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-  TIMING:
   For variable timesteps do the following

   PHY SET TIMING 0, 0, 1
   ...
   ...
   do
     PHY SIMULATE 1 / currentFrameRate
     ...
   loop


   That said, you will have a more stable simulation if you keep a fixed timestep,
   therefore if you can get an idea of the fps the machine will achieve you can fix 
   the timestep accordingly.

   PHY SET TIMING (1/30)/4, 4, 0      //see docs for more info
   ..
   ..
   do
     PHY SIMULATE 1/30
     ...
   loop

sync on
sync rate 60
autocam off
position camera 0,50,-100
point camera 0,0,0

make object box 1,10,10,10
position object 1,30,50,30

buildterrain(3)

phy start
phy set gravity 0,-9.8,0
phy set parameter nx_visualization_scale,0.0
phy set parameter nx_visualize_collision_shapes,1.0

phy make box 1,5

x=get terrain x size(3)
z=get terrain z size(3)
phy make height field desc 1,256,256,-1000,0,0
for i=0 to 256
 for j=0 to 256
  height=get terrain ground height(3,i,j)
  phy height field desc set data 1,i,j,height
 next j
next i
success=phy make height field(1,1)
phy delete height field desc 1
position object 3,-150,0,-150
scale object 3,100,10,100
success=phy instance height field(3,1,0.1,1.0,1.0)

phy simulate
do
 phy fetch results
 phy update
 phy debug render
 phy simulate

 text 0,0,"use the up and down arrow keys to move the camera"
 if upkey() then move camera 1
 if downkey() then move camera -1
 sync
loop


function buildterrain(id)
 load image "map.bmp",1
 load image "map.bmp",2
 `setupterrain
 make object terrain id
 set terrain heightmap id,"map.bmp"
 //setterrainscale ( id,1.0f,0.1f,1.0f )
 set terrain light id,1.0,-0.25,0.0,1.0,1.0,0.78,0.5
 set terrain texture id,1,2
 build terrain id
endfunction

// Project: World Off Road

// < CAR SETUP SOURCE >

// SOHARIX ©

// SETUP EACH CAR INDIVIDUALLY
SPAWNCAR:
 if EDIT=0 then CARAY#=object angle y(START)

 // TENSE
 if CARCHOSEN$="Tense"
  FRONTMAT=0
  BACKMAT=0
  CARTORQUE=500000
  FRONTOFF#=3.2
  BACKOFF#=3.2
  SIDEOFF#=3.2
  WHEELWEIGHT#=10
  MAXANG#=120.0
  SCALE=10
  gosub MAKELOCALCAR
 endif

 // TRENT
 if CARCHOSEN$="Trent"
  FRONTMAT=0
  BACKMAT=0
  CARTORQUE=500000
  FRONTOFF#=3.2
  BACKOFF#=3.2
  SIDEOFF#=3.2
  WHEELWEIGHT#=10
  MAXANG#=100.0
  SCALE=10
  gosub MAKELOCALCAR
 endif

 // MONSTER
 if CARCHOSEN$="Monster"
  FRONTMAT=0
  BACKMAT=0
  CARTORQUE=500000
  FRONTOFF#=3.2
  BACKOFF#=3.2
  SIDEOFF#=3.2
  WHEELWEIGHT#=10
  MAXANG#=120.0
  SCALE=10
  gosub MAKELOCALCAR
 endif

 // BLADE
 if CARCHOSEN$="Blade"
  FRONTMAT=0
  BACKMAT=0
  CARTORQUE=500000
  FRONTOFF#=3.2
  BACKOFF#=3.2
  SIDEOFF#=4.0
  WHEELWEIGHT#=10
  MAXANG#=120.0
  SCALE=10
  gosub MAKELOCALCAR
 endif

 // CRUNCH
 if CARCHOSEN$="Crunch"
  FRONTMAT=0
  BACKMAT=0
  CARTORQUE=500000
  FRONTOFF#=3.2
  BACKOFF#=3.2
  SIDEOFF#=3.2
  WHEELWEIGHT#=10
  MAXANG#=70.0
  SCALE=10
  gosub MAKELOCALCAR
 endif

// RETURN TO GAMELOAD
return

MAKELOCALCAR:
 // DYNAMIC BODY
 load object "Data\3D\Dynamicbody.x",CARNO
  scale object CARNO,10,10,10
  `phy cook convex mesh CARNO,CARNO
  phy load convex mesh "Data\3D\Dynamicbody.p",CARNO
  position object CARNO,CARX#,CARY#,CARZ#
  phy make convex mesh CARNO,CARNO,10
  phy set material CARNO,0,1
  hide object CARNO
  make object collision box CARNO,0.1,0.1,0.1,-0.1,-0.1,-0.1,0

 // DYNAMIC FRONT LEFT WHEEL
 load object "Data\3D\"+CARCHOSEN$+"\Front.x",CARNO+1
  scale object CARNO+1,SCALE+1,SCALE+1,SCALE+1
  xrotate object CARNO+1,180
  zrotate object CARNO+1,-90
  position object CARNO+1,CARX#-SIDEOFF#,CARY#,CARZ#+FRONTOFF#
  if CARNO=OBJ then set object effect CARNO+1,4
  if CARNO=OBJ2 then set object effect CARNO+1,5
  texture object CARNO+1,1,SHADER+1
  texture object CARNO+1,2,SHADER+2
  set object collision off CARNO+1
  if val(left$(OPTIONS$(5),4))>0 then set shadow shading on CARNO+1,-1,50,1
  phy make sphere CARNO+1,WHEELWEIGHT#
  scale object CARNO+1,SCALE,SCALE,SCALE
  phy set angular damping CARNO+1,50
  phy set material CARNO+1,0,1
  phy set max angular velocity CARNO+1,MAXANG#
  phy joint desc set actor a 1,CARNO
  phy joint desc set actor b 1,CARNO+1
  phy joint desc set global anchor 1,object position x(CARNO+1),object position y(CARNO+1),object position z(CARNO+1)
  phy joint desc set global axis 1,1,0,0
  phy make joint J,1
  J=J+1

 // DYNAMIC FRONT RIGHT WHEEL
 load object "Data\3D\"+CARCHOSEN$+"\Front.x",CARNO+2
  scale object CARNO+2,SCALE+1,SCALE+1,SCALE+1
  zrotate object CARNO+2,-90
  position object CARNO+2,CARX#+SIDEOFF#,CARY#,CARZ#+FRONTOFF#
  if CARNO=OBJ then set object effect CARNO+2,4
  if CARNO=OBJ2 then set object effect CARNO+2,5
  texture object CARNO+2,1,SHADER+1
  texture object CARNO+2,2,SHADER+2
  set object collision off CARNO+2
  if val(left$(OPTIONS$(5),4))>0 then set shadow shading on CARNO+2,-1,50,1
  phy make sphere CARNO+2,WHEELWEIGHT#
  scale object CARNO+2,SCALE,SCALE,SCALE
  phy set angular damping CARNO+2,50
  phy set material CARNO+2,0,1
  phy set max angular velocity CARNO+2,MAXANG#
  phy joint desc set actor a 1,CARNO
  phy joint desc set actor b 1,CARNO+2
  phy joint desc set global anchor 1,object position x(CARNO+2),object position y(CARNO+2),object position z(CARNO+2)
  phy joint desc set global axis 1,1,0,0
  phy make joint J,1
  J=J+1

