/*
-----------------------------------------------------------------------------
This source file is part of OpenSpace3D
For the latest info, see http://www.openspace3d.com

Copyright (c) 2012 I-maginer

This program is free software; you can redistribute it and/or modify it under
the terms of the GNU Lesser General Public License as published by the Free Software
Foundation; either version 2 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 Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public License along with
this program; if not, write to the Free Software Foundation, Inc., 59 Temple
Place - Suite 330, Boston, MA 02111-1307, USA, or go to
http://www.gnu.org/copyleft/lesser.txt

-----------------------------------------------------------------------------
*/

struct ObjPhysBodyStr = [
  PBODY_inst            : PInstance,
  PBODY_obj             : SO3_OBJECT,
  PBODY_iCameraMode     : I,
  PBODY_initpos         : [[F F F] [F F F F]],
  PBODY_mode            : I,
  PBODY_bCancelGravity  : I,
  PBODY_bAutoFreeze     : I,
  PBODY_bUpJoint        : I,
  PBODY_tFluid          : [I F],
  PBODY_state           : I,
  PBODY_bVelolicty      : I,
  PBODY_bOmega          : I,
  PBODY_bContact        : I,
  PBODY_bRayIn          : I,
  PBODY_bRayOut         : I,
  PBODY_bOverlapStart   : I,
  PBODY_bOverlapStop    : I,
  PBODY_bGrabed         : I,
  PBODY_bUngrabed       : I
  
  ]mkObjPhysBodyStr;;


fun deleteOb(inst, objbodystr)=
  let SO3SceneNodeGetBody objbodystr.PBODY_obj -> body in
  let objbodystr.PBODY_tFluid -> [isfluid vol] in
  (
    setPluginInstanceCbPostRender inst nil;
    setPluginInstanceCbCameraChange inst nil;
    SO3BodyDestroyBasicJointUpVector body;
    SO3BodySetAutoSleep body 1;
    SO3BodySetGravityEnable body 1;
    SO3BodySetFluid body isfluid;
    SO3BodySetFluidVolumeRatio body vol;
    SO3BodySetIgnoreCollision body 0;
    
    set objbodystr.PBODY_obj = nil;
    set objbodystr.PBODY_iCameraMode = 0;
    set objbodystr.PBODY_initpos = nil;
    set objbodystr.PBODY_tFluid = nil;
  );
  0;;


fun cbGetPostRender(inst, viewstr, objbodystr)=
  let SO3SceneNodeGetBody objbodystr.PBODY_obj -> body in
  if body == nil then nil else
  let SO3BodyGetVelocity body -> [vx vy vz] in
  let if objbodystr.PBODY_mode then SO3ObjectGetDerivedDirectionAxis objbodystr.PBODY_obj [vx vy vz] else [vx vy vz] -> [vx vy vz] in
  let SO3BodyGetOmega body -> [ox oy oz] in
  let if objbodystr.PBODY_mode then SO3ObjectGetDerivedDirectionAxis objbodystr.PBODY_obj [ox oy oz] else [ox oy oz] -> [ox oy oz] in
  (
    if (!objbodystr.PBODY_bVelolicty) then nil else
      SendPluginEvent inst "Velocity" strbuild ((ftoa vx)::(ftoa vy)::(ftoa vz)::nil)::nil nil;
      
    if (!objbodystr.PBODY_bOmega) then nil else
      SendPluginEvent inst "Omega" strbuild ((ftoa ox)::(ftoa oy)::(ftoa oz)::nil)::nil nil;
    
    if ((absf vx) >=. 0.001 || (absf vy) >=. 0.001 || (absf vz) >=. 0.001 || (absf ox) >=. 0.001 || (absf oy) >=. 0.001 || (absf oz) >=. 0.001) then
    (
      if objbodystr.PBODY_state == 1 then nil else
      (
        set objbodystr.PBODY_state = 1;
        SendPluginEvent inst "Has motion" nil nil;
      );
    )
    else
    (
      if objbodystr.PBODY_state == 0 then nil else
      (
        set objbodystr.PBODY_state = 0;
        SendPluginEvent inst "Has no motion" nil nil;
      );
    );
  );
  0;;


