init_physx :: () {
    default_allocator = PhysX.get_default_allocator();
    default_error_callback = PhysX.get_default_error_callback();

    foundation := PhysX.PxCreateFoundation(PhysX.PX_PHYSICS_VERSION, *default_allocator, *default_error_callback);
    if foundation == null {
        log_error("Could not initialize PhysX\n");
        return;
    }
    
    pvd := PhysX.PxCreatePvd(foundation);
    transport := PhysX.PxDefaultPvdSocketTransportCreate("127.0.0.1", 5425, 10);
    PhysX.PxPvd_connect(pvd, transport, cast(u8)PhysX.PxPvdInstrumentationFlags.ALL);

    tolerance_scale : PhysX.PxTolerancesScale;
    tolerance_scale.length = 100;
    tolerance_scale.speed = 981;
    physics = PhysX.PxCreatePhysics(PhysX.PX_PHYSICS_VERSION, foundation, *tolerance_scale, true, pvd, null);

    dispatcher = PhysX.PxDefaultCpuDispatcherCreate(2);
    material = PhysX.PxPhysics_createMaterial(physics, 0.5, 0.5, 0.6);
}

tick_physx :: (scene: *PhysX.PxScene, dt: float) {
    PhysX.PxScene_simulate(scene, dt, null, null, 0, false);
    PhysX.PxScene_fetchResults(scene, true, null);
}

create_physx_scene :: () -> *PhysX.PxScene {
    tolerance_scale : PhysX.PxTolerancesScale;
    tolerance_scale.length = 100;
    tolerance_scale.speed = 981;

    scene_desc := PhysX.PxSceneDesc_new(*tolerance_scale);
    scene_desc.gravity.y = -9.81;

    scene_desc.cpuDispatcher = xx dispatcher;
    PhysX.set_default_filter_shader(*scene_desc);
    scene := PhysX.PxPhysics_createScene(physics, *scene_desc);
    
    // @Incomplete: If debug
    pvd_client := PhysX.PxScene_getScenePvdClient(scene);
    if pvd_client {
        PhysX.PxPvdSceneClient_setScenePvdFlag(pvd_client, xx PhysX.PxPvdSceneFlag.TRANSMIT_CONSTRAINTS, true);
        PhysX.PxPvdSceneClient_setScenePvdFlag(pvd_client, xx PhysX.PxPvdSceneFlag.TRANSMIT_CONTACTS, true);
        PhysX.PxPvdSceneClient_setScenePvdFlag(pvd_client, xx PhysX.PxPvdSceneFlag.TRANSMIT_SCENEQUERIES, true);
        //PhysX.PxScene_setVisualizationParameter(scene, 0, 1.0);
        //PhysX.PxScene_setVisualizationParameter(scene, 1, 2.0);
    }
{
    plane := PhysX.PxPlane_new(0.0,-1.0,0.0,50.0);
    ground_plane := PhysX.PxCreatePlane(physics, *plane, material);
    PhysX.PxScene_addActor(scene, ground_plane, null);
}
    
{
    plane := PhysX.PxPlane_new(0.0,-1.0,0.0,50.0);
    ground_plane := PhysX.PxCreatePlane(physics, *plane, material);
    PhysX.PxScene_addActor(scene, ground_plane, null);
}
    
{
    plane := PhysX.PxPlane_new(0.0,-1.0,0.0,50.0);
    ground_plane := PhysX.PxCreatePlane(physics, *plane, material);
    PhysX.PxScene_addActor(scene, ground_plane, null);
}
    
{
    plane := PhysX.PxPlane_new(0.0,-1.0,0.0,50.0);
    ground_plane := PhysX.PxCreatePlane(physics, *plane, material);
    PhysX.PxScene_addActor(scene, ground_plane, null);
}

    stack_z := 10.0;
    for i: 0..4 {
        stack_pos := Vector3.{0,100,stack_z};
        stack_z -= 10.0;
        create_stack(scene, PhysX.PxTransform_new(*stack_pos), 10, 2.0);
    }

    return scene;
}

create_stack :: (scene: *PhysX.PxScene, t: PhysX.PxTransform, size: u32, half_extent: float) {
	shape := PhysX.PxPhysics_createShape(physics, PhysX.PxBoxGeometry_new(half_extent, half_extent, half_extent), material, false, 0);
	for i: 0..size-1 {
		for j: 0..size-i-1 {
            pos := Vector3.{cast(float)(j*2) - cast(float)(size-i), cast(float)(i*2+1), 0} * half_extent;
			local_tm := PhysX.PxTransform_new(*pos);

			body := PhysX.PxPhysics_createRigidDynamic(physics, *PhysX.PxTransform_transform(*t, *local_tm));
			PhysX.PxRigidActor_attachShape(body, shape);
			PhysX.PxRigidBodyExt_updateMassAndInertia(body, 10., null, false);
			PhysX.PxScene_addActor(scene, body, null);
		}
	}
	//shape->release();
}


create_dynamic :: (scene: *PhysX.PxScene, t: PhysX.PxTransform, geometry: PhysX.PxGeometry, velocity: Vector3 = .{}) -> *PhysX.PxRigidDynamic {
    p := Vector3.{0,0,0};
    dynamic := PhysX.PxCreateDynamic(physics, *t, *geometry, material, 10.0, *PhysX.PxTransform_new(cast(s32)PhysX.PxIDENTITY.PxIdentity));
	PhysX.PxRigidBody_setAngularDamping(dynamic, 0.5);
	PhysX.PxRigidDynamic_setLinearVelocity(dynamic, *velocity, true);
	PhysX.PxScene_addActor(scene, dynamic, null);
	return dynamic;
}

PhysX :: #import "PhysX";

#scope_file

physics : *PhysX.PxPhysics;
material : *PhysX.PxMaterial;
default_allocator : PhysX.PxAllocatorCallback;
default_error_callback : PhysX.PxErrorCallback;
default_filter_shader : PhysX.SimulationFilterShader;
dispatcher : *PhysX.PxDefaultCpuDispatcher;