Updated chipmunk demo to use Dali physics adaptor

Added dependency on dali-physics-3d for bullet-example Change-Id: Ifaf5dd7dce079549012f25a094473aef2fe0f08a

Updated chipmunk demo to use Dali physics adaptor
Added dependency on dali-physics-3d for bullet-example Change-Id: Ifaf5dd7dce079549012f25a094473aef2fe0f08a
David Steele
1 parent 0fb7eb98
Showing 12 changed files with 235 additions and 931 deletions
build/tizen/CMakeLists.txt
examples/chipmunk-physics/README.md
examples/chipmunk-physics/frame-callback.cpp
examples/chipmunk-physics/frame-callback.h
examples/chipmunk-physics/physics-actor.cpp
examples/chipmunk-physics/physics-actor.h
examples/chipmunk-physics/physics-demo-controller.cpp
examples/chipmunk-physics/physics-impl.cpp
examples/chipmunk-physics/physics-impl.h
examples/chipmunk-physics/shaders/rendering-textured-shape.frag
examples/chipmunk-physics/shaders/rendering-textured-shape.vert
packaging/com.samsung.dali-demo.spec
@@ -327,6 +327,7 @@ IF( WIN32 OR APPLE ) # WIN32 includes x64 as well according to the cmake doc.
   FIND_PACKAGE( chipmunk )
   FIND_PACKAGE( bullet3 )
+  FIND_PACKAGE( dali2-physics-2d )
   FIND_PACKAGE( dali2-physics-3d )
   # Set up the include dir
@@ -394,6 +395,10 @@ IF( WIN32 OR APPLE ) # WIN32 includes x64 as well according to the cmake doc.
     SET(ENABLE_PHYSICS_3D "ON" )
   ENDIF()
+  IF (dali2-physics-2d_FOUND)
+    SET(DALI_PHYSICS_2D_LDFLAGS ${DALI_PHYSICS_2D_LDFLAGS} dali2-physics-2d::dali2-physics-2d)
+  ENDIF()
+
   IF (dali2-physics-3d_FOUND)
     SET(DALI_PHYSICS_3D_LDFLAGS ${DALI_PHYSICS_3D_LDFLAGS} dali2-physics-3d::dali2-physics-3d)
   ENDIF()
 # Chipmunk Physics Example
 This is an example showing how to use Chipmunk2D physics library to create and control physics objects in DALi.
-It creates a ball and a pyramid brick wall which can be moved using touch and key events.
+It creates a set of balls which act under gravity
 ![](./chipmunk.gif)
+
+"wasd" keys move the last touched actor up/down/left/right.
+"qe" keys rotate the last touched actor in Z axis
+"p" key resets the position/forces on the last touched actor to the origin
+Space key toggles the integration state.
-/*
- * Copyright (c) 2023 Samsung Electronics Co., Ltd.
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#include "frame-callback.h"
-#include <dali/devel-api/threading/mutex.h>
-#include <dali/devel-api/update/update-proxy.h>
-#include <dali/integration-api/debug.h>
-#include <dali/public-api/math/vector3.h>
-#include "physics-impl.h"
-
-using Dali::Quaternion;
-using Dali::Vector3;
-
-#if defined(DEBUG_ENABLED)
-extern Debug::Filter* gPhysicsDemo;
-#endif
-
-FrameCallback::FrameCallback(PhysicsImpl& physicsImpl)
-: mPhysicsImpl(physicsImpl)
-{
-}
-
-bool FrameCallback::Update(Dali::UpdateProxy& updateProxy, float elapsedSeconds)
-{
-  static int numCalls = 0;
-
-  numCalls++;
-  if(numCalls % 30 == 0)
-  {
-    DALI_LOG_INFO(gPhysicsDemo, Debug::Concise, "Physics frame update\n");
-  }
-
-  Dali::Mutex::ScopedLock lock(mPhysicsImpl.mMutex);
-  static float            frameTime = 0;
-  frameTime += elapsedSeconds;
-  do
-  {
-    mPhysicsImpl.Integrate(mPhysicsTimeStep);
-    frameTime -= mPhysicsTimeStep;
-  } while(frameTime > 0);
-
-  for(auto&& actor : mPhysicsImpl.mPhysicsActors)
-  {
-    // Get position, orientation from physics world.
-    Vector3 position = actor.second.GetActorPosition();
-    updateProxy.BakePosition(actor.first, position);
-    Quaternion rotation = actor.second.GetActorRotation();
-    updateProxy.BakeOrientation(actor.first, rotation);
-  }
-
-  return true;
-}
-#ifndef PHYSICS_DEMO_FRAME_CALLBACK_H
-#define PHYSICS_DEMO_FRAME_CALLBACK_H
-
-/*
- * Copyright (c) 2023 Samsung Electronics Co., Ltd.
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#include <dali/public-api/adaptor-framework/window.h>
-#include <dali/devel-api/update/frame-callback-interface.h>
-#include <map>
-#include <chrono>
-
-class PhysicsImpl;
-
-class FrameCallback : public Dali::FrameCallbackInterface
-{
-public:
-  /**
-   * Constructor
-   */
-  explicit FrameCallback(PhysicsImpl& physicsImpl);
-
-  /**
-   * Set the physics time step
-   * @param timeStep (in seconds)
-   */
-  void SetPhysicsTimeStep(float timeStep)
-  {
-    mPhysicsTimeStep = timeStep;
-  }
-
-private:
-  /**
-   * Called each frame.
-   * @param[in] updateProxy Used to set world matrix and size
-   * @param[in] elapsedSeconds Time since last frame
-   * @return Whether we should keep rendering.
-   */
-  bool Update(Dali::UpdateProxy& updateProxy, float elapsedSeconds) override;
-
-private: // Member variables
-  PhysicsImpl& mPhysicsImpl;
-  float mPhysicsTimeStep{1.0/180.0};
-};
-
-#endif //PHYSICS_DEMO_FRAME_CALLBACK_H
-/*
- * Copyright (c) 2023 Samsung Electronics Co., Ltd.
