#include "physicssystem.hpp"

#include <osg/Group>

#include <BulletCollision/CollisionShapes/btConeShape.h>
#include <BulletCollision/CollisionShapes/btSphereShape.h>
#include <BulletCollision/CollisionShapes/btStaticPlaneShape.h>
#include <BulletCollision/CollisionShapes/btCompoundShape.h>
#include <BulletCollision/CollisionDispatch/btCollisionObject.h>
#include <BulletCollision/CollisionDispatch/btCollisionWorld.h>
#include <BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h>
#include <BulletCollision/BroadphaseCollision/btDbvtBroadphase.h>

#include <LinearMath/btQuickprof.h>

#include <components/nifbullet/bulletnifloader.hpp>
#include <components/resource/resourcesystem.hpp>
#include <components/resource/bulletshapemanager.hpp>
#include <components/debug/debuglog.hpp>
#include <components/esm/loadgmst.hpp>
#include <components/misc/constants.hpp>
#include <components/sceneutil/positionattitudetransform.hpp>
#include <components/sceneutil/unrefqueue.hpp>
#include <components/misc/convert.hpp>

#include <components/nifosg/particle.hpp> // FindRecIndexVisitor

#include "../mwbase/world.hpp"
#include "../mwbase/environment.hpp"

#include "../mwmechanics/creaturestats.hpp"
#include "../mwmechanics/actorutil.hpp"

#include "../mwworld/esmstore.hpp"
#include "../mwworld/cellstore.hpp"

#include "../mwrender/bulletdebugdraw.hpp"

#include "../mwworld/class.hpp"

#include "collisiontype.hpp"
#include "actor.hpp"
#include "trace.h"
#include "object.hpp"
#include "heightfield.hpp"
#include "hasspherecollisioncallback.hpp"
#include "deepestnotmecontacttestresultcallback.hpp"
#include "closestnotmerayresultcallback.hpp"
#include "contacttestresultcallback.hpp"
#include "constants.hpp"
#include "movementsolver.hpp"

namespace MWPhysics
{
    PhysicsSystem::PhysicsSystem(Resource::ResourceSystem* resourceSystem, osg::ref_ptr<osg::Group> parentNode)
        : mShapeManager(new Resource::BulletShapeManager(resourceSystem->getVFS(), resourceSystem->getSceneManager(), resourceSystem->getNifFileManager()))
        , mResourceSystem(resourceSystem)
        , mDebugDrawEnabled(false)
        , mTimeAccum(0.0f)
        , mWaterHeight(0)
        , mWaterEnabled(false)
        , mParentNode(parentNode)
        , mPhysicsDt(1.f / 60.f)
    {
        mResourceSystem->addResourceManager(mShapeManager.get());

        mCollisionConfiguration = new btDefaultCollisionConfiguration();
        mDispatcher = new btCollisionDispatcher(mCollisionConfiguration);
        mBroadphase = new btDbvtBroadphase();

        mCollisionWorld = new btCollisionWorld(mDispatcher, mBroadphase, mCollisionConfiguration);

        // Don't update AABBs of all objects every frame. Most objects in MW are static, so we don't need this.
        // Should a "static" object ever be moved, we have to update its AABB manually using DynamicsWorld::updateSingleAabb.
        mCollisionWorld->setForceUpdateAllAabbs(false);

        // Check if a user decided to override a physics system FPS
        const char* env = getenv("OPENMW_PHYSICS_FPS");
        if (env)
        {
            float physFramerate = std::atof(env);
            if (physFramerate > 0)
            {
                mPhysicsDt = 1.f / physFramerate;
                Log(Debug::Warning) << "Warning: using custom physics framerate (" << physFramerate << " FPS).";
            }
        }
    }

    PhysicsSystem::~PhysicsSystem()
    {
        mResourceSystem->removeResourceManager(mShapeManager.get());

        if (mWaterCollisionObject.get())
            mCollisionWorld->removeCollisionObject(mWaterCollisionObject.get());

        for (HeightFieldMap::iterator it = mHeightFields.begin(); it != mHeightFields.end(); ++it)
        {
            mCollisionWorld->removeCollisionObject(it->second->getCollisionObject());
            delete it->second;
        }

        for (ObjectMap::iterator it = mObjects.begin(); it != mObjects.end(); ++it)
        {
            mCollisionWorld->removeCollisionObject(it->second->getCollisionObject());
            delete it->second;
        }

        for (ActorMap::iterator it = mActors.begin(); it != mActors.end(); ++it)
        {
            delete it->second;
        }

        delete mCollisionWorld;
        delete mCollisionConfiguration;
        delete mDispatcher;
        delete mBroadphase;
    }

    void PhysicsSystem::setUnrefQueue(SceneUtil::UnrefQueue *unrefQueue)
    {
        mUnrefQueue = unrefQueue;
    }

