// genetic joint functions
API (CustomDestroyJoint, jointlibrary)
API (CustomGetJointID, jointlibrary)
API (CustomSetJointID, jointlibrary)
API (CustomGetBody0, jointlibrary)
API (CustomGetBody1, jointlibrary)
API (CustomGetBodiesCollisionState, jointlibrary)
API (CustomSetBodiesCollisionState, jointlibrary)
API (CustomGetUserData, jointlibrary)
API (CustomSetUserData, jointlibrary)
API (CustomSetDestructorCallback, jointlibrary)
API (CustomSetSubmitContraintCallback, jointlibrary)

API(CustomCreateBlankJoint, jointlibrary)

// Kinematic control joint
API (CreateCustomKinematicController, jointlibrary)
API (CustomKinematicControllerSetPickMode, jointlibrary)
API (CustomKinematicControllerSetMaxLinearFriction, jointlibrary)
API (CustomKinematicControllerSetMaxAngularFriction, jointlibrary)
API (CustomKinematicControllerSetTargetPosit, jointlibrary)
API (CustomKinematicControllerSetTargetRotation, jointlibrary)
API (CustomKinematicControllerSetTargetMatrix, jointlibrary)
API (CustomKinematicControllerGetTargetMatrix, jointlibrary)

// Generic 6 degree of Freedom Joint
API (CreateCustomJoint6DOF, jointlibrary)
API (CustomJoint6DOF_SetLinearLimits, jointlibrary)
API (CustomJoint6DOF_SetAngularLimits, jointlibrary)
API (CustomJoint6DOF_GetLinearLimits, jointlibrary)
API (CustomJoint6DOF_GetAngularLimits, jointlibrary)
API (CustomJoint6DOF_SetReverseUniversal, jointlibrary)

// Interface for a custom BallAndSocket joint with Limits
API (CreateCustomBallAndSocket, jointlibrary)
API (BallAndSocketSetConeAngle, jointlibrary)
API (BallAndSocketSetTwistAngle, jointlibrary)

// Interface for a custom Hinge joint with Limits
API (CreateCustomHinge, jointlibrary)
API (HingeEnableLimits, jointlibrary)
API (HingeSetLimis, jointlibrary)

// Interface for a custom Slider joint with Limits
API (CreateCustomSlider, jointlibrary)
API (SliderEnableLimits, jointlibrary)
API (SliderSetLimis, jointlibrary)

// player controller functions
API (CreateCustomPlayerController, jointlibrary)
API (CustomPlayerControllerSetVelocity, jointlibrary)
API (CustomPlayerControllerGetVisualMaTrix, jointlibrary)
API (CustomPlayerControllerGetMaxSlope, jointlibrary)
API (CustomPlayerControllerSetMaxSlope, jointlibrary)
API (CustomPlayerControllerGetSensorShape, jointlibrary)

//// Multi rigid BodyCar controller functions
//API (CreateCustomMultiBodyVehicle, jointlibrary)
//API (CustomMultiBodyVehicleAddTire, jointlibrary)
//API (CustomMultiBodyVehicleAddSlipDifferencial, jointlibrary)
//API (CustomMultiBodyVehicleGetTiresCount, jointlibrary)
//API (CustomMultiBodyVehicleGetTireBody, jointlibrary)
//API (CustomMultiBodyVehicleGetSpeed, jointlibrary)
//API (CustomMultiBodyVehicleGetTireSteerAngle, jointlibrary)
//API (CustomMultiBodyVehicleApplyTorque, jointlibrary)
//API (CustomMultiBodyVehicleApplySteering, jointlibrary)
//API (CustomMultiBodyVehicleApplyBrake, jointlibrary)
//API (CustomMultiBodyVehicleApplyTireRollingDrag, jointlibrary)