fun cbEnableUpJoint(inst, from, action, param, reply, objbodystr)=
  set objbodystr.PBODY_bUpJoint = 1;
  let SO3SceneNodeGetBody objbodystr.PBODY_obj -> body in
    SO3BodyCreateBasicJointUpVector body [0.0 1.0 0.0];
  0;;


fun cbDisableUpJoint(inst, from, action, param, reply, objbodystr)=
  set objbodystr.PBODY_bUpJoint = 0;
  let SO3SceneNodeGetBody objbodystr.PBODY_obj -> body in  
    SO3BodyDestroyBasicJointUpVector body;
  0;;


fun cbSetWorldEnable(inst, from, action, param, reply, objbodystr)=
  if (param == nil) then nil else
    V3DphysEnablePhysic c3dXsession (getBooleanFromString param);
  0;;


fun cbResetWorld(inst, from, action, param, reply, objbodystr)=
  V3DphysResetPhysic c3dXsession;
  0;;


fun cbSetWorldGravity(inst, from, action, param, reply, objbodystr)=
  if (atof param) == nil then nil else
  let hd strextr param -> lp in
  let atof hd lp -> px in
  let atof hd tl lp -> py in
  let atof hd tl tl lp -> pz in
    V3DphysSetGravity c3dXsession [px py pz];
  0;;


fun cbSetEnable(inst, from, action, param, reply, objbodystr)=
  if param == nil then nil else
  let SO3SceneNodeGetBody objbodystr.PBODY_obj -> body in
  if (getBooleanFromString param) != 1 then
  (
    SO3BodySetIgnoreCollision body 1;
    SO3BodySetVelocity body [0.0 0.0 0.0];
    SO3BodySetFreeze body 1;
  )
  else
  (
    SO3BodySetIgnoreCollision body 0;
    SO3BodySetFreeze body 0;
  );
  0;;


fun cbSetFluid(inst, from, action, param, reply, objbodystr)=
  if param == nil then nil else
  let SO3SceneNodeGetBody objbodystr.PBODY_obj -> body in
  let (getBooleanFromString param) -> state in
  (
    SO3BodySetFluid body state;
  );
  0;;


fun cbSetFluidVolume(inst, from, action, param, reply, objbodystr)=
  if param == nil then nil else
  let SO3SceneNodeGetBody objbodystr.PBODY_obj -> body in
  let atof param -> val in
  (
    SO3BodySetFluidVolumeRatio body val;
  );
  0;;


fun cbSetMass(inst, from, action, param, reply, objbodystr)=
  let SO3SceneNodeGetBody objbodystr.PBODY_obj -> body in
    SO3BodySetMass body if (atof param) == nil then 0.0 else (atof param);
  0;;


fun cbAddImpulse(inst, from, action, param, reply, objbodystr)=
  let SO3SceneNodeGetBody objbodystr.PBODY_obj -> body in
  let hd strextr param -> lp in
  let hd tl strextr param -> op in
  let [(if (atof hd lp) == nil then 0.0 else (atof hd lp)) (if (atof hd tl lp) == nil then 0.0 else (atof hd tl lp)) (if (atof hd tl tl lp) == nil then 0.0 else (atof hd tl tl lp))] -> [x y z] in
  let if objbodystr.PBODY_mode then SO3ObjectGetDerivedDirectionAxis objbodystr.PBODY_obj [x y z] else [x y z] -> [x y z] in
  let SO3ObjectGetGlobalPosition objbodystr.PBODY_obj -> [px py pz] in
  let [(if (atof hd op) == nil then px else px +. (atof hd op)) (if (atof hd tl op) == nil then py else py +. (atof hd tl op)) (if (atof hd tl tl op) == nil then pz else pz +. (atof hd tl tl op))] -> [ox oy oz] in
  let if objbodystr.PBODY_mode then SO3ObjectGetDerivedDirectionAxis objbodystr.PBODY_obj [ox oy oz] else [ox oy oz] -> [ox oy oz] in
    SO3BodyAddImpulse body [x y z] [ox oy oz];
	0;;


