#include <Irrlicht.h>
#include <newton.h>

// use scale factor between Newton and irr
const float NewtonToIrr = 32.0f;
const float IrrToNewton = (1.0f / NewtonToIrr);

using namespace irr;
using namespace core;
using namespace scene;
using namespace video;
using namespace io;
using namespace gui;


int main()
{
   //create Newton world
   NewtonWorld* nWorld = NewtonCreate ();
   // set Irrlicht
    IrrlichtDevice *device = createDevice(EDT_OPENGL, dimension2d<u32>(1024, 768), 32,false, false, false);

   video::IVideoDriver* driver = device->getVideoDriver();
   scene::ISceneManager* smgr = device->getSceneManager();

       // add mesh
   scene::ImeshSceneNode* beat = smgr->addSphereSceneNode(10,64);
    if (beat)
    {
        beat->setMaterialFlag(video::EMF_LIGHTING, false);
    }

    core::aabbox3d<f32> box = beat->getBoundingBox();
    core::vector3df size = box.getExtent() * IrrToNewton;
    NewtonCollision* collision = NewtonCreateBox(nWorld, size.X, size.Y, size.Z, NULL, NULL);
    static NewtonBody*  beat_Body = NewtonCreateBody(nWorld, collision);
    NewtonReleaseCollision (nWorld, collision);

    // set the body mass and inertia
    NewtonBodySetMassMatrix (beat_Body, 1.0f, 5.0f, 1.0f, 5.0f);

    //NewtonBodySetUserData(beat_Body, beat);
    //NewtonBodySetDestructorCallback (beat_Body, DestroyPistonEvent);

    core::matrix4 matrix = beat->getRelativeTransformation();
    core::vector3df origin = matrix.getTranslation() * IrrToNewton;
    matrix.setTranslation (origin);
    NewtonBodySetMatrix(beat_Body, &matrix.M[0]);
    // animate the body by setting the angular velocity
    float omega[] = {0.0f, 10.0f, 0.0f};
    NewtonBodySetOmega (beat_Body, &omega[0]);

    // add camera & hide cursor
    smgr->addCameraSceneNode(0, core::vector3df(3,0,3), core::vector3df(0,0,0));
    device->getCursorControl()->setVisible(false);
    // count FPS
   int lastFPS = -1;

   while(device->run())
   {
      driver->beginScene(true, true, video::SColor(255,100,101,140));
      //update the physics at the same rate as the render
       float fps = (float) driver->getFPS();
       if (fps > 0.0f)
           NewtonUpdate(nWorld, 1.0f / fps);
      // rotate node
      core::matrix4 mat;
      NewtonBodyGetMatrix(beat_Body, &mat.M[0]);
      //Set node position
      beat->setPosition(mat.getTranslation() * NewtonToIrr);
      // set node rotation
      core::vector3df euler;
      NewtonGetEulerAngle ( &mat.M[0], &euler.X);
      beat->setRotation(euler * (180.0f / 3.1416f));
      smgr->drawAll();
      driver->endScene();

      int fps_int = driver->getFPS();
      if (lastFPS  != fps_int)
      {
         core::stringw str = L"Irrlicht Engine - Quake 3 Map example [";
         str += driver->getName();
         str += "] FPS:";     str += fps_int;
         device->setWindowCaption(str.c_str());
         lastFPS = fps_int;
      }
   }

    // instead call
    NewtonDestroyAllBodies (nWorld);
    // finish newton & irrlicht
    NewtonDestroy(nWorld);
   device->drop();
   return 0;
}

              NewtonWorld* World;
    World = NewtonCreate();
    NewtonSetPlatformArchitecture(World, 0);

    dVector minSize(-500.0f, -500.0f, -500.0f);
    dVector maxSize(500.0f, 500.0f, 500.0f);
    NewtonSetWorldSize(World, &minSize[0], &maxSize[0]);
    NewtonSetSolverModel(World, 1);