 // DYNAMIC BACK LEFT WHEEL
 load object "Data\3D\"+CARCHOSEN$+"\Back.x",CARNO+3
  scale object CARNO+3,SCALE+1,SCALE+1,SCALE+1
  xrotate object CARNO+3,180
  zrotate object CARNO+3,-90
  position object CARNO+3,CARX#-SIDEOFF#,CARY#,CARZ#-BACKOFF#
  if CARNO=OBJ then set object effect CARNO+3,4
  if CARNO=OBJ2 then set object effect CARNO+3,5
  texture object CARNO+3,1,SHADER+1
  texture object CARNO+3,2,SHADER+2
  set object collision off CARNO+3
  if val(left$(OPTIONS$(5),4))>0 then set shadow shading on CARNO+3,-1,50,1
  phy make sphere CARNO+3,WHEELWEIGHT#
  scale object CARNO+3,SCALE,SCALE,SCALE
  phy set angular damping CARNO+3,50
  phy set material CARNO+3,0,1
  phy set max angular velocity CARNO+3,MAXANG#
  phy joint desc set actor a 1,CARNO
  phy joint desc set actor b 1,CARNO+3
  phy joint desc set global anchor 1,object position x(CARNO+3),object position y(CARNO+3),object position z(CARNO+3)
  phy joint desc set global axis 1,1,0,0
  phy make joint J,1
  J=J+1

 // DYNAMIC BACK RIGHT WHEEL
 load object "Data\3D\"+CARCHOSEN$+"\Back.x",CARNO+4
  scale object CARNO+4,SCALE+1,SCALE+1,SCALE+1
  zrotate object CARNO+4,-90
  position object CARNO+4,CARX#+SIDEOFF#,CARY#,CARZ#-BACKOFF#
  if CARNO=OBJ then set object effect CARNO+4,4
  if CARNO=OBJ2 then set object effect CARNO+4,5
  texture object CARNO+4,1,SHADER+1
  texture object CARNO+4,2,SHADER+2
  set object collision off CARNO+4
  if val(left$(OPTIONS$(5),4))>0 then set shadow shading on CARNO+4,-1,50,1
  phy make sphere CARNO+4,WHEELWEIGHT#
  scale object CARNO+4,SCALE,SCALE,SCALE
  phy set angular damping CARNO+4,50
  phy set material CARNO+4,0,1
  phy set max angular velocity CARNO+4,MAXANG#
  phy joint desc set actor a 1,CARNO
  phy joint desc set actor b 1,CARNO+4
  phy joint desc set global anchor 1,object position x(CARNO+4),object position y(CARNO+4),object position z(CARNO+4)
  phy joint desc set global axis 1,1,0,0
  phy make joint J,1
  J=J+1

 // DECOY BODY
 load object "Data\3D\"+CARCHOSEN$+"\Body.x",CARNO+5
  scale object CARNO+5,SCALE,SCALE,SCALE
  position object CARNO+5,CARX#,CARY#,CARZ#
  if CARNO=OBJ then set object effect CARNO+5,4
  if CARNO=OBJ2 then set object effect CARNO+5,5
  texture object CARNO+5,1,SHADER+1
  texture object CARNO+5,2,SHADER+2
  set object collision off CARNO+5
  if val(left$(OPTIONS$(5),4))>0 then set shadow shading on CARNO+5,-1,50,1

 // TEXTURE CAR
 gosub TEXSETCAR

 // INCREASE THE CAR NUMBER BY 6 FOR EVERY CAR MADE
 CARNO=CARNO+6

return

// SETUP THE EXTRA TEXTURES ON THE CAR
TEXSETCAR:
 if MAPTYPE=1
  texture object CARNO+1,3,21 : texture object CARNO+1,4,20
  texture object CARNO+2,3,21 : texture object CARNO+2,4,20
  texture object CARNO+3,3,21 : texture object CARNO+3,4,20
  texture object CARNO+4,3,21 : texture object CARNO+4,4,20
  texture object CARNO+5,3,21 : texture object CARNO+5,4,20
 endif
 if MAPTYPE=2
  texture object CARNO+1,3,22 : texture object CARNO+1,4,20
  texture object CARNO+2,3,22 : texture object CARNO+2,4,20
  texture object CARNO+3,3,22 : texture object CARNO+3,4,20
  texture object CARNO+4,3,22 : texture object CARNO+4,4,20
  texture object CARNO+5,3,22 : texture object CARNO+5,4,20
 endif
 if MAPTYPE=3
  texture object CARNO+1,3,23 : texture object CARNO+1,4,20
  texture object CARNO+2,3,23 : texture object CARNO+2,4,20
  texture object CARNO+3,3,23 : texture object CARNO+3,4,20
  texture object CARNO+4,3,23 : texture object CARNO+4,4,20
  texture object CARNO+5,3,23 : texture object CARNO+5,4,20
 endif
 if MAPTYPE=4
  texture object CARNO+1,3,24 : texture object CARNO+1,4,20
  texture object CARNO+2,3,24 : texture object CARNO+2,4,20
  texture object CARNO+3,3,24 : texture object CARNO+3,4,20
  texture object CARNO+4,3,24 : texture object CARNO+4,4,20
  texture object CARNO+5,3,24 : texture object CARNO+5,4,20
 endif
 if MAPTYPE=5
  texture object CARNO+1,3,25 : texture object CARNO+1,4,20
  texture object CARNO+2,3,25 : texture object CARNO+2,4,20
  texture object CARNO+3,3,25 : texture object CARNO+3,4,20
  texture object CARNO+4,3,25 : texture object CARNO+4,4,20
  texture object CARNO+5,3,25 : texture object CARNO+5,4,20
 endif
 if MAPTYPE=6
  texture object CARNO+1,3,23 : texture object CARNO+1,4,20
  texture object CARNO+2,3,23 : texture object CARNO+2,4,20
  texture object CARNO+3,3,23 : texture object CARNO+3,4,20
  texture object CARNO+4,3,23 : texture object CARNO+4,4,20
  texture object CARNO+5,3,23 : texture object CARNO+5,4,20
 endif
return

//-- Camera
void floatingCam(int objectID, float speed, float height);
//-- Vehicle Control
void processUserInput();
//-- Display
void renderText();

int getFreeObject();
int body;
int wheelFL, wheelFR, wheelBL, wheelBR;
int testMap;
float steerAngle = 0;
float maxAngle = 20.0;
float turnSpeed = 0.5;
float power = 100.0;
float downForce = 0;


void DarkGDK ( void )
{
	dbSyncOn   ( );
	dbSyncRate ( 60 );
    dbAutoCamOff();
    dbPositionCamera(0, 0, -100);
	dbColorBackdrop(dbRGB(200, 200, 255));
	dbSetCameraRange(10, 100000);
	

	//-- Map
    testMap = getFreeObject();
	dbLoadObject("TestLevel/TestMap.dbo", testMap);
	dbScaleObject(testMap, 500, 500, 500);
	//-- Hull
    body = getFreeObject();
	dbLoadObject("Blade/Body.x", body);
	//-- Wheels
	float wheelSeperation = 80.0;
	float wheelHeight     = 2.0;
	float wheelFrontZ     = 30.0;
	float wheelBackZ      = -30.0;
	//-- WheelFL
    wheelFL = getFreeObject();
	dbLoadObject("Blade/Front.x", wheelFL);
	dbRotateObject(wheelFL, 0, 0, 90);
	dbFixObjectPivot(wheelFL);
    dbRotateObject(wheelFL, 0, 0, -90);
	dbPositionObject(wheelFL, -wheelSeperation * 0.5, wheelHeight, wheelFrontZ); 
	//-- WheelFR
    wheelFR = getFreeObject();
	dbLoadObject("Blade/Front.x", wheelFR);
	dbRotateObject(wheelFR, 0, 0, 90);
	dbFixObjectPivot(wheelFR);
    dbRotateObject(wheelFR, 0, 0, -90);
	dbPositionObject(wheelFR, wheelSeperation * 0.5, wheelHeight, wheelFrontZ); 
	//-- WheelBL
    wheelBL = getFreeObject();
	dbLoadObject("Blade/Front.x", wheelBL);
	dbRotateObject(wheelBL, 0, 0, 90);
	dbFixObjectPivot(wheelBL);
    dbRotateObject(wheelBL, 0, 0, -90);
	dbPositionObject(wheelBL, -wheelSeperation * 0.5, wheelHeight, wheelBackZ); 
	//-- WheelBR
    wheelBR = getFreeObject();
	dbLoadObject("Blade/Front.x", wheelBR);
	dbRotateObject(wheelBR, 0, 0, 90);
	dbFixObjectPivot(wheelBR);
    dbRotateObject(wheelBR, 0, 0, -90);
	dbPositionObject(wheelBR, wheelSeperation * 0.5, wheelHeight, wheelBackZ); 


	phyStart();
	phySetGravity(0, -490.0, 0);
	phySetParameter(NX_VISUALIZATION_SCALE, 1.0f);
	phySetParameter(NX_VISUALIZE_COLLISION_SHAPES, 1.0f);

