#ifndef ODEWORLD_H
#define ODEWORLD_H

#include <ode/ode.h>
#include <vector>
#include <string>
#include <map>

class OdeWorld
{
    public:
        OdeWorld();
        ~OdeWorld();
        void setGravity(float x, float y, float z)
        {
            dWorldSetGravity(m_world, x, y, z);
        }
        void worldStep();
        std::vector<dGeomID> loadPhy(const std::string & path,
                bool static_data = false);
        dGeomID addCube(const std::string & name, bool static_data,
                dBodyID * body, const std::vector<float> args);
        dGeomID addSphere(const std::string & name, bool static_data,
                dBodyID * body, const std::vector<float> args);
        dGeomID addCylinder(const std::string & name, bool static_data,
                dBodyID * body, const std::vector<float> args);
        dGeomID addCCylinder(const std::string & name, bool static_data,
                dBodyID * body, const std::vector<float> args);
        dGeomID addPlane(const std::string & name, bool static_data,
                dBodyID * body, const std::vector<float> args);

        friend void OdeWorld_collide_callback(void * data,
                dGeomID o1, dGeomID o2);

    protected:
        dWorldID        m_world;
        dSpaceID        m_space;
        dJointGroupID   m_contactJointGroup;
        std::map<std::string, dGeomID> m_objects;

        void setupGeom(const std::string & name, bool static_data,
                dBodyID * body, dGeomID geom, bool placeable,
                float locx, float locy, float locz,
                float rotx, float roty, float rotz);
};

#endif