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *
- */
-
-#include "physics-actor.h"
-#include "physics-impl.h"
-#include <dali/public-api/common/constants.h>
-#include <dali/public-api/math/vector3.h>
-#include <dali/public-api/math/quaternion.h>
-
-using Dali::Vector3;
-using Dali::Quaternion;
-using Dali::Radian;
-
-void PhysicsActor::ClearForces()
-{
-  printf("Not Implemented\n");
-  //mBody->clearForces();
-  // No similar API
-}
-
-Dali::Vector3 PhysicsActor::GetPhysicsPosition()
-{
-  cpVect cpPosition = cpBodyGetPosition(mBody);
-  return Vector3(cpPosition.x, cpPosition.y, 0.0f);
-}
-
-void PhysicsActor::SetPhysicsPosition(Dali::Vector3 actorPosition)
-{
-  Dali::Mutex::ScopedLock lock(mImpl->mMutex);
-  Vector3 physicsPosition = mImpl->TranslateToPhysicsSpace(actorPosition);
-  cpBodySetPosition(mBody, cpv(physicsPosition.x, physicsPosition.y));
-}
-
-void PhysicsActor::SetPhysicsVelocity(Dali::Vector3 actorVelocity)
-{
-  Dali::Mutex::ScopedLock lock(mImpl->mMutex);
-  Vector3 physicsVelocity = mImpl->ConvertVectorToPhysicsSpace(actorVelocity);
-  cpBodySetVelocity(mBody, cpv(physicsVelocity.x, physicsVelocity.y));
-}
-
-void PhysicsActor::SetPhysicsAngularVelocity(Dali::Vector3 velocity)
-{
-  Dali::Mutex::ScopedLock lock(mImpl->mMutex);
-  printf("Not Implemented\n");
-  //mBody->setAngularVelocity(btVector3(velocity.x, velocity.y, velocity.z));
-}
-
-Quaternion PhysicsActor::GetPhysicsRotation()
-{
-  return Quaternion{};
-}
-
-void PhysicsActor::SetPhysicsRotation(Dali::Quaternion rotation)
-{
-  Dali::Mutex::ScopedLock lock(mImpl->mMutex);
-
-  Vector3 axis;
-  Radian angle;
-  rotation.ToAxisAngle(axis, angle);
-
-  //btQuaternion orn = btQuaternion(btVector3(axis.x, -axis.y, axis.z), btScalar(float(-angle)));
-  //btTransform& transform = mBody->getWorldTransform();
-  //transform.setRotation(orn);
-  printf("Not Implemented\n");
-}
-
-
-Vector3 PhysicsActor::GetActorPosition()
-{
-  cpVect cpPosition = cpBodyGetPosition(mBody);
-  return mImpl->TranslateFromPhysicsSpace(Vector3(cpPosition.x, cpPosition.y, 0.0f));
-}
-
-Vector3 PhysicsActor::GetActorVelocity()
-{
-  cpVect cpVelocity = cpBodyGetVelocity(mBody);
-  return mImpl->ConvertVectorFromPhysicsSpace(Vector3(cpVelocity.x, cpVelocity.y, 0.0f));
-}
-
-Quaternion PhysicsActor::GetActorRotation()
-{
-  cpFloat angle = cpBodyGetAngle(mBody);
-  return Quaternion(Radian(angle), -Vector3::ZAXIS);
-}
-#ifndef DALI_PHYSICS_DEMO_PHYSICS_ACTOR_H
-#define DALI_PHYSICS_DEMO_PHYSICS_ACTOR_H
-/*
- * Copyright (c) 2023 Samsung Electronics Co., Ltd.
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *
- */
-
-#include <chipmunk/chipmunk.h>
-#include <cstdint>
-#include <dali/dali.h>
-#include <iosfwd>
-
-// Forward declarations
-class PhysicsImpl;
-
-/**
- * Class that associates an actor with a physics body. (Initially, rigid body)
- */
-class PhysicsActor
-{
-public:
-  PhysicsActor() = default;
-  PhysicsActor(Dali::Actor& actor, cpBody* body, PhysicsImpl* impl, Dali::Property::Index brightnessId)
-  : mImpl(impl),
-    mActorId(actor.GetProperty<int>(Dali::Actor::Property::ID)),
-    mBody(body),
-    mBrightnessIndex(brightnessId)
-  {
-    cpBodySetUserData(mBody, this);
-  }
-
-  PhysicsActor(const PhysicsActor& rhs)=delete;
-  PhysicsActor& operator=(const PhysicsActor& rhs)=delete;
-
-  PhysicsActor(const PhysicsActor&& rhs)
-  {
-    if(this != &rhs)
-    {
-      mImpl = rhs.mImpl;
-      mActorId = rhs.mActorId;
-      mBody = rhs.mBody;
-      cpBodySetUserData(mBody, this);
-      mBrightnessIndex = rhs.mBrightnessIndex;
-    }
-  }
-
-  PhysicsActor& operator=(const PhysicsActor&& rhs)
-  {
-    if(this != &rhs)
-    {
-      mActorId = rhs.mActorId;
-      mBody    = rhs.mBody;
-      mImpl = rhs.mImpl;
-      mBrightnessIndex = rhs.mBrightnessIndex;
-      cpBodySetUserData(mBody, this);
-    }
-    return *this;
-  }
-
-  uint32_t GetId()
-  {
-    return mActorId;
-  }
-
-  cpBody* GetBody()
-  {
-    return mBody;
-  }
-
-  Dali::Property::Index GetBrightnessIndex()
-  {
-    return mBrightnessIndex;
-  }
-
-  Dali::Vector3 GetPhysicsPosition();
-  Dali::Quaternion GetPhysicsRotation();
-
-  void SetPhysicsPosition(Dali::Vector3 actorPosition);
-  void SetPhysicsVelocity(Dali::Vector3 actorVelocity);
-  void SetPhysicsAngularVelocity(Dali::Vector3 actorVelocity);
-  void SetPhysicsRotation(Dali::Quaternion actorRotation);
-  Dali::Vector3 GetActorPosition();
-  Dali::Vector3 GetActorVelocity();
-  Dali::Quaternion GetActorRotation();
-  void ClearForces();
-
-private:
-  PhysicsImpl* mImpl{nullptr};
-  uint32_t mActorId{0};
-  cpBody* mBody{nullptr};
-  Dali::Property::Index mBrightnessIndex{Dali::Property::INVALID_INDEX};
-};
-
-#endif // DALI_PHYSICS_DEMO_PHYSICS_ACTOR_H
@@ -15,7 +15,7 @@
  */
 #include <dali-toolkit/dali-toolkit.h>
-#include <dali/dali.h>
+#include <dali-physics/dali-physics.h>
 #include <dali-toolkit/devel-api/visuals/image-visual-properties-devel.h>
 #include <dali-toolkit/devel-api/visuals/visual-properties-devel.h>
@@ -25,18 +25,18 @@
 #include <iostream>
 #include <string>
-
-#include "generated/rendering-textured-shape-frag.h"
-#include "generated/rendering-textured-shape-vert.h"
-#include "physics-actor.h"
-#include "physics-impl.h"
+#include <chipmunk/chipmunk.h>
 using namespace Dali;
+using namespace Dali::Toolkit::Physics;
 #if defined(DEBUG_ENABLED)
 Debug::Filter* gPhysicsDemo = Debug::Filter::New(Debug::Concise, false, "LOG_PHYSICS_EXAMPLE");
 #endif
+#define GRABBABLE_MASK_BIT (1u << 31)
+cpShapeFilter NOT_GRABBABLE_FILTER = {CP_NO_GROUP, ~GRABBABLE_MASK_BIT, ~GRABBABLE_MASK_BIT};
+
 namespace KeyModifier
 {
 enum Key
@@ -84,25 +84,39 @@ public:
     mWindow.SetBackgroundColor(Color::DARK_SLATE_GRAY);
     Window::WindowSize windowSize = mWindow.GetSize();
-    mPhysicsRoot = mPhysicsImpl.Initialize(mWindow);
+    // Map Physics space (origin bottom left, +ve Y up)
+    // to DALi space (origin center, +ve Y down)
+    mPhysicsTransform.SetIdentityAndScale(Vector3(1.0f, -1.0f, 1.0f));
+    mPhysicsTransform.SetTranslation(Vector3(windowSize.GetWidth() * 0.5f,
+                                             windowSize.GetHeight() * 0.5f,
+                                             0.0f));
+
+    mPhysicsAdaptor = PhysicsAdaptor::New(mPhysicsTransform, windowSize);
+    mPhysicsRoot = mPhysicsAdaptor.GetRootActor();
     mPhysicsRoot.TouchedSignal().Connect(this, &PhysicsDemoController::OnTouched);
     mWindow.Add(mPhysicsRoot);
+    auto scopedAccessor = mPhysicsAdaptor.GetPhysicsAccessor();
+    cpSpace* space = scopedAccessor->GetNative().Get<cpSpace*>();
+
+    CreateBounds(space, windowSize);
     // Ball area = 2*PI*26^2 ~= 6.28*26*26 ~= 5400
     // Fill quarter of the screen...
