· Moved mathematical entities in Collision to Math.

+ Added Spear.Math.Vector2.
· Made fields of mathematical entities strict and unpacked.

22 files changed, 247 insertions, 273 deletions

diff --git a/Spear.cabal b/Spear.cabal
index 37ab48b..acad880 100644
--- a/Spear.cabal
+++ b/Spear.cabal
@@ -14,14 +14,13 @@ data-dir: ""
 library
     build-depends: GLFW -any, OpenGL -any, OpenGLRaw -any,
                    StateVar -any, base -any, bytestring -any, directory -any,
-                   mtl -any, transformers -any, resource-simple -any, parsec >=3.1.3,
+                   mtl -any, transformers -any, resourcet -any, parsec >=3.1.3,
                    containers -any, vector -any, array -any
-    exposed-modules: Spear.Math.Triangle
-                     Spear.Physics.Types Spear.Physics.World Spear.App
+    exposed-modules: Spear.Physics.Types Spear.App
                      Spear.App.Application Spear.App.Input Spear.Assets.Image
-                     Spear.Assets.Model Spear.Collision Spear.Collision.AABB
+                     Spear.Assets.Model Spear.Collision Spear.Math.AABB
                      Spear.Collision.Collision Spear.Collision.Collisioner
-                     Spear.Collision.Sphere Spear.Collision.Triangle
+                     Spear.Math.Sphere Spear.Math.Triangle
                      Spear.Collision.Types Spear.Game Spear.GLSL Spear.GLSL.Buffer
                      Spear.GLSL.Error Spear.GLSL.Management Spear.GLSL.Texture
                      Spear.GLSL.Uniform Spear.GLSL.VAO Spear.Math.Camera
@@ -34,8 +33,7 @@ library
                      Spear.Render.StaticModel Spear.Render.Texture Spear.Scene.Graph
                      Spear.Scene.Light Spear.Scene.Loader Spear.Scene.Scene
                      Spear.Scene.SceneResources Spear.Setup Spear.Sys.Timer
-                     Spear.Sys.Store Spear.Sys.Store.ID
-                     Spear.Updatable
+                     Spear.Sys.Store Spear.Sys.Store.ID Spear.Updatable Spear.Math.Vector2
     exposed: True
     buildable: True
     build-tools: hsc2hs -any
@@ -51,12 +49,11 @@ library
               Spear/Assets/Image/Image.h Spear/Assets/Image/Image_error_code.h
               Spear/Assets/Image/sys_types.h Spear/Assets/Model/MD2/MD2_load.h
               Spear/Assets/Model/OBJ/OBJ_load.h Spear/Assets/Model/OBJ/cvector.h
-              Spear/Assets/Model/Model.h
-              Spear/Assets/Model/Model_error_code.h
+              Spear/Assets/Model/Model.h Spear/Assets/Model/Model_error_code.h
               Spear/Assets/Model/sys_types.h Spear/Render/RenderModel.h
               Timer/Timer.h
     include-dirs: Spear/Assets/Image Spear/Assets/Model Spear/Render
                   Spear/Sys
     hs-source-dirs: .
     ghc-options: -O2 -rtsopts
- 
\ No newline at end of file
+ 
diff --git a/Spear.lkshs b/Spear.lkshs
index c4ef8ee..9aa6160 100644
--- a/Spear.lkshs
+++ b/Spear.lkshs
@@ -1,18 +1,18 @@
 Version of session file format:
                1
 Time of storage:
-               "Fri Aug 10 23:05:26 CEST 2012"
-Layout:        VerticalP (TerminalP {paneGroups = fromList [], paneTabs = Just TopP, currentPage = 3, detachedId = Nothing, detachedSize = Nothing}) (HorizontalP (TerminalP {paneGroups = fromList [("Browser",HorizontalP (TerminalP {paneGroups = fromList [], paneTabs = Nothing, currentPage = 0, detachedId = Nothing, detachedSize = Nothing}) (HorizontalP (TerminalP {paneGroups = fromList [], paneTabs = Nothing, currentPage = 0, detachedId = Nothing, detachedSize = Nothing}) (TerminalP {paneGroups = fromList [], paneTabs = Nothing, currentPage = 0, detachedId = Nothing, detachedSize = Nothing}) 244) 202)], paneTabs = Just BottomP, currentPage = 0, detachedId = Nothing, detachedSize = Nothing}) (TerminalP {paneGroups = fromList [], paneTabs = Nothing, currentPage = 0, detachedId = Nothing, detachedSize = Nothing}) 710) 954
-Population:    [(Just (ErrorsSt ErrorsState),[SplitP RightP,SplitP TopP]),(Just (FilesSt FilesState),[SplitP RightP,SplitP TopP]),(Just (InfoSt (InfoState Nothing)),[SplitP RightP,SplitP TopP,GroupP "Browser",SplitP BottomP,SplitP BottomP]),(Just (LogSt LogState),[SplitP RightP,SplitP BottomP]),(Just (BufferSt (BufferState "/home/jeanne/programming/haskell/Spear/Spear/Assets/Model/Model.c" 433)),[SplitP LeftP]),(Just (BufferSt (BufferState "/home/jeanne/programming/haskell/Spear/Spear/Assets/Model/Model.h" 1424)),[SplitP LeftP]),(Just (BufferSt (BufferState "/home/jeanne/programming/haskell/Spear/Spear/Assets/Model.hsc" 423)),[SplitP LeftP]),(Just (ModulesSt (ModulesState 328 (PackageScope False,False) (Nothing,Nothing) (ExpanderState {packageExp = ([],[]), packageExpNoBlack = ([],[]), packageDExp = ([],[]), packageDExpNoBlack = ([],[]), workspaceExp = ([],[]), workspaceExpNoBlack = ([[0,2],[0]],[]), workspaceDExp = ([],[]), workspaceDExpNoBlack = ([],[]), systemExp = ([],[]), systemExpNoBlack = ([],[])}))),[SplitP RightP,SplitP TopP,GroupP "Browser",SplitP BottomP,SplitP TopP]),(Just (BufferSt (BufferState "/home/jeanne/programming/haskell/Spear/Spear/Assets/Model/OBJ/OBJ_load.c" 3824)),[SplitP LeftP]),(Just (BufferSt (BufferState "/home/jeanne/programming/haskell/Spear/Spear/Assets/Model/OBJ/OBJ_load.h" 0)),[SplitP LeftP]),(Just (WorkspaceSt WorkspaceState),[SplitP RightP,SplitP TopP,GroupP "Browser",SplitP TopP]),(Just (BufferSt (BufferState "/home/jeanne/programming/haskell/Spear/Spear/Assets/Model/OBJ/cvector.c" 575)),[SplitP LeftP]),(Just (BufferSt (BufferState "/home/jeanne/programming/haskell/Spear/Spear/Assets/Model/OBJ/cvector.h" 765)),[SplitP LeftP])]
-Window size:   (1841,964)
+               "Tue Aug 28 17:22:50 CEST 2012"
