/*==LICENSE==*

CyanWorlds.com Engine - MMOG client, server and tools
Copyright (C) 2011 Cyan Worlds, Inc.

This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.

This program 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
GNU General Public License for more details.

You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.

Additional permissions under GNU GPL version 3 section 7

If you modify this Program, or any covered work, by linking or
combining it with any of RAD Game Tools Bink SDK, Autodesk 3ds Max SDK,
NVIDIA PhysX SDK, Microsoft DirectX SDK, OpenSSL library, Independent
JPEG Group JPEG library, Microsoft Windows Media SDK, or Apple QuickTime SDK
(or a modified version of those libraries),
containing parts covered by the terms of the Bink SDK EULA, 3ds Max EULA,
PhysX SDK EULA, DirectX SDK EULA, OpenSSL and SSLeay licenses, IJG
JPEG Library README, Windows Media SDK EULA, or QuickTime SDK EULA, the
licensors of this Program grant you additional
permission to convey the resulting work. Corresponding Source for a
non-source form of such a combination shall include the source code for
the parts of OpenSSL and IJG JPEG Library used as well as that of the covered
work.

You can contact Cyan Worlds, Inc. by email legal@cyan.com
 or by snail mail at:
      Cyan Worlds, Inc.
      14617 N Newport Hwy
      Mead, WA   99021

*==LICENSE==*/
#include "plPXPhysicalControllerCore.h"
#include "plSimulationMgr.h"
#include "plPXPhysical.h"
#include "plPXConvert.h"
#include "../pnSceneObject/plSimulationInterface.h"
#include "../pnSceneObject/plSceneObject.h"
#include "../plAvatar/plArmatureMod.h"
#include "../pnSceneObject/plCoordinateInterface.h"
#include "../plDrawable/plDrawableGenerator.h"
#include "../plPhysical/plPhysicalProxy.h"
#include "../pnMessage/plSetNetGroupIDMsg.h"
#include "../plMessage/plCollideMsg.h"
#include "../plModifier/plDetectorLog.h"

#include "../plSurface/hsGMaterial.h"		// For our proxy
#include "../plSurface/plLayerInterface.h"	// For our proxy

#include "NxPhysics.h"
#include "NxCapsuleController.h"
#include "NxCapsuleShape.h"
#include "ControllerManager.h"

static ControllerManager gControllerMgr;
static std::vector<plPXPhysicalControllerCore*> gControllers;
static bool gRebuildCache = false;

#ifndef PLASMA_EXTERNAL_RELEASE
hsBool plPXPhysicalControllerCore::fDebugDisplay = false;
#endif // PLASMA_EXTERNAL_RELEASE
int plPXPhysicalControllerCore::fPXControllersMax = 0;

#define kCCTSkinWidth 0.1f
#define kCCTStepOffset 0.7f
#define kCCTZOffset ((fRadius + (fHeight / 2)) + kCCTSkinWidth)
#define kPhysHeightCorrection 0.8f
#define kPhysZOffset ((kCCTZOffset + (kPhysHeightCorrection / 2)) - 0.05f)
#define kAvatarMass 200.0f

static class PXControllerHitReport : public NxUserControllerHitReport
{
public:
	virtual NxControllerAction onShapeHit(const NxControllerShapeHit& hit)
	{
		plPXPhysicalControllerCore* controller = (plPXPhysicalControllerCore*)hit.controller->getUserData();
		NxActor& actor = hit.shape->getActor();
		plPXPhysical* phys = (plPXPhysical*)actor.userData;
		hsVector3 normal = plPXConvert::Vector(hit.worldNormal);
		
#ifndef PLASMA_EXTERNAL_RELEASE
		plDbgCollisionInfo info;
		info.fNormal = normal;
		info.fSO = plSceneObject::ConvertNoRef(phys->GetObjectKey()->ObjectIsLoaded());
		