fun cbSetOmega(inst, from, action, param, reply, objbodystr)=
  let SO3SceneNodeGetBody objbodystr.PBODY_obj -> body in
  let hd strextr param -> lp in
  let [(if (atof hd lp) == nil then 0.0 else (atof hd lp)) (if (atof hd tl lp) == nil then 0.0 else (atof hd tl lp)) (if (atof hd tl tl lp) == nil then 0.0 else (atof hd tl tl lp))] -> [x y z] in
  let if objbodystr.PBODY_mode then SO3ObjectGetDerivedDirectionAxis objbodystr.PBODY_obj [x y z] else [x y z] -> [x y z] in
    SO3BodySetOmega body [x y z];
  0;;


fun cbSetVelocity(inst, from, action, param, reply, objbodystr)=
  let SO3SceneNodeGetBody objbodystr.PBODY_obj -> body in
  let hd strextr param -> lp in
  let [(if (atof hd lp) == nil then 0.0 else (atof hd lp)) (if (atof hd tl lp) == nil then 0.0 else (atof hd tl lp)) (if (atof hd tl tl lp) == nil then 0.0 else (atof hd tl tl lp))] -> [x y z] in
  let if objbodystr.PBODY_mode then SO3ObjectGetDerivedDirectionAxis objbodystr.PBODY_obj [x y z] else [x y z] -> [x y z] in
    SO3BodySetVelocity body [x y z];
  0;;


fun cbAddVelocity(inst, from, action, param, reply, objbodystr)=
  let SO3SceneNodeGetBody objbodystr.PBODY_obj -> body in
  let hd strextr param -> lp in
  let [(if (atof hd lp) == nil then 0.0 else (atof hd lp)) (if (atof hd tl lp) == nil then 0.0 else (atof hd tl lp)) (if (atof hd tl tl lp) == nil then 0.0 else (atof hd tl tl lp))] -> [x y z] in
  let if objbodystr.PBODY_mode then SO3ObjectGetDerivedDirectionAxis objbodystr.PBODY_obj [x y z] else [x y z] -> [x y z] in
  let SO3BodyGetVelocity body -> [vx vy vz] in
    SO3BodySetVelocity body [x +. vx y +. vy z +. vz];
  0;;


fun cbSetForce(inst, from, action, param, reply, objbodystr)=
  let SO3SceneNodeGetBody objbodystr.PBODY_obj -> body in
  let hd strextr param -> lp in
  let [(if (atof hd lp) == nil then 0.0 else (atof hd lp)) (if (atof hd tl lp) == nil then 0.0 else (atof hd tl lp)) (if (atof hd tl tl lp) == nil then 0.0 else (atof hd tl tl lp))] -> [x y z] in
  let if objbodystr.PBODY_mode then SO3ObjectGetDerivedDirectionAxis objbodystr.PBODY_obj [x y z] else [x y z] -> [x y z] in
    SO3BodySetForce body [x y z];
  0;;


fun cbAddForce(inst, from, action, param, reply, objbodystr)=
  let SO3SceneNodeGetBody objbodystr.PBODY_obj -> body in
  let hd strextr param -> lp in
  let [(if (atof hd lp) == nil then 0.0 else (atof hd lp)) (if (atof hd tl lp) == nil then 0.0 else (atof hd tl lp)) (if (atof hd tl tl lp) == nil then 0.0 else (atof hd tl tl lp))] -> [x y z] in
  if objbodystr.PBODY_mode then
    SO3BodyAddLocalForce body [x y z]
  else
    SO3BodyAddForce body [x y z];
  0;;


fun cbSetTorque(inst, from, action, param, reply, objbodystr)=
  let SO3SceneNodeGetBody objbodystr.PBODY_obj -> body in
  let hd strextr param -> lp in
  let [(if (atof hd lp) == nil then 0.0 else (atof hd lp)) (if (atof hd tl lp) == nil then 0.0 else (atof hd tl lp)) (if (atof hd tl tl lp) == nil then 0.0 else (atof hd tl tl lp))] -> [x y z] in
  let if objbodystr.PBODY_mode then SO3ObjectGetDerivedDirectionAxis objbodystr.PBODY_obj [x y z] else [x y z] -> [x y z] in
    SO3BodySetTorque body [x y z];
  0;;


