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void init()
	{
		phyMakeBox(id,0.0f);
		phySetPosition(id,x,y,z);
		phySetRotation(id,rx,ry,rz);
	}

	void destroy()
	{
		phyDeleteActor(id);
	}

int   phyRaycastAllShapes(int origVec3ID, int dirVec3ID);
int   phyRaycastHitGetData();
int   phyRaycastHitGetObject();
float phyRaycastHitGetDistance();
void  phyRaycastHitGetWorldImpact(int vector3ID);
void  phyRaycastHitGetWorldNormal(int vector3ID);
int   phyRaycastAllShapes(int origVec3ID, int dirVec3ID, int flag, int groups);
int   phyRaycastHitGetLimb();
void  phyRaycastSetMaxDistance(float distance);
float phyRaycastGetMaxDistance();
int   phyRaycastAllBounds(int origVec3ID, int dirVec3ID, int flag, int groups);
bool  phyRaycastAnyShape(int origVec3ID, int dirVec3ID, int flag, int groups);
bool  phyRaycastAnyBounds(int origVec3ID, int dirVec3ID, int flag, int groups);
bool  phyRaycastClosestShape(int origVec3ID, int dirVec3ID, int flag, int groups);
bool  phyRaycastClosestBounds(int origVec3ID, int dirVec3ID, int flag, int groups);

#include "DarkGDK.h"
#include "DarkDynamiX_Lite.h" 


const int playerCount = 200;
float yVel[playerCount];
const int NXCC_COLLISION_DOWN = 4;
float radius = 7.0f;

void makeLevel()
{
	dbLoadObject( "../../TestLevel/TestMap.dbo",1 );
	
	//-- Run once to create triangle mesh
	//dbMakeMeshFromObject(1, 1);
	//dbMakeObject(1000, 1, 0);
    //phyCookTriangleMesh(1000, "../../TestLevel/TestMap.TMesh");
	
	phyLoadTriangleMesh("../../TestLevel/TestMap.TMesh", 1);
	phyMakeTriangleMesh(1, 1);
}

void makePlayer()
{
	for(int i = 2; i < playerCount + 2; i++){
	   dbMakeObjectSphere( i,radius*2.0f );
	   dbPositionObject( i, dbRND(1000) - 500,50,dbRND(1000) - 500 );
	   dbColorObject(i, dbRGB(dbRND(255), dbRND(255), dbRND(255)));
	   phyMakeControllerCapsule(i, 0, 45, 1);
       yVel[i - 2] = 0;
	}
}


void movePlayer(int id)
{
	float angy = dbObjectAngleY(id);
	float vx = 0;
	float vz = 0;

	if (dbKeyState(32) == 1 ) { vx = vx + dbCos(angy); vz = vz - dbSin(angy); }
	if (dbKeyState(30) == 1 ) { vx = vx - dbCos(angy); vz = vz + dbSin(angy); }
	if (dbKeyState(31) == 1 ) { vx = vx - dbSin(angy); vz = vz - dbCos(angy); }
	if (dbKeyState(17) == 1 ) { vx = vx + dbSin(angy); vz = vz + dbCos(angy); }


	int collisionFlag = phyControllerMove(id, vx, yVel[id - 2], vz);
	if(collisionFlag & NXCC_COLLISION_DOWN){
        yVel[id - 2] = 0.0f;
	}
	else{
        yVel[id - 2] = yVel[id - 2] - 9.8 / 60;
	}
}

void positionCameraToObject( int obj, int thirdPerson)
{
	dbPositionCamera( dbObjectPositionX(2),dbObjectPositionY(2),dbObjectPositionZ(2) );
	dbRotateCamera( dbObjectAngleX(2),dbObjectAngleY(2),dbObjectAngleZ(2) );
	if ( thirdPerson == 1 )
	{
		dbPitchCameraDown( 10 );
		dbMoveCamera( -30 );
	}
}

void DarkGDK( )
{
	dbSyncOn ();
	dbSetDisplayModeVSync(640, 480, 32, false);
	dbSyncRate( 0 );

	dbAutoCamOff( );
    dbPositionCamera(0, 400, -1250);
	dbPointCamera(0, 0, 0);

	dbRandomize( dbTimer() );

	phyStart();

	makeLevel();
	makePlayer();
  
	phySimulate();
	while( LoopGDK( ) )
	{	
		phyFetchResults();
		phyUpdate();
		for(int i = 2; i < playerCount + 2; i++){
		   movePlayer(i);
		}
		phySimulate();

		static float camX = 0.0f;
		static float camY = 0.0f;
		camX += dbMouseMoveY() * 0.2;
		camY += dbMouseMoveX() * 0.2;
		dbRotateCamera(camX, camY, 0);

		dbText( 0,0,"Use W/A/S/D to move" );
		char str [ 128 ];
		sprintf_s( str, 128, "FPS: %d", dbScreenFPS( ) );		dbText( 0,80,str );	
		dbSync( );
	}
	phyStop();
}