    Resource::BulletShapeManager *PhysicsSystem::getShapeManager()
    {
        return mShapeManager.get();
    }

    bool PhysicsSystem::toggleDebugRendering()
    {
        mDebugDrawEnabled = !mDebugDrawEnabled;

        if (mDebugDrawEnabled && !mDebugDrawer.get())
        {
            mDebugDrawer.reset(new MWRender::DebugDrawer(mParentNode, mCollisionWorld));
            mCollisionWorld->setDebugDrawer(mDebugDrawer.get());
            mDebugDrawer->setDebugMode(mDebugDrawEnabled);
        }
        else if (mDebugDrawer.get())
            mDebugDrawer->setDebugMode(mDebugDrawEnabled);
        return mDebugDrawEnabled;
    }

    void PhysicsSystem::markAsNonSolid(const MWWorld::ConstPtr &ptr)
    {
        ObjectMap::iterator found = mObjects.find(ptr);
        if (found == mObjects.end())
            return;

        found->second->setSolid(false);
    }

    bool PhysicsSystem::isOnSolidGround (const MWWorld::Ptr& actor) const
    {
        const Actor* physactor = getActor(actor);
        if (!physactor || !physactor->getOnGround())
            return false;

        CollisionMap::const_iterator found = mStandingCollisions.find(actor);
        if (found == mStandingCollisions.end())
            return true; // assume standing on terrain (which is a non-object, so not collision tracked)

        ObjectMap::const_iterator foundObj = mObjects.find(found->second);
        if (foundObj == mObjects.end())
            return false;

        if (!foundObj->second->isSolid())
            return false;

        return true;
    }

    /*
        Start of tes3mp addition

        Make it possible to set the physics framerate from elsewhere
    */
    void PhysicsSystem::setPhysicsFramerate(float physFramerate)
    {
        if (physFramerate > 0 && physFramerate < 100)
        {
            mPhysicsDt = 1.f / physFramerate;
            std::cerr << "Warning: physics framerate was overridden (a new value is " << physFramerate << ")." << std::endl;
        }
        else
        {
            std::cerr << "Warning: attempted to override physics framerate with new value of " << physFramerate <<
                ", but it was outside accepted values." << std::endl;
        }
    }
    /*
        End of tes3mp addition
    */

    std::pair<MWWorld::Ptr, osg::Vec3f> PhysicsSystem::getHitContact(const MWWorld::ConstPtr& actor,
                                                                     const osg::Vec3f &origin,
                                                                     const osg::Quat &orient,
                                                                     float queryDistance, std::vector<MWWorld::Ptr> targets)
    {
        // First of all, try to hit where you aim to
        int hitmask = CollisionType_World | CollisionType_Door | CollisionType_HeightMap | CollisionType_Actor;
        RayResult result = castRay(origin, origin + (orient * osg::Vec3f(0.0f, queryDistance, 0.0f)), actor, targets, hitmask, CollisionType_Actor);

        if (result.mHit)
        {
            return std::make_pair(result.mHitObject, result.mHitPos);
        }

        // Use cone shape as fallback
        const MWWorld::Store<ESM::GameSetting> &store = MWBase::Environment::get().getWorld()->getStore().get<ESM::GameSetting>();

        btConeShape shape (osg::DegreesToRadians(store.find("fCombatAngleXY")->mValue.getFloat()/2.0f), queryDistance);
        shape.setLocalScaling(btVector3(1, 1, osg::DegreesToRadians(store.find("fCombatAngleZ")->mValue.getFloat()/2.0f) /
                                              shape.getRadius()));