fun cbAddTorque(inst, from, action, param, reply, objbodystr)=
  let SO3SceneNodeGetBody objbodystr.PBODY_obj -> body in
  let hd strextr param -> lp in
  let [(if (atof hd lp) == nil then 0.0 else (atof hd lp)) (if (atof hd tl lp) == nil then 0.0 else (atof hd tl lp)) (if (atof hd tl tl lp) == nil then 0.0 else (atof hd tl tl lp))] -> [x y z] in
  let if objbodystr.PBODY_mode then SO3ObjectGetDerivedDirectionAxis objbodystr.PBODY_obj [x y z] else [x y z] -> [x y z] in
    SO3BodyAddTorque body [x y z];
  0;;


fun cbSetConstantForce(inst, from, action, param, reply, objbodystr)=
  let SO3SceneNodeGetBody objbodystr.PBODY_obj -> body in
  let hd strextr param -> lp in
  let [(if (atof hd lp) == nil then 0.0 else (atof hd lp)) (if (atof hd tl lp) == nil then 0.0 else (atof hd tl lp)) (if (atof hd tl tl lp) == nil then 0.0 else (atof hd tl tl lp))] -> [x y z] in
  let if objbodystr.PBODY_mode then SO3ObjectGetDerivedDirectionAxis objbodystr.PBODY_obj [x y z] else [x y z] -> [x y z] in
    SO3BodySetConstantForce body [x y z];
  0;;


fun cbAddConstantForce(inst, from, action, param, reply, objbodystr)=
  let SO3SceneNodeGetBody objbodystr.PBODY_obj -> body in
  let hd strextr param -> lp in
  let [(if (atof hd lp) == nil then 0.0 else (atof hd lp)) (if (atof hd tl lp) == nil then 0.0 else (atof hd tl lp)) (if (atof hd tl tl lp) == nil then 0.0 else (atof hd tl tl lp))] -> [x y z] in
  let if objbodystr.PBODY_mode then SO3ObjectGetDerivedDirectionAxis objbodystr.PBODY_obj [x y z] else [x y z] -> [x y z] in
    SO3BodyAddConstantForce body [x y z];
  0;;


fun cbSetConstantTorque(inst, from, action, param, reply, objbodystr)=
  let SO3SceneNodeGetBody objbodystr.PBODY_obj -> body in
  let hd strextr param -> lp in
  let [(if (atof hd lp) == nil then 0.0 else (atof hd lp)) (if (atof hd tl lp) == nil then 0.0 else (atof hd tl lp)) (if (atof hd tl tl lp) == nil then 0.0 else (atof hd tl tl lp))] -> [x y z] in
  let if objbodystr.PBODY_mode then SO3ObjectGetDerivedDirectionAxis objbodystr.PBODY_obj [x y z] else [x y z] -> [x y z] in
    SO3BodySetConstantTorque body [x y z];
  0;;


fun cbAddConstantTorque(inst, from, action, param, reply, objbodystr)=
  let SO3SceneNodeGetBody objbodystr.PBODY_obj -> body in
  let hd strextr param -> lp in
  let [(if (atof hd lp) == nil then 0.0 else (atof hd lp)) (if (atof hd tl lp) == nil then 0.0 else (atof hd tl lp)) (if (atof hd tl tl lp) == nil then 0.0 else (atof hd tl tl lp))] -> [x y z] in
  let if objbodystr.PBODY_mode then SO3ObjectGetDerivedDirectionAxis objbodystr.PBODY_obj [x y z] else [x y z] -> [x y z] in
    SO3BodyAddConstantTorque body [x y z];
  0;;


fun cbAutoFreezeBody(inst, from, action, param, reply, objbodystr)=
  let if (param) == nil then 1 else (getBooleanFromString param) -> state in
  let SO3SceneNodeGetBody objbodystr.PBODY_obj -> body in
  if body == nil then nil else
    SO3BodySetAutoSleep body state;
  0;;