#include "DarkGDK.h"
#include "SC_Collision.h"

const int playerCount = 200;

float radius = 7.0f;

float gravity = -0.1f;
float slope = 0.5f;
int ground = 1;
int jumptimer = 0;

//player movement vector
float vx = 0;
float vy = 0;
float vz = 0;

void makeLevel()
{
	dbLoadObject( "../../TestLevel/TestMap.dbo",1 );
	SC_SetupComplexObject( 1,1,2 );
}

void makePlayer()
{
	for(int i = 2; i < playerCount + 2; i++){
	   dbMakeObjectSphere( i,radius*2.0f);
	   dbPositionObject( i, dbRND(1000) - 500,50,dbRND(1000) - 500 );
	   dbColorObject(i, dbRGB(dbRND(255), dbRND(255), dbRND(255)));
	   SC_SetupObject( i,0,1 );
	}
	//player has no group
}


void movePlayer(int id)
{
	float oldx = dbObjectPositionX(id);
	float oldy = dbObjectPositionY(id);
	float oldz = dbObjectPositionZ(id);
	
	//apply gravity, and user changes to movement
	float angy = dbObjectAngleY(id);
	vx = 0;
	vz = 0;

	//if player is jumping or falling then apply 'normal' gravity
	//if not attempt to keep the player stuck to the floor
	if ( vy == 0 && jumptimer == 0 ) vy = vy + 10*gravity; 
	else vy = vy + gravity;

	if (dbKeyState(32) == 1 ) { vx = vx + dbCos(angy); vz = vz - dbSin(angy); }
	if (dbKeyState(30) == 1 ) { vx = vx - dbCos(angy); vz = vz + dbSin(angy); }
	if (dbKeyState(31) == 1 ) { vx = vx - dbSin(angy); vz = vz - dbCos(angy); }
	if (dbKeyState(17) == 1 ) { vx = vx + dbSin(angy); vz = vz + dbCos(angy); }
	
	//this would be the player's final position without collision
	float x = oldx + vx;
	float y = oldy + vy;
	float z = oldz + vz;
	
	//first handle gravity - seperated from horizontal movement
	//to achieve a more realistic effect
	//Method: simple - cast a sphere vertically down, if it hits the level then
	//                 position the object there (sticky collision) then move 
	//                 on to horizontal movement
	//  more complex - if we were to only use the simple method the player would be 
	//                 allowed to climb almost vertical slopes. Alternative is to
	//                 get the normalY direction to work out how flat the gorund
	//                 below the player is, 0-slope# is flatter, slope#-1 is steeper.
	//                 if it's flat, use sticky collision, if it's steep slide the
	//                 player down the slope. Changing slope# determines how steep the 
	//                 player can climb. NOTE: this also effects stairs.
	int collide = SC_SphereCastGroup( 1, oldx,oldy,oldz, oldx,oldy+vy,oldz, radius,0 );
	
	if ( collide > 0 )
	{
		//how flat is this ground
		float ny = SC_GetCollisionNormalY();
		if ( dbAbs(ny) > slope )
		{
			//FLAT, stick
			oldy = SC_GetStaticCollisionY();
		}
		else
		{
			//STEEP, slide
			x = x - oldx; z = z - oldz;
			oldx = SC_GetCollisionSlideX();
			oldy = SC_GetCollisionSlideY();
			oldz = SC_GetCollisionSlideZ();
			x = x + oldx; z = z + oldz;
		}
		
		//ny#<0 means the player has hit a ceiling rather than a floor
		
		if ( ny > slope )
		{
			//only on ground if standing on flat ground
			ground = 1;
			vy = 0;
		}
		else 
		{
			ground = 0;
			//if player has hit a flat ceiling then stop vy# movement
			if ( ny < -slope ) vy = gravity;
		}
	}
	else
	{
		//nothing below player, not on ground, add vertical speed to player
		oldy = oldy + vy;
		ground = 0;
	}
	
	//handle horizontal movement as sliding
	//player only collides with group 1 (level) objs and moves freely through others
	collide = SC_SphereSlideGroup( 1, oldx,oldy,oldz, x,oldy,z, radius,0 );
	
	if ( collide > 0 )
	{
		//if hit, reposition player, halt movement vector
		x = SC_GetCollisionSlideX();
		oldy = SC_GetCollisionSlideY();
		z = SC_GetCollisionSlideZ();
		vx = 0;
		vz = 0;
		
		//possible code for giving the player a jumping help up stairs...
		//might be useful if slope# is set very high but stairs are still required
		//dy = oldy - SC_GetStaticCollisionY()
		//if ( dy < slope && dy > 0 && ground == 1 ) vy = 0.5;
	}
	
	//position the player
	dbPositionObject( id,x,oldy,z );
	SC_UpdateObject( id );
}

void positionCameraToObject( int obj, int thirdPerson)
{
	dbPositionCamera( dbObjectPositionX(2),dbObjectPositionY(2),dbObjectPositionZ(2) );
	dbRotateCamera( dbObjectAngleX(2),dbObjectAngleY(2),dbObjectAngleZ(2) );
	if ( thirdPerson == 1 )
	{
		dbPitchCameraDown( 10 );
		dbMoveCamera( -30 );
	}
}

void DarkGDK( )
{
	dbSyncOn( );
	dbSetDisplayModeVSync(640, 480, 32, false);
	dbSyncRate( 0 );

	dbAutoCamOff( );
    dbPositionCamera(0, 400, -1250);
	dbPointCamera(0, 0, 0);

	dbRandomize( dbTimer() );

