// =-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-==-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-= //
//
//  Project:   Talina Gaming System (TgS) (∂)
//  File:      TgS Collision - Linear.h
//  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_LINEAR_H_)
#define _TGS_COLLISION_LINEAR_H_
#pragma once




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

// ============================================================================================================================== //
//  Public Interface
// ============================================================================================================================== //

TPL TYPE                                    F_DistSq( CR_(LINE,DIM), M_(VECTOR,DIM) );
TPL TYPE                                    F_DistSq( CR_(RAY,DIM), M_(VECTOR,DIM) );
TPL TYPE                                    F_DistSq( CR_(SEGMENT,DIM), M_(VECTOR,DIM) );

TPL TYPE                                    F_Dist( CR_(LINE,DIM), M_(VECTOR,DIM) );
TPL TYPE                                    F_Dist( CR_(RAY,DIM), M_(VECTOR,DIM) );
TPL TYPE                                    F_Dist( CR_(SEGMENT,DIM), M_(VECTOR,DIM) );

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

TPL TYPE                                    F_DistSq( CR_(LINE,DIM), CR_(LINE,DIM) );
TPL TYPE                                    F_DistSq( CR_(LINE,DIM), CR_(RAY,DIM) );
TPL TYPE                                    F_DistSq( CR_(LINE,DIM), CR_(SEGMENT,DIM) );
TPL TYPE                                    F_DistSq( CR_(RAY,DIM), CR_(LINE,DIM) );
TPL TYPE                                    F_DistSq( CR_(RAY,DIM), CR_(RAY,DIM) );
TPL TYPE                                    F_DistSq( CR_(RAY,DIM), CR_(SEGMENT,DIM) );
TPL TYPE                                    F_DistSq( CR_(SEGMENT,DIM), CR_(LINE,DIM) );
TPL TYPE                                    F_DistSq( CR_(SEGMENT,DIM), CR_(RAY,DIM) );
TPL TYPE                                    F_DistSq( CR_(SEGMENT,DIM), CR_(SEGMENT,DIM) );

TPL TYPE                                    F_Dist( CR_(LINE,DIM), CR_(LINE,DIM) );
TPL TYPE                                    F_Dist( CR_(LINE,DIM), CR_(RAY,DIM) );
TPL TYPE                                    F_Dist( CR_(LINE,DIM), CR_(SEGMENT,DIM) );
TPL TYPE                                    F_Dist( CR_(RAY,DIM), CR_(LINE,DIM) );
TPL TYPE                                    F_Dist( CR_(RAY,DIM), CR_(RAY,DIM) );
TPL TYPE                                    F_Dist( CR_(RAY,DIM), CR_(SEGMENT,DIM) );
TPL TYPE                                    F_Dist( CR_(SEGMENT,DIM), CR_(LINE,DIM) );
TPL TYPE                                    F_Dist( CR_(SEGMENT,DIM), CR_(RAY,DIM) );
TPL TYPE                                    F_Dist( CR_(SEGMENT,DIM), CR_(SEGMENT,DIM) );

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

TPL TYPE                                    F_ClosestSq( PC_(VECTOR,DIM), CR_(LINE,DIM), M_(VECTOR,DIM) );
TPL TYPE                                    F_ClosestSq( PC_(VECTOR,DIM), CR_(RAY,DIM), M_(VECTOR,DIM) );
TPL TYPE                                    F_ClosestSq( PC_(VECTOR,DIM), CR_(SEGMENT,DIM), M_(VECTOR,DIM) );

TPL TYPE                                    F_Closest( PC_(VECTOR,DIM), CR_(LINE,DIM), M_(VECTOR,DIM) );
TPL TYPE                                    F_Closest( PC_(VECTOR,DIM), CR_(RAY,DIM), M_(VECTOR,DIM) );
TPL TYPE                                    F_Closest( PC_(VECTOR,DIM), CR_(SEGMENT,DIM), M_(VECTOR,DIM) );

