#include <stdio.h>
#include"physxApi.hpp"


//void (*)(void*, physx::PxTriggerPair const*, physx::PxU32);
static void onTrigger(void* userData, physx::PxTriggerPair* pairs, physx::PxU32  count)
{
	//userdataaaa* data = (userdataaaa*)userData;
	//int a = data->value;
	int a = 0;
}

//void (*)(void*, physx::PxContactPairHeader const*, physx::PxContactPair const*, physx::PxU32);
static void onContact(void* userData, physx::PxContactPairHeader const *  pairHeader,   physx::PxContactPair const*  pairs, physx::PxU32 nbPairs)
{
	//userdataaaa* data = (userdataaaa*)userData;
	//int a = data->value;
	int a = 0;
}
//onContact gOnContact;

void onConstraintBreak(void* userData, physx::PxConstraintInfo* info, physx::PxU32  flag)
{
	int a = 0;
}
void onWake(void* userData, physx::PxActor** actors, physx::PxU32 count, bool isSleep)
{
	int a = 0;
}
void onAdvance(void* userData, physx::PxRigidBody** ppRigid, physx::PxTransform* pTrans, unsigned int nb)
{
	int a = 0;

}
//virtual		PxFilterFlags	pairFound(PxU64 pairID,
//	PxFilterObjectAttributes attributes0, PxFilterData filterData0, const PxActor* a0, const PxShape* s0,
//	PxFilterObjectAttributes attributes1, PxFilterData filterData1, const PxActor* a1, const PxShape* s1,
//	PxPairFlags& pairFlags) = 0;
physx::PxFilterFlags	pairFound(physx::PxU32 pairID,
	physx::PxFilterObjectAttributes attributes0, physx::PxFilterData filterData0, const physx::PxActor* a0, const physx::PxShape* s0,
	physx::PxFilterObjectAttributes attributes1, physx::PxFilterData filterData1, const physx::PxActor* a1, const physx::PxShape* s1,
	physx::PxPairFlags* pairFlags)
{

	*pairFlags = physx::PxPairFlag::eCONTACT_DEFAULT;
	*pairFlags = physx::PxPairFlag::eTRIGGER_DEFAULT;
	//return physx::PxFilterFlags();
	return physx::PxFilterFlag::eCALLBACK;
}
//typedef physx::PxQueryHitType::Enum(*RaycastHitCallback)(const physx::PxRigidActor* actor, const physx::PxFilterData* filterData, const physx::PxShape* shape, physx::PxU32 hitFlags, const void* userData);
// uint32_t(*RaycastHitCallback)(const physx::PxRigidActor* actor, const physx::PxFilterData* filterData, const physx::PxShape* shape, 
//	uint32_t hitFlags, const void* userData);
static  physx::PxQueryHitType::Enum preFilter(const physx::PxRigidActor* actor, const physx::PxFilterData* filterData, const physx::PxShape* shape,
	physx::PxU32 flags, const void* userData)
{

	return physx::PxQueryHitType::eBLOCK;
}


 static physx::PxFilterFlags PhysxWorldFilterShader(
	 physx::PxU32 attributes0,
	physx::PxFilterData filterData0,
	 physx::PxU32 attributes1,
	physx::PxFilterData filterData1, physx::PxPairFlags& pairFlags,
	void* constantBlock, physx::PxU32 constantBlockSize)
{

	//var trigger0 = phys_PxFilterObjectIsTrigger(attributes0);
	//var trigger1 = phys_PxFilterObjectIsTrigger(attributes1);

	//var type0 = phys_PxGetFilterObjectType(attributes0);
	//var type1 = phys_PxGetFilterObjectType(attributes1);


	 pairFlags = physx::PxPairFlag::eSOLVE_CONTACT |
		 physx::PxPairFlag::eDETECT_DISCRETE_CONTACT |
		 physx::PxPairFlag::eNOTIFY_TOUCH_FOUND |
		 physx::PxPairFlag::eNOTIFY_TOUCH_LOST |
		 physx::PxPairFlag::eNOTIFY_CONTACT_POINTS;


	return (physx::PxFilterFlags)0x4;
	//返回kill也会崩溃
	//return PxFilterFlags.Kill;
	//return PxFilterFlags.Notify;
}



int main()
{

	#define PX_PHYSICS_VERSION_MAJOR 5
	#define PX_PHYSICS_VERSION_MINOR 1
	#define PX_PHYSICS_VERSION_BUGFIX 3
	#define PX_PHYSICS_VERSION ((PX_PHYSICS_VERSION_MAJOR<<24) + (PX_PHYSICS_VERSION_MINOR<<16) + (PX_PHYSICS_VERSION_BUGFIX<<8) + 0)

