hunk ./Physics/Hpysics/Utils.hs 164
+matScale :: FloatType -> Mat33 -> Mat33
+matScale l 
+    (Mat33
+        a11 a12 a13
+        a21 a22 a23
+        a31 a32 a33)
+        =
+    (Mat33
+        (l*a11) (l*a12) (l*a13)
+        (l*a21) (l*a22) (l*a23)
+        (l*a31) (l*a32) (l*a33))
hunk ./Physics/Hpysics/Body.hs 5
-  , getMass, getInertia, getRestitution, getShape
+  , getMass, getInertia, getRestitution, getShape, getPhantomBody
hunk ./Physics/Hpysics/Body.hs 24
-    } | StaticBody { shape :: !Shape }
+    }
+    | StaticBody
+    { shape :: !Shape
+    -- phantomBody is dynamic body which has the same shape and large mass and
+    -- moment of inertia. It's (for now) used for collision response
+    , phantomBody :: !Body
+    }
hunk ./Physics/Hpysics/Body.hs 33
-isStatic (StaticBody _) = True
+isStatic (StaticBody {}) = True
hunk ./Physics/Hpysics/Body.hs 37
-mkStaticBody :: Shape -> Body
-mkStaticBody s = StaticBody $ constructBoundingSphere s
-
+mkStaticBody :: FloatType -> Shape -> Body
+mkStaticBody rest s = StaticBody
+    { shape = constructBoundingSphere s
+    , phantomBody = DynamicBody
+        { mass = 1e09
+        , inertia = 1e09 `matScale` unit33
+        , restitution = rest
+        , position = zeroVector
+        , rotation = unitVec4
+        , linearVelocity = zeroVector
+        , angularVelocity = zeroVector
+        , shape = s
+        }
+    }
hunk ./Physics/Hpysics/Body.hs 90
+getPhantomBody :: Body -> Body
+getPhantomBody = phantomBody
hunk ./Physics/Hpysics/Collision.hs 41
-    | isStatic b2 = error "Not implemented"
-    {-
-    let
-    v1 = linearVelocity b1
-    vRel = neg v1
-    vRelNormScalar = vRel <.> normal
-    vRelNorm = vRelNormScalar `scale` normal
-    vRelNormNew = 2 `scale` vRelNorm
-    in if vRelNormScalar <= 0
-          then zeroVector -- separating contact
-          else vRelNormNew
-    -}
+    | isStatic b2 = applyCollisionImpulse b1 (getPhantomBody b2, Just contact)
hunk ./vis.hs 208
-          mkStaticBody $ translatePoly (Vec 0 (-0.1) 0) $ rect 1 0.1 1
-          , setPosition (Vec 0 1 0) $ mkDynamicBody 1 0 (cube 0.2)
+          mkStaticBody 0.2 $ translatePoly (Vec 0 (-0.1) 0) $ rect 1 0.1 1
+          , setPosition (Vec (-1) 1 0) $ setLinearVelocity (Vec 1 (-0.4) 0) $ mkDynamicBody 10 1 (cube 0.2)
hunk ./vis.hs 222
-nsteps = 2
-world = world9
+nsteps = 10
+world = world8