;-----------------------------;
; BlitzODE ARKON Wrapper 0.5b ;
; Tutorial 1                  ;
;-----------------------------;

Include "BlitzODE.bb"

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

Graphics3D 800, 600
SetBuffer BackBuffer()

PV = CreatePivot()
cam = CreateCamera(PV)
PositionEntity cam, 0, 10, -20
PointEntity cam, PV
lh = CreateLight()


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

Global space = ODE_dWorldCreate(0)
ODE_dWorldSetGravity(0,0,0)
;---- Setting contact parameters ---

ODE_dSetContactMode(dContactBounce + dContactSoftERP + dContactSoftCFM)
ODE_dSetBOUNCE(0.5)
ODE_dSetSOFT_ERP(0.4)
ODE_dSetSOFT_CFM(0.8)

;------- Create simple cube ---------

g.TODEGeom = New TODEGeom
g\body = ODE_dBodyCreate()
g\geom = ODE_dCreateBox(space, 1, 1, 1, 1)
ODE_dGeomSetBody g\geom, g\body
ODE_dBodySetPosition(g\body, 0, 10, 0)
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

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

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

For g.todegeom=Each todegeom
If KeyDown(57)
ODE_dBodyEnable g\body
ODE_dBodyAddForce g\body, 0, 0, 10
EndIf
Next

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

		ODE_dWorldQuickStep 0.01

            ;--------------------------------------------
For g.todegeom= Each todegeom
ax# = ODE_dBodyGetAngularVelX(g\body) * .9
ay# = ODE_dBodyGetAngularVelY(g\body) * .9
az# = ODE_dBodyGetAngularVelZ(g\body) * .9

ODE_dBodySetAngularVel(g\body, ax#, ay#, az#)
Next
	Next
	
	;---- Set geometry position and rotation ----

	ODE_UpdateGeoms()

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

	RenderWorld frameTween#
	For g.todegeom= Each todegeom
	Text 0,0,ODE_dBodyGetAngularVelX(g\body)
Text 0,10,ODE_dBodyGetAngularVely(g\body)
Text 0,20,ODE_dBodyGetAngularVelz(g\body)
next
	Flip 0
Wend

ODE_dCloseODE()
End