneNode();
    camera->setPosition(core::vector3df(0,0,-40));
 
    //La lumiere
    scene::ILightSceneNode *lumiere = scenegraph->addLightSceneNode();
 
    //Un petit skybox pour le style
    scenegraph->addSkyBoxSceneNode(
        driver->getTexture("data/irrlicht2_up.jpg"),
        driver->getTexture("data/irrlicht2_dn.jpg"),
        driver->getTexture("data/irrlicht2_lf.jpg"),
        driver->getTexture("data/irrlicht2_rt.jpg"),
        driver->getTexture("data/irrlicht2_ft.jpg"),
        driver->getTexture("data/irrlicht2_bk.jpg"));
 
 
    Boule boule;
    boule.init(core::vector3df(0,-8,0), core::vector3df(0,10,0));
 
    Boule boule1;
    boule1.init(core::vector3df(-4,-8,0), core::vector3df(-4,10,0));
 
    Boule boule2;
    boule2.init(core::vector3df(-8,-8,0), core::vector3df(-8,10,0));
 
    Boule boule3;
    boule3.init(core::vector3df(4,-8,0), core::vector3df(4,10,0));
 
    Boule boule4;
    boule4.init(core::vector3df(8,-8,0), core::vector3df(8,10,0));
    boule4.setMove();
 
 
    //un Boulier (eu enfin le cadre)
    scene::ISceneNode *node1 = scenegraph->addAnimatedMeshSceneNode(
    scenegraph->getMesh("data/boulier2.3ds"));
 
 
    //On l'ajute (a l'oeul )
    node1->setScale(core::vector3df(8,8,8));
    node1->setRotation(core::vector3df(0,90,0));
    node1->setPosition(core::vector3df(0,0,0));
 
 
 
    while(device->run())
    {
 
        driver->beginScene(true, true, video::SColor(128,128,128,128));
 
        scenegraph->drawAll();
        NewtonUpdate(world, 0.01);
 
 
 
        driver->endScene();
    }
 
 
    device->drop();
 
 
    return 0;
}
 
 
 
void addForce(const NewtonBody *nBody)
{
    float mass, ix, iy, iz;
 
    //On recupere la masse et l'inertie du corp
    NewtonBodyGetMassMatrix(nBody, &mass, &ix, &iy, &iz);
 
 
    //on cree une force tridimentionelle
    float force[3] = {0, mass * -9.81,0};
 
 
    //On les envoi au corps
    NewtonBodyAddForce(nBody, force);
}
 
void setTransform(const NewtonBody* body, const float* matrix)
{
    core::matrix4 mat;
    mat.setM(matrix);
 
    scene::ISceneNode *tmp = (scene::ISceneNode*)NewtonBodyGetUserData(body);
 
    tmp->setPosition(mat.getTranslation());		// set position
    tmp->setRotation(mat.getRotationDegrees());	// and rotation
 
 
}