fun cbResetBody(inst, from, action, param, reply, objbodystr)=
  let SO3SceneNodeGetBody objbodystr.PBODY_obj -> body in
  let objbodystr.PBODY_initpos -> [pos quat] in
  if body == nil then nil else
  (
    SO3BodySetVelocity body [0.0 0.0 0.0];
    SO3BodySetOmega body [0.0 0.0 0.0];
    SO3BodySetTorque body [0.0 0.0 0.0];
    SO3BodySetConstantTorque body [0.0 0.0 0.0];
    SO3BodySetConstantForce body [0.0 0.0 0.0];
    SO3BodySetForce body [0.0 0.0 0.0];
    SO3ObjectSetPosition objbodystr.PBODY_obj pos;
    SO3ObjectSetOrientation objbodystr.PBODY_obj quat;
  );
  0;;


fun cbChangeCamera(inst, viewstr, sessionstr, camera, objbodystr)=
  if (camera != V3DgetDefaultCamera c3dXsession) then nil else
  let objbodystr.PBODY_obj -> oldson in
  let V3DgetCameraByType sessionstr camera objbodystr.PBODY_iCameraMode -> father in
  let SO3ObjectGetPosition father -> cpos in
  let SO3ObjectGetOrientation father -> cquat in
  (
    set objbodystr.PBODY_obj = father;
    
    let objbodystr.PBODY_initpos -> [pos quat] in
    (
      SO3ObjectSetPosition oldson pos;
      SO3ObjectSetOrientation oldson quat;
    );
    
    set objbodystr.PBODY_initpos = [cpos cquat];
  );
  0;;


fun cbGeneric(inst, type, value, param, objbodystr)=
  let (SO3ObjectGetName objbodystr.PBODY_obj) -> objname in
  if (strcmpi objname value) then nil else
  (
    if (type == 16) then
      if (!objbodystr.PBODY_bRayIn) then nil else
        SendPluginEvent objbodystr.PBODY_inst "Ray intersect in" param nil
    else if (type == 17) then
      if (!objbodystr.PBODY_bRayOut) then nil else
        SendPluginEvent objbodystr.PBODY_inst "Ray intersect out" param nil
    else if (type == 18) then
      if (!objbodystr.PBODY_bContact) then nil else
        SendPluginEvent objbodystr.PBODY_inst "Contact" param nil
    else if (type == 19) then
      if (!objbodystr.PBODY_bOverlapStart) then nil else
        SendPluginEvent objbodystr.PBODY_inst "Overlap started" param nil
    else if (type == 20) then
      if (!objbodystr.PBODY_bOverlapStop) then nil else
        SendPluginEvent objbodystr.PBODY_inst "Overlap stopped" param nil
    else if (type == 21) then
      if (!objbodystr.PBODY_bGrabed) then nil else
        SendPluginEvent objbodystr.PBODY_inst "Grabed" param nil
    else if (type == 22) then
      if (!objbodystr.PBODY_bUngrabed) then nil else
        SendPluginEvent objbodystr.PBODY_inst "Ungrabed" param nil
    else nil;
  );
  0;;


fun cbSetObject(inst, from, action, param, reply, objbodystr)=
  let strextr param -> lp in
  let hd hd lp -> objname in
  let atoi hd hd tl lp -> reset in
  let if reset == nil then 1 else reset -> reset in
  
  let V3DgetObjectByName c3dXsession objname -> objsrc in
  let V3DgetObjectTypeByName objname -> icammode in

  let SO3ObjectGetPosition objsrc -> cpos in
  let SO3ObjectGetOrientation objsrc -> cquat in
  let SO3SceneNodeGetBody objsrc -> body in
  let SO3BodyGetFluid body -> isfluid in
  let SO3BodyGetFluidVolumeRatio body -> vol in
  (
    if (!reset) then nil else      
      deleteOb inst objbodystr;
    
    set objbodystr.PBODY_obj = objsrc;
    set objbodystr.PBODY_iCameraMode = icammode;
    set objbodystr.PBODY_initpos = [cpos cquat];
    set objbodystr.PBODY_tFluid = [isfluid vol];
    
    if icammode == 0 then nil else
      setPluginInstanceCbCameraChange inst mkfun5 @cbChangeCamera objbodystr;
    
    if !(objbodystr.PBODY_bUpJoint) then nil else
      SO3BodyCreateBasicJointUpVector body [0.0 1.0 0.0];
    
    if (!objbodystr.PBODY_bCancelGravity) then nil else
      SO3BodySetGravityEnable body 0;
    