	//创建found
	physx_PxFoundation_Pod* _Foundation =  (physx_PxFoundation_Pod*)physx_create_foundation();
	physx_PxPvd_Pod*  _Pvd  = phys_PxCreatePvd(_Foundation);

	physx_PxTolerancesScale_Pod tolerancesScale;
	tolerancesScale.length = 1;
	tolerancesScale.speed = 10;
	physx_PxPhysics_Pod * _Physics = phys_PxCreatePhysics(PX_PHYSICS_VERSION, _Foundation, &tolerancesScale, true, _Pvd, nullptr);
	//physx_PxPhysics_Pod* _Physics  = (physx_PxPhysics_Pod*)physx_create_physics(_Foundation);
	physx_PxDefaultCpuDispatcher_Pod * _Dispatcher = phys_PxDefaultCpuDispatcherCreate(1, nullptr, 0, 0);
	physx_PxMaterial_Pod * _Material = PxPhysics_createMaterial_mut(_Physics, 0.0f, 0.0f, 0.0f);

	#define PVD_HOST "192.168.101.35"

	physx_PxPvdTransport_Pod*transport = phys_PxDefaultPvdSocketTransportCreate(PVD_HOST, 5425, 10);

	bool bSuccess =  PxPvd_connect_mut(_Pvd, transport,0x7);
	
	physx_PxSceneDesc_Pod sceneDesc = PxSceneDesc_new(PxPhysics_getTolerancesScale(_Physics));
	//sceneDesc.gravity = new Vector3(9.8f, 0.0f, 0.0f);
	physx_PxVec3_Pod gravity;
	gravity.x = 9.8f;
	gravity.y = 0;
	gravity.z = 0;

	sceneDesc.gravity = gravity;
	sceneDesc.cpuDispatcher = (physx_PxCpuDispatcher_Pod*)_Dispatcher;


	//需要回头写一下
	//sceneDesc.filterShader = get_default_simulation_filter_shader();
	//这一步实现的有问题 需要重新实现
	sceneDesc.filterShader = PhysxWorldFilterShader;
	//

	SimuliationFilterCallBackInfo _filter_call_back;
	_filter_call_back.pairFoundCallback = pairFound;
	//必须初始化为nullptr  _filter_call_back不会对内部成员自动置为 nullptr 否则 physx 会报错   
	_filter_call_back.statusChangeCallback = nullptr;
	_filter_call_back.pairLostCallback = nullptr;
	//创建 filter call back   写那么多代码就为了验证这一行的功能 。。   妖兽啊 。。。啊啊啊啊啊啊啊啊啊啊啊啊
	sceneDesc.filterCallback = (physx_PxSimulationFilterCallback_Pod*)create_simulation_filter_callbacks(&_filter_call_back);
	//sceneDesc.filterCallback = nullptr;

	SimulationEventCallbackInfo  _event_call_back;
	//需要回头详细写一下
	_event_call_back.collisionCallback = onContact;
	_event_call_back.collisionUserData = nullptr;


	sceneDesc.simulationEventCallback  = (physx_PxSimulationEventCallback_Pod*)create_simulation_event_callbacks(&_event_call_back);
	//创建场景
	physx_PxScene_Pod *px_scene_ = PxPhysics_createScene_mut(_Physics, &sceneDesc);