+Layout:        VerticalP (TerminalP {paneGroups = fromList [], paneTabs = Just TopP, currentPage = -1, detachedId = Nothing, detachedSize = Nothing}) (HorizontalP (TerminalP {paneGroups = fromList [("Browser",HorizontalP (TerminalP {paneGroups = fromList [], paneTabs = Nothing, currentPage = 0, detachedId = Nothing, detachedSize = Nothing}) (HorizontalP (TerminalP {paneGroups = fromList [], paneTabs = Nothing, currentPage = 0, detachedId = Nothing, detachedSize = Nothing}) (TerminalP {paneGroups = fromList [], paneTabs = Nothing, currentPage = 0, detachedId = Nothing, detachedSize = Nothing}) 247) 202)], paneTabs = Just BottomP, currentPage = 0, detachedId = Nothing, detachedSize = Nothing}) (TerminalP {paneGroups = fromList [], paneTabs = Nothing, currentPage = 0, detachedId = Nothing, detachedSize = Nothing}) 691) 954
+Population:    [(Just (ErrorsSt ErrorsState),[SplitP RightP,SplitP TopP]),(Just (FilesSt FilesState),[SplitP RightP,SplitP TopP]),(Just (InfoSt (InfoState (Just (Real (RealDescr {dscName' = "map", dscMbTypeStr' = Just "map ::\n  (e -> AABB -> CollisionType) -> (e -> e) -> Octree e -> Octree e", dscMbModu' = Just (PM {pack = PackageIdentifier {pkgName = PackageName "Spear", pkgVersion = Version {versionBranch = [0,1], versionTags = []}}, modu = ModuleName ["Spear","Math","Octree"]}), dscMbLocation' = Just (Location {locationSLine = 185, locationSCol = 1, locationELine = 185, locationECol = 90}), dscMbComment' = Just " Applies the given function to the entities in the octree.\n Entities that break out of their cell are reallocated appropriately.", dscTypeHint' = VariableDescr, dscExported' = False}))))),[SplitP RightP,SplitP TopP,GroupP "Browser",SplitP BottomP,SplitP BottomP]),(Just (LogSt LogState),[SplitP RightP,SplitP BottomP]),(Just (ModulesSt (ModulesState 328 (PackageScope False,False) (Just (ModuleName ["Spear","Math","Octree"]),Just "map") (ExpanderState {packageExp = ([],[]), packageExpNoBlack = ([[0,4],[0,1],[0]],[]), packageDExp = ([],[]), packageDExpNoBlack = ([],[]), workspaceExp = ([],[]), workspaceExpNoBlack = ([],[]), workspaceDExp = ([],[]), workspaceDExpNoBlack = ([],[]), systemExp = ([],[]), systemExpNoBlack = ([],[])}))),[SplitP RightP,SplitP TopP,GroupP "Browser",SplitP BottomP,SplitP TopP]),(Just (WorkspaceSt WorkspaceState),[SplitP RightP,SplitP TopP,GroupP "Browser",SplitP TopP])]
+Window size:   (1820,939)
 Completion size:
                (750,400)
 Workspace:     Just "/home/jeanne/programming/haskell/Spear/Spear.lkshw"
-Active pane:   Just "OBJ_load.c"
+Active pane:   Just "Workspace"
 Toolbar visible:
                True
 FindbarState:  (False,FindState {entryStr = "asd", entryHist = ["idxs","asd","elemIndexa","elemtIn","splitAt","allocaBytes","copyArray","allocaArray","allocaa","putStrLn","assigned","Triangle"], replaceStr = "objects", replaceHist = [], caseSensitive = True, entireWord = False, wrapAround = False, regex = False, lineNr = 1})
 Recently opened files:
-               ["/home/jeanne/programming/haskell/Spear/Spear/Scene/Loader.hs","/home/jeanne/programming/haskell/Spear/Spear/Assets/Model/OBJ/OBJ_load.h","/home/jeanne/programming/haskell/Spear/Spear/Assets/Model/OBJ/OBJ_load.cc","/home/jeanne/programming/haskell/Spear/Spear/Assets/Model/MD2/MD2_load.c","/home/jeanne/programming/haskell/Spear/Spear/Assets/Image.hsc","/home/jeanne/programming/haskell/Spear/Spear/Render/Model.hsc","/home/jeanne/programming/haskell/Spear/demos/simple-scene/main.hs","/home/jeanne/programming/haskell/Spear/demos/simple-scene/Game/GameObject/Player.hs","/home/jeanne/programming/haskell/Spear/demos/simple-scene/Game/GameState.hs","/home/jeanne/programming/haskell/Spear/demos/simple-scene/Game/GameObject.hs","/home/jeanne/programming/haskell/Spear/demos/simple-scene/Game/GameMessage.hs","/home/jeanne/programming/haskell/Spear/demos/simple-scene/Game/GameObject/Factory.hs"]
+               ["/home/jeanne/programming/haskell/Spear/Spear/Collision/Types.hs","/home/jeanne/programming/haskell/Spear/Spear/Math/Triangle.hs","/home/jeanne/programming/haskell/Spear/Spear/Math/Sphere.hs","/home/jeanne/programming/haskell/Spear/Spear/Scene/Scene.hs","/home/jeanne/programming/haskell/Spear/Spear/Collision/Collisioner.hs","/home/jeanne/programming/haskell/Spear/Spear/Math/AABB.hs","/home/jeanne/programming/haskell/Spear/demos/simple-scene/Game/GameObject/Factory.hs","/home/jeanne/programming/haskell/Spear/Spear/Math/Octree.hs","/home/jeanne/programming/haskell/Spear/Spear/Collision/Collision.hs","/home/jeanne/programming/haskell/Spear/Spear/Collision.hs","/home/jeanne/programming/haskell/Spear/Spear/Physics.hs","/home/jeanne/programming/haskell/Spear/Spear/Physics/World.hs"]
 Recently opened workspaces:
-               ["/home/jeanne/leksah.lkshw"]
\ No newline at end of file
+               ["/home/jeanne/programming/haskell/hagen/hagen.lkshw","/home/jeanne/programming/haskell/foo/foo.lkshw","/home/jeanne/programming/haskell/Spear/Spear.lkshw","/home/jeanne/programming/haskell/nexus/nexus.lkshw","/home/jeanne/leksah.lkshw"]
\ No newline at end of file
diff --git a/Spear.lkshw b/Spear.lkshw
index 1cbf39e..5345907 100644
--- a/Spear.lkshw
+++ b/Spear.lkshw
@@ -1,10 +1,10 @@
 Version of workspace file format:
                1
 Time of storage:
-               "Sat Aug 11 11:39:35 CEST 2012"
+               "Tue Aug 28 17:23:50 CEST 2012"
 Name of the workspace:
                "Spear"
 File paths of contained packages:
-               ["demos/simple-scene/simple-scene.cabal","Spear.cabal"]
+               ["Spear.cabal"]
 Maybe file path of an active package:
                Just "Spear.cabal"
\ No newline at end of file
diff --git a/Spear/Collision.hs b/Spear/Collision.hs
index d2de02d..975f3cf 100644
--- a/Spear/Collision.hs
+++ b/Spear/Collision.hs
@@ -1,19 +1,10 @@
 module Spear.Collision
 (
-    module Spear.Collision.AABB
-,   module Spear.Collision.Collision
-,   module Spear.Collision.Sphere
-,   module Spear.Collision.Triangle
+    module Spear.Collision.Collision
 ,   module Spear.Collision.Types
 )
 where
 