     int numBalls = 10 + windowSize.GetWidth() * windowSize.GetHeight() / 20000;
-
     for(int i = 0; i < numBalls; ++i)
     {
-      CreateBall();
+      CreateBall(space);
     }
     // For funky mouse drag
-    mMouseBody = mPhysicsImpl.AddMouseBody();
+    mMouseBody = cpBodyNewKinematic(); // Mouse actor is a kinematic body that is not integrated
+
+    // Process any async queued methods next frame
+    mPhysicsAdaptor.CreateSyncPoint();
   }
-  void CreateBall()
+  void CreateBall(cpSpace* space)
   {
     const float BALL_MASS       = 10.0f;
     const float BALL_RADIUS     = 26.0f;
@@ -111,13 +125,81 @@ public:
     auto ball = Toolkit::ImageView::New(BALL_IMAGE);
-    auto&              physicsBall = mPhysicsImpl.AddBall(ball, BALL_MASS, BALL_RADIUS, BALL_ELASTICITY, BALL_FRICTION);
+    cpBody* body = cpSpaceAddBody(space, cpBodyNew(BALL_MASS, cpMomentForCircle(BALL_MASS, 0.0f, BALL_RADIUS, cpvzero)));
+
+    cpShape* shape = cpSpaceAddShape(space, cpCircleShapeNew(body, BALL_RADIUS, cpvzero));
+    cpShapeSetElasticity(shape, BALL_ELASTICITY);
+    cpShapeSetFriction(shape, BALL_FRICTION);
+
+    ball.RegisterProperty("uBrightness", 0.0f);
+
+    PhysicsActor physicsBall = mPhysicsAdaptor.AddActorBody(ball, body);
+
     Window::WindowSize windowSize  = mWindow.GetSize();
-    const float        s           = BALL_RADIUS;
-    const float        fw          = windowSize.GetWidth() - BALL_RADIUS;
-    const float        fh          = windowSize.GetHeight() - BALL_RADIUS;
-    physicsBall.SetPhysicsPosition(Vector3(Random::Range(s, fw), Random::Range(s, fh), 0.0f));
-    physicsBall.SetPhysicsVelocity(Vector3(Random::Range(-100.0, 100.0), Random::Range(-100.0, 100.0), 0.0f));
+
+    const float        fw          = 0.5f*(windowSize.GetWidth() - BALL_RADIUS);
+    const float        fh          = 0.5f*(windowSize.GetHeight() - BALL_RADIUS);
+
+    // Example of setting physics property on update thread
+    physicsBall.AsyncSetPhysicsPosition(Vector3(Random::Range(-fw, fw), Random::Range(-fh, fh), 0.0f));
+
+    // Example of queuing a chipmunk method to run on the update thread
+    mPhysicsAdaptor.Queue([body](){
+      cpBodySetVelocity(body, cpv(Random::Range(-100.0, 100.0), Random::Range(-100.0, 100.0)));
+    });
+  }
+
+  void CreateBounds(cpSpace* space, Window::WindowSize size)
+  {
+    // We're working in physics space here - coords are: origin: bottom left, +ve Y: up
+    int xBound = size.GetWidth();
+    int yBound = size.GetHeight();
+
+    cpBody* staticBody = cpSpaceGetStaticBody(space);
+
+    if(mLeftBound)
+    {
+      cpSpaceRemoveShape(space, mLeftBound);
+      cpSpaceRemoveShape(space, mRightBound);
+      cpSpaceRemoveShape(space, mTopBound);
+      cpSpaceRemoveShape(space, mBottomBound);
+      cpShapeFree(mLeftBound);
+      cpShapeFree(mRightBound);
+      cpShapeFree(mTopBound);
+      cpShapeFree(mBottomBound);
+    }
+    mLeftBound   = AddBound(space, staticBody, cpv(0, 0), cpv(0, yBound));
+    mRightBound  = AddBound(space, staticBody, cpv(xBound, 0), cpv(xBound, yBound));
+    mTopBound    = AddBound(space, staticBody, cpv(0, 0), cpv(xBound, 0));
+    mBottomBound = AddBound(space, staticBody, cpv(0, yBound), cpv(xBound, yBound));
+  }
+
+  cpShape* AddBound(cpSpace* space, cpBody* staticBody, cpVect start, cpVect end)
+  {
+    cpShape* shape = cpSpaceAddShape(space, cpSegmentShapeNew(staticBody, start, end, 0.0f));
+    cpShapeSetElasticity(shape, 1.0f);
+    cpShapeSetFriction(shape, 1.0f);
+
+    cpShapeSetFilter(shape, NOT_GRABBABLE_FILTER);
+    return shape;
+  }
+
+  void MoveMouseBody(cpBody* mouseBody, Vector3 position)
+  {
+    cpVect cpPosition = cpv(position.x, position.y);
+    cpVect newPoint   = cpvlerp(cpBodyGetPosition(mouseBody), cpPosition, 0.25f);
+    cpBodySetVelocity(mouseBody, cpvmult(cpvsub(newPoint, cpBodyGetPosition(mouseBody)), 60.0f));
+    cpBodySetPosition(mouseBody, newPoint);
+  }
+
+  cpConstraint* AddPivotJoint(cpSpace* space, cpBody* body1, cpBody* body2, Vector3 localPivot)
+  {
+    cpVect        pivot{localPivot.x, localPivot.y};
+    cpConstraint* joint = cpPivotJointNew2(body2, body1, cpvzero, pivot);
+    cpConstraintSetMaxForce(joint, 50000.0f); // Magic numbers for mouse feedback.