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

TPL TYPE                                    F_ClosestSq( PC_(VECTOR,DIM), PC_(VECTOR,DIM), CR_(LINE,DIM), CR_(LINE,DIM) );
TPL TYPE                                    F_ClosestSq( PC_(VECTOR,DIM), PC_(VECTOR,DIM), CR_(LINE,DIM), CR_(RAY,DIM) );
TPL TYPE                                    F_ClosestSq( PC_(VECTOR,DIM), PC_(VECTOR,DIM), CR_(LINE,DIM), CR_(SEGMENT,DIM) );
TPL TYPE                                    F_ClosestSq( PC_(VECTOR,DIM), PC_(VECTOR,DIM), CR_(RAY,DIM), CR_(LINE,DIM) );
TPL TYPE                                    F_ClosestSq( PC_(VECTOR,DIM), PC_(VECTOR,DIM), CR_(RAY,DIM), CR_(RAY,DIM) );
TPL TYPE                                    F_ClosestSq( PC_(VECTOR,DIM), PC_(VECTOR,DIM), CR_(RAY,DIM), CR_(SEGMENT,DIM) );
TPL TYPE                                    F_ClosestSq( PC_(VECTOR,DIM), PC_(VECTOR,DIM), CR_(SEGMENT,DIM), CR_(LINE,DIM) );
TPL TYPE                                    F_ClosestSq( PC_(VECTOR,DIM), PC_(VECTOR,DIM), CR_(SEGMENT,DIM), CR_(RAY,DIM) );
TPL TYPE                                    F_ClosestSq( PC_(VECTOR,DIM), PC_(VECTOR,DIM), CR_(SEGMENT,DIM), CR_(SEGMENT,DIM) );

TPL TYPE                                    F_Closest( PC_(VECTOR,DIM), PC_(VECTOR,DIM), CR_(LINE,DIM), CR_(LINE,DIM) );
TPL TYPE                                    F_Closest( PC_(VECTOR,DIM), PC_(VECTOR,DIM), CR_(LINE,DIM), CR_(RAY,DIM) );
TPL TYPE                                    F_Closest( PC_(VECTOR,DIM), PC_(VECTOR,DIM), CR_(LINE,DIM), CR_(SEGMENT,DIM) );
TPL TYPE                                    F_Closest( PC_(VECTOR,DIM), PC_(VECTOR,DIM), CR_(RAY,DIM), CR_(LINE,DIM) );
TPL TYPE                                    F_Closest( PC_(VECTOR,DIM), PC_(VECTOR,DIM), CR_(RAY,DIM), CR_(RAY,DIM) );
TPL TYPE                                    F_Closest( PC_(VECTOR,DIM), PC_(VECTOR,DIM), CR_(RAY,DIM), CR_(SEGMENT,DIM) );
TPL TYPE                                    F_Closest( PC_(VECTOR,DIM), PC_(VECTOR,DIM), CR_(SEGMENT,DIM), CR_(LINE,DIM) );
TPL TYPE                                    F_Closest( PC_(VECTOR,DIM), PC_(VECTOR,DIM), CR_(SEGMENT,DIM), CR_(RAY,DIM) );
TPL TYPE                                    F_Closest( PC_(VECTOR,DIM), PC_(VECTOR,DIM), CR_(SEGMENT,DIM), CR_(SEGMENT,DIM) );

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

TPL TYPE                                    F_ClosestSq( TYPE*, CR_(LINE,DIM), M_(VECTOR,DIM) );
TPL TYPE                                    F_ClosestSq( TYPE*, CR_(RAY,DIM), M_(VECTOR,DIM) );
TPL TYPE                                    F_ClosestSq( TYPE*, CR_(SEGMENT,DIM), M_(VECTOR,DIM) );

TPL TYPE                                    F_Closest( TYPE*, CR_(LINE,DIM), M_(VECTOR,DIM) );
TPL TYPE                                    F_Closest( TYPE*, CR_(RAY,DIM), M_(VECTOR,DIM) );
TPL TYPE                                    F_Closest( TYPE*, CR_(SEGMENT,DIM), M_(VECTOR,DIM) );

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

TPL TYPE                                    F_ClosestSq( TYPE*, TYPE*, CR_(LINE,DIM), CR_(LINE,DIM) );
TPL TYPE                                    F_ClosestSq( TYPE*, TYPE*, CR_(LINE,DIM), CR_(RAY,DIM) );
TPL TYPE                                    F_ClosestSq( TYPE*, TYPE*, CR_(LINE,DIM), CR_(SEGMENT,DIM) );
TPL TYPE                                    F_ClosestSq( TYPE*, TYPE*, CR_(RAY,DIM), CR_(LINE,DIM) );
TPL TYPE                                    F_ClosestSq( TYPE*, TYPE*, CR_(RAY,DIM), CR_(RAY,DIM) );
TPL TYPE                                    F_ClosestSq( TYPE*, TYPE*, CR_(RAY,DIM), CR_(SEGMENT,DIM) );
TPL TYPE                                    F_ClosestSq( TYPE*, TYPE*, CR_(SEGMENT,DIM), CR_(LINE,DIM) );
TPL TYPE                                    F_ClosestSq( TYPE*, TYPE*, CR_(SEGMENT,DIM), CR_(RAY,DIM) );
TPL TYPE                                    F_ClosestSq( TYPE*, TYPE*, CR_(SEGMENT,DIM), CR_(SEGMENT,DIM) );