		NxCapsule capsule;
		controller->GetWorldSpaceCapsule(capsule);
		info.fOverlap = hit.shape->checkOverlapCapsule(capsule);

		controller->fDbgCollisionInfo.Append(info);
#endif PLASMA_EXTERNAL_RELEASE

		// If the avatar hit a movable physical, apply some force to it.
		if (actor.isDynamic())
		{
			if (!actor.readBodyFlag(NX_BF_KINEMATIC) && !actor.readBodyFlag(NX_BF_FROZEN))
			{
				// Don't apply force when standing on top of an object.
				if (normal.fZ < 0.85f)
				{
					hsVector3 velocity = controller->GetLinearVelocity();
					velocity.fZ = 0.0f;
					float length = velocity.Magnitude();
					if (length > 0)
					{
						// Only allow horizontal pushes for now
						NxVec3 hitDir = hit.worldPos - hit.controller->getPosition();
						hitDir.z = 0.0f;
						hitDir.normalize();

						// Get controller speed along the hitDir
						float cctProj = velocity.fX * hitDir.x + velocity.fY * hitDir.y;
						length = length + cctProj / 2.0f;

						// Get hit actors speed along the hitDir
						float hitProj = actor.getLinearVelocity().dot(hitDir);
						if (hitProj > 0)
							length -= hitProj;

						length *= kAvatarMass;

						hsPoint3 pos((float)hit.worldPos.x, (float)hit.worldPos.y, (float)hit.worldPos.z);
						phys->SetHitForce(plPXConvert::Vector(hitDir * length), pos);
						controller->AddDynamicHit(phys);
					}
				}
			}
		}
		else  // else if the avatar hit a static
		{
			controller->fMovementStrategy->AddContactNormals(normal);
			return NX_ACTION_NONE;
		}
		if (phys && phys->GetProperty(plSimulationInterface::kAvAnimPushable))
		{
 			hsQuat inverseRotation = controller->fLocalRotation.Inverse();
			hsVector3 normal = plPXConvert::Vector(hit.worldNormal);
			controller->SetPushingPhysical(phys);
			controller->SetFacingPushingPhysical((inverseRotation.Rotate(&kAvatarForward).InnerProduct(normal) < 0 ? true : false));
		}
		return NX_ACTION_NONE;
	}
	virtual NxControllerAction onControllerHit(const NxControllersHit& hit)
	{
		return NX_ACTION_NONE;
	}
} gControllerHitReport;

plPhysicalControllerCore* plPhysicalControllerCore::Create(plKey ownerSO, hsScalar height, hsScalar width, bool human)
{
	if (!plPXPhysicalControllerCore::fPXControllersMax || gControllers.size() < plPXPhysicalControllerCore::fPXControllersMax)
	{
		hsScalar radius = width / 2.0f;
		hsScalar realHeight = height - width;
		return TRACKED_NEW plPXPhysicalControllerCore(ownerSO, realHeight, radius, human);
	}
	return nil;
}

plPXPhysicalControllerCore::plPXPhysicalControllerCore(plKey ownerSO, hsScalar height, hsScalar radius, bool human)
	: plPhysicalControllerCore(ownerSO, height, radius),
	fController(nil), 
	fActor(nil), 
	fProxyGen(nil), 
	fKinematicCCT(true),
	fHuman(human)
{
	ICreateController(fLocalPosition);
	fActor->raiseActorFlag(NX_AF_DISABLE_COLLISION);
	gControllers.push_back(this);
}
plPXPhysicalControllerCore::~plPXPhysicalControllerCore()
{
	int numControllers = gControllers.size();
	for (int i = 0; i < numControllers; ++i)
	{
		if (gControllers[i] == this)
		{
			gControllers.erase(gControllers.begin()+i);
			break;
		}
	}
	IDeleteController();