 
-import Spear.Collision.AABB hiding (contains)
 import Spear.Collision.Collision
-import Spear.Collision.Sphere hiding (contains)
-import Spear.Collision.Triangle
 import Spear.Collision.Types
-
-import qualified Spear.Collision.AABB as AABB (contains)
-import qualified Spear.Collision.Sphere as Sphere (contains)
diff --git a/Spear/Collision/Collision.hs b/Spear/Collision/Collision.hs
index d59cbc2..08f33b5 100644
--- a/Spear/Collision/Collision.hs
+++ b/Spear/Collision/Collision.hs
@@ -6,9 +6,9 @@ module Spear.Collision.Collision
 where
 
 
-import Spear.Collision.AABB as AABB
-import Spear.Collision.Sphere as Sphere
 import Spear.Collision.Types
+import Spear.Math.AABB
+import Spear.Math.Sphere
 import Spear.Math.Plane
 import Spear.Math.Vector3
 
@@ -22,11 +22,10 @@ class Collisionable a where
 instance Collisionable AABB where
     
     collideBox box1@(AABB min1 max1) box2@(AABB min2 max2)
-        | box1 == box2  = Equal
         | min1 > max2   = NoCollision
         | max1 < min2   = NoCollision
-        | box1 `AABB.contains` min2 && box1 `AABB.contains` max2 = FullyContains
-        | box2 `AABB.contains` min1 && box2 `AABB.contains` max1 = FullyContainedBy
+        | box1 `aabbpt` min2 && box1 `aabbpt` max2 = FullyContains
+        | box2 `aabbpt` min1 && box2 `aabbpt` max1 = FullyContainedBy
         | (x max1) < (x min2) = NoCollision
         | (x min1) > (x max2) = NoCollision
         | (y max1) < (y min2) = NoCollision
@@ -60,7 +59,6 @@ instance Collisionable Sphere where
         x -> x
     
     collideSphere s1@(Sphere c1 r1) s2@(Sphere c2 r2)
-        | s1 == s2 = Equal
         | distance_centers <= sub_radii = if (r1 > r2) then FullyContains else FullyContainedBy
         | distance_centers <= sum_radii = Collision
         | otherwise = NoCollision
diff --git a/Spear/Collision/Collisioner.hs b/Spear/Collision/Collisioner.hs
index 94a0d63..266244d 100644
--- a/Spear/Collision/Collisioner.hs
+++ b/Spear/Collision/Collisioner.hs
@@ -9,12 +9,12 @@ module Spear.Collision.Collisioner
 )

 where

 

-

-import Spear.Math.Vector3 as Vector

-import Spear.Collision.AABB as Box

-import Spear.Collision.Sphere as Sphere

+
 import Spear.Collision.Collision as C

 import Spear.Collision.Types

+import Spear.Math.AABB

+import Spear.Math.Sphere
+import Spear.Math.Vector3

 

 

 -- | A collisioner component.