+    cpConstraintSetErrorBias(joint, cpfpow(1.0f - 0.15f, 60.0f));
+    cpConstraint* constraint = cpSpaceAddConstraint(space, joint);
+    return constraint; // Constraint & joint are the same...
   }
   void OnTerminate(Application& application)
@@ -127,21 +209,24 @@ public:
   void OnWindowResize(Window window, Window::WindowSize newSize)
   {
-    mPhysicsImpl.CreateWorldBounds(newSize);
+    auto scopedAccessor = mPhysicsAdaptor.GetPhysicsAccessor();
+    cpSpace* space = scopedAccessor->GetNative().Get<cpSpace*>();
+
+    CreateBounds(space, newSize);
   }
   bool OnTouched(Dali::Actor actor, const Dali::TouchEvent& touch)
   {
     static enum {
       None,
-      MoveCameraXZ,
       MovePivot,
     } state = None;
-    auto    renderTask   = mWindow.GetRenderTaskList().GetTask(0);
-    auto    screenCoords = touch.GetScreenPosition(0);
-    Vector3 origin, direction;
-    Dali::HitTestAlgorithm::BuildPickingRay(renderTask, screenCoords, origin, direction);
+    auto renderTask   = mWindow.GetRenderTaskList().GetTask(0);
+    auto screenCoords = touch.GetScreenPosition(0);
+    // In this demo, physics space is equivalent to screen space with y inverted
+    auto windowSize = mWindow.GetSize();
+    Vector3 rayPhysicsOrigin(screenCoords.x, windowSize.GetHeight() - screenCoords.y, 0.0f);
     switch(state)
     {
@@ -149,30 +234,23 @@ public:
       {
         if(touch.GetState(0) == Dali::PointState::STARTED)
         {
-          if(mCtrlDown)
-          {
-            state = MoveCameraXZ;
-            // local to top left
-            //cameraY = touch.GetLocalPosition(0).y;
-            // Could move on fixed plane, e.g. y=0.
-            // position.Y corresponds to a z value depending on perspective
-            // position.X scales to an x value depending on perspective
-          }
-          else
+          state = MovePivot;
+
+          auto scopedAccessor = mPhysicsAdaptor.GetPhysicsAccessor();
+          cpSpace* space = scopedAccessor->GetNative().Get<cpSpace*>();
+
+          Vector3 localPivot;
+          float   pickingDistance;
+
+          auto body = scopedAccessor->HitTest(rayPhysicsOrigin, rayPhysicsOrigin, localPivot, pickingDistance);
+          if(!body.Empty())
           {
-            state = MovePivot;
-            Dali::Mutex::ScopedLock lock(mPhysicsImpl.mMutex);
+            mPickedBody = body.Get<cpBody*>();
+            mSelectedActor = mPhysicsAdaptor.GetPhysicsActor(mPickedBody);
-            Vector3 localPivot;
-            float   pickingDistance;
-            auto    body = mPhysicsImpl.HitTest(screenCoords, origin, direction, localPivot, pickingDistance);
-            if(body)
-            {
-              mPickedBody = body;
-              mPhysicsImpl.HighlightBody(mPickedBody, true);
-              mPickedSavedState = mPhysicsImpl.ActivateBody(mPickedBody);
-              mPickedConstraint = mPhysicsImpl.AddPivotJoint(mPickedBody, mMouseBody, localPivot);
-            }
+            mPickedSavedState = cpBodyIsSleeping(mPickedBody);
+            cpBodyActivate(mPickedBody);
+            mPickedConstraint = AddPivotJoint(space, mPickedBody, mMouseBody, localPivot);
           }
         }
         break;
@@ -183,23 +261,11 @@ public:
         {
           if(mPickedBody && mPickedConstraint)
           {
-            if(!mShiftDown)
-            {
-              // Move point in XY plane, projected into scene
-              Dali::Mutex::ScopedLock lock(mPhysicsImpl.mMutex);
+            // Ensure we get a lock before altering constraints
+            auto scopedAccessor = mPhysicsAdaptor.GetPhysicsAccessor();
-              Vector3 position = mPhysicsImpl.TranslateToPhysicsSpace(Vector3(screenCoords));
-              mPhysicsImpl.MoveMouseBody(mMouseBody, position);
-            }
-            else
-            {
-              // Move point in XZ plane
-              // Above vanishing pt, it's on top plane of frustum; below vanishing pt it's on bottom plane.
-              // Kind of want to project onto the plane using initial touch xy, rather than top/bottom.
-              // Whole new projection code needed.
-
-              // Cheat!
-            }
+            // Move point in physics coords
+            MoveMouseBody(mMouseBody, rayPhysicsOrigin);
           }
         }
         else if(touch.GetState(0) == Dali::PointState::FINISHED ||
@@ -207,11 +273,20 @@ public:
         {
           if(mPickedConstraint)
           {
-            mPhysicsImpl.HighlightBody(mPickedBody, false);
+            auto scopedAccessor = mPhysicsAdaptor.GetPhysicsAccessor();
+            cpSpace* space = scopedAccessor->GetNative().Get<cpSpace*>();
-            Dali::Mutex::ScopedLock lock(mPhysicsImpl.mMutex);
-            mPhysicsImpl.RestoreBodyState(mPickedBody, mPickedSavedState);
-            mPhysicsImpl.ReleaseConstraint(mPickedConstraint);
+            if(mPickedSavedState)
+            {
+              cpBodyActivate(mPickedBody);
+            }
+            else
+            {
+              cpBodySleep(mPickedBody);
+            }
+
+            cpSpaceRemoveConstraint(space, mPickedConstraint);
+            cpConstraintFree(mPickedConstraint);
             mPickedConstraint = nullptr;
             mPickedBody       = nullptr;
           }
@@ -219,23 +294,9 @@ public:
         }
         break;
       }
-      case MoveCameraXZ:
-      {
-        if(touch.GetState(0) == Dali::PointState::MOTION)
-        {
-          // Move camera in XZ plane
-          //float y = cameraY; // touch point in Y. Move camera in an XZ plane on this point.