        // The shape origin is its center, so we have to move it forward by half the length. The
        // real origin will be provided to getFilteredContact to find the closest.
        osg::Vec3f center = origin + (orient * osg::Vec3f(0.0f, queryDistance*0.5f, 0.0f));

        btCollisionObject object;
        object.setCollisionShape(&shape);
        object.setWorldTransform(btTransform(Misc::Convert::toBullet(orient), Misc::Convert::toBullet(center)));

        const btCollisionObject* me = nullptr;
        std::vector<const btCollisionObject*> targetCollisionObjects;

        const Actor* physactor = getActor(actor);
        if (physactor)
            me = physactor->getCollisionObject();

        if (!targets.empty())
        {
            for (MWWorld::Ptr& target : targets)
            {
                const Actor* targetActor = getActor(target);
                if (targetActor)
                    targetCollisionObjects.push_back(targetActor->getCollisionObject());
            }
        }

        DeepestNotMeContactTestResultCallback resultCallback(me, targetCollisionObjects, Misc::Convert::toBullet(origin));
        resultCallback.m_collisionFilterGroup = CollisionType_Actor;
        resultCallback.m_collisionFilterMask = CollisionType_World | CollisionType_Door | CollisionType_HeightMap | CollisionType_Actor;
        mCollisionWorld->contactTest(&object, resultCallback);

        if (resultCallback.mObject)
        {
            PtrHolder* holder = static_cast<PtrHolder*>(resultCallback.mObject->getUserPointer());
            if (holder)
                return std::make_pair(holder->getPtr(), Misc::Convert::toOsg(resultCallback.mContactPoint));
        }
        return std::make_pair(MWWorld::Ptr(), osg::Vec3f());
    }

    float PhysicsSystem::getHitDistance(const osg::Vec3f &point, const MWWorld::ConstPtr &target) const
    {
        btCollisionObject* targetCollisionObj = nullptr;
        const Actor* actor = getActor(target);
        if (actor)
            targetCollisionObj = actor->getCollisionObject();
        if (!targetCollisionObj)
            return 0.f;

        btTransform rayFrom;
        rayFrom.setIdentity();
        rayFrom.setOrigin(Misc::Convert::toBullet(point));

        // target the collision object's world origin, this should be the center of the collision object
        btTransform rayTo;
        rayTo.setIdentity();
        rayTo.setOrigin(targetCollisionObj->getWorldTransform().getOrigin());

        btCollisionWorld::ClosestRayResultCallback cb(rayFrom.getOrigin(), rayTo.getOrigin());

        btCollisionWorld::rayTestSingle(rayFrom, rayTo, targetCollisionObj, targetCollisionObj->getCollisionShape(), targetCollisionObj->getWorldTransform(), cb);
        if (!cb.hasHit())
        {
            // didn't hit the target. this could happen if point is already inside the collision box
            return 0.f;
        }
        else
            return (point - Misc::Convert::toOsg(cb.m_hitPointWorld)).length();
    }

    PhysicsSystem::RayResult PhysicsSystem::castRay(const osg::Vec3f &from, const osg::Vec3f &to, const MWWorld::ConstPtr& ignore, std::vector<MWWorld::Ptr> targets, int mask, int group) const
    {
        btVector3 btFrom = Misc::Convert::toBullet(from);
        btVector3 btTo = Misc::Convert::toBullet(to);

        const btCollisionObject* me = nullptr;
        std::vector<const btCollisionObject*> targetCollisionObjects;

        if (!ignore.isEmpty())
        {
            const Actor* actor = getActor(ignore);
            if (actor)
                me = actor->getCollisionObject();
            else
            {
                const Object* object = getObject(ignore);
                if (object)
                    me = object->getCollisionObject();
            }
        }

        if (!targets.empty())
        {
            for (MWWorld::Ptr& target : targets)
            {
                const Actor* actor = getActor(target);
                if (actor)
                    targetCollisionObjects.push_back(actor->getCollisionObject());
            }
        }

        ClosestNotMeRayResultCallback resultCallback(me, targetCollisionObjects, btFrom, btTo);
        resultCallback.m_collisionFilterGroup = group;
        resultCallback.m_collisionFilterMask = mask;

        mCollisionWorld->rayTest(btFrom, btTo, resultCallback);

        RayResult result;
        result.mHit = resultCallback.hasHit();
        if (resultCallback.hasHit())
        {
            result.mHitPos = Misc::Convert::toOsg(resultCallback.m_hitPointWorld);
            result.mHitNormal = Misc::Convert::toOsg(resultCallback.m_hitNormalWorld);
            if (PtrHolder* ptrHolder = static_cast<PtrHolder*>(resultCallback.m_collisionObject->getUserPointer()))
                result.mHitObject = ptrHolder->getPtr();
        }
        return result;
    }

