module Physics.Hpysics.Types where


type FloatType = Double
floatEpsilon :: FloatType
floatEpsilon = 1e-8
data Vec = Vec !FloatType !FloatType !FloatType
    deriving (Read, Show, Eq)
data Vec4 = Vec4 !FloatType !FloatType !FloatType !FloatType
    deriving (Read, Show, Eq)
type Quaternion = Vec4
data Mat33 = Mat33
    !FloatType !FloatType !FloatType
    !FloatType !FloatType !FloatType
    !FloatType !FloatType !FloatType
    deriving (Read, Show, Eq)
data Mat43 = Mat43
    !FloatType !FloatType !FloatType
    !FloatType !FloatType !FloatType
    !FloatType !FloatType !FloatType
    !FloatType !FloatType !FloatType
    deriving (Read, Show, Eq)
-- | contact point and normal
type Contact = (Vec, Vec)
-- | normal, shift
data Plane = Plane {planeNormal :: !Vec, planeShift :: !FloatType}

data Config = Config
    { gravity :: !Vec
    } deriving (Read, Show)

type Shape = Poly

data BoundingVol = BoundingVol !Vec !FloatType -- sphere: center, radius
    deriving (Read, Show, Eq)

data Poly = Poly
    { vertices_v  :: [Vec]
    , edges_i     :: [(Int,Int)] 
    , faces_i     :: [[Int]]
    , boundingVol :: BoundingVol
    } deriving (Read, Show, Eq)