-        }
-        else if(touch.GetState(0) == Dali::PointState::FINISHED ||
-                touch.GetState(0) == Dali::PointState::INTERRUPTED)
-        {
-          state = None;
-        }
-        break;
-      }
     }
-    //std::cout<<"Touch State: "<<state<<std::endl;
+
     Stage::GetCurrent().KeepRendering(30.0f);
     return true;
@@ -243,6 +304,8 @@ public:
   void OnKeyEv(const Dali::KeyEvent& event)
   {
+    static bool integrateState{true};
+
     if(event.GetState() == KeyEvent::DOWN)
     {
       switch(event.GetKeyCode())
@@ -273,11 +336,80 @@ public:
           }
           else if(!event.GetKeyString().compare(" "))
           {
-            mPhysicsImpl.ToggleIntegrateState();
+            integrateState = true^integrateState;
+            mPhysicsAdaptor.SetIntegrationState(integrateState?
+                                                PhysicsAdaptor::IntegrationState::ON:
+                                                PhysicsAdaptor::IntegrationState::OFF);
+
           }
-          else if(!event.GetKeyString().compare("m"))
+          else if(!event.GetKeyString().compare("w"))
           {
-            mPhysicsImpl.ToggleDebugState();
+            if(mSelectedActor)
+            {
+              Vector3 pos = mSelectedActor.GetActorPosition();
+              mSelectedActor.AsyncSetPhysicsPosition(pos + Vector3(0, -10, 0));
+              cpBody* body = mSelectedActor.GetBody().Get<cpBody*>();
+              mPhysicsAdaptor.Queue([body]() { cpBodyActivate(body); });
+              mPhysicsAdaptor.CreateSyncPoint();
+            }
+          }
+          else if(!event.GetKeyString().compare("s"))
+          {
+            if(mSelectedActor)
+            {
+              Vector3 pos = mSelectedActor.GetActorPosition();
+              mSelectedActor.AsyncSetPhysicsPosition(pos + Vector3(0, 10, 0));
+              cpBody* body = mSelectedActor.GetBody().Get<cpBody*>();
+              mPhysicsAdaptor.Queue([body]() { cpBodyActivate(body); });
+              mPhysicsAdaptor.CreateSyncPoint();
+            }
+          }
+          else if(!event.GetKeyString().compare("a"))
+          {
+            if(mSelectedActor)
+            {
+              Vector3 pos = mSelectedActor.GetActorPosition();
+              mSelectedActor.AsyncSetPhysicsPosition(pos + Vector3(-10, 0, 0));
+              cpBody* body = mSelectedActor.GetBody().Get<cpBody*>();
+              mPhysicsAdaptor.Queue([body]() { cpBodyActivate(body); });
+              mPhysicsAdaptor.CreateSyncPoint();
+            }
+          }
+          else if(!event.GetKeyString().compare("d"))
+          {
+            if(mSelectedActor)
+            {
+              Vector3 pos = mSelectedActor.GetActorPosition();
+              mSelectedActor.AsyncSetPhysicsPosition(pos + Vector3(10, 0, 0));
+              cpBody* body = mSelectedActor.GetBody().Get<cpBody*>();
+              mPhysicsAdaptor.Queue([body]() { cpBodyActivate(body); });
+              mPhysicsAdaptor.CreateSyncPoint();
+            }
+          }
+          else if(!event.GetKeyString().compare("q"))
+          {
+            // Rotate anti-clockwise
+            if(mSelectedActor)
+            {
+              Quaternion quaternion = mSelectedActor.GetActorRotation();
+              quaternion *= Quaternion(Degree(-15.0f), Vector3::ZAXIS);
+              mSelectedActor.AsyncSetPhysicsRotation(quaternion);
+              cpBody* body = mSelectedActor.GetBody().Get<cpBody*>();
+              mPhysicsAdaptor.Queue([body]() { cpBodyActivate(body); });
+              mPhysicsAdaptor.CreateSyncPoint();
+            }
+          }
+          else if(!event.GetKeyString().compare("e"))
+          {
+            // Rotate clockwise using native physics APIs
+            if(mSelectedActor)
+            {
+              cpBody* body = mSelectedActor.GetBody().Get<cpBody*>();
+              float angle = cpBodyGetAngle(body);
+              mPhysicsAdaptor.Queue([body, angle]() { cpBodySetAngle(body, angle-Math::PI/12.0f); });
+              mPhysicsAdaptor.Queue([body]() { cpBodyActivate(body); });
+              mPhysicsAdaptor.CreateSyncPoint();
+            }
           }
           break;
         }
@@ -313,13 +445,20 @@ private:
   Application& mApplication;
   Window       mWindow;
-  PhysicsImpl   mPhysicsImpl;
+  PhysicsAdaptor mPhysicsAdaptor;
+  PhysicsActor   mSelectedActor;
+  Matrix        mPhysicsTransform;
   Actor         mPhysicsRoot;
   cpBody*       mMouseBody{nullptr};
   cpBody*       mPickedBody{nullptr};
   cpConstraint* mPickedConstraint{nullptr};
   int           mPickedSavedState = -1; /// 0 : Active, 1 : Sleeping
+  cpShape* mLeftBound{nullptr};
+  cpShape* mRightBound{nullptr};
+  cpShape* mTopBound{nullptr};
+  cpShape* mBottomBound{nullptr};
+
   bool mCtrlDown{false};
   bool mAltDown{false};
   bool mShiftDown{false};
-/*
- * Copyright (c) 2023 Samsung Electronics Co., Ltd.
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *
- */
-
-#include "physics-impl.h"
-#include "physics-actor.h"
-
-#include <devel-api/common/stage.h>
-#include <iostream>
-#include <map>
-#include <utility>
-
-using Dali::Actor;
-using Dali::Layer;
-using Dali::Stage;
-using Dali::Vector2;
-using Dali::Vector3;
-using Dali::Window;
-using namespace Dali::DevelStage;
-
-#define GRABBABLE_MASK_BIT (1u << 31)
-cpShapeFilter GRAB_FILTER          = {CP_NO_GROUP, GRABBABLE_MASK_BIT, GRABBABLE_MASK_BIT};
-cpShapeFilter NOT_GRABBABLE_FILTER = {CP_NO_GROUP, ~GRABBABLE_MASK_BIT, ~GRABBABLE_MASK_BIT};
-
-Actor PhysicsImpl::Initialize(Window window)
-{
-  mWindow = window;
-  mSpace  = cpSpaceNew();
-  cpSpaceSetIterations(mSpace, 30);
-  cpSpaceSetSleepTimeThreshold(mSpace, 0.5f);
-  cpSpaceSetGravity(mSpace, cpv(0, -200));
-
-  auto windowSize = window.GetSize();
-  CreateWorldBounds(windowSize);
-
-  // Create an actor that can handle mouse events.