    PhysicsSystem::RayResult PhysicsSystem::castSphere(const osg::Vec3f &from, const osg::Vec3f &to, float radius)
    {
        btCollisionWorld::ClosestConvexResultCallback callback(Misc::Convert::toBullet(from), Misc::Convert::toBullet(to));
        callback.m_collisionFilterGroup = 0xff;
        callback.m_collisionFilterMask = CollisionType_World|CollisionType_HeightMap|CollisionType_Door;

        btSphereShape shape(radius);
        const btQuaternion btrot = btQuaternion::getIdentity();

        btTransform from_ (btrot, Misc::Convert::toBullet(from));
        btTransform to_ (btrot, Misc::Convert::toBullet(to));

        mCollisionWorld->convexSweepTest(&shape, from_, to_, callback);

        RayResult result;
        result.mHit = callback.hasHit();
        if (result.mHit)
        {
            result.mHitPos = Misc::Convert::toOsg(callback.m_hitPointWorld);
            result.mHitNormal = Misc::Convert::toOsg(callback.m_hitNormalWorld);
        }
        return result;
    }

    bool PhysicsSystem::getLineOfSight(const MWWorld::ConstPtr &actor1, const MWWorld::ConstPtr &actor2) const
    {
        const Actor* physactor1 = getActor(actor1);
        const Actor* physactor2 = getActor(actor2);

        if (!physactor1 || !physactor2)
            return false;

        osg::Vec3f pos1 (physactor1->getCollisionObjectPosition() + osg::Vec3f(0,0,physactor1->getHalfExtents().z() * 0.9)); // eye level
        osg::Vec3f pos2 (physactor2->getCollisionObjectPosition() + osg::Vec3f(0,0,physactor2->getHalfExtents().z() * 0.9));

        RayResult result = castRay(pos1, pos2, MWWorld::ConstPtr(), std::vector<MWWorld::Ptr>(), CollisionType_World|CollisionType_HeightMap|CollisionType_Door);

        return !result.mHit;
    }

    bool PhysicsSystem::isOnGround(const MWWorld::Ptr &actor)
    {
        Actor* physactor = getActor(actor);
        return physactor && physactor->getOnGround();
    }

    bool PhysicsSystem::canMoveToWaterSurface(const MWWorld::ConstPtr &actor, const float waterlevel)
    {
        const Actor* physicActor = getActor(actor);
        if (!physicActor)
            return false;
        const float halfZ = physicActor->getHalfExtents().z();
        const osg::Vec3f actorPosition = physicActor->getPosition();
        const osg::Vec3f startingPosition(actorPosition.x(), actorPosition.y(), actorPosition.z() + halfZ);
        const osg::Vec3f destinationPosition(actorPosition.x(), actorPosition.y(), waterlevel + halfZ);
        ActorTracer tracer;
        tracer.doTrace(physicActor->getCollisionObject(), startingPosition, destinationPosition, mCollisionWorld);
        return (tracer.mFraction >= 1.0f);
    }

    osg::Vec3f PhysicsSystem::getHalfExtents(const MWWorld::ConstPtr &actor) const
    {
        const Actor* physactor = getActor(actor);
        if (physactor)
            return physactor->getHalfExtents();
        else
            return osg::Vec3f();
    }

    osg::Vec3f PhysicsSystem::getOriginalHalfExtents(const MWWorld::ConstPtr &actor) const
    {
        if (const Actor* physactor = getActor(actor))
            return physactor->getOriginalHalfExtents();
        else
            return osg::Vec3f();
    }

    osg::Vec3f PhysicsSystem::getRenderingHalfExtents(const MWWorld::ConstPtr &actor) const
    {
        const Actor* physactor = getActor(actor);
        if (physactor)
            return physactor->getRenderingHalfExtents();
        else
            return osg::Vec3f();
    }

    osg::Vec3f PhysicsSystem::getCollisionObjectPosition(const MWWorld::ConstPtr &actor) const
    {
        const Actor* physactor = getActor(actor);
        if (physactor)
            return physactor->getCollisionObjectPosition();
        else
            return osg::Vec3f();
    }

    std::vector<MWWorld::Ptr> PhysicsSystem::getCollisions(const MWWorld::ConstPtr &ptr, int collisionGroup, int collisionMask) const
    {
        btCollisionObject* me = nullptr;

