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/*************************************************************************
 *                                                                       *
 * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
 * All rights reserved.  Email: [email protected]   Web: www.q12.org          *
 * Open Dynamics Engine 4J, Copyright (C) 2009-2014 Tilmann Zaeschke     *
 * All rights reserved.  Email: [email protected]   Web: www.ode4j.org        *
 *                                                                       *
 * This library is free software; you can redistribute it and/or         *
 * modify it under the terms of EITHER:                                  *
 *   (1) The GNU Lesser General Public License as published by the Free  *
 *       Software Foundation; either version 2.1 of the License, or (at  *
 *       your option) any later version. The text of the GNU Lesser      *
 *       General Public License is included with this library in the     *
 *       file LICENSE.TXT.                                               *
 *   (2) The BSD-style license that is included with this library in     *
 *       the file ODE-LICENSE-BSD.TXT and ODE4J-LICENSE-BSD.TXT.         *
 *                                                                       *
 * This library is distributed in the hope that it will be useful,       *
 * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
 * LICENSE.TXT, ODE-LICENSE-BSD.TXT and ODE4J-LICENSE-BSD.TXT for more   *
 * details.                                                              *
 *                                                                       *
 *************************************************************************/
package org.ode4j.demo;

import org.ode4j.drawstuff.DrawStuff.dsFunctions;
import org.ode4j.math.DMatrix3;
import org.ode4j.math.DMatrix3C;
import org.ode4j.math.DQuaternion;
import org.ode4j.math.DVector3;
import org.ode4j.math.DVector3C;
import org.ode4j.ode.DBox;
import org.ode4j.ode.DCylinder;
import org.ode4j.ode.OdeHelper;
import org.ode4j.ode.DBody;
import org.ode4j.ode.DContact;
import org.ode4j.ode.DContactBuffer;
import org.ode4j.ode.DGeom;
import org.ode4j.ode.DJoint;
import org.ode4j.ode.DJointGroup;
import org.ode4j.ode.DMass;
import org.ode4j.ode.DSpace;
import org.ode4j.ode.DTriMeshData;
import org.ode4j.ode.DWorld;
import org.ode4j.ode.DGeom.DNearCallback;

import static org.ode4j.drawstuff.DrawStuff.*;
import static org.ode4j.ode.OdeMath.*;
import static org.ode4j.demo.WorldGeom3.*;


/**
 * Test for non-capped cylinder, by Bram Stolk.
 */
class DemoCyl extends dsFunctions {


	private static final boolean BOX = true;
	private static final boolean CYL = true;

	// some constants

	private static final float RADIUS = 0.22f;	// wheel radius
	private static final float WMASS = 0.2f;	// wheel mass
	private static final float WHEELW = 0.2f;	// wheel width
	private static final float BOXSZ = 0.4f;	// box size
	private static boolean CYL_GEOM_OFFSET = false;   // rotate cylinder using geom offset

	// dynamics and collision objects (chassis, 3 wheels, environment)

	private static DWorld world;
	private static DSpace space;
	private static DBody boxbody;
	private static DBox boxgeom;
	private static DBody cylbody;
	private static DCylinder cylgeom;
	private static DJointGroup contactgroup;
	private static DGeom world_mesh;


	private DNearCallback nearCallback = new DNearCallback() {
		@Override
		public void call(Object data, DGeom o1, DGeom o2) {
			nearCallback(data, o1, o2);
		}
	};

	// this is called by dSpaceCollide when two objects in space are
	// potentially colliding.

	private void nearCallback (Object data, DGeom o1, DGeom o2)
	{
		assert(o1!=null);
		assert(o2!=null);

		if ( o1 instanceof DSpace || o2 instanceof DSpace )
		{
			System.out.println("testing space " + o1 + "  " + o2);
			// colliding a space with something
			OdeHelper.spaceCollide2(o1,o2,data,nearCallback);
			// Note we do not want to test intersections within a space,
			// only between spaces.
			return;
		}

		//  System.out.println("testing geoms " + o1 + "  " + o2);

		final int N = 32;
		DContactBuffer contacts = new DContactBuffer(N);
		int n = OdeHelper.collide (o1,o2,N,contacts.getGeomBuffer());//[0].geom),sizeof(dContact));
		if (n > 0) 
		{
			for (int i=0; i
        
            
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