-  mPhysicsRoot                                 = Layer::New();
-  mPhysicsRoot[Actor::Property::SIZE]          = Vector2(windowSize.GetWidth(), windowSize.GetHeight());
-  mPhysicsRoot[Actor::Property::ANCHOR_POINT]  = Dali::AnchorPoint::CENTER;
-  mPhysicsRoot[Actor::Property::PARENT_ORIGIN] = Dali::ParentOrigin::CENTER;
-
-  mFrameCallback = new FrameCallback(*this);
-  AddFrameCallback(Stage::GetCurrent(), *mFrameCallback, window.GetRootLayer());
-  Stage::GetCurrent().KeepRendering(30);
-
-  return mPhysicsRoot;
-}
-
-Layer PhysicsImpl::CreateDebug(Vector2 windowSize)
-{
-  return Layer();
-}
-
-void PhysicsImpl::CreateWorldBounds(Window::WindowSize size)
-{
-  // Physics origin is 0,0,0 in DALi coords.
-  // But, Y is inverted, so bottom is -ve, top is +ve.
-  // Perform this correction when applying position to actor.
-  // But, can't use actors in update, so cache transform.
-  SetTransform(Vector2(size.GetWidth(), size.GetHeight()));
-
-  int xBound = size.GetWidth() / 2;
-  int yBound = size.GetHeight() / 2;
-
-  cpBody* staticBody = cpSpaceGetStaticBody(mSpace);
-
-  if(mLeftBound)
-  {
-    cpSpaceRemoveShape(mSpace, mLeftBound);
-    cpSpaceRemoveShape(mSpace, mRightBound);
-    cpSpaceRemoveShape(mSpace, mTopBound);
-    cpSpaceRemoveShape(mSpace, mBottomBound);
-    cpShapeFree(mLeftBound);
-    cpShapeFree(mRightBound);
-    cpShapeFree(mTopBound);
-    cpShapeFree(mBottomBound);
-  }
-  mLeftBound   = AddBound(staticBody, cpv(-xBound, -yBound), cpv(-xBound, yBound));
-  mRightBound  = AddBound(staticBody, cpv(xBound, -yBound), cpv(xBound, yBound));
-  mTopBound    = AddBound(staticBody, cpv(-xBound, -yBound), cpv(xBound, -yBound));
-  mBottomBound = AddBound(staticBody, cpv(-xBound, yBound), cpv(xBound, yBound));
-}
-
-void PhysicsImpl::SetTransform(Vector2 worldSize)
-{
-  mWorldOffset.x = worldSize.x * 0.5f;
-  mWorldOffset.y = worldSize.y * 0.5f;
-  // y is always inverted.
-}
-
-cpShape* PhysicsImpl::AddBound(cpBody* staticBody, cpVect start, cpVect end)
-{
-  cpShape* shape = cpSpaceAddShape(mSpace, cpSegmentShapeNew(staticBody, start, end, 0.0f));
-  cpShapeSetElasticity(shape, 1.0f);
-  cpShapeSetFriction(shape, 1.0f);
-  cpShapeSetFilter(shape, NOT_GRABBABLE_FILTER);
-  return shape;
-}
-
-PhysicsActor& PhysicsImpl::AddBall(::Actor actor, float mass, float radius, float elasticity, float friction)
-{
-  Dali::Mutex::ScopedLock lock(mMutex);
-  cpBody*                 body = cpSpaceAddBody(mSpace, cpBodyNew(mass, cpMomentForCircle(mass, 0.0f, radius, cpvzero)));
-  cpBodySetPosition(body, cpv(0, 0));
-  cpBodySetVelocity(body, cpv(0, 0));
-
-  cpShape* shape = cpSpaceAddShape(mSpace, cpCircleShapeNew(body, radius, cpvzero));
-  cpShapeSetElasticity(shape, elasticity);
-  cpShapeSetFriction(shape, friction);
-
-  int                   id    = actor[Actor::Property::ID];
-  Dali::Property::Index index = actor.RegisterProperty("uBrightness", 0.0f);
-  mPhysicsActors.insert(std::make_pair(id, PhysicsActor{actor, body, this, index}));
-  actor[Actor::Property::PARENT_ORIGIN] = Dali::ParentOrigin::TOP_LEFT;
-  actor[Actor::Property::ANCHOR_POINT]  = Dali::AnchorPoint::CENTER;
-  mPhysicsRoot.Add(actor);
-  return mPhysicsActors.at(id);
-}
-
-PhysicsActor& PhysicsImpl::AddBrick(Dali::Actor actor, float mass, float elasticity, float friction, Vector3 size)
-{
-  Dali::Mutex::ScopedLock lock(mMutex);
-  cpBody*                 body = cpSpaceAddBody(mSpace, cpBodyNew(mass, cpMomentForBox(mass, size.width, size.height)));
-  cpBodySetPosition(body, cpv(0, 0));
-  cpBodySetVelocity(body, cpv(0, 0));
-
-  cpShape* shape = cpSpaceAddShape(mSpace, cpBoxShapeNew(body, size.width, size.height, 0.0f));
-  cpShapeSetFriction(shape, friction);
-  cpShapeSetElasticity(shape, elasticity);
-
-  int                   id    = actor[Actor::Property::ID];
-  Dali::Property::Index index = actor.RegisterProperty("uBrightness", 0.0f);
-  mPhysicsActors.insert(std::make_pair(id, PhysicsActor{actor, body, this, index}));
-  actor[Actor::Property::PARENT_ORIGIN] = Dali::ParentOrigin::TOP_LEFT;
-  actor[Actor::Property::ANCHOR_POINT]  = Dali::AnchorPoint::CENTER;
-  mPhysicsRoot.Add(actor);
-  return mPhysicsActors.at(id);
-}
-
-cpBody* PhysicsImpl::AddMouseBody()
-{
-  Dali::Mutex::ScopedLock lock(mMutex);
-  auto                    kinematicBody = cpBodyNewKinematic(); // Mouse actor is a kinematic body that is not integrated
-  return kinematicBody;
-}
-
-PhysicsActor* PhysicsImpl::GetPhysicsActor(cpBody* body)
-{
-  return reinterpret_cast<PhysicsActor*>(cpBodyGetUserData(body));
-}
-
-void PhysicsImpl::HighlightBody(cpBody* body, bool highlight)
-{
-  auto physicsActor = GetPhysicsActor(body);
-  if(physicsActor)
-  {
-    Actor actor = mPhysicsRoot.FindChildById(physicsActor->GetId());
-    if(actor)
-    {
-      actor[physicsActor->GetBrightnessIndex()] = highlight ? 1.0f : 0.0f;
-    }
-  }
-}
-
-// Convert from root actor local space to physics space
-Vector3 PhysicsImpl::TranslateToPhysicsSpace(Vector3 vector)
-{
-  // root actor origin is top left, DALi Y is inverted.
