// =-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-==-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-= //
//
//  Project:   Talina Gaming System (TgS) (∂)
//  File:      TgS Collision - Plane-Segment.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_PLANE_SEGMENT_INL_)
#define _TGS_COLLISION_PLANE_SEGMENT_INL_
#pragma once

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

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

// tgPN0        Plane (Input)
// tgSG0        Segment (Input)
// tgPacket     Container of points resulting from a contact generator.  Generation parameters provided as well. (Input/Ouput)

// tvPN0        The point of closest proximity on the plane. (Output)
// tvSG0        The point of closest proximity on the segment. (Output)
// tgPacket     Container of points resulting from a contact generator.  Generation parameters provided as well. (Input/Ouput)
// tySG0        Parametric parameter to generate point of interest #1 based on the segment. (Output)
// tySG1        Parametric parameter to generate point of interest #2 based on the segment. (Output)
// tgCL         Container of points resulting from the clip operation. (Output)

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




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

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

template <typename TYPE, int DIM> TgFORCEINLINE
TYPE F_DistSq( CR_(PLANE,DIM) tgPN0, CR_(SEGMENT,DIM) tgSG0 )
{
    const TYPE                          tyDist = F_Sign_Dist( tgPN0, tgSG0.Query_Origin() );
    const TYPE                          tyD1_N = MATH::F_DOT(tgPN0.Query_Normal(),tgSG0.Query_DirN());
    const TYPE                          tyTA = P::FSEL( tyDist+tyD1_N, (tyDist+tyD1_N)*(tyDist+tyD1_N), -LIMITS<TYPE>::MAX );

    return (P::FSEL( tyDist, P::FSEL( tyD1_N, tyDist*tyDist , tyTA ), -LIMITS<TYPE>::MAX ));
};


template <typename TYPE, int DIM> TgFORCEINLINE
TYPE F_Dist( CR_(PLANE,DIM) tgPN0, CR_(SEGMENT,DIM) tgSG0 )
{
    const TYPE                          tyDist = F_Sign_Dist( tgPN0, tgSG0.Query_Origin() );
    const TYPE                          tyD1_N = MATH::F_DOT(tgPN0.Query_Normal(),tgSG0.Query_DirN());
    const TYPE                          tyTA = P::FSEL( tyDist+tyD1_N, tyDist+tyD1_N, -LIMITS<TYPE>::MAX );

    return (P::FSEL( tyDist, P::FSEL( tyD1_N, tyDist , tyTA ), -LIMITS<TYPE>::MAX ));
};


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

template <typename TYPE, int DIM> TgFORCEINLINE
TYPE F_ClosestSq( PC_(VECTOR,DIM) ptvPN0, PC_(VECTOR,DIM) ptvSG0, CR_(PLANE,DIM) tgPN0, CR_(SEGMENT,DIM) tgSG0 )
{
    TYPE                                tyDist = F_Sign_Dist( tgPN0, tgSG0.Query_Origin() );
    const TYPE                          tyD1_N = MATH::F_DOT(tgPN0.Query_Normal(),tgSG0.Query_DirN());
    const TYPE                          tyTA = P::FSEL( tyDist + tyD1_N, tyDist + tyD1_N, TYPE(-1.0) );
    const TYPE                          tySG0 = P::FSEL( tyD1_N, TYPE(0.0), TYPE(1.0) );

    tyDist = P::FSEL( tyDist, P::FSEL( tyD1_N, tyDist , tyTA ), TYPE(-1.0) );

    *ptvPN0 = MATH::F_SUB( tgSG0.Query_Origin(), MATH::F_MUL( tyDist, tgPN0.Query_Normal() ) );
    *ptvSG0 = MATH::F_ADD( tgSG0.Query_Origin(), MATH::F_MUL( tySG0, tgSG0.Query_DirN() ) );

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


template <typename TYPE, int DIM> TgFORCEINLINE
TYPE F_Closest( PC_(VECTOR,DIM) ptvPN0, PC_(VECTOR,DIM) ptvSG0, CR_(PLANE,DIM) tgPN0, CR_(SEGMENT,DIM) tgSG0 )
{
    TYPE                                tyDist = F_Sign_Dist( tgPN0, tgSG0.Query_Origin() );
    const TYPE                          tyD1_N = MATH::F_DOT(tgPN0.Query_Normal(),tgSG0.Query_DirN());
    const TYPE                          tyTA = P::FSEL( tyDist + tyD1_N, tyDist + tyD1_N, TYPE(-1.0) );
    const TYPE                          tySG0 = P::FSEL( tyD1_N, TYPE(0.0), TYPE(1.0) );

    tyDist = P::FSEL( tyDist, P::FSEL( tyD1_N, tyDist , tyTA ), TYPE(-1.0) );

    *ptvPN0 = MATH::F_SUB( tgSG0.Query_Origin(), MATH::F_MUL( tyDist, tgPN0.Query_Normal() ) );
    *ptvSG0 = MATH::F_ADD( tgSG0.Query_Origin(), MATH::F_MUL( tySG0, tgSG0.Query_DirN() ) );