	// Release any queued messages we may have
	int numMsgs = fQueuedCollideMsgs.size();
	if (numMsgs)
	{
		for (int i = 0; i < numMsgs; ++i)
			delete fQueuedCollideMsgs[i];

		fQueuedCollideMsgs.clear();
	}

	delete fProxyGen;
}

void plPXPhysicalControllerCore::Enable(bool enable)
{
	if (fEnabled != enable)
	{
		fEnabled = enable;
		if (fEnabled)
		{
			// Defer until the next physics update.
			fEnableChanged = true;
		}
		else
		{
			if (!fKinematicCCT)
			{
				// Dynamic controllers are forced kinematic
				fActor->raiseBodyFlag(NX_BF_KINEMATIC);
				NxShape* shape = fActor->getShapes()[0];
				shape->setGroup(plSimDefs::kGroupAvatarKinematic);
			}
		}
	}
}

void plPXPhysicalControllerCore::SetSubworld(plKey world) 
{	
	if (fWorldKey != world)
	{
		SimLog("Changing subworlds!");

		// Inform detectors in the old world that we are leaving
		IInformDetectors(false);
 		IDeleteController();

		// We need our real global location here, not the interpolated location
		fLocalRotation.MakeMatrix(&fLastGlobalLoc);
		fLastGlobalLoc.SetTranslate(&fLocalPosition);
		if (fWorldKey)
		{
			hsMatrix44 prevSubL2W;
			fPrevSubworldW2L.GetInverse(&prevSubL2W);
			fLastGlobalLoc = prevSubL2W * fLastGlobalLoc;
		}
		// Update our scene object so the change isn't wiped out
		plSceneObject* so = plSceneObject::ConvertNoRef(fOwner->ObjectIsLoaded());
		if (so)
		{
			hsMatrix44 globalLocInv;
			fLastGlobalLoc.GetInverse(&globalLocInv);
			so->SetTransform(fLastGlobalLoc, globalLocInv);
			so->FlushTransform();
		}

		// Update Local Position and rotation
		fWorldKey = world;
		const plCoordinateInterface* subworldCI = GetSubworldCI();
		if (subworldCI)
		{
			fPrevSubworldW2L = subworldCI->GetWorldToLocal();
			hsMatrix44 l2s = fPrevSubworldW2L * fLastGlobalLoc;
			l2s.GetTranslate(&fLocalPosition);
			fLocalRotation.SetFromMatrix44(l2s);
		}
		else
		{
			fPrevSubworldW2L.Reset();
			fLastGlobalLoc.GetTranslate(&fLocalPosition);
			fLocalRotation.SetFromMatrix44(fLastGlobalLoc);
		}

		fLastLocalPosition = fLocalPosition;

		// Create new controller
		ICreateController(fLocalPosition);
		RebuildCache();
	}
}

void plPXPhysicalControllerCore::GetState(hsPoint3& pos, float& zRot)
{	
	// Temporarily use the position point while we get the z rotation
	fLocalRotation.NormalizeIfNeeded();
	fLocalRotation.GetAngleAxis(&zRot, (hsVector3*)&pos);

	if (pos.fZ < 0)
		zRot = (2 * hsScalarPI) - zRot; // axis is backwards, so reverse the angle too

	pos = fLocalPosition;
}
void plPXPhysicalControllerCore::SetState(const hsPoint3& pos, float zRot)
{
	plSceneObject* so = plSceneObject::ConvertNoRef(fOwner->ObjectIsLoaded());
	if (so)
	{
		hsQuat worldRot;
		hsVector3 zAxis(0.f, 0.f, 1.f);
		worldRot.SetAngleAxis(zRot, zAxis);

		hsMatrix44 l2w, w2l;
		worldRot.MakeMatrix(&l2w);
		l2w.SetTranslate(&pos);

		// Localize new position and rotation to global coords if we're in a subworld
		const plCoordinateInterface* ci = GetSubworldCI();
		if (ci)
		{
			const hsMatrix44& subworldL2W = ci->GetLocalToWorld();
			l2w = subworldL2W * l2w;
		}
		l2w.GetInverse(&w2l);
		so->SetTransform(l2w, w2l);
		so->FlushTransform();
	}
}

void plPXPhysicalControllerCore::SetMovementStrategy(plMovementStrategy* strategy)
{
	if (fKinematicCCT != strategy->IsKinematic())
	{
		IDeleteController();
		fKinematicCCT = !fKinematicCCT;
		ICreateController(fLocalPosition);
	}

	fMovementStrategy = strategy;
}

void plPXPhysicalControllerCore::SetGlobalLoc(const hsMatrix44& l2w)
{
	fLastGlobalLoc = l2w;