//// BEGIN k00m (Dave Gravel simple raycast world vehicle)API
API (DGRaycastVehicleCreate, jointlibrary)
API (DGRaycastVehicleAddTire, jointlibrary)
API (DGRaycastVehicleSetTireTransformCallback, jointlibrary)
API (DGRaycastVehicleGetTiresCount, jointlibrary)
API (DGRaycastVehicleGetTiresUserData, jointlibrary)
API (DGRaycastVehicleGetTireMatrix, jointlibrary)
//API (DGRaycastVehicleGetSpeed, jointlibrary)
//API (DGRaycastVehicleGetTirePosit, jointlibrary)
//API (DGRaycastVehicleSetCustomTireBrake, jointlibrary)
//API (DGRaycastVehicleSetCustomTireTorque, jointlibrary)
//API (DGRaycastVehicleSetCustomTireSteerAngleForce, jointlibrary)
//API (DGRaycastVehicleGenerateTiresBrake, jointlibrary)
//API (DGRaycastVehicleGenerateTiresTorque, jointlibrary)
//API (DGRaycastVehicleGenerateTiresSteerForce, jointlibrary)
//API (DGRaycastVehicleGenerateTiresSteerAngle, jointlibrary)
//API (DGRaycastVehicleSetVarTireMovePointForceFront, jointlibrary)
//API (DGRaycastVehicleSetVarTireMovePointForceRight, jointlibrary)
//API (DGRaycastVehicleSetVarTireMovePointForceUp, jointlibrary)
//API (DGRaycastVehicleSetVarFixDeceleration, jointlibrary)
//API (DGRaycastVehicleSetVarChassisRotationLimit, jointlibrary)
//API (DGRaycastVehicleSetVarMaxSteerAngle, jointlibrary)
//API (DGRaycastVehicleSetVarMaxSteerRate, jointlibrary)
//API (DGRaycastVehicleSetVarMaxSteerForceRate, jointlibrary)
//API (DGRaycastVehicleSetVarMaxSteerForce, jointlibrary)
//API (DGRaycastVehicleSetVarMaxSteerSpeedRestriction, jointlibrary)
//API (DGRaycastVehicleSetVarMaxBrakeForce, jointlibrary)
//API (DGRaycastVehicleSetVarMaxTorque, jointlibrary)
//API (DGRaycastVehicleSetVarMaxTorqueRate, jointlibrary)
//API (DGRaycastVehicleSetVarEngineSteerDiv, jointlibrary)
//API (DGRaycastVehicleSetVarTireSuspenssionHardLimit, jointlibrary)
//API (DGRaycastVehicleSetVarTireFriction, jointlibrary)
//API (DGRaycastVehicleGetTiresCount, jointlibrary)
//API (DGRaycastVehicleGetVehicleOnAir, jointlibrary)
//API (DGRaycastVehicleGetTireOnAir, jointlibrary)
//API (DGRaycastVehicleDestroy, jointlibrary)
// END

//// Pick Body joint
//API (CreateCustomPickBody, jointlibrary)
//API (CustomPickBodySetPickMode, jointlibrary)
//API (CustomPickBodySetMaxLinearFriction, jointlibrary)
//API (CustomPickBodySetMaxAngularFriction, jointlibrary)
//API (CustomPickBodySetTargetRotation, jointlibrary)
//API (CustomPickBodySetTargetPosit, jointlibrary)
//API (CustomPickBodySetTargetMatrix, jointlibrary)
//API (CustomPickBodyGetTargetMatrix, jointlibrary)


/* */

float temp_float;

ENTITY* FLwheelPtr;
ENTITY* FRwheelPtr;
ENTITY* BLwheelPtr;
ENTITY* BRwheelPtr;
ENTITY* tireId;
ENTITY* tireModel;
ENTITY* car;

D3DXMATRIX m;

action solid()
{
c_setminmax(me);
set(my,POLYGON);
vec_set(my.scale_x,vector(2,2,2));
my.flags |= FLAG8;
}

action Newton_Car()
{
int tireMass = 30;
float suspensionLength = 0.25;
float suspensionSpring =700.0;
float suspensionShock = 60.0;
float wheelradius = 0.4;
float tirePin[3] = {0.0, 1.0, 0.0};
D3DXMATRIX tire_offset;
D3DXMATRIX tire_offset1;
D3DXMATRIX tire_offset2;
D3DXMATRIX tire_offset3;
D3DXMATRIX tire_offset4;
VECTOR tirepos;

car = me;
vec_set(my.pan,vector(180,0,0));
wait(3);

