#ifndef RAPIER_H
#define RAPIER_H



typedef enum EPhysicsBodyType {
  k_EPhysics_Static,
  k_EPhysics_Dynamic,
  k_EPhysics_KinematicPositionBased,
  k_EPhysics_KinematicVelocityBased,
} EPhysicsBodyType;

typedef struct RapierCollider_t RapierCollider_t;

typedef struct RapierPhysicsBody_t RapierPhysicsBody_t;

typedef struct RapierPhysics_t RapierPhysics_t;

typedef struct RapierShape_t RapierShape_t;

typedef struct RapierWorld_t RapierWorld_t;

typedef struct Vector {
  float x;
  float y;
  float z;
} Vector;

typedef struct Quat {
  float x;
  float y;
  float z;
  float w;
} Quat;

typedef struct CastResult_t {
  bool m_bIsHit;
  const struct RapierCollider_t *m_hCollider;
  struct Vector m_vCollisionPoint;
  float m_fTime;
  float m_fDistance;
} CastResult_t;

typedef struct BallShape_t {
  float m_fRadius;
} BallShape_t;

typedef struct CuboidShape_t {
  float m_fExtentX;
  float m_fExtentY;
  float m_fExtentZ;
} CuboidShape_t;

typedef struct TriangleMeshShape_t {
  const float *m_pfPositions;
  uint32_t m_nPositionCount;
  const float *m_puIndicies;
  uint32_t m_nIndiciesCount;
} TriangleMeshShape_t;

#ifdef __cplusplus
extern "C" {
#endif // __cplusplus

struct Vector CRapierPhysicsBody_GetPosition(struct RapierPhysicsBody_t *this_);

struct Quat CRapierPhysicsBody_GetRotation(struct RapierPhysicsBody_t *this_);

void CRapierPhysicsBody_SetPosition(struct RapierPhysicsBody_t *this_,
                                    float fX,
                                    float fY,
                                    float fZ);

void CRapierPhysicsBody_SetRotation(struct RapierPhysicsBody_t *this_,
                                    float fX,
                                    float fY,
                                    float fZ,
                                    float fW);

void CRapierPhysicsBody_SetType(struct RapierPhysicsBody_t *this_, enum EPhysicsBodyType eType);

struct RapierPhysicsBody_t *CRapierPhysicsWorld_CreateRigidBody(struct RapierWorld_t *this_,
                                                                struct RapierCollider_t *pCollider,
                                                                enum EPhysicsBodyType eType);

void CRapierPhysicsWorld_Frame(struct RapierWorld_t *this_, float fDelta);

struct CastResult_t CRapierPhysicsWorld_RayCast(struct RapierWorld_t *this_,
                                                struct Vector vBegin,
                                                struct Vector vEnd);

struct CastResult_t CRapierPhysicsWorld_ShapeCast(struct RapierWorld_t *this_,
                                                  struct RapierShape_t *pShape,
                                                  struct Quat vOrientation,
                                                  struct Vector vBegin,
                                                  struct Vector vEnd);

struct RapierShape_t *CRapierPhysics_CreateBall(struct RapierPhysics_t *this_,
                                                struct BallShape_t ball);

struct RapierCollider_t *CRapierPhysics_CreateCollider(struct RapierPhysics_t *this_,
                                                       struct RapierShape_t *pShape);

struct RapierShape_t *CRapierPhysics_CreateCube(struct RapierPhysics_t *this_,
                                                struct CuboidShape_t cuboid);

struct RapierShape_t *CRapierPhysics_CreateTriangleMesh(struct RapierPhysics_t *this_,
                                                        struct TriangleMeshShape_t triangle);

struct RapierWorld_t *CRapierPhysics_CreateWorld(struct RapierPhysics_t *this_);

struct RapierPhysics_t *CRapierPhysics_New(void);

#ifdef __cplusplus
}  // extern "C"
#endif  // __cplusplus

#endif  /* RAPIER_H */