#include "physics.h"
#include <stdlib.h>

void lovrPhysicsInit() {
  dInitODE();

  if (!dCheckConfiguration("ODE_single_precision")) {
    error("lovr.physics must use single precision");
  }

  atexit(lovrPhysicsDestroy);
}

void lovrPhysicsDestroy() {
  dCloseODE();
}

World* lovrWorldCreate() {
  World* world = lovrAlloc(sizeof(World), lovrWorldDestroy);
  if (!world) return NULL;

  world->id = dWorldCreate();

  return world;
}

void lovrWorldDestroy(const Ref* ref) {
  World* world = containerof(ref, World);
  dWorldDestroy(world->id);
  free(world);
}

void lovrWorldGetGravity(World* world, float* x, float* y, float* z) {
  dReal gravity[3];
  dWorldGetGravity(world->id, gravity);
  *x = gravity[0];
  *y = gravity[1];
  *z = gravity[2];
}

void lovrWorldSetGravity(World* world, float x, float y, float z) {
  dWorldSetGravity(world->id, x, y, z);
}

void lovrWorldGetLinearDamping(World* world, float* damping, float* threshold) {
  *damping = dWorldGetLinearDamping(world->id);
  *threshold = dWorldGetLinearDampingThreshold(world->id);
}

void lovrWorldSetLinearDamping(World* world, float damping, float threshold) {
  dWorldSetLinearDamping(world->id, damping);
  dWorldSetLinearDampingThreshold(world->id, threshold);
}

void lovrWorldUpdate(World* world, float dt) {
  dWorldQuickStep(world->id, dt);
}