@@ -41,7 +41,7 @@ buildAABB cols = aabb $ Spear.Collision.Collisioner.generatePoints cols
 

 

 -- | Create the minimal 'AABB' collisioner fully containing the specified 'BSphere'.

-boxFromSphere :: Sphere.Sphere -> Collisioner

+boxFromSphere :: Sphere -> Collisioner

 boxFromSphere = AABBCol . aabbFromSphere

 

 

diff --git a/Spear/Collision/Types.hs b/Spear/Collision/Types.hs
index efbf7f9..61b224f 100644
--- a/Spear/Collision/Types.hs
+++ b/Spear/Collision/Types.hs
@@ -2,5 +2,5 @@ module Spear.Collision.Types
 where
 
 -- | Encodes several collision situations.
-data CollisionType = NoCollision | Collision | FullyContains | FullyContainedBy | Equal
-    deriving (Eq, Ord, Show)
+data CollisionType = NoCollision | Collision | FullyContains | FullyContainedBy
+    deriving (Eq, Show)
diff --git a/Spear/Collision/AABB.hs b/Spear/Math/AABB.hs
index 2676af0..362ddd6 100644
--- a/Spear/Collision/AABB.hs
+++ b/Spear/Math/AABB.hs
@@ -1,8 +1,8 @@
-module Spear.Collision.AABB
+module Spear.Math.AABB
 (
     AABB(..)
 ,   aabb
-,   contains
+,   aabbpt
 )
 where
 
@@ -11,11 +11,7 @@ import Spear.Math.Vector3 as Vector
 
 
 -- | An axis-aligned bounding box.
-data AABB = AABB
-    { min :: !Vector3
-    , max :: !Vector3
-    }
-    deriving Eq
+data AABB = AABB {-# UNPACK #-} !Vector3 {-# UNPACK #-} !Vector3
 
 
 -- | Create a 'AABB' from the given points.
@@ -28,5 +24,5 @@ aabb (x:xs) = foldr update (AABB x x) xs
 
 
 -- | Return 'True' if the given 'AABB' contains the given point, 'False' otherwise.         
-contains :: AABB -> Vector3 -> Bool
-(AABB min max) `contains` v = v >= min && v <= max
+aabbpt :: AABB -> Vector3 -> Bool
+(AABB min max) `aabbpt` v = v >= min && v <= max
diff --git a/Spear/Math/Matrix3.hs b/Spear/Math/Matrix3.hs
index bc8f149..1e56ceb 100644
--- a/Spear/Math/Matrix3.hs
+++ b/Spear/Math/Matrix3.hs
@@ -42,9 +42,9 @@ import Foreign.Storable
 

 -- | Represents a 3x3 column major matrix.

 data Matrix3 = Matrix3

-    { m00 :: !Float, m10 :: !Float, m20 :: !Float

-    , m01 :: !Float, m11 :: !Float, m21 :: !Float

-    , m02 :: !Float, m12 :: !Float, m22 :: !Float

+    { m00 :: {-# UNPACK #-} !Float, m10 :: {-# UNPACK #-} !Float, m20 :: {-# UNPACK #-} !Float

+    , m01 :: {-# UNPACK #-} !Float, m11 :: {-# UNPACK #-} !Float, m21 :: {-# UNPACK #-} !Float

+    , m02 :: {-# UNPACK #-} !Float, m12 :: {-# UNPACK #-} !Float, m22 :: {-# UNPACK #-} !Float

     }

 

 

diff --git a/Spear/Math/Matrix4.hs b/Spear/Math/Matrix4.hs
index 2176e99..82dc9d5 100644
--- a/Spear/Math/Matrix4.hs
+++ b/Spear/Math/Matrix4.hs
@@ -54,10 +54,10 @@ import Foreign.Storable
 

 -- | Represents a 4x4 column major matrix.

 data Matrix4 = Matrix4

-    { m00 :: !Float, m10 :: !Float, m20 :: !Float, m30 :: !Float

-    , m01 :: !Float, m11 :: !Float, m21 :: !Float, m31 :: !Float

-    , m02 :: !Float, m12 :: !Float, m22 :: !Float, m32 :: !Float

-    , m03 :: !Float, m13 :: !Float, m23 :: !Float, m33 :: !Float

+    { m00 :: {-# UNPACK #-} !Float, m10 :: {-# UNPACK #-} !Float, m20 :: {-# UNPACK #-} !Float, m30 :: {-# UNPACK #-} !Float

+    , m01 :: {-# UNPACK #-} !Float, m11 :: {-# UNPACK #-} !Float, m21 :: {-# UNPACK #-} !Float, m31 :: {-# UNPACK #-} !Float

+    , m02 :: {-# UNPACK #-} !Float, m12 :: {-# UNPACK #-} !Float, m22 :: {-# UNPACK #-} !Float, m32 :: {-# UNPACK #-} !Float

+    , m03 :: {-# UNPACK #-} !Float, m13 :: {-# UNPACK #-} !Float, m23 :: {-# UNPACK #-} !Float, m33 :: {-# UNPACK #-} !Float

     }

 