NewtonBody* car_body = newton_addentity(me, 130, NEWTON_CONVEXHULL, onforceandtorque);
NewtonBodySetAutoSleep( car_body, 0);
NewtonBodySetLinearDamping(car_body,0.005);

D3DXMATRIX tire_offset;
NewtonBodyGetMatrix(car_body,&tire_offset);

float tire_offset[16] = {0,0,1,0, 0,1,0,0, -1,0,0,0, 0,0,0,1};
float tire_offset[16] = {1,0,0,0, 0,1,0,0, 0,0,1,0, 0,0,0,1};
float tire_offset[16] = {0,1,0,0, 0,0,1,0, 1,0,0,0, 0,0,0,1};

NewtonJoint* car_joint = DGRaycastVehicleCreate(4, tire_offset, car_body);

DGRaycastVehicleAddTire(car_joint,NULL,vector(5,-5,-1), 0.5, 1, 1, 0.1, 2, 70, 5, 1);
DGRaycastVehicleAddTire(car_joint,NULL,vector(5,5,-1), 0.5, 1, 1, 0.1, 2, 70, 5, 1);
DGRaycastVehicleAddTire(car_joint,NULL,vector(-5,5,-1), 0.5, 1, 1, 0.1, 2, 70, 5, 1);
DGRaycastVehicleAddTire(car_joint,NULL,vector(-5,-5,-1), 0.5, 1, 1, 0.1, 2, 70, 5, 1);

FLwheelPtr = ent_create("WheelL.mdl",nullvector,NULL);
FRwheelPtr = ent_create("WheelR.mdl",nullvector,NULL);
BLwheelPtr = ent_create("WheelL.mdl",nullvector,NULL);
BRwheelPtr = ent_create("WheelR.mdl",nullvector,NULL);

vec_set(tirepos,vector(20,-20,-20));
D3DXMatrixTranslation(&tire_offset1, tirepos.x ,tirepos.y ,tirepos.z );

DGRaycastVehicleAddTire(car_joint,FLwheelPtr,&tire_offset, 0.5, 0.1, 1, 0.1, 0.25, 70, 5, 1);

JOINTLIBRARY_API void DGRaycastVehicleAddTire(NewtonCustomJoint *car, void *userData, const dFloat* localPosition, dFloat mass, dFloat radius, dFloat width, dFloat friction, dFloat suspensionLength, dFloat springConst, dFloat springDamper, int castMode);

vec_set(tirepos,vector(20,20,-20));
D3DXMatrixTranslation(&tire_offset1, tirepos.x * QUANTTOMETER,tirepos.y * QUANTTOMETER,tirepos.z * QUANTTOMETER);
D3DXMatrixTranslation(&tire_offset1, tirepos.x ,tirepos.y,tirepos.z );
DGRaycastVehicleAddTire(car_joint,FRwheelPtr,&tire_offset,20,55,0.3,1.1,0.25,60,5,1);

vec_set(tirepos,vector(-20,-20,-20));
D3DXMatrixTranslation(&tire_offset1, tirepos.x * QUANTTOMETER,tirepos.y * QUANTTOMETER,tirepos.z * QUANTTOMETER);
D3DXMatrixTranslation(&tire_offset1, tirepos.x ,tirepos.y ,tirepos.z );
DGRaycastVehicleAddTire(car_joint,BLwheelPtr,&tire_offset,20,55,0.3,1.1,0.25,60,5,1);

vec_set(tirepos,vector(-20,-20,-20));
D3DXMatrixTranslation(&tire_offset1, tirepos.x * QUANTTOMETER,tirepos.y * QUANTTOMETER,tirepos.z * QUANTTOMETER);
D3DXMatrixTranslation(&tire_offset1, tirepos.x ,tirepos.y ,tirepos.z);
DGRaycastVehicleAddTire(car_joint,BRwheelPtr,&tire_offset,20,55,0.3,1.1,0.25,60,5,1);