    //-- MAP
	phyLoadTriangleMesh("TestLevel/TestMap.tmesh", 1);
	phyMakeTriangleMesh(testMap, 1);

	//-- BODY
    bool result = phyLoadConvexMesh("Blade/BladeBody.cmesh", 1);
	phyMakeConvexMesh(body, 1, 10.0);
	phySetLinearDamping(body, 0.1);
	phySetCMassLocPos(body, 0, -5.0, 10.0);

	//-- WHEELS
	phyMakeWheel(wheelFL, 10.0);
	phyMakeWheel(wheelFR, 10.0);
	phyMakeWheel(wheelBL, 10.0);
	phyMakeWheel(wheelBR, 10.0);

	//-- SUSPENSION
	float suspension = 5.0;
	phyWheelSetSuspensionTravel(wheelFL, 0, suspension);
	phyWheelSetSuspensionTravel(wheelFR, 0, suspension);
	phyWheelSetSuspensionTravel(wheelBL, 0, suspension);
	phyWheelSetSuspensionTravel(wheelBR, 0, suspension);

	//-- JOINTS
	//-- Create Fixed Joint Descriptor
	phyMakeJointDesc(1);
	phyJointDescSetMotionX(1, 0);
	phyJointDescSetMotionY(1, 0);
	phyJointDescSetMotionZ(1, 0);
	phyJointDescSetSwing1Motion(1, 0);
	phyJointDescSetSwing2Motion(1, 0);
	phyJointDescSetTwistMotion(1, 0);
	
	//-- WheelFL
	phyJointDescSetActorA(1, body);
	phyJointDescSetActorB(1, wheelFL);
    phyJointDescSetGlobalAnchor(1, 0, 0, 0);
	phyMakeJoint(1, 1);
	//-- WheelFR
	phyJointDescSetActorA(1, body);
	phyJointDescSetActorB(1, wheelFR);
    phyJointDescSetGlobalAnchor(1, 0, 0, 0);
	phyMakeJoint(2, 1);
	//-- WheelBL
	phyJointDescSetActorA(1, body);
	phyJointDescSetActorB(1, wheelBL);
    phyJointDescSetGlobalAnchor(1, 0, 0, 0);
	phyMakeJoint(3, 1);
	//-- WheelBR
	phyJointDescSetActorA(1, body);
	phyJointDescSetActorB(1, wheelBR);
    phyJointDescSetGlobalAnchor(1, 0, 0, 0);
	phyMakeJoint(4, 1);


	//-- MATERIAL
	phyMakeMaterial(1, 0.1, 0.5, 0.5);
	phySetMaterial(testMap, 0, 1);


	phySetPosition(body, 0, 50, 0);

	phySimulate();
	while ( LoopGDK ( ) )
	{
		phyFetchResults();
		phyUpdate();
		phyWheelUpdate(wheelFL, 0);
		phyWheelUpdate(wheelFR, 0);
		phyWheelUpdate(wheelBL, 0);
		phyWheelUpdate(wheelBR, 0);
		processUserInput();
		//-- Downforce
		phyAddForce(body, 0, downForce, 0);
		phySimulate();

        dbPointCamera(0, 0, 0);
		floatingCam(body, 0.02, 100);

		renderText();
		if(dbSpaceKey()){
			dbHideObject(testMap);
			dbHideObject(body);
			dbHideObject(wheelFL);
			dbHideObject(wheelFR);
			dbHideObject(wheelBL);
			dbHideObject(wheelBR);
			phyDebugRender();
		}
		else{
			dbShowObject(testMap);
			dbShowObject(body);
			dbShowObject(wheelFL);
			dbShowObject(wheelFR);
			dbShowObject(wheelBL);
			dbShowObject(wheelBR);
		}
		 
		dbSync ( );
	}

	phyStop();
	return;
}

void renderText(){
    dbCenterText(dbScreenWidth() / 2, 0, "WOR-Physics-Testing");
    dbCenterText(dbScreenWidth() / 2, 15, "Use ARROW keys to drive");
    dbCenterText(dbScreenWidth() / 2, 30, "Hold SPACE key to render debug info");
}

void processUserInput(){
    //--TORQUE
	if(dbUpKey()){
	   phyAddLocalForce(body, 0, 0, 10); //Wakes up actor if asleep, wheels will not do this. 
       phyWheelSetMotorTorque(wheelBL, 0, power);
       phyWheelSetMotorTorque(wheelBR, 0, power);
	}
	else if(dbDownKey()){
       phyWheelSetMotorTorque(wheelBL, 0, -power);
       phyWheelSetMotorTorque(wheelBR, 0, -power);
	}
	else{
       phyWheelSetMotorTorque(wheelBL, 0, 0);
       phyWheelSetMotorTorque(wheelBR, 0, 0);
	}
    //--STEER
	if(dbRightKey()){
	    steerAngle += turnSpeed;
		if(steerAngle > maxAngle)
			steerAngle = maxAngle;
	}
	else if(dbLeftKey()){
		steerAngle -= turnSpeed;
		if(steerAngle < -maxAngle)
			steerAngle = -maxAngle;
	}
    phyWheelSetSteerAngle(wheelFL, 0, steerAngle);
    phyWheelSetSteerAngle(wheelFR, 0, steerAngle);
	steerAngle = steerAngle * 0.95;
}


int getFreeObject(){
   int obj = 1;
   while(dbObjectExist(obj)){
       obj++;
   }
   return obj;
}

void floatingCam(int objectID, float speed, float height)
{
	float distance = dbSqrt(
		              ((dbObjectPositionX(objectID) - dbCameraPositionX()) 
					    *
						 (dbObjectPositionX(objectID) - dbCameraPositionX())) 
						   + 
		                    ((dbObjectPositionZ(objectID) - dbCameraPositionZ()) 
					           *
						        (dbObjectPositionZ(objectID) - dbCameraPositionZ())));

	dbPointCamera(dbObjectPositionX(objectID), dbObjectPositionY(objectID), dbObjectPositionZ(objectID));
    dbMoveCamera(speed * (distance * 1.5));
	dbPositionCamera(dbCameraPositionX(), dbObjectPositionY(objectID) + height, dbCameraPositionZ());
}

steerangle#=0
maxangle#=10.0
turnspeed#=1
power#=100.0
downforce#=0

sync on
sync rate 60
autocam off
position camera 0,0,-100
color backdrop rgb(200,200,255)
set camera range 10,100000

//-- map
testmap=1
load object "testlevel/testmap.dbo",testmap
scale object testmap,500,500,500
//-- hull
body=2
load object "blade/body.x",body
//-- wheels
wheelseperation#=80.0
wheelheight#=2.0
wheelfrontz#=30.0
wheelbackz#=-30.0
//-- wheelfl
wheelfl=3
load object "blade/front.x",wheelfl
rotate object wheelfl,0,0,90
fix object pivot wheelfl
rotate object wheelfl,0,0,-90
position object wheelfl,-wheelseperation#*0.5,wheelheight#,wheelfrontz#
//-- wheelfr
wheelfr=4
load object "blade/front.x",wheelfr
rotate object wheelfr,0,0,90
fix object pivot wheelfr
rotate object wheelfr,0,0,-90
position object wheelfr,wheelseperation#*0.5,wheelheight#,wheelfrontz#
//-- wheelbl
wheelbl=5
load object "blade/front.x",wheelbl
rotate object wheelbl,0,0,90
fix object pivot wheelbl
rotate object wheelbl,0,0,-90
position object wheelbl,-wheelseperation#*0.5,wheelheight#,wheelbackz#
//-- wheelbr
wheelbr=6
load object "blade/front.x",wheelbr
rotate object wheelbr,0,0,90
fix object pivot wheelbr
rotate object wheelbr,0,0,-90
position object wheelbr,wheelseperation#*0.5,wheelheight#,wheelbackz#


phy start
phy set gravity 0,-490.0,0
phy set parameter nx_visualization_scale,1.0
phy set parameter nx_visualize_collision_shapes,1.0

