from direct.directbase import DirectStart
from pandac.PandaModules import *
from random import randint, random

# Setup our physics world
world = OdeWorld()
world.setGravity(0, 0, -9.81)

# The surface table is needed for autoCollide
world.initSurfaceTable(1)
world.setSurfaceEntry(0, 0, 150, 0.0, 9.1, 0.9, 0.00001, 0.0, 0.002)

# Create a space and add a contactgroup to it to add the contact joints
space = OdeSimpleSpace()
space.setAutoCollideWorld(world)
contactgroup = OdeJointGroup()
space.setAutoCollideJointGroup(contactgroup)

# Load the box
box = loader.loadModel("box")
# Make sure its center is at 0, 0, 0 like OdeBoxGeom
box.setPos(-.5, -.5, -.5)
box.flattenLight() # Apply transform
box.setTextureOff()

# Add a random amount of boxes
boxes = []
for i in range(randint(15, 30)):
  # Setup the geometry
  boxNP = box.copyTo(render)
  boxNP.setPos(randint(-10, 10), randint(-10, 10), 10 + random())
  boxNP.setColor(random(), random(), random(), 1)
  boxNP.setHpr(randint(-45, 45), randint(-45, 45), randint(-45, 45))
  # Create the body and set the mass
  boxBody = OdeBody(world)
  M = OdeMass()
  M.setBox(50, 1, 1, 1)
  boxBody.setMass(M)
  boxBody.setPosition(boxNP.getPos(render))
  boxBody.setQuaternion(boxNP.getQuat(render))
  # Create a BoxGeom
  boxGeom = OdeBoxGeom(space, 1, 1, 1)
  boxGeom.setBody(boxBody)
  boxes.append((boxNP, boxBody))

# Add a plane to collide with
ground = loader.loadModel("map/polinomialcarnage.egg")
ground.setPos(0, 0, 0);
ground.reparentTo(render)

groundGeomData = OdeTriMeshData(ground, True)
groundGeom = OdeTriMeshGeom(space, groundGeomData)

# The task for our simulation
def simulationTask(task):
  space.autoCollide() # Setup the contact joints

  # Step the simulation and set the new positions
  world.quickStep(globalClock.getDt())
  for np, body in boxes:
    np.setPosQuat(render, body.getPosition(), Quat(body.getQuaternion()))
  contactgroup.empty() # Clear the contact joints
  return task.cont

# Wait a split second, then start the simulation
taskMgr.doMethodLater(3, simulationTask, "Physics Simulation")

run()