	// Update our local position and rotation
	hsPoint3 prevPosition = fLocalPosition;
	const plCoordinateInterface* subworldCI = GetSubworldCI();
	if (subworldCI)
	{
		hsMatrix44 l2s = fPrevSubworldW2L * l2w;

		l2s.GetTranslate(&fLocalPosition);
		fLocalRotation.SetFromMatrix44(l2s);
	}
	else
	{
		l2w.GetTranslate(&fLocalPosition);
		fLocalRotation.SetFromMatrix44(l2w);
	}

	fLastLocalPosition = fLocalPosition;

	if (fProxyGen)
	{
		hsMatrix44 w2l;
		l2w.GetInverse(&w2l);
		fProxyGen->SetTransform(l2w, w2l);
	}

	// Update the physical position
	if (fKinematicCCT)
	{
		hsVector3 disp(&fLocalPosition, &prevPosition);
		if (disp.Magnitude() > 2.f)
		{
			// Teleport the underlying actor most of the way
			disp.Normalize();
			disp *= 0.001f;

			hsPoint3 teleportPos = fLocalPosition - disp;
			NxVec3 pos(teleportPos.fX, teleportPos.fY, teleportPos.fZ + kPhysZOffset);
			fActor->setGlobalPosition(pos);
		}

		NxExtendedVec3 extPos(fLocalPosition.fX, fLocalPosition.fY, fLocalPosition.fZ + kCCTZOffset);
		fController->setPosition(extPos);
	}
	else
	{
		NxVec3 pos(fLocalPosition.fX, fLocalPosition.fY, fLocalPosition.fZ + kPhysZOffset);
		if (fActor->readBodyFlag(NX_BF_KINEMATIC))
			fActor->moveGlobalPosition(pos);
		else
			fActor->setGlobalPosition(pos);
	}
}

void plPXPhysicalControllerCore::GetPositionSim(hsPoint3& pos)
{
	if (fKinematicCCT)
	{
		const NxExtendedVec3& extPos = fController->getPosition();
		pos.Set((hsScalar)extPos.x, (hsScalar)extPos.y, (hsScalar)extPos.z - kCCTZOffset);
	}
	else
	{
		NxVec3 nxPos = fActor->getGlobalPosition();
		pos.Set(nxPos.x, nxPos.y, nxPos.z - kPhysZOffset);
	}
}

void plPXPhysicalControllerCore::Move(hsVector3 displacement, unsigned int collideWith, unsigned int &collisionResults)
{
	NxU32 colFlags = 0;

	fController->move(plPXConvert::Vector(displacement), collideWith, 0.00001f, colFlags);

	collisionResults = 0;
	if (colFlags & NXCC_COLLISION_DOWN)
		collisionResults |= kBottom;
	if (colFlags & NXCC_COLLISION_UP)
		collisionResults |= kTop;
	if (colFlags & NXCC_COLLISION_SIDES)
		collisionResults |= kSides;
}

void plPXPhysicalControllerCore::SetLinearVelocitySim(const hsVector3& linearVel)
{
	if (!fKinematicCCT)
	{
		NxVec3 vel = plPXConvert::Vector(linearVel);
		fActor->setLinearVelocity(vel);
	}
}

int plPXPhysicalControllerCore::SweepControllerPath(const hsPoint3& startPos, const hsPoint3& endPos, hsBool vsDynamics, hsBool vsStatics, 
							UInt32& vsSimGroups, std::vector<plControllerSweepRecord>& hits)
{
	NxSweepQueryHit queryHit[10];

	unsigned int flags = NX_SF_ALL_HITS;
	if (vsDynamics)
		flags |= NX_SF_DYNAMICS;
	if (vsStatics)
		flags |= NX_SF_STATICS;

	NxVec3 vec;
	vec.x = endPos.fX - startPos.fX;
	vec.y = endPos.fY - startPos.fY;
	vec.z = endPos.fZ - startPos.fZ;
	