//-- map
phy load triangle mesh "testlevel/testmap.tmesh",1
phy make triangle mesh testmap,1

//-- body
result=phy load convex mesh("blade/bladebody.cmesh",1)
phy make convex mesh body,1,10.0
phy set linear damping body,0.1
phy set cmass loc pos body,0,-5.0,10.0

//-- wheels
phy make wheel wheelfl,10.0
phy set max angular velocity wheelfl,10
phy make wheel wheelfr,10.0
phy set max angular velocity wheelfr,10
phy make wheel wheelbl,10.0
phy set max angular velocity wheelbl,10
phy make wheel wheelbr,10.0
phy set max angular velocity wheelbr,10

//-- suspension
suspension#=5.0
phy wheel set suspension travel wheelfl,0,suspension#
phy wheel set suspension travel wheelfr,0,suspension#
phy wheel set suspension travel wheelbl,0,suspension#
phy wheel set suspension travel wheelbr,0,suspension#

//-- joints
//-- create fixed joint descriptor
phy make joint desc 1
phy joint desc set motion x 1,0
phy joint desc set motion y 1,0
phy joint desc set motion z 1,0
phy joint desc set swing1 motion 1,0
phy joint desc set swing2 motion 1,0
phy joint desc set twist motion 1,0

//-- wheelfl
phy joint desc set actor a 1,body
phy joint desc set actor b 1,wheelfl
phy joint desc set global anchor 1,0,0,0
phy make joint 1,1
//-- wheelfr
phy joint desc set actor a 1,body
phy joint desc set actor b 1,wheelfr
phy joint desc set global anchor 1,0,0,0
phy make joint 2,1
//-- wheelbl
phy joint desc set actor a 1,body
phy joint desc set actor b 1,wheelbl
phy joint desc set global anchor 1,0,0,0
phy make joint 3,1
//-- wheelbr
phy joint desc set actor a 1,body
phy joint desc set actor b 1,wheelbr
phy joint desc set global anchor 1,0,0,0
phy make joint 4,1


//-- material
phy make material 1,0.1,0.5,0.5
phy set material testmap,0,1


phy set position body,0,50,0

phy simulate
do
 phy fetch results
 phy update
 phy wheel update wheelfl,0
 phy wheel update wheelfr,0
 phy wheel update wheelbl,0
 phy wheel update wheelbr,0
 gosub processuserinput
 //-- downforce#
 phy add force body,0,downforce#,0
 phy simulate

 point camera 0,0,0
 floatingcam(body,0.1,100)

 center text screen width()/2,0,"wor-physics-testing"
 center text screen width()/2,15,"use arrow keys to drive"
 center text screen width()/2,30,"hold space key to render debug info"
 if spacekey()
  hide object testmap
  hide object body
  hide object wheelfl
  hide object wheelfr
  hide object wheelbl
  hide object wheelbr
  phy debug render
 else
  show object testmap
	show object body
  show object wheelfl
  show object wheelfr
  show object wheelbl
  show object wheelbr
 endif
 
 sync
loop

phy stop
end

processuserinput:
 //--torque
 if upkey()
  phy add local force body,0,0,10 //wakes up actor if asleep,wheels will not do this. 
  phy wheel set motor torque wheelbl,0,power#
  phy wheel set motor torque wheelbr,0,power#
 else
  if downkey()
   phy add local force body,0,0,10 //wakes up actor if asleep,wheels will not do this.
   phy wheel set motor torque wheelbl,0,-power#
   phy wheel set motor torque wheelbr,0,-power#
  else
   phy wheel set motor torque wheelbl,0,0
   phy wheel set motor torque wheelbr,0,0
  endif
 endif
 //--steer
 if rightkey()
  steerangle#=steerangle#+turnspeed#
  if steerangle#>maxangle#
   steerangle#=maxangle#
  endif
 else
	if leftkey()
   steerangle#=steerangle#-turnspeed#
   if steerangle#<-maxangle#
    steerangle#=-maxangle#
   endif
  endif
 endif

 phy wheel set steer angle wheelfl,0,steerangle#
 phy wheel set steer angle wheelfr,0,steerangle#
 steerangle#=steerangle#*0.95
return

function floatingcam(objectid as integer,speed as float,height as float)
 distance#=sqrt(((object position x(objectid)-camera position x())*(object position x(objectid)-camera position x()))+((object position z(objectid)-camera position z())*(object position z(objectid)-camera position z())))
 point camera object position x(objectid),object position y(objectid)+(height/2),object position z(objectid)
 move camera speed*(distance#*1.5)
 position camera camera position x(),object position y(objectid)+height,camera position z()
endfunction

load object "blade/blade.x",7
 make mesh from object 1,7
 delete object 7
 make object 7,1,0
 phy cook convex mesh 7,1

//-- body
`result=phy load convex mesh("blade/Dynamicbody.p",1)
phy make convex mesh body,1,10.0
phy set linear damping body,0.1
phy set cmass loc pos body,0,-5.0,10.0

#include "DarkGDK.h"
#include "DarkPhy2.h"
#pragma comment(lib, "DynamiX_Debug.lib")

//-- Camera
void floatingCam(int objectID, float speed, float height);
//-- Vehicle Control
void processUserInput();
//-- Display
void renderText();

int getFreeObject();
int body;
int wheelFL, wheelFR, wheelBL, wheelBR;
int axleFront, axleBack;
int testMap;
float steerAngle = 0;
float maxAngle = 20.0;
float turnSpeed = 0.5;
float power = 100.0;
float downForce = 0;



void DarkGDK ( void )
{
	dbSyncOn   ( );
	dbSyncRate ( 60 );
    dbAutoCamOff();
    dbPositionCamera(0, 0, -100);
	dbColorBackdrop(dbRGB(200, 200, 255));
	dbSetCameraRange(10, 100000);
	

	//-- Map
    testMap = getFreeObject();
	dbLoadObject("TestLevel/TestMap.dbo", testMap);
	dbScaleObject(testMap, 500, 500, 500);
	//-- Hull
    body = getFreeObject();
	dbLoadObject("Blade/Body.x", body);


	//-- Wheels
	float wheelSeperation = 80.0;
	float wheelHeight     = 2.0;
	float wheelFrontZ     = 30.0;
	float wheelBackZ      = -30.0;

	//-- Wheel Collison (front)
	axleFront = getFreeObject();
	dbMakeObjectBox(axleFront, wheelSeperation + 20, 5, 20);
    dbPositionObject(axleFront, 0, 4, wheelFrontZ);
	dbHideObject(axleFront);
	//-- Wheel Collision (back)
	axleBack = getFreeObject();
	dbMakeObjectBox(axleBack, wheelSeperation + 20, 5, 20);
    dbPositionObject(axleBack, 0, 4, wheelBackZ); 
	dbHideObject(axleBack);