 

diff --git a/Spear/Math/Octree.hs b/Spear/Math/Octree.hs
index 1e257eb..15f7dde 100644
--- a/Spear/Math/Octree.hs
+++ b/Spear/Math/Octree.hs
@@ -11,9 +11,9 @@ module Spear.Math.Octree
 )
 where
 
-import Spear.Collision.AABB as AABB
 import Spear.Collision.Types
-import Spear.Math.Vector3 as Vector
+import Spear.Math.AABB
+import Spear.Math.Vector3
 
 import Control.Applicative ((<*>))
 import Data.List
@@ -93,7 +93,7 @@ clone (Octree root ents c1 c2 c3 c4 c5 c6 c7 c8) = Octree root [] c1' c2' c3' c4
         
         
 keep :: (e -> AABB -> CollisionType) -> AABB -> e -> Bool
-keep testAABB aabb e = test == FullyContainedBy || test == Equal
+keep testAABB aabb e = test == FullyContainedBy
     where test = e `testAABB` aabb
 
 
diff --git a/Spear/Math/Plane.hs b/Spear/Math/Plane.hs
index 0f5829b..8772a42 100644
--- a/Spear/Math/Plane.hs
+++ b/Spear/Math/Plane.hs
@@ -1,8 +1,8 @@
 module Spear.Math.Plane
 (
-        Plane
-,       plane
-,       classify
+    Plane
+,   plane
+,   classify
 )
 where
 
@@ -13,21 +13,22 @@ import Spear.Math.Vector3 as Vector
 data PointPlanePos = Front | Back | Contained deriving (Eq, Ord, Show)
 
 
-data Plane = Plane {
-        n :: !Vector3,
-        d :: !Float
-} deriving(Eq, Show)
+data Plane = Plane
+    { n :: {-# UNPACK #-} !Vector3,
+      d :: {-# UNPACK #-} !Float
+    }
+    deriving(Eq, Show)
 
 
 -- | Create a plane given a normal vector and a distance from the origin.
 plane :: Vector3 -> Float -> Plane
 plane n d = Plane (normalise n) d
-                
-                
+
+
 -- | Classify the given point's relative position with respect to the given plane.
 classify :: Plane -> Vector3 -> PointPlanePos
-classify (Plane n d) pt = case (n `dot` pt - d) `compare` 0 of
-        GT -> Front
-        LT -> Back
-        EQ -> Contained
-        
\ No newline at end of file
+classify (Plane n d) pt =
+    case (n `dot` pt - d) `compare` 0 of
+        GT -> Front
+        LT -> Back
+        EQ -> Contained
diff --git a/Spear/Collision/Sphere.hs b/Spear/Math/Sphere.hs
index de670bc..4a9e3fc 100644
--- a/Spear/Collision/Sphere.hs
+++ b/Spear/Math/Sphere.hs
@@ -1,8 +1,8 @@
-module Spear.Collision.Sphere
+module Spear.Math.Sphere
 (
     Sphere(..)
 ,   sphere
-,   contains
+,   spherept
 )
 where
 
@@ -12,10 +12,9 @@ import Spear.Math.Vector3 as Vector
 
 -- | A bounding volume.
 data Sphere = Sphere
-    { center :: !Vector3
-    , radius :: !Float
+    { center :: {-# UNPACK #-} !Vector3
+    , radius :: {-# UNPACK #-} !Float
     }
-    deriving Eq
 
 
 -- | Create a 'Sphere' from the given points.
@@ -32,5 +31,5 @@ sphere (x:xs) = Sphere c r
 
 
 -- | Return 'True' if the given 'Sphere' contains the given point, 'False' otherwise.         
-contains :: Sphere -> Vector3 -> Bool
-(Sphere center radius) `contains` p = radius*radius >= normSq (p - center)
+spherept :: Sphere -> Vector3 -> Bool
+(Sphere center radius) `spherept` p = radius*radius >= normSq (p - center)
diff --git a/Spear/Collision/Triangle.hs b/Spear/Math/Triangle.hs
index 2391e9f..3c30ea6 100644
--- a/Spear/Collision/Triangle.hs
+++ b/Spear/Math/Triangle.hs
@@ -1,4 +1,4 @@
-module Spear.Collision.Triangle
+module Spear.Math.Triangle
 (
     Triangle(..)
 )
@@ -12,9 +12,9 @@ import Foreign.Storable
 
 
 data Triangle = Triangle
-    { p0 :: Vector3
-    , p1 :: Vector3
-    , p2 :: Vector3
+    { p0 :: {-# UNPACK #-} !Vector3
+    , p1 :: {-# UNPACK #-} !Vector3
+    , p2 :: {-# UNPACK #-} !Vector3
     }
 
 
diff --git a/Spear/Math/Vector2.hs b/Spear/Math/Vector2.hs
new file mode 100644
index 0000000..ace86fe
--- /dev/null
+++ b/Spear/Math/Vector2.hs
@@ -0,0 +1,155 @@
+module Spear.Math.Vector2

+(

+    Vector2

+    -- * Accessors

+,   x

+,   y

+    -- * Construction

+,   unitx

+,   unity

+,   zero

+,   fromList

+,   vec2

+    -- * Operations

+,   v2min

+,   v2max

+,   dot

+,   normSq

+,   norm

+,   scale

+,   normalise

+,   neg
+,   perp

+)

+where

+

+import Foreign.C.Types (CFloat)

+import Foreign.Storable

+

+

+-- | Represents a vector in 2D.

