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declare namespace phys3D {
    // pvd调试配置
    export interface PhysicsDebugConfig {
        isNetwork: boolean // 采用网络的方式
        ip?: string // 如果isNetwork为true，调试信息会通过tcp转发的方式转发到打开了pvd调试软件的电脑，需要注意的是，防火墙要对pvd打开
        port?: 5425 // pvd默认接口
        timeout?: 1000 // 默认耗时
        path?: string // 如果isNetwork为false，调试信息会通过写本地文件的方式落地，文件名建议为xxx.pxd2，导入pvd调试即可
    }

    export enum QueryTriggerInteraction {
        UseGlobal = 0,
        Ignore = 1,
        Collide = 2
    }

    export class PhysSystem {
        constructor(config?: PhysicsDebugConfig)
        gravity: RawVec3f
        bounceThreshold: number
        defaultMaxAngularSpeed: number
        defaultSolverIterations: number
        defaultSolverVelocityIterations: number
        sleepThreshold: number
        defaultContactOffset: number
        destroyScene: () => void
        createScene: () => number
        Simulate: (step: number) => void
        SyncFromTransforms: (() => void) | undefined // added in 2021.06
        SetCollisionMask: (mask: ArrayBuffer) => void
        Raycast: (
            origin: RawVec3f,
            unitDir: RawVec3f,
            distance: number,
            hit: RaycastHit,
            layerMask?: number,
            queryTriggerInteraction?: QueryTriggerInteraction
        ) => boolean
        RaycastAll: (
            origin: RawVec3f,
            unitDir: RawVec3f,
            distance: number,
            layerMask?: number,
            queryTriggerInteraction?: QueryTriggerInteraction
        ) => RaycastHit[]
        CapsuleCast(
            p1: RawVec3f,
            p2: RawVec3f,
            radius: number,
            direction: RawVec3f,
            hit: RaycastHit,
            maxDistance: number,
            layerMask?: number,
            queryTriggerInteraction?: QueryTriggerInteraction
        ): void
        CapsuleCastAll: (
            p1: RawVec3f,
            p2: RawVec3f,
            radius: number,
            direction: RawVec3f,
            maxDistance: number,
            layerMask?: number,
            queryTriggerInteraction?: QueryTriggerInteraction
        ) => RaycastHit[]
        BoxCast(
            center: RawVec3f,
            halfExt: RawVec3f,
            direction: RawVec3f,
            hit: RaycastHit,
            orientation: RawQuaternion,
            maxDistance: number,
            layerMask?: number,
            queryTriggerInteraction?: QueryTriggerInteraction
        ): void
        BoxCastAll: (
            center: RawVec3f,
            halfExt: RawVec3f,
            direction: RawVec3f,
            orientation: RawQuaternion,
            maxDistance: number,
            layerMask?: number,
            queryTriggerInteraction?: QueryTriggerInteraction
        ) => RaycastHit[]
        OverlapBox: (
            center: RawVec3f,
            halfExt: RawVec3f,
            orientation: RawQuaternion,
            layermask?: number,
            queryTriggerInteraction?: QueryTriggerInteraction
        ) => Collider[]
        OverlapCapsule: (
            p1: RawVec3f,
            p2: RawVec3f,
            radius: number,
            layermask?: number,
            queryTriggerInteraction?: QueryTriggerInteraction
        ) => Collider[]
    }

    export class Rigidbody {
        constructor(system: PhysSystem)
        enabled?: boolean // since 2021.06
        position: RawVec3f
        rotation: RawQuaternion
        AttachToEntity: (pollObj: any, id: number) => void
        Remove(): void
        Detach(): void
        IsAttached(): boolean
    }

    export enum CollisionDetectionMode {
        Discrete = 0,
        Continuous = 1,
        ContinuousDynamic = 2,
        ContinuousSpeculative = 3
    }

    export enum RigidbodyConstraints {
        None = 0,
        FreezePositionX = 1 << 0,
        FreezePositionY = 1 << 1,
        FreezePositionZ = 1 << 2,
        FreezeRotationX = 1 << 3,
        FreezeRotationY = 1 << 4,
        FreezeRotationZ = 1 << 5,
        FreezePosition = FreezePositionX | FreezePositionY | FreezePositionZ,
        FreezeRotation = FreezeRotationX | FreezeRotationY | FreezeRotationZ,
        FreezeAll = FreezePosition | FreezeRotation
    }

    export enum ForceMode {
        kForceModeForce = 0,
        kForceModeImpulse = 1 << 0,
        kForceModeVelocityChange = 1 << 1,
        kForceModeAcceleration = 1 << 2
    }

    export enum CombineMode {
        eAverage = 0,
        eMin,
        eMultiply,
        eMax
    }

    export enum CookingFlag {
        None = 0,
        CookForFasterSimulation = 1 << 0,
        EnableMeshCleaning = 1 << 1,
        WeldColocatedVertices = 1 << 2
    }

    export enum CollisionFlags {
        None = 0,
        Sides = 1 << 0,
        Above = 1 << 1,
        Below = 1 << 2
    }

    export class RawVec3f {
        constructor()
        constructor(x: number, y: number, z: number)
        x: number
        y: number
        z: number
    }

    export class RawQuaternion {
        constructor()
        constructor(x: number, y: number, z: number, w: number)
        x: number
        y: number
        z: number
        w: number
    }

    export class Collider {
        attachedRigidbody: Rigidbody
        bounds: Bounds
        name: string
        contactOffset: number
        enabled: boolean
        isTrigger: boolean
        scale: RawVec3f
        material?: Material
        sharedMateiral?: Material
        ClosestPoint: (raw: RawVec3f) => RawVec3f
        ClosestPointOnBounds: (raw: RawVec3f) => RawVec3f