    SO3BodySetAutoSleep body objbodystr.PBODY_bAutoFreeze;
    
    SendPluginEvent inst "Object setted" nil nil;
  );
  0;;


fun cbApplyObject(inst, from, action, param, reply, objbodystr)=
  let V3DgetObjectByName c3dXsession param -> objsrc in
  let V3DgetObjectTypeByName param -> icammode in
  
  let SO3SceneNodeGetBody objbodystr.PBODY_obj -> srcbody in
  let SO3ObjectGetPosition objsrc -> cpos in
  let SO3ObjectGetOrientation objsrc -> cquat in
  let SO3SceneNodeGetBody objsrc -> body in
  (
    if !(objbodystr.PBODY_bUpJoint) then nil else
      SO3BodyCreateBasicJointUpVector body [0.0 1.0 0.0];
    
    if (!objbodystr.PBODY_bCancelGravity) then nil else
      SO3BodySetGravityEnable body 0;
    
    SO3BodySetAutoSleep body objbodystr.PBODY_bAutoFreeze;
    let SO3BodyGetConstantForce srcbody -> [x y z] in
      SO3BodySetConstantForce body [x y z];
      
    let SO3BodyGetConstantTorque srcbody -> [x y z] in
      SO3BodySetConstantTorque body [x y z];
    
    let SO3BodyGetVelocity srcbody -> [x y z] in
      SO3BodySetVelocity body [x y z];
  );
  0;;


fun cbSetGravityState(inst, from, action, param, reply, objbodystr)=
  let getBooleanFromString param -> state in
  let SO3SceneNodeGetBody objbodystr.PBODY_obj -> body in
    SO3BodySetGravityEnable body state;
  0;;


fun cbImpulseHit(body, strobj)=
  SendPluginEvent strobj.PBODY_inst "Impulse hit" nil nil;
  0;;  

  
fun newOb(inst)=
  let (getPluginInstanceParam inst "object") -> objname in
  let atoi (getPluginInstanceParam inst "mode") -> mode in
  let atoi (getPluginInstanceParam inst "upjoint") -> upjoint in
  let atoi (getPluginInstanceParam inst "autofreeze") -> autofreeze in
  let if (autofreeze == nil) then 1 else autofreeze -> autofreeze in
  let atoi (getPluginInstanceParam inst "cancelgravity") -> cancelgravity in
  let if (cancelgravity == nil) then 0 else cancelgravity -> cancelgravity in
  
  let V3DgetObjectByName c3dXsession objname -> objsrc in
  let V3DgetObjectTypeByName objname -> icammode in

  let SO3ObjectGetPosition objsrc -> cpos in
  let SO3ObjectGetOrientation objsrc -> cquat in
  let SO3SceneNodeGetBody objsrc -> body in
  let SO3BodyGetFluid body -> isfluid in
  let SO3BodyGetFluidVolumeRatio body -> vol in
  
  let (IsInEditor inst) || IsEventLinked inst "Velocity" -> bVel in
  let (IsInEditor inst) || IsEventLinked inst "Omega" -> bOmega in
  let (IsInEditor inst) || IsEventLinked inst "Contact" -> bContact in
  let (IsInEditor inst) || IsEventLinked inst "Ray intersect in" -> bRayIn in
  let (IsInEditor inst) || IsEventLinked inst "Ray intersect out" -> bRayOut in
  let (IsInEditor inst) || IsEventLinked inst "Overlap started" -> bOverlapStart in
  let (IsInEditor inst) || IsEventLinked inst "Overlap stopped" -> bOverlapStop in
  let (IsInEditor inst) || IsEventLinked inst "Grabed" -> bGrabed in
  let (IsInEditor inst) || IsEventLinked inst "Ungrabed" -> bUngrabed in
    