FLwheelPtr = ent_create("WheelR.mdl",vector(0,0,-500),NULL);
vec_for_bone(tirepos,me,"FRBone");
vec_sub(tirepos,my.x);
D3DXMatrixTranslation(&tire_offset2, tirepos.x * QUANTTOMETER,tirepos.y * QUANTTOMETER,tirepos.z * QUANTTOMETER);
DGRaycastVehicleAddTire(car_joint,FRwheelPtr,&tire_offset2,20,0.35,0.3,1.1,0.25,60,5,1);

FLwheelPtr = ent_create("WheelL.mdl",vector(0,0,-500),NULL);
vec_for_bone(tirepos,me,"BLBone");
vec_sub(tirepos,my.x);
D3DXMatrixTranslation(&tire_offset3, tirepos.x * QUANTTOMETER,tirepos.y * QUANTTOMETER,tirepos.z * QUANTTOMETER);
DGRaycastVehicleAddTire(car_joint,BLwheelPtr,&tire_offset3,20,0.35,0.3,1.1,0.25,60,5,1);

FLwheelPtr = ent_create("WheelR.mdl",vector(0,0,-500),NULL);
vec_for_bone(tirepos,me,"BRBone");
vec_sub(tirepos,my.x);
D3DXMatrixTranslation(&tire_offset4, tirepos.x * QUANTTOMETER,tirepos.y * QUANTTOMETER,tirepos.z * QUANTTOMETER);
DGRaycastVehicleAddTire(car_joint,BRwheelPtr,&tire_offset4,20,0.35,0.3,1.1,0.25,60,5,1);

FLwheelPtr = ent_create("tekerlekL.mdl",nullvector,NULL);

vec_for_bone(tirepos,me,"FLBone");
vec_sub(tirepos,my.x);
D3DXMatrixTranslation(&tire_offset, tirepos.x * QUANTTOMETER,tirepos.y * QUANTTOMETER,tirepos.z * QUANTTOMETER);
NewtonVehicleAddTire(car_joint, &tire_offset, tirePin[0], tireMass, wheelradius, wheelradius, suspensionShock,suspensionSpring,suspensionLength, FLwheelPtr, 5);

tPos = rv_Tires[i].rt_Mesh->ob_Matrix.m_posit;
DGRaycastVehicleAddTire(car_joint,FLwheelPtr,
&tire_offset,
20, //rv_Tires[i].rt_Mass,
0.35, //rv_Tires[i].rt_Radius,
0.3, //rv_Tires[i].rt_Width,
1.1, //rv_Tires[i].rt_Friction,
0.25, //rv_Tires[i].rt_SuspensionLenght,
60, //rv_Tires[i].rt_SuspensionConst,
5, //rv_Tires[i].rt_SuspensionDamping,
1 //rv_CastMode
);



FRwheelPtr = ent_create("tekerlekR.mdl",nullvector,NULL);
BLwheelPtr = ent_create("tekerlekL.mdl",nullvector,NULL);
BRwheelPtr = ent_create("tekerlekR.mdl",nullvector,NULL);



while(car != NULL)
{
// /*
// // SET ALL TIRES POSITION AND ANGLE [ THESE LINES ARE NOT AT TIRE CALLBACK FUNC. BECAUSE MAKING THAT CAUSES VISUAL TIRES TO UPDATE 1 FRAME LATER THAN NEWTON TIRES ]
for (tireId = NewtonVehicleGetFirstTireID (car_joint); tireId!=NULL; tireId = NewtonVehicleGetNextTireID (car_joint, tireId))
{
tireModel = NewtonVehicleGetTireUserData (car_joint, tireId);
NewtonVehicleGetTireMatrix(car_joint,tireId, m);
ent_setmatrix_rb(tireModel,m);
}
//
DGRaycastVehicleSetCustomTireTorque(car_joint,1,1500);
DGRaycastVehicleSetCustomTireTorque(car_joint,0,1500);

car_camera_move();

wait(1);
}
}