	//创建第一个刚体
	physx_PxVec3_Pod startPosition ;
	startPosition.x = 10;
	startPosition.y = 0;
	startPosition.z = 1;
	physx_PxQuat_Pod startOrientation ;
	startOrientation.x = 0;
	startOrientation.y = 0;
	startOrientation.z = 0;
	startOrientation.w = 1;

	physx_PxSphereGeometry_Pod sphere = PxSphereGeometry_new(2.0f);
	physx_PxGeometry_Pod* geometry = (physx_PxGeometry_Pod*)&sphere;
	PxScene_lockWrite_mut(px_scene_ ,nullptr ,0 );
	physx_PxRigidActor_Pod* rigActor = nullptr;


	physx_PxTransform_Pod identity = PxTransform_new_2(100);
	physx_PxTransform_Pod pxTran ;
	pxTran.p = startPosition;
	pxTran.q = startOrientation;

	rigActor = (physx_PxRigidActor_Pod*)phys_PxCreateDynamic(
		_Physics, &pxTran, geometry,
		_Material, 10.0f, &identity);

	PxActor_setActorFlag_mut((physx_PxActor_Pod*)rigActor,2, true);
	//设置质量和惯性
	PxRigidBodyExt_updateMassAndInertia_1((physx_PxRigidBody_Pod*)rigActor, 1.0f, nullptr, false);
	PxRigidBody_setRigidBodyFlag_mut((physx_PxRigidBody_Pod*)rigActor, 4, true);

	//设置名字
	//PxShape* shape;
	//rigActor->GetShapes(&shape, 1, 0);
	//fixed(byte * bytePointer = Encoding.UTF8.GetBytes("niubi"))
	//{
	//	shape->SetNameMut(bytePointer);
	//}

	//设置线速度
	physx_PxVec3_Pod velocity ;
	velocity.x = 1.0f;
	velocity.y = 0.0f;
	velocity.z = 0.0f;
	PxRigidDynamic_setLinearVelocity_mut((physx_PxRigidDynamic_Pod*)rigActor, &velocity, true);

	//设置线速度 角速度  的阻力为0   如空气阻力  
	PxRigidBody_setLinearDamping_mut((physx_PxRigidBody_Pod*)rigActor, 0);
	PxRigidBody_setAngularDamping_mut((physx_PxRigidBody_Pod*)rigActor, 0);

	PxScene_addActor_mut(px_scene_,(physx_PxActor_Pod*)rigActor,nullptr);
	//px_scene_->AddActorMut((PxActor*)rigActor, null);
	PxScene_unlockWrite_mut(px_scene_);


	PxScene_lockWrite_mut(px_scene_, nullptr, 0);
	//创建第二个刚体
	physx_PxVec3_Pod startPosition2 ;
	startPosition2.x = 24;
	startPosition2.y = 0;
	startPosition2.z = 0;
	physx_PxQuat_Pod startOrientation2 ;
	startOrientation2.x = 0;
	startOrientation2.y = 0;
	startOrientation2.z = 0;
	startOrientation2.w = 1;


	physx_PxSphereGeometry_Pod sphere2 = PxSphereGeometry_new(1.0f);
	physx_PxGeometry_Pod* geometry2 = (physx_PxGeometry_Pod*)&sphere2;

	//PxScene_lockWrite_mut(px_scene_, nullptr, 0);
	physx_PxRigidActor_Pod* rigActor2 = nullptr;


	physx_PxTransform_Pod identity2 = PxTransform_new_2(100);
	physx_PxTransform_Pod pxTran2 ;
	pxTran2.p = startPosition2;
	pxTran2.q = startOrientation2;


	//PxShapeFlags shapeFlags = PxShapeFlag::eVISUALIZATION | PxShapeFlag::eSCENE_QUERY_SHAPE | PxShapeFlag::eSIMULATION_SHAPE
	//创建物体的默认属性
	rigActor2 = (physx_PxRigidActor_Pod*)phys_PxCreateDynamic(
		_Physics, &pxTran2, geometry2,
		_Material, 10.0f, &identity2);

	PxActor_setActorFlag_mut((physx_PxActor_Pod*)rigActor2, 2, true);
	//设置质量和惯性
	PxRigidBodyExt_updateMassAndInertia_1((physx_PxRigidBody_Pod*)rigActor2, 3.0f, nullptr, false);
	PxRigidBody_setRigidBodyFlag_mut((physx_PxRigidBody_Pod*)rigActor2, 4, true);


	physx_PxShape_Pod* shape2;
	//rigActor2->GetShapes(&shape2, 1, 0);
	PxRigidActor_getShapes((physx_PxRigidActor_Pod*)rigActor2, &shape2,1,0);

	physx_PxFilterData_Pod filterData2 = PxFilterData_new_1();;
	filterData2.word0 = 5;
	filterData2.word1 = 0;
	filterData2.word2 = 0;
	filterData2.word3 = 0;