	NxShape* shape = fActor->getShapes()[0];
	NxCapsuleShape* capShape = shape->isCapsule();
	float radius = capShape->getRadius();
	float height = capShape->getHeight();

	NxCapsule capsule;
	capsule.p0 = plPXConvert::Point(startPos);
	capsule.p0.z = capsule.p0.z + radius;
	capsule.radius = radius;
	capsule.p1 = capsule.p0;
	capsule.p1.z = capsule.p1.z + height;

	NxScene *scene = plSimulationMgr::GetInstance()->GetScene(fWorldKey);
	int numHits = scene->linearCapsuleSweep(capsule, vec, flags, nil, 10, queryHit, nil, vsSimGroups);
	if (numHits)
	{
		for (int i = 0; i < numHits; ++i)
		{
			plControllerSweepRecord currentHit;
			currentHit.ObjHit = (plPhysical*)queryHit[i].hitShape->getActor().userData;
			if (currentHit.ObjHit)
			{
				currentHit.Point = plPXConvert::Point(queryHit[i].point);
				currentHit.Normal = plPXConvert::Vector(queryHit[i].normal);
				hits.push_back(currentHit);
			}
		}
	}

	return hits.size();
}

void plPXPhysicalControllerCore::LeaveAge()
{
	SetPushingPhysical(nil);
	if (fWorldKey)
		SetSubworld(nil);

	// Disable all collisions
	fActor->raiseActorFlag(NX_AF_DISABLE_COLLISION);
}

void plPXPhysicalControllerCore::GetWorldSpaceCapsule(NxCapsule& cap) const
{
	NxShape* shape = fActor->getShapes()[0];
	NxCapsuleShape* capShape = shape->isCapsule();
	capShape->getWorldCapsule(cap);
}

plDrawableSpans* plPXPhysicalControllerCore::CreateProxy(hsGMaterial* mat, hsTArray<UInt32>& idx, plDrawableSpans* addTo)
{
	// FIXME
	plDrawableSpans* myDraw = addTo;
	hsBool blended = ((mat->GetLayer(0)->GetBlendFlags() & hsGMatState::kBlendMask));
	float radius = fRadius;
	myDraw = plDrawableGenerator::GenerateSphericalDrawable(fLocalPosition, radius,
		mat, fLastGlobalLoc, blended,
		nil, &idx, myDraw);

/*
	plSceneObject* so = plSceneObject::ConvertNoRef(fOwner->ObjectIsLoaded());
	if (so)
	{
		hsBool blended = ((mat->GetLayer(0)->GetBlendFlags() & hsGMatState::kBlendMask));

		myDraw = plDrawableGenerator::GenerateConicalDrawable(fRadius*10, fHeight*10,
			mat, so->GetLocalToWorld(), blended,
			nil, &idx, myDraw);
	}
*/
	return myDraw;
}

void plPXPhysicalControllerCore::AddDynamicHit(plPXPhysical* phys) 
{
	int numHits = fDynamicHits.size();
	for (int i = 0; i < numHits; ++i)
	{
		if (fDynamicHits[i] == phys)
			return;
	}

	fDynamicHits.push_back(phys); 
}

void plPXPhysicalControllerCore::Apply(hsScalar delSecs)
{
	plPXPhysicalControllerCore* controller;
	int numControllers = gControllers.size();
	for (int i = 0; i < numControllers; ++i)
	{
		controller = gControllers[i];
		if (gRebuildCache && controller->fController)
			controller->fController->reportSceneChanged();

#ifndef PLASMA_EXTERNAL_RELEASE
		controller->fDbgCollisionInfo.SetCount(0);
#endif

		controller->IDispatchQueuedMsgs();
		controller->IApply(delSecs);
		controller->IProcessDynamicHits();
	}

	gRebuildCache = false;
}
void plPXPhysicalControllerCore::Update(int numSubSteps, hsScalar alpha)
{
	gControllerMgr.updateControllers();

	plPXPhysicalControllerCore* controller;
	int numControllers = gControllers.size();
	for (int i = 0; i < numControllers; ++i)
	{
		controller = gControllers[i];

		controller->IUpdate(numSubSteps, alpha);