-  // Physics origin is center. Y: 0->1 => 0.5=>-0.5
-  return Vector3(vector.x - mWorldOffset.x, mWorldOffset.y - vector.y, vector.z);
-}
-
-// Convert from physics space to root actor local space
-Vector3 PhysicsImpl::TranslateFromPhysicsSpace(Vector3 vector)
-{
-  return Vector3(vector.x + mWorldOffset.x, mWorldOffset.y - vector.y, vector.z);
-}
-
-// Convert a vector from dali space to physics space
-Vector3 PhysicsImpl::ConvertVectorToPhysicsSpace(Vector3 vector)
-{
-  // root actor origin is top left, DALi Y is inverted.
-  // @todo Add space config scale.
-  return Vector3(vector.x, -vector.y, vector.z);
-}
-
-// Convert a vector physics space to root actor local space
-Vector3 PhysicsImpl::ConvertVectorFromPhysicsSpace(Vector3 vector)
-{
-  return Vector3(vector.x, -vector.y, vector.z);
-}
-
-void PhysicsImpl::Integrate(float timestep)
-{
-  if(mPhysicsIntegrateState)
-  {
-    cpSpaceStep(mSpace, timestep);
-  }
-  //  if(mDynamicsWorld->getDebugDrawer() && mPhysicsDebugState)
-  //  {
-  //    mDynamicsWorld->debugDrawWorld();
-  //  }
-}
-
-cpBody* PhysicsImpl::HitTest(Vector2 screenCoords, Vector3 origin, Vector3 direction, Vector3& localPivot, float& distanceFromCamera)
-{
-  Vector3          spacePosition = TranslateToPhysicsSpace(Vector3{screenCoords});
-  cpVect           mousePosition = cpv(spacePosition.x, spacePosition.y);
-  cpFloat          radius        = 5.0f;
-  cpPointQueryInfo info          = {0};
-  cpShape*         shape         = cpSpacePointQueryNearest(mSpace, mousePosition, radius, GRAB_FILTER, &info);
-
-  cpBody* body{nullptr};
-
-  if(shape && cpBodyGetMass(cpShapeGetBody(shape)) < INFINITY)
-  {
-    // Use the closest point on the surface if the click is outside the shape.
-    cpVect nearest = (info.distance > 0.0f ? info.point : mousePosition);
-    body           = cpShapeGetBody(shape);
-    cpVect local   = cpBodyWorldToLocal(body, nearest);
-    localPivot.x   = local.x;
-    localPivot.y   = local.y;
-    localPivot.z   = 0.0;
-  }
-  return body;
-}
-
-cpConstraint* PhysicsImpl::AddPivotJoint(cpBody* body1, cpBody* body2, Vector3 localPivot)
-{
-  cpVect        pivot{localPivot.x, localPivot.y};
-  cpConstraint* joint = cpPivotJointNew2(body2, body1, cpvzero, pivot);
-  cpConstraintSetMaxForce(joint, 50000.0f); // Magic numbers for mouse feedback.
-  cpConstraintSetErrorBias(joint, cpfpow(1.0f - 0.15f, 60.0f));
-  cpConstraint* constraint = cpSpaceAddConstraint(mSpace, joint);
-  return constraint; // Constraint & joint are the same...
-}
-
-void PhysicsImpl::MoveMouseBody(cpBody* mouseBody, Vector3 position)
-{
-  cpVect cpPosition = cpv(position.x, position.y);
-  cpVect newPoint   = cpvlerp(cpBodyGetPosition(mouseBody), cpPosition, 0.25f);
-  cpBodySetVelocity(mouseBody, cpvmult(cpvsub(newPoint, cpBodyGetPosition(mouseBody)), 60.0f));
-  // Normally, kinematic body's position would be calculated by engine.
-  // For mouse, though, we want to set it.
-  cpBodySetPosition(mouseBody, newPoint);
-}
-
-void PhysicsImpl::MoveConstraint(cpConstraint* constraint, Vector3 newPosition)
-{
-}
-
-void PhysicsImpl::ReleaseConstraint(cpConstraint* constraint)
-{
-  cpSpaceRemoveConstraint(mSpace, constraint);
-  cpConstraintFree(constraint);
-}
-
-int PhysicsImpl::ActivateBody(cpBody* body)
-{
-  int oldState = cpBodyIsSleeping(body);
-  cpBodyActivate(body);
-
-  return oldState;
-}
-
-void PhysicsImpl::RestoreBodyState(cpBody* body, int oldState)
-{
-  if(oldState)
-  {
-    cpBodyActivate(body);
-  }
-  else
-  {
-    cpBodySleep(body);
-  }
-}
-#ifndef DALI_PHYSICS_DEMO_PHYSICS_IMPL_H
-#define DALI_PHYSICS_DEMO_PHYSICS_IMPL_H
-/*
- * Copyright (c) 2023 Samsung Electronics Co., Ltd.
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *
- */
-
-#include <dali/dali.h>
-#include <dali/devel-api/threading/mutex.h>
-#include <dali/devel-api/common/stage-devel.h>
-
-#include <map>
-#include <chipmunk/chipmunk.h>
-
-#include "physics-actor.h"
-#include "frame-callback.h"
-
-
-class PhysicsImpl : public Dali::ConnectionTracker
-{
-public:
-  Dali::Actor Initialize(Dali::Window window);
-
-  /**
-   * Create a layer & debug renderer
-   */
-  Dali::Layer CreateDebug(Dali::Vector2 windowSize);
-
-  /**
-   * Converts a point in RootActor local coords (e.g. gesture)
-   * into physics space coords.
-   * @param vector The point to convert
-   * @return The converted point
-   */
-  Dali::Vector3 TranslateToPhysicsSpace(Dali::Vector3 vector);
-
-  /**
-   * Converts a point in physics space coords.
-   * into RootActor local coords
-   * @param vector The point to convert
-   * @return The converted point
-   */
-  Dali::Vector3 TranslateFromPhysicsSpace(Dali::Vector3 vector);
-
-  /**
-   * Converts a vector in DALi space into physics space.
-   * @param vector The vector to convert
-   * @return The converted vector
-   */
-  Dali::Vector3 ConvertVectorToPhysicsSpace(Dali::Vector3 vector);
-
-  /**
-   * Converts a vector in physics space to DALi space
-   * @param vector The vector to convert
-   * @return The converted vector
-   */
-  Dali::Vector3 ConvertVectorFromPhysicsSpace(Dali::Vector3 vector);
-
-  /**
-   * Set up the transform from world space to physics space
-   * @param[in] worldSize The 2d bounding box of the world in screen space
-   */
-  void SetTransform(Dali::Vector2 worldSize);
-
-  /**
-   * Run the physics integration over the given timestep.
