#include <stdio.h>

#include <GL\glut.h>
#include <GL\gl.h>

#include <Physics\include\NxPhysics.h>

#define NOMINMAX

#include <windows.h>

#pragma comment(lib,"PhysXLoader.lib")
#pragma comment(lib,"NxCharacter.lib")
#pragma comment(lib,"NxCooking.lib")
#pragma comment(lib,"NxExtensions.lib")

static NxPhysicsSDK* gPhysicsSDK = NULL;

NxScene* gScene = NULL;

void initNX(void){
	gPhysicsSDK = NxCreatePhysicsSDK(NX_PHYSICS_SDK_VERSION);
	gPhysicsSDK->setParameter(NX_SKIN_WIDTH, 0.01);

	NxSceneDesc sceneDesc;
	sceneDesc.gravity.set(0.0f, -9.8f, 0.0f);
	sceneDesc.simType = NX_SIMULATION_SW;

	gScene = gPhysicsSDK->createScene(sceneDesc);

	NxMaterial* defaultMaterial = gScene->getMaterialFromIndex(0);
	defaultMaterial->setRestitution(0.5);
	defaultMaterial->setStaticFriction(0.5);
	defaultMaterial->setDynamicFriction(0.5);

}

void deinitNX(void){
	gPhysicsSDK->releaseScene(*gScene);
	gScene = 0;

	gPhysicsSDK->release();
}

void display(void){
	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT | GL_STENCIL_BUFFER_BIT);
	glLoadIdentity();

	glutSwapBuffers();
}

void reshape(int w, int h){
	glViewport(0, 0, (GLsizei)w, (GLsizei)h);
	glMatrixMode(GL_PROJECTION);
	glLoadIdentity();
	gluPerspective(60, (GLfloat)w / (GLfloat)h, 0.1f, 100.0f);
	glMatrixMode(GL_MODELVIEW);
}

int main(int argc, char** argv) {
	glutInit(&argc, argv);
	glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGBA | GLUT_STENCIL);
	glutInitWindowSize(500, 500);
	glutInitWindowPosition(100, 100);
	glutCreateWindow("Physics");

	initNX();

	glutDisplayFunc(display);
	glutIdleFunc(display);
	glutReshapeFunc(reshape);

	glutMainLoop();

	deinitNX();

	return 0;
}