#ifndef PLASMA_EXTERNAL_RELEASE
		if (fDebugDisplay)
			controller->IDrawDebugDisplay();
#endif
	}
}
void plPXPhysicalControllerCore::UpdateNonPhysical(hsScalar alpha)
{
	plPXPhysicalControllerCore* controller;
	int numControllers = gControllers.size();
	for (int i = 0; i < numControllers; ++i)
	{
		controller = gControllers[i];
		controller->IUpdateNonPhysical(alpha);
	}
}

void plPXPhysicalControllerCore::RebuildCache() { gRebuildCache = true; }

plPXPhysicalControllerCore* plPXPhysicalControllerCore::GetController(NxActor& actor)
{
	plPXPhysicalControllerCore* controller;
	int numControllers = gControllers.size();
	for (int i = 0; i < numControllers; ++i)
	{
		controller = gControllers[i];
		if (controller->fActor == &actor)
			return controller;
	}

	return nil;
}

bool plPXPhysicalControllerCore::AnyControllersInThisWorld(plKey world)
{
	plPXPhysicalControllerCore* controller;
	int numControllers = gControllers.size();
	for (int i = 0; i < numControllers; ++i)
	{
		controller = gControllers[i];
		if (controller->GetSubworld() == world)
			return true;
	}

	return false;
}
int plPXPhysicalControllerCore::GetNumberOfControllersInThisSubWorld(plKey world)
{
	int count = 0;
	plPXPhysicalControllerCore* controller;
	int numControllers = gControllers.size();
	for (int i = 0; i < numControllers; ++i)
	{
		controller = gControllers[i];
		if (controller->GetSubworld() == world)
			++count;
	}

	return count;
}
int plPXPhysicalControllerCore::GetControllersInThisSubWorld(plKey world, int maxToReturn, plPXPhysicalControllerCore** bufferout)
{
	int count = 0;
	plPXPhysicalControllerCore* controller;
	int numControllers = gControllers.size();
	for (int i = 0; i < numControllers; ++i)
	{
		controller = gControllers[i];
		if (controller->GetSubworld() == world)
		{
			if (count < maxToReturn)
			{
				bufferout[count] = controller;
				++count;
			}
		}
	}

	return count;
}

int plPXPhysicalControllerCore::NumControllers() { return gControllers.size(); }

void plPXPhysicalControllerCore::IHandleEnableChanged()
{
	// Defered enable
	fEnableChanged = false;
	
	if (!fKinematicCCT)
	{
		// Restore dynamic controller
		fActor->clearBodyFlag(NX_BF_KINEMATIC);
		NxShape* shape = fActor->getShapes()[0];
		shape->setGroup(plSimDefs::kGroupAvatar);
	}

	// Enable actor collisions
	if (fActor->readActorFlag(NX_AF_DISABLE_COLLISION))
		fActor->clearActorFlag(NX_AF_DISABLE_COLLISION);
}

void plPXPhysicalControllerCore::IInformDetectors(bool entering)
{
	static const NxU32 kDetectorFlag = 1<<plSimDefs::kGroupDetector;
	static const int kNumShapes = 30;

	DetectorLog("Informing from plPXPhysicalControllerCore::IInformDetectors");

	NxShape* shapes[kNumShapes];
	NxCapsule capsule;
	GetWorldSpaceCapsule(capsule);
	NxScene* scene = plSimulationMgr::GetInstance()->GetScene(fWorldKey);
	int numCollided = scene->overlapCapsuleShapes(capsule, NX_ALL_SHAPES, kNumShapes, shapes, NULL, kDetectorFlag, NULL, true);
	for (int i = 0; i < numCollided; ++i)
	{
		plPXPhysical* physical = (plPXPhysical*)shapes[i]->getActor().userData;
		if (physical && physical->DoReportOn(plSimDefs::kGroupAvatar))
		{
			plCollideMsg* msg = TRACKED_NEW plCollideMsg();
			msg->fOtherKey = fOwner;
			msg->fEntering = entering;
			msg->AddReceiver(physical->GetObjectKey());