-   * @param timeStep
-   */
-  void Integrate(float timeStep);
-
-  /**
-   * Toggle the integration state. If it's turned on, physics will run
-   * during the frame callback.
-   */
-  void ToggleIntegrateState()
-  {
-    mPhysicsIntegrateState ^= true;
-  }
-
-  /**
-   * Toggle the debug state. If debug is turned on, use the physics engine
-   * debug to show wireframes.
-   */
-  void ToggleDebugState()
-  {
-    mPhysicsDebugState ^= true;
-  }
-
-  void CreateWorldBounds(Dali::Window::WindowSize size);
-  cpShape* AddBound(cpBody* staticBody, cpVect start, cpVect end);
-  PhysicsActor& AddBall(Dali::Actor actor, float mass, float radius, float elasticity, float friction);
-  PhysicsActor& AddBrick(Dali::Actor actor,float mass, float elasticity, float friction, Dali::Vector3 size);
-
-  cpBody* AddMouseBody();
-
-  /**
-   * @param[in] screenCoords The touch point in screen coordinates
-   * @param[in] origin The camera origin in DALi world space
-   * @param[in] direction The ray direction in DALi world space
-   * @param[out] localPivot The hit point local to the body
-   * @param[out] distanceFromCamera The distance of the pick point from the camera
-   * @return nullptr if no dynamic body found, otherwise a valid ptr to the hit body.
-   */
-  cpBody* HitTest(Dali::Vector2 screenCoords, Dali::Vector3 origin, Dali::Vector3 direction,
-                  Dali::Vector3& localPivot, float& distanceFromCamera);
-
-  cpConstraint* AddPivotJoint(cpBody* body1, cpBody* body2, Dali::Vector3 localPivot);
-
-  void MoveMouseBody(cpBody* mouseBody, Dali::Vector3 position);
-
-  void MoveConstraint(cpConstraint* constraint, Dali::Vector3 newPosition);
-
-  void ReleaseConstraint(cpConstraint* constraint);
-
-  /**
-   * Ensure that the physics body does not go to sleep
-   * @param[in] body The physics body
-   * @return The old state
-   */
-  int ActivateBody(cpBody* body);
-
-  /**
-   * Restore the state of the physics body
-   * @param[in] body The physics body
-   * @param[in] oldState The previous state to restore
-   */
-  void RestoreBodyState(cpBody* body, int oldState);
-
-  /**
-   * Get the physics actor associated with the given body
-   * @param[in] body The physics body
-   * @return the associated physics actor
-   */
-  PhysicsActor* GetPhysicsActor(cpBody* body);
-
-  /**
-   * Set the highlight state of the actor associated with the physics body
-   * @param[in] body The physics body
-   * @param[in] highlight Whether to turn the highlight on or off.
-   */
-  void HighlightBody(cpBody* body, bool highlight);
-
-
-public:
-  std::map<uint32_t, PhysicsActor> mPhysicsActors;
-  bool mPhysicsIntegrateState{true};
-  bool mPhysicsDebugState{true};
-
-  cpSpace* mSpace{nullptr};
-  cpShape* mLeftBound{nullptr};
-  cpShape* mRightBound{nullptr};
-  cpShape* mTopBound{nullptr};
-  cpShape* mBottomBound{nullptr};
-
-  Dali::Window mWindow;
-  Dali::Mutex mMutex;
-
-  Dali::Actor mPhysicsRoot;
-  Dali::Vector2 mWorldOffset;
-  FrameCallback* mFrameCallback{nullptr};
-};
-
-#endif // DALI_PHYSICS_DEMO_PHYSICS_IMPL_H
-uniform sampler2D uTexture;
-uniform mediump float uBrightness;
-varying mediump vec2 vTexCoord;
-varying mediump vec3 vIllumination;
-
-mediump vec3 redistribute_rgb(mediump vec3 color)
-{
-    mediump float threshold = 0.9999999;
-    mediump float m = max(max(color.r, color.g), color.b);
-    if(m <= threshold)
-    {
-        return color;
-    }
-    mediump float total = color.r + color.g + color.b;
-    if( total >= 3.0 * threshold)
-    {
-        return vec3(threshold);
-    }
-    mediump float x = (3.0 * threshold - total) / (3.0 * m - total);
-    mediump float gray = threshold - x * m;
-    return vec3(gray) + vec3(x)*color;
-}
-
-void main()
-{
-  mediump vec4 texColor = texture2D( uTexture, vTexCoord );
-  mediump vec3 pcol=texColor.rgb*(1.0+uBrightness);
-  gl_FragColor = vec4( redistribute_rgb(pcol), texColor.a);
-}
 \ No newline at end of file
-attribute mediump vec3 aPosition;  // DALi shader builtin
-//attribute mediump vec2 aTexCoord;  // DALi shader builtin
-uniform   mediump mat4 uMvpMatrix; // DALi shader builtin
-uniform   mediump mat4 uViewMatrix; // DALi shader builtin
-uniform   mediump mat4 uModelView; // DALi shader builtin
-uniform   mediump vec3 uSize;      // DALi shader builtin
-varying mediump vec3 vIllumination;
-varying mediump vec2 vTexCoord;
-
-void main()
-{
-  mediump vec4 vertexPosition = vec4(aPosition, 1.0);
-  mediump vec3 normal = normalize(vertexPosition.xyz);
-
-  vertexPosition.xyz *= uSize;
-  vec4 pos = uModelView * vertexPosition;
-
-  vec4 lightPosition = vec4(400.0, 0.0, 100.0, 1.0);
-  vec4 mvLightPos = uViewMatrix * lightPosition;
-  vec3 vectorToLight = normalize(mvLightPos.xyz - pos.xyz);
-  float lightDiffuse = max(dot(vectorToLight, normal), 0.0);
-
-  vIllumination = vec3(lightDiffuse * 0.5 + 0.5);
-  vTexCoord = aPosition.xy*2.0;
-  gl_Position = uMvpMatrix * vertexPosition;
-}
 \ No newline at end of file
@@ -24,6 +24,7 @@ BuildRequires:  pkgconfig(dali2-adaptor)
 BuildRequires:  pkgconfig(dali2-toolkit)
 BuildRequires:  pkgconfig(dali2-scene3d)
 BuildRequires:  pkgconfig(dali2-physics-2d)
+BuildRequires:  pkgconfig(dali2-physics-3d)
 BuildRequires:  pkgconfig(libtzplatform-config)
 BuildRequires:  pkgconfig(gles20)
 BuildRequires:  pkgconfig(glesv2)