        ObjectMap::const_iterator found = mObjects.find(ptr);
        if (found != mObjects.end())
            me = found->second->getCollisionObject();
        else
            return std::vector<MWWorld::Ptr>();

        ContactTestResultCallback resultCallback (me);
        resultCallback.m_collisionFilterGroup = collisionGroup;
        resultCallback.m_collisionFilterMask = collisionMask;
        mCollisionWorld->contactTest(me, resultCallback);
        return resultCallback.mResult;
    }

    osg::Vec3f PhysicsSystem::traceDown(const MWWorld::Ptr &ptr, const osg::Vec3f& position, float maxHeight)
    {
        ActorMap::iterator found = mActors.find(ptr);
        if (found ==  mActors.end())
            return ptr.getRefData().getPosition().asVec3();
        else
            return MovementSolver::traceDown(ptr, position, found->second, mCollisionWorld, maxHeight);
    }

    void PhysicsSystem::addHeightField (const float* heights, int x, int y, float triSize, float sqrtVerts, float minH, float maxH, const osg::Object* holdObject)
    {
        HeightField *heightfield = new HeightField(heights, x, y, triSize, sqrtVerts, minH, maxH, holdObject);
        mHeightFields[std::make_pair(x,y)] = heightfield;

        mCollisionWorld->addCollisionObject(heightfield->getCollisionObject(), CollisionType_HeightMap,
            CollisionType_Actor|CollisionType_Projectile);
    }

    void PhysicsSystem::removeHeightField (int x, int y)
    {
        HeightFieldMap::iterator heightfield = mHeightFields.find(std::make_pair(x,y));
        if(heightfield != mHeightFields.end())
        {
            mCollisionWorld->removeCollisionObject(heightfield->second->getCollisionObject());
            delete heightfield->second;
            mHeightFields.erase(heightfield);
        }
    }

    const HeightField* PhysicsSystem::getHeightField(int x, int y) const
    {
        const auto heightField = mHeightFields.find(std::make_pair(x, y));
        if (heightField == mHeightFields.end())
            return nullptr;
        return heightField->second;
    }

    void PhysicsSystem::addObject (const MWWorld::Ptr& ptr, const std::string& mesh, int collisionType)
    {
        osg::ref_ptr<Resource::BulletShapeInstance> shapeInstance = mShapeManager->getInstance(mesh);
        if (!shapeInstance || !shapeInstance->getCollisionShape())
            return;

        Object *obj = new Object(ptr, shapeInstance);
        mObjects.insert(std::make_pair(ptr, obj));

        if (obj->isAnimated())
            mAnimatedObjects.insert(obj);

        mCollisionWorld->addCollisionObject(obj->getCollisionObject(), collisionType,
                                           CollisionType_Actor|CollisionType_HeightMap|CollisionType_Projectile);
    }

    void PhysicsSystem::remove(const MWWorld::Ptr &ptr)
    {
        ObjectMap::iterator found = mObjects.find(ptr);
        if (found != mObjects.end())
        {
            mCollisionWorld->removeCollisionObject(found->second->getCollisionObject());

            if (mUnrefQueue.get())
                mUnrefQueue->push(found->second->getShapeInstance());

            mAnimatedObjects.erase(found->second);

            delete found->second;
            mObjects.erase(found);
        }

        ActorMap::iterator foundActor = mActors.find(ptr);
        if (foundActor != mActors.end())
        {
            delete foundActor->second;
            mActors.erase(foundActor);
        }
    }

    void PhysicsSystem::updateCollisionMapPtr(CollisionMap& map, const MWWorld::Ptr &old, const MWWorld::Ptr &updated)
    {
        CollisionMap::iterator found = map.find(old);
        if (found != map.end())
        {
            map[updated] = found->second;
            map.erase(found);
        }

        for (CollisionMap::iterator it = map.begin(); it != map.end(); ++it)
        {
            if (it->second == old)
                it->second = updated;
        }
    }

    void PhysicsSystem::updatePtr(const MWWorld::Ptr &old, const MWWorld::Ptr &updated)
    {
        ObjectMap::iterator found = mObjects.find(old);
        if (found != mObjects.end())
        {
            Object* obj = found->second;
            obj->updatePtr(updated);
            mObjects.erase(found);
            mObjects.insert(std::make_pair(updated, obj));
        }

