import sys, time, math, os
from OpenGL.GL import *
from OpenGL.GLU import *
from OpenGL.GLUT import *
from dmsgl import *
import ode

startdir = os.getcwd() + os.sep

camera = PerspCamera()
camera.moveBackward(40)
camera.moveUp(2)

cameraVelPitch = 0.0
cameraVelTurn = 0.0
cameraVelDist = 0.0
prevTime = time.time()

fog = Fog(mode=GL_LINEAR,start=60,end=200,color=Color.X11['DeepSkyBlue'])
light1 = Light()
light2 = Light()
light2.position = [-1, 1, -1, 0]
tex = Texture2D(startdir + 'grass.jpg')


world = ode.World()
world.setGravity( (0,-9.81,0) )
world.setERP(0.8)
world.setCFM(1E-5)
space = ode.Space()
contactgroup = ode.JointGroup()
floor = ode.GeomPlane(space, (0,1,0), 0)

camerabody = ode.Body(world)
M = ode.Mass()
M.setBox(100, 1,1,1)
camerabody.setMass(M)
geom = ode.GeomBox(space, lengths=(1,1,1))
geom.setBody(camerabody)

class Cow:
    def __init__(self, pos):
        self.model = WFObject(startdir+'cow.obj')
        self.pos = pos
        self.body = ode.Body(world)
        M = ode.Mass()
        M.setBox(100, 5,3,1)
        self.body.setMass(M)
        geom = ode.GeomBox(space, lengths=(5,3,1))
        geom.setBody(self.body)
        self.body.setPosition(pos)
    def draw(self):
        glPushMatrix()
        self.pos = self.body.getPosition()
        R = self.body.getRotation()
        glMultMatrixf([R[0], R[3], R[6], 0.,
                     R[1], R[4], R[7], 0.,
                     R[2], R[5], R[8], 0.,
                     self.pos[0], self.pos[1], self.pos[2], 1.0])
        self.model.draw()
        glPopMatrix()

cow1 = Cow([13, 5, 0])
cow2 = Cow([-10, 2, -10])
cow3 = Cow([-5, 5, 20])

def drawWorld():
    Color.X11['DeepSkyBlue'].clear()
    fog.apply()
    light1.apply()
    light2.apply()

    cow1.draw()
    cow2.draw()
    cow3.draw()

    tex.apply()
    glBegin(GL_QUADS)
    glTexCoord2f(0, 0)
    glVertex3f(-100, -3, -100)
    glTexCoord2f(1, 0)
    glVertex3f(100, -3, -100)
    glTexCoord2f(1, 1)
    glVertex3f(100, -3, 100)
    glTexCoord2f(0, 1)
    glVertex3f(-100, -3, 100)
    glEnd()
    tex.disable()

    fog.disable()

def draw():
    camera.apply()
    drawWorld()
    glutSwapBuffers()


def keyboard(key, x, y):
    global cameraVelDist
    if key == chr(27):
        sys.exit(0)
    elif key == '.':
        cameraVelDist = 10
    elif key == ',':
        cameraVelDist = -10

def keyboardUp(key, x, y):
    global cameraVelDist
    if key == chr(27):
        sys.exit(0)
    elif key == '.':
        cameraVelDist = 0
    elif key == ',':
        cameraVelDist = 0

def specialkey(key,x,y):
    global cameraVelPitch, cameraVelTurn
    if key == GLUT_KEY_LEFT:
        cameraVelTurn = 90
    elif key == GLUT_KEY_RIGHT:
        cameraVelTurn = -90
    elif key == GLUT_KEY_UP:
        cameraVelPitch = 90
    elif key == GLUT_KEY_DOWN:
        cameraVelPitch = -90

def specialkeyUp(key,x,y):
    global cameraVelPitch, cameraVelTurn
    if key == GLUT_KEY_LEFT:
        cameraVelTurn = 0
    elif key == GLUT_KEY_RIGHT:
        cameraVelTurn = 0
    elif key == GLUT_KEY_UP:
        cameraVelPitch = 0
    elif key == GLUT_KEY_DOWN:
        cameraVelPitch = 0


def collisionCallback(args, geom1, geom2):
    contacts = ode.collide(geom1, geom2)
    world,contactgroup = args
    for c in contacts:
        c.setBounce(0.2)
        c.setMu(5000)
        j = ode.ContactJoint(world, contactgroup, c)
        j.attach(geom1.getBody(), geom2.getBody())

def update(dummy):
    glutTimerFunc(16,update,0)
    global cameraVelPitch, cameraVelTurn, cameraVelDist
    global prevTime
    t = time.time()
    dt = t - prevTime
    prevTime = t
    camera.pitch(cameraVelPitch * dt)
    camera.turn(cameraVelTurn * dt)
    camera.moveForward(cameraVelDist * dt)
    camerabody.setPosition(camera.position + camera.forward()*3)

    for i in range(10):
        space.collide((world,contactgroup), collisionCallback)
        world.step(dt/10.0)
        contactgroup.empty()
    
    glutPostRedisplay()

glutInit([])
glutInitDisplayMode(GLUT_RGB | GLUT_DOUBLE | GLUT_DEPTH)
glutInitWindowSize(600,600)
glutCreateWindow(sys.argv[0])
glutDisplayFunc(draw)
glutKeyboardFunc(keyboard)
glutKeyboardUpFunc(keyboardUp)
glutSpecialFunc(specialkey)
glutSpecialUpFunc(specialkeyUp)
glutIgnoreKeyRepeat(1)
glutTimerFunc(0,update,0)
glEnable(GL_DEPTH_TEST)
glEnable(GL_SCISSOR_TEST)
glutMainLoop()