#ifndef ENVIRONMENT_H
#define ENVIRONMENT_H

#include "constants.h"
#include "Agent.h"
#include <vector>

#include "btBulletDynamicsCommon.h"

#include "GlutStuff.h"
#include "GLDebugDrawer.h"

class Environment
{

private:
	btDynamicsWorld *m_dynamicsWorld;
	btCollisionShape* groundShape;
	btTransform groundTransform;
	btCollisionShape* colShape;

	btAlignedObjectArray<btCollisionShape*>	m_collisionShapes;

	btBroadphaseInterface*	m_broadphase;
	btCollisionDispatcher*	m_dispatcher;
	btConstraintSolver*	m_solver;
	btDefaultCollisionConfiguration* m_collisionConfiguration;

	btAlignedObjectArray<btTypedConstraint*>	m_joints;
	btAlignedObjectArray<btAlignedObjectArray<int> > m_matrix;

enum {
	LEFT=0, RIGHT=1, UP=2, DOWN=3
};

public:

	Environment();

	~Environment() { };

	void addAgent(Agent *agent);

	void setupEnvironment();


	void createMagicCarpet(int n, int m);
	btAlignedObjectArray<btCollisionShape*>	getCollisionShapes();
	btDynamicsWorld *getDynamicsWorld();

	btAlignedObjectArray<btTypedConstraint*> getJoints()
	{
		return m_joints;
	}

	btAlignedObjectArray<btAlignedObjectArray<int> > getMatrix()
	{
		return m_matrix;
	}

	void exitEnvironment();
};



#endif //ENVIRONMENT_H