	//shape2->SetSimulationFilterDataMut(&filterData2);
	PxShape_setSimulationFilterData_mut(shape2, &filterData2);
	PxShape_setFlag_mut(shape2, physx::PxShapeFlag::Enum::eSIMULATION_SHAPE,false);
	PxShape_setFlag_mut(shape2, physx::PxShapeFlag::Enum::eTRIGGER_SHAPE, true);
	PxShape_setFlag_mut(shape2, physx::PxShapeFlag::Enum::eSCENE_QUERY_SHAPE, true);
	PxShape_setFlag_mut(shape2, physx::PxShapeFlag::Enum::eVISUALIZATION, true);

	//shape2->SetFlagMut(physx::PxShapeFlag.SimulationShape, false);             //不可以同时设置
	//shape2->SetFlagMut(PxShapeFlag.TriggerShape, true);
	//shape2->SetFlagMut(PxShapeFlag.SceneQueryShape, true);
	//shape2->SetFlagMut(PxShapeFlag.Visualization, true);


	physx_PxVec3_Pod velocity2 ;
	velocity2.x = -1.0f;
	velocity2.y = 0.0f;
	velocity2.z = 0.0f;
	PxRigidDynamic_setLinearVelocity_mut((physx_PxRigidDynamic_Pod*)rigActor2, &velocity2, true);
	PxRigidBody_setLinearDamping_mut((physx_PxRigidBody_Pod*)rigActor2, 0);
	PxRigidBody_setAngularDamping_mut((physx_PxRigidBody_Pod*)rigActor2, 0);

	//px_scene_->AddActorMut((PxActor*)rigActor2, null);
	PxScene_addActor_mut(px_scene_, (physx_PxActor_Pod*)rigActor2, nullptr);

	PxRigidDynamic_setContactReportThreshold_mut((physx_PxRigidDynamic_Pod*)rigActor2, 0.1f);
	PxScene_unlockWrite_mut(px_scene_);


	physx_PxRaycastHit_Pod rayHit;
	//rayHit.actor = nullptr;
	//rayHit.shape = nullptr;
	//rayHit.u = 0;
	//rayHit.v = 0;
	//rayHit.flags = 0x10;
	physx_PxQueryFilterData_Pod filterData = PxQueryFilterData_new();
	//filterData.data.word0 = 5;
	//filterData.data.word1 = 0;
	//filterData.data.word2 = 0;
	//filterData.data.word3 = 0;
	//必须同时设置 ePREFILTER 和 eDYNAMIC
	filterData.flags = (1 << 2)  | (1<<1);  //ePREFILTER	|	eDYNAMIC				= (1<<2),

	physx_PxVec3_Pod normalizedDir ;
	normalizedDir.x = 1.0f;
	normalizedDir.y = 0.0f;
	normalizedDir.z = 0.0f;
	physx_PxVec3_Pod tmpNormalizedDir = PxVec3_getNormalized(&normalizedDir);
	//normalizedDir.GetNormalized();

	startPosition.x = 20.0f;
	//startPosition.z = 0;

	physx_PxQueryFilterCallback_Pod* fliterCallBack = 
	(physx_PxQueryFilterCallback_Pod*)create_pre_and_post_raycast_filter_callback_func(preFilter,nullptr,nullptr);
	////根据原意图推测为
	bool hasBlock = PxSceneQueryExt_raycastSingle(px_scene_, &startPosition, &tmpNormalizedDir, 30, 0x20, &rayHit, &filterData, fliterCallBack, nullptr);


	while (true)
	{
		unsigned int error = 0;
		//px_scene_->SimulateMut(0.05f, null, null, 0, true);
		PxScene_simulate_mut(px_scene_, 0.05f, nullptr,nullptr, 0,true);
		PxScene_fetchResults_mut(px_scene_, true, &error);
	}


	return 0;
}