// =-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-==-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-= //
//
//  Project:   Talina Gaming System (TgS) (∂)
//  File:      TgS Collision - Capsule-Plane.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_CAPSULE_PLANE_INL_)
#define _TGS_COLLISION_CAPSULE_PLANE_INL_
#pragma once

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

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

// tgCP0        Capsule (Input)
// tgPN0        Plane (Input)

// tvCP0        The point of closest proximity on the capsule. (Output)
// tvPN0        The point of closest proximity on the plane. (Output)

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




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

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

template <typename TYPE, int DIM> TgFORCEINLINE
TYPE F_DistSq( CR_(CAPSULE,DIM) tgCP0, CR_(PLANE,DIM) tgPN0 )
{
    const TYPE                          tyDist = F_Dist( tgPN0, tgCP0.Query_Segment() );

    return (P::FSEL(
        tyDist - tgCP0.Query_Radius(), (tyDist - tgCP0.Query_Radius())*(tyDist - tgCP0.Query_Radius()), -LIMITS<TYPE>::MAX
    ));
};


template <typename TYPE, int DIM> TgFORCEINLINE
TYPE F_Dist( CR_(CAPSULE,DIM) tgCP0, CR_(PLANE,DIM) tgPN0 )
{
    const TYPE                          tyDist = F_Dist( tgPN0, tgCP0.Query_Segment() );

    return (P::FSEL( tyDist - tgCP0.Query_Radius(), tyDist - tgCP0.Query_Radius(), -LIMITS<TYPE>::MAX ));
};


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

template <typename TYPE, int DIM> TgFORCEINLINE
TYPE F_ClosestSq( PC_(VECTOR,DIM) ptvCP0, PC_(VECTOR,DIM) ptvPN0, CR_(CAPSULE,DIM) tgCP0, CR_(PLANE,DIM) tgPN0 )
{
    const TYPE                          tyDist = F_Closest( ptvCP0, ptvPN0, tgCP0, tgPN0 );

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


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

template <typename TYPE, int DIM> TgFORCEINLINE
TgBOOL F_Contact_Test( CR_(CAPSULE,DIM) tgCP0, CR_(PLANE,DIM) tgPN0 )
{
    return (F_Dist( tgPN0, tgCP0.Query_Segment() ) <= tgCP0.Query_Radius());
};


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

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