+data Vector2 = Vector2 {-# UNPACK #-} !Float {-# UNPACK #-} !Float deriving (Eq, Show)

+

+

+instance Num Vector2 where

+    Vector2 ax ay + Vector2 bx by = Vector2 (ax + bx) (ay + by)

+    Vector2 ax ay - Vector2 bx by = Vector2 (ax - bx) (ay - by)

+    Vector2 ax ay * Vector2 bx by = Vector2 (ax * bx) (ay * by)

+    abs (Vector2 ax ay) = Vector2 (abs ax) (abs ay)

+    signum (Vector2 ax ay) = Vector2 (signum ax) (signum ay)

+    fromInteger i = Vector2 i' i' where i' = fromInteger i

+    

+    

+instance Fractional Vector2 where

+    Vector2 ax ay / Vector2 bx by = Vector2 (ax / bx) (ay / by)

+    fromRational r = Vector2 r' r' where r' = fromRational r

+    

+    

+instance Ord Vector2 where

+    Vector2 ax ay <= Vector2 bx by =  (ax <= bx) || (ax == bx && ay <= by)

+    Vector2 ax ay >= Vector2 bx by =  (ax >= bx) || (ax == bx && ay >= by)

+    Vector2 ax ay < Vector2 bx by  =  (ax < bx)  || (ax == bx && ay < by)

+    Vector2 ax ay > Vector2 bx by  =  (ax > bx)  || (ax == bx && ay > by)

+

+

+sizeFloat = sizeOf (undefined :: CFloat)

+

+

+instance Storable Vector2 where

+    sizeOf _    = 2*sizeFloat

+    alignment _ = alignment (undefined :: CFloat)

+    

+    peek ptr = do

+        ax <- peekByteOff ptr 0

+        ay <- peekByteOff ptr $ sizeFloat

+        return (Vector2 ax ay)

+    

+    poke ptr (Vector2 ax ay) = do

+        pokeByteOff ptr 0 ax

+        pokeByteOff ptr sizeFloat ay

+

+
+-- | Get the vector's x coordinate.    

+x (Vector2 ax _) = ax
+
+
+-- | Get the vector's y coordinate.

+y (Vector2 _ ay) = ay

+

+

+-- | Unit vector along the X axis.

+unitx :: Vector2

+unitx = Vector2 1 0

+

+

+-- | Unit vector along the Y axis.

+unity :: Vector2

+unity = Vector2 0 1

+

+

+-- | Zero vector.

+zero :: Vector2

+zero = Vector2 0 0

+

+

+-- | Create a vector from the given list.

+fromList :: [Float] -> Vector2

+fromList (ax:ay:_) = Vector2 ax ay

+

+

+-- | Create a vector from the given values.

+vec2 :: Float -> Float -> Vector2

+vec2 ax ay = Vector2 ax ay

+

+

+-- | Create a vector with components set to the minimum of each of the given vectors'.

+v2min :: Vector2 -> Vector2 -> Vector2

+v2min (Vector2 ax ay) (Vector2 bx by) = Vector2 (Prelude.min ax bx) (Prelude.min ay by)

+

+

+-- | Create a vector with components set to the maximum of each of the given vectors'.

+v2max :: Vector2 -> Vector2 -> Vector2

+v2max (Vector2 ax ay) (Vector2 bx by) = Vector2 (Prelude.max ax bx) (Prelude.max ay by)

+

+

+-- | Compute the given vectors' dot product.

+dot :: Vector2 -> Vector2 -> Float

+Vector2 ax ay `dot` Vector2 bx by = ax*bx + ay*by

+
+

+-- | Compute the given vector's squared norm.

+normSq :: Vector2 -> Float

+normSq (Vector2 ax ay) = ax*ax + ay*ay

+    

+

+-- | Compute the given vector's norm.

+norm :: Vector2 -> Float

+norm = sqrt . normSq

+

+

+-- | Multiply the given vector with the given scalar.

+scale :: Float -> Vector2 -> Vector2

+scale s (Vector2 ax ay) = Vector2 (s*ax) (s*ay)

+

+

+-- | Normalise the given vector.

+normalise :: Vector2 -> Vector2

+normalise v =

+    let n' = norm v

+        n = if n' == 0 then 1 else n'

+    in

+        scale (1.0 / n) v

+

+

+-- | Negate the given vector.

+neg :: Vector2 -> Vector2

+neg (Vector2 ax ay) = Vector2 (-ax) (-ay)
+
+
+-- | Compute a vector perpendicular to the given one, satisfying:
+--
+-- perp (Vector2 0 1) = Vector2 1 0
+-- 
+-- perp (Vector2 1 0) = Vector2 0 (-1)
+perp :: Vector2 -> Vector2
+perp (Vector2 x y) = Vector2 y (-x)

diff --git a/Spear/Math/Vector3.hs b/Spear/Math/Vector3.hs
index b10fd16..0d559c3 100644
--- a/Spear/Math/Vector3.hs
+++ b/Spear/Math/Vector3.hs
@@ -16,8 +16,6 @@ module Spear.Math.Vector3
     -- * Operations

 ,   Spear.Math.Vector3.min

 ,   Spear.Math.Vector3.max

-,   Spear.Math.Vector3.zipWith

-,   Spear.Math.Vector3.map

 ,   dot

 ,   cross

 ,   normSq

@@ -33,7 +31,11 @@ import Foreign.Storable
 

 

 -- | Represents a vector in 3D.

-data Vector3 = Vector3 !Float !Float !Float deriving (Eq, Show)

+data Vector3 = Vector3
+    {-# UNPACK #-} !Float
+    {-# UNPACK #-} !Float
+    {-# UNPACK #-} !Float
+    deriving (Eq, Show)

 

 

 instance Num Vector3 where

@@ -89,8 +91,8 @@ instance Storable Vector3 where
         pokeByteOff ptr 0 ax

         pokeByteOff ptr (1*sizeFloat) ay

         pokeByteOff ptr (2*sizeFloat) az

-    

-    

+
+

 x (Vector3 ax _  _ ) = ax

 y (Vector3 _  ay _ ) = ay

 z (Vector3 _  _  az) = az

@@ -157,26 +159,6 @@ max :: Vector3 -> Vector3 -> Vector3
 max (Vector3 ax ay az) (Vector3 bx by bz) = Vector3 (Prelude.max ax bx) (Prelude.max ay by) (Prelude.max az bz)

 

 

--- | Zip two vectors with the given function.

