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// =-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-==-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-= //
//
//  Project:   Talina Gaming System (TgS) (∂)
//  File:      TgS Collision - Box AA-Sphere.inl
//  Author:    Andrew Aye (EMail: andrew.aye@gmail.com, Web: http://www.andrewaye.com) 
//  Version:   3.11
//
// ------------------------------------------------------------------------------------------------------------------------------ //
//
//  Copyright: © 2002-2008, Andrew Aye.  All Rights Reserved.
//
//  This software is free for non-commercial use. Redistribution and use in source and binary forms, with or without modification,
//  are permitted provided that the following conditions are met: 
//    Redistributions of source code must retain this copyright notice, this list of conditions and the following disclaimers. 
//    Redistributions in binary form must reproduce this copyright notice, this list of conditions and the following
//      disclaimers in the documentation and other materials provided with the distribution. 
//
//  Neither the names of the copyright owner nor the names of its contributors may be used to endorse or promote products derived
//  from this software without specific prior written permission. 
//
//  The intellectual property rights of the algorithms used reside with Andrew Aye.  You may not use this software, in whole or
//  in part, in support of any commercial product without the express written consent of the author.
//
//  There is no warranty or other guarantee of fitness of this software for any purpose. It is provided solely "as is".
//
// =-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-==-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-= //
#if !defined(_TGS_COLLISION_BOX_AA_SPHERE_INL_)
#define _TGS_COLLISION_BOX_AA_SPHERE_INL_
#pragma once

// ============================================================================================================================== //

// F_Dist[Sq], F_Closest[Sq] - Return the minimal distance [squared] between the primitives or negative type max if intersecting.

// tgBA0        Box, Axis-Aligned (Input)
// tgSP0        Sphere (Input)
// tgPacket     Container of points resulting from a contact generator.  Generation parameters provided as well. (Input/Ouput)

// tvBA0        The point of closest proximity on the box, axis-aligned. (Output)
// tvSP0        The point of closest proximity on the sphere. (Output)
// tgPacket     Container of points resulting from a contact generator.  Generation parameters provided as well. (Input/Ouput)

// ============================================================================================================================== //




namespace TGS { // START TGS ///////////////////////////////////////////////////////////////////////////////////////////////////////
namespace COL { // START COL ///////////////////////////////////////////////////////////////////////////////////////////////////////

// ============================================================================================================================== //

template <typename TYPE, int DIM> TgFORCEINLINE
TYPE F_DistSq( CR_(BOXAA,DIM) tgBA0, CR_(SPHERE,DIM) tgSP0 )
{
    const TYPE                          tyDistSq = F_DistSq( tgBA0, tgSP0.Query_Origin() );
    const TYPE                          tyDist = P::FSEL( tyDistSq - tgSP0.Query_RadiusSq(), P::SQRT( tyDistSq ), TYPE(-1.0) );

    return (P::FSEL( tyDist, (tyDist - tgSP0.Query_Radius())*(tyDist - tgSP0.Query_Radius()), -LIMITS<TYPE>::MAX ));
};


template <typename TYPE, int DIM> TgFORCEINLINE
TYPE F_Dist( CR_(BOXAA,DIM) tgBA0, CR_(SPHERE,DIM) tgSP0 )
{
    const TYPE                          tyDistSq = F_DistSq( tgBA0, tgSP0.Query_Origin() );

    return (P::FSEL( tyDistSq - tgSP0.Query_RadiusSq(), P::SQRT( tyDistSq ) - tgSP0.Query_Radius(), -LIMITS<TYPE>::MAX ));
};


// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //

template <typename TYPE, int DIM> TgFORCEINLINE
TYPE F_ClosestSq( PC_(VECTOR,DIM) ptvBA0, PC_(VECTOR,DIM) ptvSP0, CR_(BOXAA,DIM) tgBA0, CR_(SPHERE,DIM) tgSP0 )
{
    const TYPE                          tyDist = F_Closest( ptvBA0, ptvSP0, tgBA0, tgSP0 );

    return (P::FSEL( tyDist, tyDist*tyDist, -LIMITS<TYPE>::MAX ));
};


template <typename TYPE, int DIM> TgFORCEINLINE
TYPE F_Closest( PC_(VECTOR,DIM) ptvBA0, PC_(VECTOR,DIM) ptvSP0, CR_(BOXAA,DIM) tgBA0, CR_(SPHERE,DIM) tgSP0 )
{
    const TYPE                          tyDistSq = F_ClosestSq( ptvBA0, tgBA0, tgSP0.Query_Origin() );
    const TYPE                          tyDist = P::FSEL( tyDistSq - tgSP0.Query_RadiusSq(), P::SQRT( tyDistSq ), TYPE(-1.0) );
    const TYPE                          tyK0 = tgSP0.Query_Radius() / tyDist;
    C_(VECTOR,DIM)                      tvK0 = MATH::F_MUL( tyK0, MATH::F_SUB( *ptvBA0, tgSP0.Query_Origin() ) );

    *ptvSP0 = MATH::F_ADD( tgSP0.Query_Origin(), tvK0 );

    return (P::FSEL( tyDist, tyDist - tgSP0.Query_Radius(), -LIMITS<TYPE>::MAX ));
};


// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //

template <typename TYPE, int DIM> TgFORCEINLINE
TgBOOL F_Contact_Test( CR_(BOXAA,DIM) tgBA0, CR_(SPHERE,DIM) tgSP0 )
{
    register TYPE                       tyTN, tyTX, tyDistSq = TYPE();
    M_(VECTOR,DIM)                      tvS0 = tgSP0.Query_Origin();

    tyTN = tvS0.X() - tgBA0.Query_MinX();
    tyTX = tgBA0.Query_MaxX() - tvS0.X();
    tyDistSq += P::FSEL( tyTN, TYPE(), tyTN*tyTN );
    tyDistSq += P::FSEL( tyTX, TYPE(), tyTX*tyTX );

    tyTN = tvS0.Y() - tgBA0.Query_MinY();
    tyTX = tgBA0.Query_MaxY() - tvS0.Y();
    tyDistSq += P::FSEL( tyTN, TYPE(), tyTN*tyTN );
    tyDistSq += P::FSEL( tyTX, TYPE(), tyTX*tyTX );

    tyTN = tvS0.Z() - tgBA0.Query_MinZ();
    tyTX = tgBA0.Query_MaxZ() - tvS0.Z();
    tyDistSq += P::FSEL( tyTN, TYPE(), tyTN*tyTN );
    tyDistSq += P::FSEL( tyTX, TYPE(), tyTX*tyTX );

    return (tyDistSq <= tgSP0.Query_RadiusSq());
};


// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //

template <typename TYPE, int DIM> TgFORCEINLINE
TgRESULT F_Contact_Penetrate( PC_(CONTACT_PACKET,DIM) ptgPacket, CR_(BOXAA,DIM) tgBA0, CR_(SPHERE,DIM) tgSP0 )
{
    C_TgINT                             niContact = ptgPacket->m_niContact;

    C_TgRESULT tgResult = F_Contact_Penetrate( ptgPacket, tgSP0, tgBA0 );

    if (TgFAILED( tgResult ))
    {
        return (tgResult);
    };

    P_(CONTACT,DIM)                     ptgContact;

    for (TgINT iIdx = niContact; iIdx < ptgPacket->m_niContact; ++iIdx)
    {
        ptgContact = (P_(CONTACT,DIM))((PC_TgUINT08)ptgPacket->m_ptgContact + iIdx*ptgPacket->m_iStride);

        ptgContact->m_tvPos = MATH::F_ADD( ptgContact->m_tvPos, MATH::F_MUL( ptgContact->m_tvNormal, ptgContact->m_tyDepth ) );
        ptgContact->m_tvNormal = MATH::F_NEG( ptgContact->m_tvNormal );
    };

    return (tgResult);
};


// ============================================================================================================================== //

}; // END COL //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
}; // END TGS //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
#endif //  END  ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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