	//-- WheelFL
    wheelFL = getFreeObject();
	dbLoadObject("Blade/Front.x", wheelFL);
	dbRotateObject(wheelFL, 0, 0, 90);
	dbFixObjectPivot(wheelFL);
    dbRotateObject(wheelFL, 0, 0, -90);
	dbPositionObject(wheelFL, -wheelSeperation * 0.5, wheelHeight, wheelFrontZ); 
	//-- WheelFR
    wheelFR = getFreeObject();
	dbLoadObject("Blade/Front.x", wheelFR);
	dbRotateObject(wheelFR, 0, 0, 90);
	dbFixObjectPivot(wheelFR);
    dbRotateObject(wheelFR, 0, 0, -90);
	dbPositionObject(wheelFR, wheelSeperation * 0.5, wheelHeight, wheelFrontZ); 
	//-- WheelBL
    wheelBL = getFreeObject();
	dbLoadObject("Blade/Front.x", wheelBL);
	dbRotateObject(wheelBL, 0, 0, 90);
	dbFixObjectPivot(wheelBL);
    dbRotateObject(wheelBL, 0, 0, -90);
	dbPositionObject(wheelBL, -wheelSeperation * 0.5, wheelHeight, wheelBackZ); 
	//-- WheelBR
    wheelBR = getFreeObject();
	dbLoadObject("Blade/Front.x", wheelBR);
	dbRotateObject(wheelBR, 0, 0, 90);
	dbFixObjectPivot(wheelBR);
    dbRotateObject(wheelBR, 0, 0, -90);
	dbPositionObject(wheelBR, wheelSeperation * 0.5, wheelHeight, wheelBackZ); 


	//-- PHYSICS
	phyStart();
	phySetGravity(0, -590.0, 0);
	phySetParameter(NX_VISUALIZATION_SCALE, 1.0f);
	phySetParameter(NX_VISUALIZE_COLLISION_SHAPES, 1.0f);

    //-- MAP
	phyLoadTriangleMesh("TestLevel/TestMap.tmesh", 1);
	phyMakeTriangleMesh(testMap, 1);

	//-- BODY
    bool result = phyLoadConvexMesh("Blade/BladeBody.cmesh", 1);
	phyMakeConvexMesh(body, 1, 10.0);
	phySetLinearDamping(body, 0.1);
	phySetCMassLocPos(body, 0, -5.0, 0.0);

	//-- WHEEL COLLISON
    phyMakeBox(axleFront, 10.0);
	phyMakeBox(axleBack, 10.0);

	//-- WHEELS
	phyMakeWheel(wheelFL, 10.0);
	phyMakeWheel(wheelFR, 10.0);
	phyMakeWheel(wheelBL, 10.0);
	phyMakeWheel(wheelBR, 10.0);

	//-- SUSPENSION
	float suspension = 10.0;
	float spring = 15000000.0;//10000000.0f;
	float damper = 100000.0;
	float targetValue = 5.0;

	phyWheelSetSuspensionTravel(wheelFL, 0, suspension);
	phyWheelSetSuspensionTravel(wheelFR, 0, suspension);
	phyWheelSetSuspensionTravel(wheelBL, 0, suspension);
	phyWheelSetSuspensionTravel(wheelBR, 0, suspension);

	phyWheelSetSuspensionSpring(wheelFL, 0, spring, damper, targetValue);
	phyWheelSetSuspensionSpring(wheelFR, 0, spring, damper, targetValue);
	phyWheelSetSuspensionSpring(wheelBL, 0, spring, damper, targetValue);
	phyWheelSetSuspensionSpring(wheelBR, 0, spring, damper, targetValue);

	//-- JOINTS
	//-- Create Fixed Joint Descriptor
	phyMakeJointDesc(1);
	phyJointDescSetMotionX(1, 0);
	phyJointDescSetMotionY(1, 0);
	phyJointDescSetMotionZ(1, 0);
	phyJointDescSetSwing1Motion(1, 0);
	phyJointDescSetSwing2Motion(1, 0);
	phyJointDescSetTwistMotion(1, 0);

	//-- WheelFL
	phyJointDescSetActorA(1, body);
	phyJointDescSetActorB(1, wheelFL);
    phyJointDescSetGlobalAnchor(1, 0, 0, 0);
	phyMakeJoint(1, 1);
	//-- WheelFR
	phyJointDescSetActorA(1, body);
	phyJointDescSetActorB(1, wheelFR);
    phyJointDescSetGlobalAnchor(1, 0, 0, 0);
	phyMakeJoint(2, 1);
	//-- WheelBL
	phyJointDescSetActorA(1, body);
	phyJointDescSetActorB(1, wheelBL);
    phyJointDescSetGlobalAnchor(1, 0, 0, 0);
	phyMakeJoint(3, 1);
	//-- WheelBR
	phyJointDescSetActorA(1, body);
	phyJointDescSetActorB(1, wheelBR);
    phyJointDescSetGlobalAnchor(1, 0, 0, 0);
	phyMakeJoint(4, 1);

	//-- WheelFL
	phyJointDescSetActorA(1, body);
	phyJointDescSetActorB(1, axleFront);
    phyJointDescSetGlobalAnchor(1, 0, 0, 0);
	phyMakeJoint(5, 1);

	//-- WheelFL
	phyJointDescSetActorA(1, body);
	phyJointDescSetActorB(1, axleBack);
    phyJointDescSetGlobalAnchor(1, 0, 0, 0);
	phyMakeJoint(6, 1);


	//-- MATERIAL
	phyMakeMaterial(1, 0.01, 0.5, 0.5);
	phySetMaterial(testMap, 0, 1);


	phySetPosition(body, 0, 50, 0);

	//--Scale Wheels
	float scale = 92.5;
	dbScaleObject(wheelFL, scale, scale, scale);
	dbScaleObject(wheelFR, scale, scale, scale);
	dbScaleObject(wheelBL, scale, scale, scale);
	dbScaleObject(wheelBR, scale, scale, scale);



	phySimulate();
	while ( LoopGDK ( ) )
	{
		phyFetchResults();
		phyUpdate();
		phyWheelUpdate(wheelFL, 0);
		phyWheelUpdate(wheelFR, 0);
		phyWheelUpdate(wheelBL, 0);
		phyWheelUpdate(wheelBR, 0);
		processUserInput();
		//-- Downforce
		phyAddForce(body, 0, downForce, 0);
		phySimulate();

        dbPointCamera(0, 0, 0);
		floatingCam(body, 0.02, 100);

		renderText();
		if(dbSpaceKey()){
			dbHideObject(testMap);
			dbHideObject(body);
			dbHideObject(wheelFL);
			dbHideObject(wheelFR);
			dbHideObject(wheelBL);
			dbHideObject(wheelBR);
			phyDebugRender();
		}
		else{
			dbShowObject(testMap);
			dbShowObject(body);
			dbShowObject(wheelFL);
			dbShowObject(wheelFR);
			dbShowObject(wheelBL);
			dbShowObject(wheelBR);
		}
		 
		dbSync ( );
	}

	phyStop();
	return;
}

void renderText(){
    dbCenterText(dbScreenWidth() / 2, 0, "WOR-Physics-Testing");
    dbCenterText(dbScreenWidth() / 2, 15, "Use ARROW keys to drive");
    dbCenterText(dbScreenWidth() / 2, 30, "Hold SPACE key to render debug info");
}

void processUserInput(){
    //--TORQUE
	if(dbUpKey()){
	   phyAddLocalForce(body, 0, 0, 10); //Wakes up actor if asleep, wheels will not do this. 
       phyWheelSetMotorTorque(wheelBL, 0, power);
       phyWheelSetMotorTorque(wheelBR, 0, power);
	}
	else if(dbDownKey()){
       phyWheelSetMotorTorque(wheelBL, 0, -power);
       phyWheelSetMotorTorque(wheelBR, 0, -power);
	}
	else{
       phyWheelSetMotorTorque(wheelBL, 0, 0);
       phyWheelSetMotorTorque(wheelBR, 0, 0);
	}
    //--STEER
	if(dbRightKey()){
	    steerAngle += turnSpeed;
		if(steerAngle > maxAngle)
			steerAngle = maxAngle;
	}
	else if(dbLeftKey()){
		steerAngle -= turnSpeed;
		if(steerAngle < -maxAngle)
			steerAngle = -maxAngle;
	}
    phyWheelSetSteerAngle(wheelFL, 0, steerAngle);
    phyWheelSetSteerAngle(wheelFR, 0, steerAngle);
	steerAngle = steerAngle * 0.95;
}


int getFreeObject(){
   int obj = 1;
   while(dbObjectExist(obj)){
       obj++;
   }
   return obj;
}