        ActorMap::iterator foundActor = mActors.find(old);
        if (foundActor != mActors.end())
        {
            Actor* actor = foundActor->second;
            actor->updatePtr(updated);
            mActors.erase(foundActor);
            mActors.insert(std::make_pair(updated, actor));
        }

        updateCollisionMapPtr(mStandingCollisions, old, updated);
    }

    Actor *PhysicsSystem::getActor(const MWWorld::Ptr &ptr)
    {
        ActorMap::iterator found = mActors.find(ptr);
        if (found != mActors.end())
            return found->second;
        return nullptr;
    }

    const Actor *PhysicsSystem::getActor(const MWWorld::ConstPtr &ptr) const
    {
        ActorMap::const_iterator found = mActors.find(ptr);
        if (found != mActors.end())
            return found->second;
        return nullptr;
    }

    const Object* PhysicsSystem::getObject(const MWWorld::ConstPtr &ptr) const
    {
        ObjectMap::const_iterator found = mObjects.find(ptr);
        if (found != mObjects.end())
            return found->second;
        return nullptr;
    }

    void PhysicsSystem::updateScale(const MWWorld::Ptr &ptr)
    {
        ObjectMap::iterator found = mObjects.find(ptr);
        if (found != mObjects.end())
        {
            float scale = ptr.getCellRef().getScale();
            found->second->setScale(scale);
            mCollisionWorld->updateSingleAabb(found->second->getCollisionObject());
            return;
        }
        ActorMap::iterator foundActor = mActors.find(ptr);
        if (foundActor != mActors.end())
        {
            foundActor->second->updateScale();
            mCollisionWorld->updateSingleAabb(foundActor->second->getCollisionObject());
            return;
        }
    }

    void PhysicsSystem::updateRotation(const MWWorld::Ptr &ptr)
    {
        ObjectMap::iterator found = mObjects.find(ptr);
        if (found != mObjects.end())
        {
            found->second->setRotation(Misc::Convert::toBullet(ptr.getRefData().getBaseNode()->getAttitude()));
            mCollisionWorld->updateSingleAabb(found->second->getCollisionObject());
            return;
        }
        ActorMap::iterator foundActor = mActors.find(ptr);
        if (foundActor != mActors.end())
        {
            if (!foundActor->second->isRotationallyInvariant())
            {
                foundActor->second->updateRotation();
                mCollisionWorld->updateSingleAabb(foundActor->second->getCollisionObject());
            }
            return;
        }
    }

    void PhysicsSystem::updatePosition(const MWWorld::Ptr &ptr)
    {
        ObjectMap::iterator found = mObjects.find(ptr);
        if (found != mObjects.end())
        {
            found->second->setOrigin(Misc::Convert::toBullet(ptr.getRefData().getPosition().asVec3()));
            mCollisionWorld->updateSingleAabb(found->second->getCollisionObject());
            return;
        }
        ActorMap::iterator foundActor = mActors.find(ptr);
        if (foundActor != mActors.end())
        {
            foundActor->second->updatePosition();
            mCollisionWorld->updateSingleAabb(foundActor->second->getCollisionObject());
            return;
        }
    }

    void PhysicsSystem::addActor (const MWWorld::Ptr& ptr, const std::string& mesh) {
        osg::ref_ptr<const Resource::BulletShape> shape = mShapeManager->getShape(mesh);
        if (!shape)
            return;

        // Try to get shape from basic model as fallback for creatures
        if (!ptr.getClass().isNpc() && shape->mCollisionBoxHalfExtents.length2() == 0)
        {
            const std::string fallbackModel = ptr.getClass().getModel(ptr);
            if (fallbackModel != mesh)
            {
                shape = mShapeManager->getShape(fallbackModel);
            }
        }