  let mkObjPhysBodyStr [inst objsrc icammode [cpos cquat] mode cancelgravity autofreeze upjoint [isfluid vol] 0 bVel bOmega bContact bRayIn bRayOut bOverlapStart bOverlapStop bGrabed bUngrabed] -> objbodystr in
  (
    if icammode == 0 then nil else
      setPluginInstanceCbCameraChange inst mkfun5 @cbChangeCamera objbodystr;
    
    if !upjoint then nil else
      SO3BodyCreateBasicJointUpVector body [0.0 1.0 0.0];
    
    if (!cancelgravity) then nil else
      SO3BodySetGravityEnable body 0;
    
    if (!bContact && !bRayIn && !bRayOut && !bOverlapStart && !bOverlapStop && !bGrabed && !bUngrabed) then nil else
      setPluginInstanceCbGeneric inst mkfun5 @cbGeneric objbodystr;
    
    SO3BodySetAutoSleep body autofreeze;
    SO3CbBodyImpulseHit body @cbImpulseHit objbodystr;
    
    PluginRegisterAction inst "Reset body" mkfun6 @cbResetBody objbodystr;
    PluginRegisterAction inst "Set omega" mkfun6 @cbSetOmega objbodystr;
    PluginRegisterAction inst "Set velocity" mkfun6 @cbSetVelocity objbodystr;
    PluginRegisterAction inst "Add velocity" mkfun6 @cbAddVelocity objbodystr;
    PluginRegisterAction inst "Set force" mkfun6 @cbSetForce objbodystr;
    PluginRegisterAction inst "Add force" mkfun6 @cbAddForce objbodystr;
    PluginRegisterAction inst "Set torque" mkfun6 @cbSetTorque objbodystr;
    PluginRegisterAction inst "Add torque" mkfun6 @cbAddTorque objbodystr;
    PluginRegisterAction inst "Set constant force" mkfun6 @cbSetConstantForce objbodystr;
    PluginRegisterAction inst "Add constant force" mkfun6 @cbAddConstantForce objbodystr;
    PluginRegisterAction inst "Set constant torque" mkfun6 @cbSetConstantTorque objbodystr;
    PluginRegisterAction inst "Add constant torque" mkfun6 @cbAddConstantTorque objbodystr;
    PluginRegisterAction inst "Set gravity state" mkfun6 @cbSetGravityState objbodystr;    
    PluginRegisterAction inst "Set world enable" mkfun6 @cbSetWorldEnable objbodystr;
    PluginRegisterAction inst "Reset world" mkfun6 @cbResetWorld objbodystr;
    PluginRegisterAction inst "Add impulse" mkfun6 @cbAddImpulse objbodystr;
    PluginRegisterAction inst "Set world gravity" mkfun6 @cbSetWorldGravity objbodystr;
    PluginRegisterAction inst "Set enable" mkfun6 @cbSetEnable objbodystr;
    PluginRegisterAction inst "Set mass" mkfun6 @cbSetMass objbodystr;
    PluginRegisterAction inst "Set auto freeze" mkfun6 @cbAutoFreezeBody objbodystr;
    PluginRegisterAction inst "Set fluid" mkfun6 @cbSetFluid objbodystr;
    PluginRegisterAction inst "Set fluid volume ratio" mkfun6 @cbSetFluidVolume objbodystr;
    PluginRegisterAction inst "Set object" mkfun6 @cbSetObject objbodystr;
    PluginRegisterAction inst "Enable up joint" mkfun6 @cbEnableUpJoint objbodystr;
    PluginRegisterAction inst "Disable up joint" mkfun6 @cbDisableUpJoint objbodystr;
    PluginRegisterAction inst "Apply on object" mkfun6 @cbApplyObject objbodystr;
    
    setPluginInstanceCbPostRender inst mkfun3 @cbGetPostRender objbodystr;
    
    setPluginInstanceCbDel inst mkfun2 @deleteOb objbodystr;
  );
  0;;


fun IniPlug(file)=
  PlugRegister @newOb nil;
  setPluginEditor @dynamicedit;
  0;;