	SC_Start( );

	makeLevel();
	makePlayer();
  
	while( LoopGDK( ) )
	{	
		for(int i = 2; i < playerCount + 2; i++){
		   movePlayer(i);
		}

		static float camX = 0.0f;
		static float camY = 0.0f;
		camX += dbMouseMoveY() * 0.2;
		camY += dbMouseMoveX() * 0.2;
		dbRotateCamera(camX, camY, 0);

		dbText( 0,0,"Use W/A/S/D to move" );
		char str [ 128 ];
		sprintf_s( str, 128, "FPS: %d", dbScreenFPS( ) );		dbText( 0,80,str );	
		dbSync( );
	}
}

//-- CHARACTER CONTROLLER
  bool  phyMakeControllerCapsule(int objectID, float yOffset);
  bool  phyMakeControllerBox(int objectID, float yOffset);
  bool  phyMakeControllerCapsule(int objectID, float yOffset, float slopeLimit, float stepOffset);
  bool  phyMakeControllerBox(int objectID, float yOffset, float slopeLimit, float stepOffset);
  void  phyControllerSetStepOffset(int ID, float stepOffset);
  void  phyControllerBoxSetExtents(int ID, float x, float y, float z);
  void  phyControllerCapsuleSetRadius(int ID, float radius);
  void  phyControllerCapsuleSetHeight(int ID, float height);
  void  phyControllerSetYOffset(int ID, float yOffset);
  int   phyControllerMove(int ID, float x, float y, float z);
  void  phyDeleteController(int ID);
  void  phyControllerCollectCHits(bool collect);
  void  phyControllerCollect*Hits(bool collect);
   //--Controller Hits
  int   phyControllerCHitGetData();
  int   phyControllerCHitGetControllerA();
  int   phyControllerCHitGetControllerB();
  //--Shape Hits
  int   phyController*HitGetData();
  int   phyController*HitGetShape();
  void  phyController*HitGetDirection(int vector3ID);
  float phyController*HitGetLength(); //
  int   phyController*HitGetController();
  void  phyController*HitGetWorldNormal(int vector3ID);
  void  phyController*HitGetWorldPos(int vector3ID);

sync on
sync rate 0
load object "TestLevel.dbo",1
test=phy cook triangle mesh(1,"TestLevel.TMesh")

sync on
sync rate 0
load object "TestLevel.dbo",1
phy cook triangle mesh 1,"TestLevel.TMesh"

//-- Do Once to save collision mesh to file
  // tempObj = 100
  // make mesh from object 1, levelID
  // make object tempObj, 1, 0
  // PHY COOK TRIANGLE MESH tempObj, "TestLevel.TMesh"
  // delete object tempObj
  // delete mesh 1 

sync on
sync rate 0
PHY START <-- was not put in the example
load object "TestLevel.dbo",1
test=phy cook triangle mesh(1,"TestLevel.TMesh")

void phyControllerS_HitGetWorldNormal (int vector3ID)

// calculates and stores data in a global struct sVector3
void phyControllerS_HitGetWorldNormal () 

// returns the X of the global vector
float phyControllerS_HitGetWorldNormalX ()

// returns the Y of the global vector
float phyControllerS_HitGetWorldNormalY ()

// returns the Z of the global vector
float phyControllerS_HitGetWorldNormalZ ()

double CPhysicsWrapper::switchCharacterToController(int dynamicObj,int characterObj, Level * myLevelPointer)
{
	double cX = dbObjectPositionX(dynamicObj);
	double zCenter = myLevelPointer->getLvl_ZCenter();
	double cY = myLevelPointer->getTerrainHeight(cX,zCenter);

	double vX = getLinearVelocityX(dynamicObj);

	phySetPosition (dynamicObj,0,0,0);
	positionCharacterController(characterObj,cX,cY,zCenter);

 	phySetLinearVelocity (dynamicObj,0,0,0);



	return vX;
}
void CPhysicsWrapper::switchCharacterToDynamic(int dynamicObj,int characterObj,double vX)
{
	dbMakeVector3(1);
	phyControllerGetPosition (characterObj,1);
	double cX = dbXVector3 (1);
	double cY = dbYVector3 (1);
	double cZ = dbZVector3 (1);
	dbDeleteVector3(1);

	positionCharacterController(characterObj,0,0,0);

	phySetPosition (dynamicObj,cX,cY,cZ);
	phySetRotation (dynamicObj,0,0,0);
	phySetAngularVelocity (dynamicObj,0,0,0);
	phySetAngularMomentum (dynamicObj,0,0,0);
	phySetLinearMomentum (dynamicObj,0,0,0);
	phySetLinearVelocity(dynamicObj,vX,0,0);

	

}