        Actor* actor = new Actor(ptr, shape, mCollisionWorld);
        mActors.insert(std::make_pair(ptr, actor));
    }

    bool PhysicsSystem::toggleCollisionMode()
    {
        ActorMap::iterator found = mActors.find(MWMechanics::getPlayer());
        if (found != mActors.end())
        {
            bool cmode = found->second->getCollisionMode();
            cmode = !cmode;
            found->second->enableCollisionMode(cmode);
            found->second->enableCollisionBody(cmode);
            return cmode;
        }

        return false;
    }

    void PhysicsSystem::queueObjectMovement(const MWWorld::Ptr &ptr, const osg::Vec3f &movement)
    {
        PtrVelocityList::iterator iter = mMovementQueue.begin();
        for(;iter != mMovementQueue.end();++iter)
        {
            if(iter->first == ptr)
            {
                iter->second = movement;
                return;
            }
        }

        mMovementQueue.push_back(std::make_pair(ptr, movement));
    }

    void PhysicsSystem::clearQueuedMovement()
    {
        mMovementQueue.clear();
        mStandingCollisions.clear();
    }

    const PtrVelocityList& PhysicsSystem::applyQueuedMovement(float dt)
    {
        mMovementResults.clear();

        mTimeAccum += dt;

        const int maxAllowedSteps = 20;
        int numSteps = mTimeAccum / (mPhysicsDt);
        numSteps = std::min(numSteps, maxAllowedSteps);

        mTimeAccum -= numSteps * mPhysicsDt;

        if (numSteps)
        {
            // Collision events should be available on every frame
            mStandingCollisions.clear();
        }

        const MWWorld::Ptr player = MWMechanics::getPlayer();
        const MWBase::World *world = MWBase::Environment::get().getWorld();
        PtrVelocityList::iterator iter = mMovementQueue.begin();
        for(;iter != mMovementQueue.end();++iter)
        {
            ActorMap::iterator foundActor = mActors.find(iter->first);
            if (foundActor == mActors.end()) // actor was already removed from the scene
                continue;
            Actor* physicActor = foundActor->second;

            float waterlevel = -std::numeric_limits<float>::max();
            const MWWorld::CellStore *cell = iter->first.getCell();
            if(cell->getCell()->hasWater())
                waterlevel = cell->getWaterLevel();

            const MWMechanics::MagicEffects& effects = iter->first.getClass().getCreatureStats(iter->first).getMagicEffects();

            bool waterCollision = false;
            if (cell->getCell()->hasWater() && effects.get(ESM::MagicEffect::WaterWalking).getMagnitude())
            {
                if (!world->isUnderwater(iter->first.getCell(), osg::Vec3f(iter->first.getRefData().getPosition().asVec3())))
                    waterCollision = true;
                else if (physicActor->getCollisionMode() && canMoveToWaterSurface(iter->first, waterlevel))
                {
                    const osg::Vec3f actorPosition = physicActor->getPosition();
                    physicActor->setPosition(osg::Vec3f(actorPosition.x(), actorPosition.y(), waterlevel));
                    waterCollision = true;
                }
            }
            physicActor->setCanWaterWalk(waterCollision);

            // Slow fall reduces fall speed by a factor of (effect magnitude / 200)
            float slowFall = 1.f - std::max(0.f, std::min(1.f, effects.get(ESM::MagicEffect::SlowFall).getMagnitude() * 0.005f));

            bool flying = world->isFlying(iter->first);
            bool swimming = world->isSwimming(iter->first);

            bool wasOnGround = physicActor->getOnGround();
            osg::Vec3f position = physicActor->getPosition();
            float oldHeight = position.z();
            bool positionChanged = false;
            for (int i=0; i<numSteps; ++i)
            {
                position = MovementSolver::move(position, physicActor->getPtr(), physicActor, iter->second, mPhysicsDt,
                                                flying, waterlevel, slowFall, mCollisionWorld, mStandingCollisions);
                if (position != physicActor->getPosition())
                    positionChanged = true;
                physicActor->setPosition(position); // always set even if unchanged to make sure interpolation is correct
            }
            if (positionChanged)
                mCollisionWorld->updateSingleAabb(physicActor->getCollisionObject());

            float interpolationFactor = mTimeAccum / mPhysicsDt;
            osg::Vec3f interpolated = position * interpolationFactor + physicActor->getPreviousPosition() * (1.f - interpolationFactor);

            float heightDiff = position.z() - oldHeight;

            MWMechanics::CreatureStats& stats = iter->first.getClass().getCreatureStats(iter->first);
            bool isStillOnGround = (numSteps > 0 && wasOnGround && physicActor->getOnGround());
            if (isStillOnGround || flying || swimming || slowFall < 1)
                stats.land(iter->first == player && (flying || swimming));
            else if (heightDiff < 0)
                stats.addToFallHeight(-heightDiff);

            mMovementResults.push_back(std::make_pair(iter->first, interpolated));
        }

        mMovementQueue.clear();

        return mMovementResults;
    }

    void PhysicsSystem::stepSimulation(float dt)
    {
        for (Object* animatedObject :  mAnimatedObjects)
            animatedObject->animateCollisionShapes(mCollisionWorld);

