#ifndef ODEWORLD_H
#define ODEWORLD_H

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

class OdeWorld
{
    public:
        enum GeomType { BOX, SPHERE, PLANE, CYLINDER, CAPSULE };

        OdeWorld();
        ~OdeWorld();

        class Object
        {
            public:
                Object(bool is_static, OdeWorld * ode_world,
                        dWorldID world, dSpaceID space,
                        float scale = 1.0f);
                Object(const Object & orig);
                ~Object();

                void setPosition(double x, double y, double z);
                void getPosition(double * x, double * y, double * z);
                void setRotation(dReal x, dReal y, dReal z);
                const dReal * getPosition();
                const dReal * getRotation();
                bool addBox(refptr< std::vector<float> > args);
                bool addSphere(refptr< std::vector<float> > args);
                bool addCylinder(refptr< std::vector<float> > args);
                bool addCapsule(refptr< std::vector<float> > args);
                bool addPlane(refptr< std::vector<float> > args);
                void addForce(dReal fx, dReal fy, dReal fz);
                void addForceRel(dReal fx, dReal fy, dReal fz);
                void addTorque(dReal fx, dReal fy, dReal fz);
                void addTorqueRel(dReal fx, dReal fy, dReal fz);
                void finalize();
                dReal getMass() { return m_mass.mass; }
                void setMass(dReal newmass);
                void enableBody();
                dBodyID getBody() { return m_body; }

            protected:
                bool    m_is_static;
                dBodyID m_body;
                dMass   m_mass;
                dWorldID m_world;
                dSpaceID m_space;
                std::vector<dGeomID> m_geoms;
                float   m_scale;
                dReal   m_position[3];
                dReal   m_rotation[12];
                OdeWorld * m_ode_world;

                void setupGeom(dGeomID geom, dMass * mass,
                        float locx, float locy, float locz,
                        float rotx, float roty, float rotz);
                dGeomID cloneGeom(dGeomID geom, dBodyID body);
        };

        Object * createObject(bool is_static, float scale = 1.0f);
        void setGravity(float x, float y, float z)
        {
            dWorldSetGravity(m_world, x, y, z);
            enableAllBodies();
        }
        void step();
        void enableAllBodies();
        dWorldID getWorldID() { return m_world; }
        dJointID createAMotor(dBodyID b1, dBodyID b2);
        void setAMotorNumAxes(dJointID j, int num_axes)
        {
            dJointSetAMotorNumAxes(j, num_axes);
        }
        void setAMotorAxis(dJointID j, int anum, int rel,
                dReal x, dReal y, dReal z)
        {
            dJointSetAMotorAxis(j, anum, rel, x, y, z);
        }
        void setAMotorLoStop(dJointID j, dReal val)
        {
            dJointSetAMotorParam(j, dParamLoStop, val);
        }
        void setAMotorHiStop(dJointID j, dReal val)
        {
            dJointSetAMotorParam(j, dParamHiStop, val);
        }
        void setAMotorVel(dJointID j, dReal val)
        {
            dJointSetAMotorParam(j, dParamVel, val);
        }
        void setAMotorFMax(dJointID j, dReal val)
        {
            dJointSetAMotorParam(j, dParamFMax, val);
        }
        void setAMotorBounce(dJointID j, dReal val)
        {
            dJointSetAMotorParam(j, dParamBounce, val);
        }

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

        static void pushTransform(const dReal * pos, const dReal * R);

    protected:
        dBodyID         createBody();
        void            destroyBody(dBodyID body);

        dWorldID        m_world;
        dSpaceID        m_space;
        dJointGroupID   m_contactJointGroup;
        std::map<dBodyID, int>  m_bodies;
};

#endif