			// Queue until the next sim step
			fQueuedCollideMsgs.push_back(msg);
		}
	}

	DetectorLog("Done informing from plPXPhysicalControllerCore::IInformDetectors");
}

void plPXPhysicalControllerCore::ICreateController(const hsPoint3& pos)
{
	NxScene* scene = plSimulationMgr::GetInstance()->GetScene(fWorldKey);

	if (fKinematicCCT)
	{
		// Use PhysX character controller
		NxCapsuleControllerDesc desc;
		desc.position.x		= pos.fX;
		desc.position.y		= pos.fY;
		desc.position.z		= pos.fZ + kCCTZOffset;
		desc.upDirection	= NX_Z;
		desc.slopeLimit		= kSlopeLimit;
		desc.skinWidth		= kCCTSkinWidth;
		desc.stepOffset		= kCCTStepOffset;
		desc.callback		= &gControllerHitReport;
		desc.userData		= this;
		desc.radius			= fRadius;
		desc.height			= fHeight;
		desc.interactionFlag = NXIF_INTERACTION_EXCLUDE;
		fController = (NxCapsuleController*)gControllerMgr.createController(scene, desc);
		fActor = fController->getActor();

		// Set the actor group - Dynamics are in group 1 and will report on everything in group 0.
		// We don't want notifications
		fActor->setGroup(2);

		// Set the shape group.  Not used by the NxController itself,
		// But required for correct group interactions in the simulation.
		NxShape* shape = fActor->getShapes()[0];
		shape->setGroup(plSimDefs::kGroupAvatarKinematic);

		// In PhysX 2, the kinematic actors scale factor isn't exposed. 
		// It is hardcoded at 0.8 which doesn't suit, so we have to manually adjust its dimensions.
		float kineRadius = fRadius + kCCTSkinWidth;
		float kineHeight = fHeight;
		NxCapsuleShape* capShape = shape->isCapsule();
		if (fHuman)
		{
			kineHeight += kPhysHeightCorrection;
			capShape->setLocalPosition(NxVec3(0.0f, (kPhysHeightCorrection / 2.0f), 0.0f));
		}
		capShape->setDimensions(kineRadius, kineHeight);
	}
	else
	{
		// Use dynamic actor for the character controller
		NxCapsuleShapeDesc capDesc;
		capDesc.materialIndex = plSimulationMgr::GetInstance()->GetMaterialIdx(scene, 0.0f, 0.0f);
		capDesc.radius = fRadius + kCCTSkinWidth;
		capDesc.height = fHeight + kPhysHeightCorrection;

		NxBodyDesc bodyDesc;
		bodyDesc.mass = kAvatarMass;
		bodyDesc.flags = NX_BF_DISABLE_GRAVITY;
		bodyDesc.flags |= NX_BF_FROZEN_ROT;

		if (fEnabled)
			capDesc.group = plSimDefs::kGroupAvatar;
		else
		{
			bodyDesc.flags |= NX_BF_KINEMATIC;
			capDesc.group = plSimDefs::kGroupAvatarKinematic;
		}

		NxActorDesc actorDesc;
		actorDesc.shapes.pushBack(&capDesc);
		actorDesc.body = &bodyDesc;
		actorDesc.group = 2;

		actorDesc.globalPose.M.rotX(NxHalfPiF32);
		actorDesc.globalPose.t.x = pos.fX;
		actorDesc.globalPose.t.y = pos.fY;
		actorDesc.globalPose.t.z = pos.fZ + kPhysZOffset;
		
		fActor = scene->createActor(actorDesc);
	}

	fSeeking = false;

	// Create proxy for the debug display
	/* FIXME
	// the avatar proxy doesn't seem to work... not sure why?
	hsColorRGBA physColor;
	hsScalar opac = 1.0f;