#ifndef BT_NO_PROFILE
        CProfileManager::Reset();
        CProfileManager::Increment_Frame_Counter();
#endif
    }

    void PhysicsSystem::updateAnimatedCollisionShape(const MWWorld::Ptr& object)
    {
        ObjectMap::iterator found = mObjects.find(object);
        if (found != mObjects.end())
            found->second->animateCollisionShapes(mCollisionWorld);
    }

    void PhysicsSystem::debugDraw()
    {
        if (mDebugDrawer.get())
            mDebugDrawer->step();
    }

    bool PhysicsSystem::isActorStandingOn(const MWWorld::Ptr &actor, const MWWorld::ConstPtr &object) const
    {
        for (CollisionMap::const_iterator it = mStandingCollisions.begin(); it != mStandingCollisions.end(); ++it)
        {
            if (it->first == actor && it->second == object)
                return true;
        }
        return false;
    }

    void PhysicsSystem::getActorsStandingOn(const MWWorld::ConstPtr &object, std::vector<MWWorld::Ptr> &out) const
    {
        for (CollisionMap::const_iterator it = mStandingCollisions.begin(); it != mStandingCollisions.end(); ++it)
        {
            if (it->second == object)
                out.push_back(it->first);
        }
    }

    bool PhysicsSystem::isActorCollidingWith(const MWWorld::Ptr &actor, const MWWorld::ConstPtr &object) const
    {
        std::vector<MWWorld::Ptr> collisions = getCollisions(object, CollisionType_World, CollisionType_Actor);
        return (std::find(collisions.begin(), collisions.end(), actor) != collisions.end());
    }

    void PhysicsSystem::getActorsCollidingWith(const MWWorld::ConstPtr &object, std::vector<MWWorld::Ptr> &out) const
    {
        std::vector<MWWorld::Ptr> collisions = getCollisions(object, CollisionType_World, CollisionType_Actor);
        out.insert(out.end(), collisions.begin(), collisions.end());
    }

    void PhysicsSystem::disableWater()
    {
        if (mWaterEnabled)
        {
            mWaterEnabled = false;
            updateWater();
        }
    }

    void PhysicsSystem::enableWater(float height)
    {
        if (!mWaterEnabled || mWaterHeight != height)
        {
            mWaterEnabled = true;
            mWaterHeight = height;
            updateWater();
        }
    }

    void PhysicsSystem::setWaterHeight(float height)
    {
        if (mWaterHeight != height)
        {
            mWaterHeight = height;
            updateWater();
        }
    }

    void PhysicsSystem::updateWater()
    {
        if (mWaterCollisionObject.get())
        {
            mCollisionWorld->removeCollisionObject(mWaterCollisionObject.get());
        }

        if (!mWaterEnabled)
        {
            mWaterCollisionObject.reset();
            return;
        }

        mWaterCollisionObject.reset(new btCollisionObject());
        mWaterCollisionShape.reset(new btStaticPlaneShape(btVector3(0,0,1), mWaterHeight));
        mWaterCollisionObject->setCollisionShape(mWaterCollisionShape.get());
        mCollisionWorld->addCollisionObject(mWaterCollisionObject.get(), CollisionType_Water,
                                                    CollisionType_Actor);
    }

    bool PhysicsSystem::isAreaOccupiedByOtherActor(const osg::Vec3f& position, const float radius, const MWWorld::ConstPtr& ignore) const
    {
        btCollisionObject* object = nullptr;
        const auto it = mActors.find(ignore);
        if (it != mActors.end())
            object = it->second->getCollisionObject();
        const auto bulletPosition = Misc::Convert::toBullet(position);
        const auto aabbMin = bulletPosition - btVector3(radius, radius, radius);
        const auto aabbMax = bulletPosition + btVector3(radius, radius, radius);
        const int mask = MWPhysics::CollisionType_Actor;
        const int group = 0xff;
        HasSphereCollisionCallback callback(bulletPosition, radius, object, mask, group);
        mCollisionWorld->getBroadphase()->aabbTest(aabbMin, aabbMax, callback);
        return callback.getResult();
    }
}