        onCollisionEnter?: (collision: Collision) => void
        onCollisionExit?: (collision: Collision) => void
        onCollisionStay?: (collision: Collision) => void
        onTriggerEnter?: (collision: Collision) => void
        onTriggerExit?: (collision: Collision) => void
        onTriggerStay?: (collision: Collision) => void

        dettachRigidbody?: () => void

        userData?: unknown
        layer: number
    }

    export class BoxCollider extends Collider {
        constructor(system: PhysSystem, center: RawVec3f, size: RawVec3f)
        center: RawVec3f
        size: RawVec3f
    }

    export class SphereCollider extends Collider {
        constructor(system: PhysSystem, center: RawVec3f, radius: number)
        center: RawVec3f
        radius: number
    }

    export class CapsuleCollider extends Collider {
        constructor(
            system: PhysSystem,
            center: RawVec3f,
            height: number,
            radius: number
        )
        center: RawVec3f
        height: number
        radius: number
    }

    export class MeshCollider extends Collider {
        constructor(
            system: PhysSystem,
            convex: boolean,
            cookingOptions: number,
            sharedMesh: PhysMesh
        )
        cookingOptions: number
        sharedMesh: PhysMesh | null
        convex: boolean
    }

    export class CharacterController extends Collider {
        constructor(system: PhysSystem)
        position: RawVec3f
        center: RawVec3f
        collisionFlags: CollisionFlags
        detectCollisions: boolean
        enableOverlapRecovery: boolean
        height: number
        isGrounded: boolean
        minMoveDistance: number
        radius: number
        skinWidth: number
        slopeLimit: number
        stepOffset: number
        velocity: RawVec3f

        Move: (movement: RawVec3f) => CollisionFlags
        SimpleMove: (speed: RawVec3f) => boolean
        AttachToEntity: (pollObj: any, id: number) => void

        OnControllerColliderHit?: (hit: ControllerColliderHit) => void
    }

    export interface ContactPoint {
        normal: RawVec3f
        this_collider: Collider
        other_collider: Collider
        point: RawVec3f
        separation: number
    }

    export interface Collision {
        collider: Collider
        contacts: ContactPoint[]
        impulse: RawVec3f
        relative_velocity: RawVec3f
    }

    export interface ControllerColliderHit {
        collider: Collider
        controller: CharacterController
        moveDirection: RawVec3f
        normal: RawVec3f
        moveLength: number
        point: RawVec3f
    }

    export class Bounds {
        constructor(center: RawVec3f, size: RawVec3f)

        center: RawVec3f
        extents: RawVec3f
        max: RawVec3f
        min: RawVec3f
        size: RawVec3f

        ClosestPoint: (point: RawVec3f) => RawVec3f
        Contains: (point: RawVec3f) => boolean
        Expand: (amount: number) => void
        Intersects: (bounds: Bounds) => boolean
        SetMinMax: (min: RawVec3f, max: RawVec3f) => void
        SqrDistance: (point: RawVec3f) => number
    }

    export class Material {
        constructor(system: PhysSystem)
        dynamicFriction: number
        staticFriction: number
        bounciness: number
        frictionCombine: CombineMode
        bounceCombine: CombineMode
        id: number
    }

    export class DynamicRigidbody extends Rigidbody {
        mass: number
        angularDamping: number
        angularVelocity: RawVec3f
        centerOfMass: RawVec3f
        collisionDetectionMode: CollisionDetectionMode
        constraints: number
        detectCollisions: boolean
        linearDamping: number
        freezeRotation: boolean
        inertiaTensor: number
        // inertiaTensorRotation
        // interpolation
        isKinematic: boolean
        maxAngularVelocity: number
        maxDepenetrationVelocity: number
        sleepThreshold: number
        solverIterations: number
        solverVelocityIterations: number
        useGravity: boolean
        velocity: RawVec3f
        userData?: unknown

        GetWorldCenterOfMass: () => RawVec3f
        AddForce: (force: RawVec3f, mode: ForceMode) => void
        AddTorque: (torque: RawVec3f, mode: ForceMode) => void
        IsSleeping: () => boolean
        Sleep: () => void
        WakeUp: () => void
        AddExplosionForce: (
            explosionForce: number,
            explosionPosition: RawVec3f,
            explosionRadius: number,
            upwardsModifier: number,
            mode: ForceMode
        ) => void
        AddForceAtPosition: (
            force: RawVec3f,
            position: RawVec3f,
            mode: ForceMode
        ) => void
        AddRelativeForce: (force: RawVec3f, mode: ForceMode) => void
        AddRelativeTorque: (torque: RawVec3f, mode: ForceMode) => void
        ClosestPointOnBounds: (position: RawVec3f) => RawVec3f
        GetPointVelocity: (worldPoint: RawVec3f) => RawVec3f
        GetRelativePointVelocity: (relativePoint: RawVec3f) => RawVec3f
        MovePosition: (position: RawVec3f) => void
        MoveRotation: (rotation: RawQuaternion) => void
        ResetCenterOfMass: () => void
        ResetInertiaTensor: () => void
        SetDensity: (density: number) => void
        // SweepTest: () => void;
        // SweepTestAll: () => void;
    }

    export class PhysMesh {
        constructor(system: PhysSystem)
        // set vertices
        SetVertices: (buffer: Float32Array, count: number) => void
        // set indices
        SetTriangles: (
            buffer: Uint16Array | Uint32Array,
            count: number,
            useUint16: boolean
        ) => void
    }

    export class RaycastHit {
        constructor()
        collider: Collider
        distance: number
        normal: RawVec3f
        point: RawVec3f
        rigidbody: Rigidbody
    }
}