TPL TYPE                                    F_Closest( TYPE*, TYPE*, CR_(LINE,DIM), CR_(LINE,DIM) );
TPL TYPE                                    F_Closest( TYPE*, TYPE*, CR_(LINE,DIM), CR_(RAY,DIM) );
TPL TYPE                                    F_Closest( TYPE*, TYPE*, CR_(LINE,DIM), CR_(SEGMENT,DIM) );
TPL TYPE                                    F_Closest( TYPE*, TYPE*, CR_(RAY,DIM), CR_(LINE,DIM) );
TPL TYPE                                    F_Closest( TYPE*, TYPE*, CR_(RAY,DIM), CR_(RAY,DIM) );
TPL TYPE                                    F_Closest( TYPE*, TYPE*, CR_(RAY,DIM), CR_(SEGMENT,DIM) );
TPL TYPE                                    F_Closest( TYPE*, TYPE*, CR_(SEGMENT,DIM), CR_(LINE,DIM) );
TPL TYPE                                    F_Closest( TYPE*, TYPE*, CR_(SEGMENT,DIM), CR_(RAY,DIM) );
TPL TYPE                                    F_Closest( TYPE*, TYPE*, CR_(SEGMENT,DIM), CR_(SEGMENT,DIM) );

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

TPL TgBOOL                                  F_Contact_Test( CR_(LINE,DIM), CR_(LINE,DIM) );
TPL TgBOOL                                  F_Contact_Test( CR_(LINE,DIM), CR_(RAY,DIM) );
TPL TgBOOL                                  F_Contact_Test( CR_(LINE,DIM), CR_(SEGMENT,DIM) );
TPL TgBOOL                                  F_Contact_Test( CR_(RAY,DIM), CR_(LINE,DIM) );
TPL TgBOOL                                  F_Contact_Test( CR_(RAY,DIM), CR_(RAY,DIM) );
TPL TgBOOL                                  F_Contact_Test( CR_(RAY,DIM), CR_(SEGMENT,DIM) );
TPL TgBOOL                                  F_Contact_Test( CR_(SEGMENT,DIM), CR_(LINE,DIM) );
TPL TgBOOL                                  F_Contact_Test( CR_(SEGMENT,DIM), CR_(RAY,DIM) );
TPL TgBOOL                                  F_Contact_Test( CR_(SEGMENT,DIM), CR_(SEGMENT,DIM) );

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

TPL TgINT                                   F_Internal_Intersect( PC_(VECTOR,DIM), PC_(VECTOR,DIM), M_(VECTOR,DIM), M_(VECTOR,DIM), M_(VECTOR,DIM), M_(VECTOR,DIM) );
TPL TgINT                                   F_Internal_Parallel( PC_(VECTOR,DIM), PC_(VECTOR,DIM), M_(VECTOR,DIM), M_(VECTOR,DIM), M_(VECTOR,DIM), M_(VECTOR,DIM) );




// ============================================================================================================================== //
//  Functions used internally by the system
// ============================================================================================================================== //

TPLN struct TTgFSQ_LNPT
{
    static TYPE                                 DO( M_(VECTOR,DIM), M_(VECTOR,DIM), M_(VECTOR,DIM) );
};

TPLN struct TTgCSQ_LNPT
{
    static TYPE                                 DO( TYPE*, M_(VECTOR,DIM), M_(VECTOR,DIM), M_(VECTOR,DIM) );
    static TYPE                                 DO( PC_(VECTOR,DIM), M_(VECTOR,DIM), M_(VECTOR,DIM), M_(VECTOR,DIM) );
};

template <typename TYPE, int DIM, bool bC0, bool bC1, bool bC2, bool bC3>
struct TTgFSQ_LNLN
{
    static TYPE                                 DO( M_(VECTOR,DIM), M_(VECTOR,DIM), M_(VECTOR,DIM), M_(VECTOR,DIM) );
};

template <typename TYPE, int DIM, bool bC0, bool bC1, bool bC2, bool bC3>
struct TTgCSQ_LNLN
{ 
    static TYPE                                 DO( PC_(VECTOR,DIM), PC_(VECTOR,DIM), M_(VECTOR,DIM), M_(VECTOR,DIM), M_(VECTOR,DIM), M_(VECTOR,DIM) );
    static TYPE                                 DO( TYPE*, TYPE*, M_(VECTOR,DIM), M_(VECTOR,DIM), M_(VECTOR,DIM), M_(VECTOR,DIM) );
};

template <typename TYPE, int DIM, bool bC0, bool bC1, bool bC2, bool bC3>
struct TTgTST_LNLN
{
    static TgBOOL                               DO( M_(VECTOR,DIM), M_(VECTOR,DIM), M_(VECTOR,DIM), M_(VECTOR,DIM) );
};




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

TgVOID                                      Unit_Test_Collision_Linear();




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