-zipWith :: (Float -> Float -> Float) -> Vector3 -> Vector3 -> Vector3

-zipWith f (Vector3 ax ay az) (Vector3 bx by bz) = Vector3 (f ax bx) (f ay by) (f az bz)

-

-

--- | Folds a vector from the left.

-{-foldl :: (UV.Unbox b) => (a -> b -> a) -> a -> Vector3 b -> a

-foldl f acc (Vector3 v) = UV.foldl f acc v

-

-

--- | Folds a vector from the right.

-foldr :: (UV.Unbox b) => (b -> a -> a) -> a -> Vector3 b -> a

-foldr f acc (Vector3 v) = UV.foldr f acc v-}

-

-

--- | Map the given function over the given vector.

-map :: (Float -> Float) -> Vector3 -> Vector3

-map f (Vector3 ax ay az) = Vector3 (f ax) (f ay) (f az)

-

-

 -- | Compute the given vectors' dot product.

 dot :: Vector3 -> Vector3 -> Float

 Vector3 ax ay az `dot` Vector3 bx by bz = ax*bx + ay*by + az*bz

diff --git a/Spear/Math/Vector4.hs b/Spear/Math/Vector4.hs
index 2dd852a..9ba35bc 100644
--- a/Spear/Math/Vector4.hs
+++ b/Spear/Math/Vector4.hs
@@ -15,8 +15,6 @@ module Spear.Math.Vector4
     -- * Operations

 ,   Spear.Math.Vector4.min

 ,   Spear.Math.Vector4.max

-,   Spear.Math.Vector4.zipWith

-,   Spear.Math.Vector4.map

 ,   dot

 ,   normSq

 ,   norm

@@ -32,7 +30,12 @@ import Foreign.Storable
 

 

 -- | Represents a vector in 3D.

-data Vector4 = Vector4 !Float !Float !Float !Float deriving (Eq, Show)

+data Vector4 = Vector4
+    {-# UNPACK #-} !Float
+    {-# UNPACK #-} !Float
+    {-# UNPACK #-} !Float
+    {-# UNPACK #-} !Float
+    deriving (Eq, Show)

 

 

 instance Num Vector4 where

@@ -94,8 +97,8 @@ instance Storable Vector4 where
         pokeByteOff ptr (1 * sizeFloat) ay

         pokeByteOff ptr (2 * sizeFloat) az

         pokeByteOff ptr (3 * sizeFloat) aw

-    

-    

+
+

 x (Vector4 ax _  _  _ ) = ax

 y (Vector4 _  ay _  _ ) = ay

 z (Vector4 _  _  az _ ) = az

@@ -139,26 +142,6 @@ max (Vector4 ax ay az aw) (Vector4 bx by bz bw) =
     Vector4 (Prelude.max ax bx) (Prelude.max ay by) (Prelude.max az bz) (Prelude.min aw bw)

 

 

--- | Zip two vectors with the given function.

-zipWith :: (Float -> Float -> Float) -> Vector4 -> Vector4 -> Vector4

-zipWith f (Vector4 ax ay az aw) (Vector4 bx by bz bw) = Vector4 (f ax bx) (f ay by) (f az bz) (f aw bw)

-

-

--- | Folds a vector from the left.

-{-foldl :: (UV.Unbox b) => (a -> b -> a) -> a -> Vector4 b -> a

-foldl f acc (Vector4 v) = UV.foldl f acc v

-

-

--- | Folds a vector from the right.

-foldr :: (UV.Unbox b) => (b -> a -> a) -> a -> Vector4 b -> a

-foldr f acc (Vector4 v) = UV.foldr f acc v-}

-

-

--- | Map the given function over the given vector.

-map :: (Float -> Float) -> Vector4 -> Vector4

-map f (Vector4 ax ay az aw) = Vector4 (f ax) (f ay) (f az) (f aw)

-

-

 -- | Compute the given vectors' dot product.

 dot :: Vector4 -> Vector4 -> Float

 Vector4 ax ay az aw `dot` Vector4 bx by bz bw = ax*bx + ay*by + az*bz + aw*bw

diff --git a/Spear/Physics.hs b/Spear/Physics.hs
index 248d4fe..c143e32 100644
--- a/Spear/Physics.hs
+++ b/Spear/Physics.hs
@@ -2,11 +2,9 @@ module Spear.Physics
 (
     module Spear.Physics.Rigid
 ,   module Spear.Physics.Types
-,   module Spear.Physics.World
 )
 where
 
 
 import Spear.Physics.Rigid
 import Spear.Physics.Types
-import Spear.Physics.World
diff --git a/Spear/Physics/Rigid.hs b/Spear/Physics/Rigid.hs
index c3b4cfa..6d3c4d7 100644
--- a/Spear/Physics/Rigid.hs
+++ b/Spear/Physics/Rigid.hs
@@ -20,10 +20,10 @@ import Control.Monad.State
 
 
 data RigidBody = RigidBody
-    { mass         :: Float
-    , position     :: Vector3
-    , velocity     :: Vector3
-    , acceleration :: Vector3
+    { mass         :: !Float
+    , position     :: !Vector3
+    , velocity     :: !Vector3
+    , acceleration :: !Vector3
     }
 