void floatingCam(int objectID, float speed, float height)
{
	float distance = dbSqrt(
		              ((dbObjectPositionX(objectID) - dbCameraPositionX()) 
					    *
						 (dbObjectPositionX(objectID) - dbCameraPositionX())) 
						   + 
		                    ((dbObjectPositionZ(objectID) - dbCameraPositionZ()) 
					           *
						        (dbObjectPositionZ(objectID) - dbCameraPositionZ())));

	dbPointCamera(dbObjectPositionX(objectID), dbObjectPositionY(objectID), dbObjectPositionZ(objectID));
    dbMoveCamera(speed * (distance * 1.5));
	dbPositionCamera(dbCameraPositionX(), dbObjectPositionY(objectID) + height, dbCameraPositionZ());
}

steerangle as float
steerangle=0
maxangle as float
maxangle=40.0
turnspeed as float
turnspeed=2
power as float
power=100.0
downforce as float
downforce=0

sync on
sync rate 66
autocam off
position camera 0,0,-100
color backdrop rgb(200,200,255)
set camera range 10,100000

testmap=getfreeobject()
load object "testlevel/testmap.dbo",testmap
scale object testmap,500,500,500
//-- hull
body=getfreeobject()
load object "blade/body.x",body


//-- wheels
wheelseperation as float
wheelseperation=80.0
wheelheight as float
wheelheight=2.0
wheelfrontz as float
wheelfrontz=30.0
wheelbackz as float
wheelbackz=-30.0

//-- wheel collison (front)
axlefront=getfreeobject()
make object box axlefront,wheelseperation+20,5,20
position object axlefront,0,4,wheelfrontz
hide object axlefront
//-- wheel collision (back)
axleback=getfreeobject()
make object box axleback,wheelseperation+20,5,20
position object axleback,0,4,wheelbackz
hide object axleback

//-- wheelfl
wheelfl=getfreeobject()
load object "blade/front.x",wheelfl
rotate object wheelfl,0,0,90
fix object pivot wheelfl
rotate object wheelfl,0,0,-90
position object wheelfl,-wheelseperation * 0.5,wheelheight,wheelfrontz 
//-- wheelfr
wheelfr=getfreeobject()
load object "blade/front.x",wheelfr
rotate object wheelfr,0,0,90
fix object pivot wheelfr
rotate object wheelfr,0,0,-90
position object wheelfr,wheelseperation * 0.5,wheelheight,wheelfrontz 
//-- wheelbl
wheelbl=getfreeobject()
load object "blade/front.x",wheelbl
rotate object wheelbl,0,0,90
fix object pivot wheelbl
rotate object wheelbl,0,0,-90
position object wheelbl,-wheelseperation * 0.5,wheelheight,wheelbackz 
//-- wheelbr
wheelbr=getfreeobject()
load object "blade/front.x",wheelbr
rotate object wheelbr,0,0,90
fix object pivot wheelbr
rotate object wheelbr,0,0,-90
position object wheelbr,wheelseperation * 0.5,wheelheight,wheelbackz 

//-- physics
phy start
phy set gravity 0,-590.0,0
phy set parameter nx_visualization_scale,1.0
phy set parameter nx_visualize_collision_shapes,1.0

//-- map
phy load triangle mesh "testlevel/testmap.tmesh",1
phy make triangle mesh testmap,1

//-- body
result=phy load convex mesh("blade/bladebody.cmesh",1)
phy make convex mesh body,1,10.0
phy set linear damping body,0.1
phy set cmass loc pos body,0,-5.0,0.0

//-- wheel collison
phy make box axlefront,10.0
phy make box axleback,10.0

//-- wheels
phy make wheel wheelfl,10.0
phy make wheel wheelfr,10.0
phy make wheel wheelbl,10.0
phy make wheel wheelbr,10.0

//-- suspension
suspension as float
suspension=10.0
spring as float
spring=15000000.0//10000000.0f
damper as float
damper=100000.0
targetvalue as float
targetvalue=5.0

phy wheel set suspension travel wheelfl,0,suspension
phy wheel set suspension travel wheelfr,0,suspension
phy wheel set suspension travel wheelbl,0,suspension
phy wheel set suspension travel wheelbr,0,suspension

phy wheel set suspension spring wheelfl,0,spring,damper,targetvalue
phy wheel set suspension spring wheelfr,0,spring,damper,targetvalue
phy wheel set suspension spring wheelbl,0,spring,damper,targetvalue
phy wheel set suspension spring wheelbr,0,spring,damper,targetvalue

//-- joints
//-- create fixed joint descriptor
phy make joint desc 1
phy joint desc set motion x 1,0
phy joint desc set motion y 1,0
phy joint desc set motion z 1,0
phy joint desc set swing1 motion 1,0
phy joint desc set swing2 motion 1,0
phy joint desc set twist motion 1,0

//-- wheelfl
phy joint desc set actor a 1,body
phy joint desc set actor b 1,wheelfl
phy joint desc set global anchor 1,0,0,0
phy make joint 1,1
//-- wheelfr
phy joint desc set actor a 1,body
phy joint desc set actor b 1,wheelfr
phy joint desc set global anchor 1,0,0,0
phy make joint 2,1
//-- wheelbl
phy joint desc set actor a 1,body
phy joint desc set actor b 1,wheelbl
phy joint desc set global anchor 1,0,0,0
phy make joint 3,1
//-- wheelbr
phy joint desc set actor a 1,body
phy joint desc set actor b 1,wheelbr
phy joint desc set global anchor 1,0,0,0
phy make joint 4,1

//-- front axle
phy joint desc set actor a 1,body
phy joint desc set actor b 1,axlefront
phy joint desc set global anchor 1,0,0,0
phy make joint 5,1

//-- back axle
phy joint desc set actor a 1,body
phy joint desc set actor b 1,axleback
phy joint desc set global anchor 1,0,0,0
phy make joint 6,1


//-- material
phy make material 1,0.01,0.05,0.05
phy set material testmap,0,1

phy set position body,0,50,0

//--scale wheels
scale as float
scale=92.5
scale object wheelfl,scale,scale,scale
scale object wheelfr,scale,scale,scale
scale object wheelbl,scale,scale,scale
scale object wheelbr,scale,scale,scale

phy simulate
do
 phy fetch results
 phy update
 phy wheel update wheelfl,0
 phy wheel update wheelfr,0
 phy wheel update wheelbl,0
 phy wheel update wheelbr,0
 gosub processuserinput
 //-- downforce
 phy add force body,0,downforce,0
 phy simulate

 point camera 0,0,0
 floatingcam(body,0.02,100)

 gosub rendertext
 if spacekey()
  hide object testmap
	hide object body
  hide object wheelfl
  hide object wheelfr
  hide object wheelbl
  hide object wheelbr
  phy debug render
 else
  show object testmap
  show object body
  show object wheelfl
  show object wheelfr
  show object wheelbl
  show object wheelbr
 endif
 
 sync
loop

phy stop
end

rendertext:
 center text screen width()/2,0,"wor-physics-testing"
 center text screen width()/2,15,"use arrow keys to drive"
 center text screen width()/2,30,"hold space key to render debug info"
return

processuserinput:
 //--torque
 if upkey()
  phy add local force body,0,0,10 //wakes up actor if asleep,wheels will not do this. 
  phy wheel set motor torque wheelbl,0,power
  phy wheel set motor torque wheelbr,0,power
 else
  if downkey()
   phy add local force body,0,0,10 //wakes up actor if asleep,wheels will not do this.
   phy wheel set motor torque wheelbl,0,-power
   phy wheel set motor torque wheelbr,0,-power
  else
   phy wheel set motor torque wheelbl,0,0
   phy wheel set motor torque wheelbr,0,0
  endif
 endif
 //--steer
 if rightkey()
  steerangle=steerangle+turnspeed
  if steerangle>maxangle
   steerangle=maxangle
  endif
 else
  if leftkey()
   steerangle=steerangle-turnspeed
   if steerangle<-maxangle
    steerangle=-maxangle
   endif
  endif
 endif
 
 phy wheel set steer angle wheelfl,0,steerangle
 phy wheel set steer angle wheelfr,0,steerangle
 steerangle=steerangle*0.8
return


function getfreeobject()
 obj=1
 while object exist(obj)=1
  obj=obj+1
 endwhile
endfunction obj

function floatingcam(objectid as integer,speed as float,height as float)
 distance#=sqrt(((object position x(objectid)-camera position x())*(object position x(objectid)-camera position x()))+((object position z(objectid)-camera position z())*(object position z(objectid)-camera position z())))
 point camera object position x(objectid),object position y(objectid)+(height/2),object position z(objectid)
 move camera speed*(distance#*1.5)
 position camera camera position x(),object position y(objectid)+height,camera position z()
endfunction

