;Efficient use of the autodisable flags.
;For better performance change the ODE_UpdateGeoms() in the BlitzODE.bb file to this :


;Function ODE_UpdateGeoms()
;	For g.TODEGeom = Each TODEGeom
;	If ODE_dBodyIsEnabled(g\body)
;		PositionEntity g\mesh, ODE_dGeomGetPositionX(g\geom), ODE_dGeomGetPositionY(g\geom), ODE_dGeomGetPositionZ(g\geom)
;		RotateEntity g\mesh, ODE_dGeomGetPitch(g\geom), ODE_dGeomGetYaw(g\geom), ODE_dGeomGetRoll(g\geom), 1
;	EndIf
;	Next
;End Function



Include "BlitzODE.bb"

;------ Initialize Graphics --------

Graphics3D 800, 600
SetBuffer BackBuffer()

SetFont LoadFont("Arial", 14, 1, 1, 0)

PV = CreatePivot()
cam = CreateCamera(PV)
PositionEntity cam, 0, 20, -30
PointEntity cam, PV
lh = CreateLight()

plane = CreatePlane()
mirror = CreateMirror(plane)
EntityColor plane, 0, 0, 150
EntityAlpha plane, .8

SeedRnd MilliSecs()
;--------- Initialize ODE ----------

Global space = ODE_dWorldCreate()


ODE_dWorldSetAutoDisableFlag(1)
ODE_dWorldSetAutoDisableSteps(1)
ODE_dWorldSetAutoDisableLinearThreshold(0.003)
ODE_dWorldSetAutoDisableAngularThreshold(0.003)

;---- Setting contact parameters ---

ODE_dSetContactMode(dContactBounce + dContactSoftERP + dContactSoftCFM + dSlip1 + dSlip2)

;-------- Create many box ---------

For i = 1 To 150
	g.TODEGeom = New TODEGeom
	g\body = ODE_dBodyCreate()
	g\geom = ODE_dCreateBox(space, 2, 2, 2, 1)
	ODE_dGeomSetBody g\geom, g\body
	ODE_dBodySetPosition(g\body, Rnd(-15, 15), Rnd(10, 20), Rnd(-15, 15))
	ODE_dBodySetRotation(g\body, Rand(-180, 180), Rand(-180, 180), Rand(-180, 180))
	
	g\mesh = CreateCube()
	EntityColor g\mesh, 255, 255, 0
	EntityShininess g\mesh, 0.7
Next

;-----------------------------------

ODE_UpdateGeoms()

;-----------------------------------

gameFPS = 50.0
framePeriod = 1000 / gameFPS
frameTime = MilliSecs () - framePeriod

While Not KeyHit(1)
	Repeat
		frameElapsed = MilliSecs () - frameTime
	Until frameElapsed
	
	frameTicks = frameElapsed / framePeriod
	frameTween# = Float(frameElapsed Mod framePeriod) / Float(framePeriod)
	For frameLimit = 1 To frameTicks
		If frameLimit = frameTicks Then CaptureWorld
		frameTime = frameTime + framePeriod
		
		;------------ Add Force and Torque ----------

		If KeyHit(57)
			For g.TODEGeom = Each TODEGeom
				ODE_dBodyEnable g\body
				ODE_dBodyAddForce g\body, 0, Rnd(20, 50), 0
				ODE_dBodyAddTorque g\body, Rnd(-10, 10), Rnd(-10, 10), Rnd(-10, 10)
			Next
		EndIf

		;------------ Update physics world ----------		

		ODE_dWorldQuickStep 0.1

		;--------------------------------------------
		
	Next
	
	;---- Set geometry position and rotation ----

	ODE_UpdateGeoms()

	;--------------------------------------------

	RenderWorld frameTween#
	
	; FPS counter
	fr = fr + 1
	If MilliSecs() - frTime >= 1000
		fps = fr
		fr = 0
		frTime = MilliSecs()
	EndIf
	
	Color 255, 255, 255
	Text 5, 5, "FPS " + fps
	Text 5, 580, "Space - Add Force and Torque"
	
	
	ku=0:ka=0
	For g.TODEGeom = Each TODEGeom
	If ODE_dBodyIsEnabled(g\body)=0
	ka=ka+1
	EntityColor g\mesh,255,100,100
	Else
	EntityColor g\mesh, 255, 255, 0
	ku=ku+1
	EndIf
		
	Next
	
	Text 5,30,"Enabled: "+ku
	Text 5,50,"Disabled: "+ka

	Flip 0
Wend

ODE_dCloseODE()
End