 
diff --git a/Spear/Physics/World.hs b/Spear/Physics/World.hs
deleted file mode 100644
index b4e6176..0000000
--- a/Spear/Physics/World.hs
+++ /dev/null
@@ -1,126 +0,0 @@
-module Spear.Physics.World
-(
-    module Spear.Physics.Types
-    -- * Data types
-,   World
-,   ObjectID
-    -- * Construction
-,   emptyWorld
-    -- * World operations
-,   setGravity
-,   updateWorld
-    -- * Object operations
-,   newObject
-,   deleteObject
-,   withBody
-,   objectTransform
-,   setForces
-)
-where
-
-
-import Spear.Collision.AABB
-import Spear.Collision.Collisioner as C
-import Spear.Collision.Sphere
-import Spear.Math.Matrix4 (Matrix4)
-import Spear.Math.Spatial
-import Spear.Math.Vector3
-import Spear.Physics.Rigid as Rigid
-import Spear.Physics.Types
-import Spear.Sys.Store
-
-
-import Data.Maybe (fromJust)
-
-
--- | Uniquely identifies an object in a 'World'.
-newtype ObjectID = ObjectID Int
-
-
-data Object = Object
-    { body        :: RigidBody
-    , collisioner :: Collisioner
-    , forces      :: [Vector3]
-    }
-
-
--- | The world where physical bodies are simulated.
-data World = World
-    { bodies  :: Store Object -- ^ Collection of objects.
-    , gravity :: Vector3 -- ^ World gravity.
-    }
-
-
--- | Create an empty world.
-emptyWorld :: World
-emptyWorld = World emptyStore $ vec3 0 (-9.8) 0
-
-
--- | Create a new object.
-newObject :: RigidBody -> Collisioner -> World -> (ObjectID, World)
-newObject body collisioner world =
-    let (index, bodies') = store (Object body collisioner []) $ bodies world 
-    in (ObjectID index, world { bodies = bodies' })
-
-
--- | Remove the object specified by the given object ID.
-deleteObject :: ObjectID -> World -> World
-deleteObject (ObjectID i) world = world { bodies = bodies' }
-    where
-        bodies' = storeFree i $ bodies world
-
-
--- | Modify the object identified by the given object ID.
-withBody :: ObjectID -> World -> (RigidBody -> RigidBody) -> World
-withBody (ObjectID index) world f = world { bodies = bodies' }
-    where
-        bodies' = withElement index (bodies world) $ \obj -> obj { body = f $ body obj }
-
-
--- | Get the transform of the object identified by the given object ID.
-objectTransform :: World -> ObjectID -> Matrix4
-objectTransform world (ObjectID i) = transform . body . fromJust $ (element i $ bodies world)
-
-
--- | Add the given force to the forces acting on the object identified by the given object ID.
-setForces :: [Force] -> ObjectID -> World -> World
-setForces fs (ObjectID i) world = world { bodies = bodies' }
-    where
-        bodies' = withElement i (bodies world) $ \obj -> obj { forces = fs }
-
-
--- | Set the world's gravity.
-setGravity :: Vector3 -> World -> World
-setGravity g world = world { gravity = g }
-
-
--- | Update the world.
-updateWorld :: Dt -> World -> World
-updateWorld dt world = world { bodies = fmap updateObject $ bodies world }
-    where        
-        updateObject (Object body collisioner forces) = Object body' collisioner' forces
-            where
-                -- Forces acting on the body.
-                forces' = scale (mass body) (gravity world) : forces
-                
-                -- Updated body.
-                body' = Rigid.update forces dt body
-                
-                -- Center collisioner around the new body's center.
-                collisioner' = center (Rigid.position body') collisioner
-                
-                -- Center the collisioner around the given point.
-                center c (SphereCol (Sphere _ r)) = sphereCollisioner $ Sphere c r
-                center c (AABBCol (AABB min max)) =
-                    let v = (max - min) / 2
-                        min' = c - v
-                        max' = c + v
-                    in
-                        aabbCollisioner $ AABB min' max'
-
-
-{--- | Test for potential collisions.
---
--- Returns a new world and a list of colliding pairs of objects.
---testCollisions :: World -> (World, [(ObjectID, ObjectID)])-}
-
diff --git a/Spear/Scene/Scene.hs b/Spear/Scene/Scene.hs
index 94c2f6f..fe0eff8 100644
--- a/Spear/Scene/Scene.hs
+++ b/Spear/Scene/Scene.hs
@@ -21,9 +21,9 @@ module Spear.Scene.Scene
 where
 
 
-import Spear.Collision.AABB
 import Spear.Collision.Types
 import Spear.Game (Game)
+import Spear.Math.AABB
 import Spear.Math.Octree as Octree
 
 import Control.Applicative ((<*>))
@@ -35,12 +35,12 @@ import qualified Data.List as L (delete, filter, find)
 
 data Scene obj =
     ListScene
-    { objects        :: [obj]
+    { objects :: ![obj]
     }
     |
     OctreeScene
-    { collideAABB    :: obj -> AABB -> CollisionType
-    , world          :: Octree obj
+    { collideAABB :: obj -> AABB -> CollisionType
+    , world       :: !(Octree obj)
     }
 
 
diff --git a/Spear/Setup.hs b/Spear/Setup.hs
index 2f16c54..cfe379c 100644
--- a/Spear/Setup.hs
+++ b/Spear/Setup.hs
@@ -13,7 +13,7 @@ where
 
 
 import Control.Monad.Error
-import qualified Control.Monad.Resource as R
+import qualified Control.Monad.Trans.Resource as R
 import qualified Control.Monad.Trans.Class as MT (lift)