		//Joystick
		static float aSpeed = 0;
		static float fallOff = 120;
		aSpeed = -phyWheelGetAxleSpeed(2, 0); 
		float oldAngle = steerAngle;
		if(dbJoystickX() > 0){
		    steerAngle = (float)dbJoystickX() / 1000 * 22 * ((fallOff - aSpeed)/fallOff);
			if(steerAngle - oldAngle > 2.0){
                steerAngle = oldAngle + 2.0;
			}
		}
		else if(dbJoystickX() < -0){
			steerAngle = (float)dbJoystickX() / 1000 * 22 * ((fallOff - aSpeed)/fallOff);
			if(steerAngle - oldAngle < - 2.0){
                steerAngle = oldAngle - 2.0;
			}
		}
		else{
            steerAngle = steerAngle * 0.9;
		}

//Console - By Revenant_Chaos
//Requires: D3Dfunc and IanM's MatrixUtils
//
//Press (~) to open the console
set display mode 1024,768,32,0

D3D_init

Init_Console()
Set_Console_Size(screen width(),screen height()*0.45)
Set_Console_Color(RGB(128,56,56,56),RGB(255,56,56,56))
Set_Console_Text_Color(RGB(255,255,255,92),RGB(192,192,192,92),RGB(148,148,148,92))
Set_Console_Line_Size(15)
Set_Console_Slide(1)
Set_Console_Slide_Speed(3.5)

`test manually writing things to the console
for tmp=1 to 100
	Write_To_Console(str$(tmp))
next tmp

make object cube 1,5

global camspeed# as float
camspeed#=1.0

lasttime=timer()

do
	set cursor 0,0
	print screen fps()	
	print 
	now=timer()
	timepassed=now-lasttime
	lasttime=now

	Yrotate object 1,object angle Y(1)+((timepassed+0.0)*0.1)

	mmx=mousemoveX()
	mmy=mousemoveY()

	if UpdateConsole()=0
		move camera (upkey()-downkey())*(camspeed#*timepassed)
		rotate camera wrapvalue(camera angle X()+mmy),wrapvalue(camera angle Y()+mmx),0
	endif
loop










Type ConsoleProp
	ConsoleToggleScancode as integer	
	ConsoleToggleHeld as boolean

	RetHeld as boolean

	Right as integer
	Bottom as integer
	
	BackgroundColor as Dword
	BorderColor as Dword
	
	EditColor as Dword
	TextColor1 as Dword
	TextColor2 as Dword

	`the flag which signifies that the console is open
	IsOpen as boolean
	
	`this flag signifies that the console slides open, 
	`instead of snapping open	
	SlideOpen as boolean
	`this is the speed at which the console opens/closes
	SlideSpeed as float

	`1 = down, -1 = up, 0 = nothing
	SlideDirection as integer
	DestPosition as integer

	`this is used to store the last time the 
	`console was updated
	ConsoleLastTime as integer
	ConsoleTimePassed as integer
	
	TextWhileClosing as string

	`the bottom of the console
	ConsolePos as float
	
	`the height of each line of text
	LineHeight as integer
	
	
	FirstLineToDisplay as integer
	FirstLineMoveHeld as integer
endtype



`initalize the console system
Function Init_Console()
	`create an array to hold info about the console
	Dim ConsoleMaster(0) as ConsoleProp
	
	`define that the 'Tilde' key (`~) should
	`open and close the console
	ConsoleMaster().ConsoleToggleScancode=41
	
	`create an array to hold the text that was input
	dim ConsoleText$(0) as string
	`set the console as being initalized
	Global ConsoleInitalized
	ConsoleInitalized=1

	D3D_Font 1,"Trebuchet MS",12,1,0,1
endfunction


`set the right, and bottom coords of the console when it is open
Function Set_Console_Size(Right,Bottom)
	ConsoleMaster().Right=Right
	ConsoleMaster().Bottom=Bottom
endfunction

`set the spacing between the lines of text in the console
`This should equal the text height
Function Set_Console_Line_Size(Height)
	ConsoleMaster().LineHeight=Height
endfunction

`set the console's colors
Function Set_Console_Color(Background as Dword,Border as Dword)
	ConsoleMaster().BackgroundColor=Background
	ConsoleMaster().BorderColor=Border
endfunction

`set the color of the text in the console
Function Set_Console_Text_Color(EditColor as dword,Color1 as Dword,Color2 as Dword)
	ConsoleMaster().EditColor=EditColor
	ConsoleMaster().TextColor1=Color1
	ConsoleMaster().TextColor2=Color2
endfunction

`set weather the console slides or snaps open
Function Set_Console_Slide(SlidesFlag as boolean)
	ConsoleMaster().SlideOpen=SlidesFlag
endfunction


`set the speed at which the console opens
Function Set_Console_Slide_Speed(Speed#)
	ConsoleMaster().SlideSpeed=Speed#
endfunction




`Handle The Console
Function UpdateConsole()
	`Update The Console Timer
	if ConsoleMaster().ConsoleLastTime=0
		ConsoleMaster().ConsoleLastTime=timer()
	endif
	Now=Timer()
	ConsoleMaster().ConsoleTimePassed=Now-ConsoleMaster().ConsoleLastTime
	ConsoleMaster().ConsoleLastTime=Now

	`Toggle the console if the Tilde (~) key is pressed
	if scancode()=ConsoleMaster().ConsoleToggleScancode
		if ConsoleMaster().ConsoleToggleHeld=0
			ConsoleMaster().ConsoleToggleHeld=1
			if Get_Console_Open()=1

				`before closing the console, see if there is anything in 
				`the entry buffer
				NewTextToAdd$=entry$()
				if NewTextToAdd$=""
					ConsoleMaster().TextWhileClosing=""
				else
					`if there is, then store it for later
					ConsoleMaster().TextWhileClosing=NewTextToAdd$
				endif
				`close the console
				Close_Console()
				
				clear entry buffer
			else
				Open_Console()
				`restore the old entry
				NewTextToAdd$=ConsoleMaster().TextWhileClosing
				if NewTextToAdd$<>""
					set entry buffer NewTextToAdd$
				endif
				`remove the tilde from the current entry buffer				
				NewTextToAdd$=entry$()
				NewTextToAdd$=trim$(NewTextToAdd$,"`")
				set entry buffer NewTextToAdd$
			endif
		endif
	else
		if ConsoleMaster().ConsoleToggleHeld=1		
			ConsoleMaster().ConsoleToggleHeld=0		
		endif
	endif



	`If the console is open	
	if ConsoleMaster().IsOpen=1
		if entry$(1)="`"
			clear entry buffer
		endif

		`if the console slides
		if ConsoleMaster().SlideOpen=1
			`if the console is sliding
			if ConsoleMaster().ConsolePos<>ConsoleMaster().DestPosition
				`move (slide) the console
				ConsoleMaster().ConsolePos=ConsoleMaster().ConsolePos+(ConsoleMaster().ConsoleTimePassed*(ConsoleMaster().SlideSpeed*ConsoleMaster().SlideDirection))
				`check to see if the console is done sliding
				if ConsoleMaster().SlideDirection=-1
					if ConsoleMaster().ConsolePos<1
						ConsoleMaster().ConsolePos=0
						ConsoleMaster().IsOpen=0
						exitfunction
					endif
				endif
				if ConsoleMaster().SlideDirection=1
					if ConsoleMaster().ConsolePos>ConsoleMaster().Bottom
						ConsoleMaster().ConsolePos=ConsoleMaster().Bottom
					endif
				endif
			endif
		endif
		