	// local avatar is light purple and transparent
	physColor.Set(.2f, .1f, .2f, 1.f);
	opac = 0.8f;

	fProxyGen = TRACKED_NEW plPhysicalProxy(hsColorRGBA().Set(0,0,0,1.f), physColor, opac);
	fProxyGen->Init(this);
	*/
}
void plPXPhysicalControllerCore::IDeleteController()
{
	if (fKinematicCCT)
	{
		gControllerMgr.releaseController(*fController);
		fController = nil;
	}
	else
	{
		NxScene* scene = plSimulationMgr::GetInstance()->GetScene(fWorldKey);
		scene->releaseActor(*fActor);
	}

	fActor = nil;
	plSimulationMgr::GetInstance()->ReleaseScene(fWorldKey);
}

void plPXPhysicalControllerCore::IDispatchQueuedMsgs()
{
	int numMsgs = fQueuedCollideMsgs.size();
	if (numMsgs)
	{
		plSimulationMgr* simMgr = plSimulationMgr::GetInstance();
		for (int i = 0; i < numMsgs; ++i)
			simMgr->AddCollisionMsg(fQueuedCollideMsgs[i]);

		fQueuedCollideMsgs.clear();
	}
}
void plPXPhysicalControllerCore::IProcessDynamicHits()
{
	int numHits = fDynamicHits.size();
	if (numHits)
	{
		plPXPhysical* phys;
		plSimulationMgr* simMgr = plSimulationMgr::GetInstance();
		for (int i = 0; i < numHits; ++i)
		{
			phys = fDynamicHits[i];

			// If this is the local avatar, we need to take ownership of this dynamic if we haven't already
			if (fLOSDB == plSimDefs::kLOSDBLocalAvatar && !phys->IsLocallyOwned() && !phys->GetProperty(plSimulationInterface::kNoOwnershipChange))
			{
				plSynchedObject* obj = plSynchedObject::ConvertNoRef(phys->GetObjectKey()->ObjectIsLoaded());
				obj->SetNetGroupConstant(plNetGroup::kNetGroupLocalPhysicals);
			
				plSetNetGroupIDMsg* setNetGroupID = TRACKED_NEW plSetNetGroupIDMsg;
				setNetGroupID->fId = plNetGroup::kNetGroupRemotePhysicals;
				setNetGroupID->SetBCastFlag(plMessage::kNetPropagate | plMessage::kNetForce);
				setNetGroupID->SetBCastFlag(plMessage::kLocalPropagate, false);
				setNetGroupID->Send(obj->GetKey());
			}

			phys->ApplyHitForce();
			simMgr->ConsiderSynch(phys, nil);
		}
		fDynamicHits.clear();
	}
}

#ifndef PLASMA_EXTERNAL_RELEASE
#include "../plPipeline/plDebugText.h"

void plPXPhysicalControllerCore::IDrawDebugDisplay()
{
	plDebugText		&debugTxt = plDebugText::Instance();
	char			strBuf[ 2048 ];
	int				lineHeight = debugTxt.GetFontSize() + 4;
	UInt32			scrnWidth, scrnHeight;

	debugTxt.GetScreenSize( &scrnWidth, &scrnHeight );
	int	y = 10;
	int x = 10;

	sprintf(strBuf, "Controller Count: %d", gControllers.size());
	debugTxt.DrawString(x, y, strBuf);
	y += lineHeight;

	debugTxt.DrawString(x, y, "Avatar Collisions:");
	y += lineHeight;

	int i;
	for (i = 0; i < fDbgCollisionInfo.GetCount(); i++)
	{
		hsVector3 normal = fDbgCollisionInfo[i].fNormal;
		char *overlapStr = fDbgCollisionInfo[i].fOverlap ? "yes" : "no";
		hsScalar angle = hsScalarRadToDeg(hsACosine(normal * hsVector3(0, 0, 1)));
		sprintf(strBuf, "    Obj: %s, Normal: (%.2f, %.2f, %.2f), Angle(%.1f), Overlap(%3s)",
				fDbgCollisionInfo[i].fSO->GetKeyName(),
				normal.fX, normal.fY, normal.fZ, angle, overlapStr);
		debugTxt.DrawString(x, y, strBuf);
		y += lineHeight;
	}
}
#endif PLASMA_EXTERNAL_RELEASE