		`read some values from the array here
		`to shorten the following lines
		ConsPos=ConsoleMaster().ConsolePos
		ConsRight=ConsoleMaster().Right		
		BGcolor=ConsoleMaster().BackgroundColor
		BDcolor=ConsoleMaster().BorderColor
		
		ConsLineHeight=ConsoleMaster().LineHeight

		`draw the console background
		D3D_BOX 0,0,ConsRight,ConsPos,BGcolor,BGcolor,BDcolor,BDcolor
		`draw the console bottom line (border)
		D3D_Line 0,ConsPos,ConsRight,ConsPos,BDcolor



		`get the number of lines of entered text
		NumOfWords=array count(ConsoleText$())
		`get the maximum number of lines to show on the screen
		`at once
		MaxLinesToShow=((ConsPos-24)/ConsLineHeight)-1


		`Start a text drawing operation 
		D3D_STARTTEXT		
	
		`if there has been things typed into the console
		if NumOfWords>0
			`if there are more items than can fit on the screen
			if NumOfWords>MaxLinesToShow
				FirstSlot=ConsoleMaster().FirstLineToDisplay
				`scroll thorugh the console using the PgUp/PgDn keys
				SlotMove=keystate(201)-keystate(209)
				`if the user is scrolling
				if SlotMove<>0
					if ConsoleMaster().FirstLineMoveHeld=0
						ConsoleMaster().FirstLineMoveHeld=1
						`move 5 slots at a time
						FirstSlot=FirstSlot+(SlotMove*5)
					endif
				else
					ConsoleMaster().FirstLineMoveHeld=0
				endif
			
				`make sure the scroll value stays within it's range
				if FirstSlot<1
					FirstSlot=1
				endif
				if (FirstSlot+MaxLinesToShow)>NumOfWords
					FirstSlot=NumOfWords-MaxLinesToShow
				endif

				`store the first slot to show
				ConsoleMaster().FirstLineToDisplay=FirstSlot
				`get the number of lines to write to the screen
				EndSlot=MaxLinesToShow+FirstSlot
			else
				FirstSlot=1	
				EndSlot=NumOfWords
			endif
				
		`Figure out which color to draw the text as first.
			`if the value is even
			if (int(NumOfWords/2)*2)=NumOfWords
				TmpColID=0
			else
				TmpColID=1
			endif
			
			if FirstSlot>1
				Tmp#=FirstSlot*0.5
				if Tmp#<>int(Tmp#)
					TmpColID=1-TmpColID
				endif
			endif

			`write the previous console text to the screen
			for Slot=FirstSlot to EndSlot
				`Change The Text color every other line
				if TmpColID=0
					TmpColID=1
					CurTextColor=ConsoleMaster().TextColor1
				else
					TmpColID=0
					CurTextColor=ConsoleMaster().TextColor2
				endif
				SlotOffset=(Slot-FirstSlot)+1
				Y=ConsoleMaster().ConsolePos-24-(SlotOffset*ConsLineHeight)
				D3D_Text 1,5,Y,0,ConsoleText$(Slot),CurTextColor
			next slot
		endif

		`If the console is entirely open
		if ConsoleMaster().ConsolePos=ConsoleMaster().DestPosition
			`//////////////////////////////////////////////////////////////
			`	Handle The User Typing
			`\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\
			in$=entry$(1)
			inlen=len(in$)
			
			`get the comsole's "Edit color", which is the 
			`color of the text which the user is typing
			CurTextColor=ConsoleMaster().EditColor
			`draw the user's input to the screen
			d3d_text 1,10,ConsoleMaster().Bottom-20,0,">> "+in$,CurTextColor

			`If the returnkey is pressed, then process the input
			if Returnkey()
				if ConsoleMaster().RetHeld=0
					ConsoleMaster().RetHeld=1
					NewTextToAdd$=entry$(1)
					`remove invalid characters from the string
					NewTextToAdd$=clean_string(NewTextToAdd$)
					`if the entry buffer wast empty
					if NewTextToAdd$<>""
						`see if the user has typed any commands
						if fast left$(NewTextToAdd$,2)="//"
							paramlen=len(NewTextToAdd$)
							ParameterName$=fast right$(NewTextToAdd$,paramlen-2)
							Console_ExecuteCommand(ParameterName$)
						else
							Write_To_Console(NewTextToAdd$)		
						endif					
						clear entry buffer
					endif
				endif
			else
				if ConsoleMaster().RetHeld=1		
					ConsoleMaster().RetHeld=0	
				endif
			endif	
		endif
		D3D_ENDTEXT
	endif
	consoleactive=Get_Console_Open()
	D3D_COLOR 255,255,255,255
endfunction consoleactive
















`this function opens the console
Function Open_Console()
	`set the console as being "Open"
	ConsoleMaster().IsOpen=1
	`clear anything which may be in the entry buffer
	clear entry buffer
	`If the console Slides
	if ConsoleMaster().SlideOpen=1
		`define the move direction
		ConsoleMaster().SlideDirection=1
		`set the destinition to slide to
		ConsoleMaster().DestPosition=ConsoleMaster().Bottom
	else
		`otherwise, snap the console open
		ConsoleMaster().ConsolePos=ConsoleMaster().Bottom
		ConsoleMaster().DestPosition=ConsoleMaster().Bottom
	endif
	ConsoleMaster().FirstLineToDisplay=1
endfunction

`this function closes the console
Function Close_Console()
	`If the console is open
	if ConsoleMaster().IsOpen=1
		`if the console slides	
		if ConsoleMaster().SlideOpen=1
			`set the direction to move in		
			ConsoleMaster().SlideDirection=-1
			`set the destintion position
			ConsoleMaster().DestPosition=0
		else
			`otherwise, snap the console closed
			ConsoleMaster().ConsolePos=0
			ConsoleMaster().DestPosition=0
			ConsoleMaster().IsOpen=0
		endif
	endif
endfunction

`Return weather the console is open or not
Function Get_Console_Open()
	IsOpen=ConsoleMaster().IsOpen
endfunction IsOpen

`This function will write text to the console
`without the console needing to be open
function Write_To_Console(NewText$)
	array insert at top ConsoleText$()
	ConsoleText$(1)=NewText$
endfunction

`this function will clear all input from the console
function Clear_console()
	if ConsoleInitalized=1
		undim ConsoleText$()
		dim ConsoleText$(0)
	endif
endfunction



function clean_string(InText$)
	InText$=REMOVE ALL$(InText$,chr$(10))
	InText$=REMOVE ALL$(InText$,chr$(13))
	InText$=REMOVE ALL$(InText$,crlf$())
	InText$=trim$(InText$," ")
endfunction InText$







//EXECUTE WHAT HAS BEEN PASSED INTO THE CONSOLE
Function Console_ExecuteCommand(ParameterName$)
	Param$=fast lower$(ParameterName$)
	if Param$="exit"
		end
	endif		
	`this will clear the console
	if Param$="clear"
		Clear_console()
	endif
endfunction

    //-- ADVANCED WHEEL SETUP
    phyMakeTireFuncDesc(1);
    phyTireFuncDescSetExtremum(1, ?, ?);
    phyTireFuncDescSetAsymptote(1, ?, ?); 
    phyTireFuncDescSetStiffnessFactor(1, 3000);
    //phyWheelSetLatTireForceFunc(wheelFL, 0, 1);
    //phyWheelSetLatTireForceFunc(wheelFR, 0, 1);
    phyWheelSetLatTireForceFunc(wheelBL, 0, 1);
    phyWheelSetLatTireForceFunc(wheelBR, 0, 1);