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

};


template <typename TYPE, int DIM> TgFORCEINLINE
TYPE F_ClosestSq( PC_(VECTOR,DIM) ptvPN0, TYPE *ptySG0, CR_(PLANE,DIM) tgPN0, CR_(SEGMENT,DIM) tgSG0 )
{
    TYPE                                tyDist = F_Sign_Dist( tgPN0, tgSG0.Query_Origin() );
    const TYPE                          tyD1_N = MATH::F_DOT(tgPN0.Query_Normal(),tgSG0.Query_DirN());
    const TYPE                          tyTA = P::FSEL( tyDist + tyD1_N, tyDist + tyD1_N, TYPE(-1.0) );

    tyDist = P::FSEL( tyDist, P::FSEL( tyD1_N, tyDist , tyTA ), TYPE(-1.0) );

    *ptvPN0 = MATH::F_SUB( tgSG0.Query_Origin(), MATH::F_MUL( tyDist, tgPN0.Query_Normal() ) );
    *ptySG0 = P::FSEL( tyD1_N, TYPE(0.0), TYPE(1.0) );

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

};


template <typename TYPE, int DIM> TgFORCEINLINE
TYPE F_Closest( PC_(VECTOR,DIM) ptvPN0, TYPE *ptySG0, CR_(PLANE,DIM) tgPN0, CR_(SEGMENT,DIM) tgSG0 )
{
    TYPE                                tyDist = F_Sign_Dist( tgPN0, tgSG0.Query_Origin() );
    const TYPE                          tyD1_N = MATH::F_DOT(tgPN0.Query_Normal(),tgSG0.Query_DirN());
    const TYPE                          tyTA = P::FSEL( tyDist + tyD1_N, tyDist + tyD1_N, TYPE(-1.0) );

    tyDist = P::FSEL( tyDist, P::FSEL( tyD1_N, tyDist , tyTA ), TYPE(-1.0) );

    *ptvPN0 = MATH::F_SUB( tgSG0.Query_Origin(), MATH::F_MUL( tyDist, tgPN0.Query_Normal() ) );
    *ptySG0 = P::FSEL( tyD1_N, TYPE(0.0), TYPE(1.0) );

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


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

template <typename TYPE, int DIM> TgFORCEINLINE
TgBOOL F_Contact_Test( CR_(PLANE,DIM) tgPN0, CR_(SEGMENT,DIM) tgSG0 )
{
    const TYPE                          tyDist = F_Sign_Dist( tgPN0, tgSG0.Query_Origin() );
    const TYPE                          tyD1_N = MATH::F_DOT(tgPN0.Query_Normal(),tgSG0.Query_DirN());

    return (tyDist > TYPE(0.0) && (tyD1_N >= TYPE(0.0) || tyDist > -tyD1_N));
};


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

template <typename TYPE, int DIM> TgFORCEINLINE
TgRESULT F_Contact_Intersect( TYPE *ptySG0, CR_(PLANE,DIM) tgPN0, CR_(SEGMENT,DIM) tgSG0 )
{
    TgASSERT(tgPN0.Is_Valid() && tgSG0.Is_Valid())

    const TYPE                          tyDist = F_Sign_Dist( tgPN0, tgSG0.Query_Origin() );
    const TYPE                          tyD1_N = tgPN0.Query_Normal()*tgSG0.Query_DirN();

    if (Near_Zero( tyD1_N ) || !( (tyDist > TYPE(0.0)) ^ (tyD1_N > TYPE(0.0)) ) || P::ABS( tyDist ) > P::ABS( tyD1_N ))
    {
        return (TgE_NOINTERSECT);
    };

    *ptySG0 = -tyDist / tyD1_N;

    return (TgS_OK);
};


template <typename TYPE, int DIM> TgFORCEINLINE
TgRESULT F_Contact_Intersect( PC_(CONTACT_PACKET,DIM) ptgPacket, CR_(PLANE,DIM) tgPN0, CR_(SEGMENT,DIM) tgSG0 )
{
    TgASSERT((TgSIZE)ptgPacket->m_iStride >= sizeof( P_(CONTACT,DIM) ))
    TgASSERT(tgPN0.Is_Valid() && tgSG0.Is_Valid())

    if (0 == ptgPacket->m_niMaxContact || ptgPacket->m_niContact >= ptgPacket->m_niMaxContact || NULL == ptgPacket->m_ptgContact)
    {
        return (TgE_FAIL);
    };

    const TYPE                          tyDist = F_Sign_Dist( tgPN0, tgSG0.Query_Origin() );
    const TYPE                          tyD1_N = MATH::F_DOT(tgPN0.Query_Normal(),tgSG0.Query_DirN());

    if (Near_Zero( tyD1_N ) || !( (tyDist > TYPE(0.0)) ^ (tyD1_N > TYPE(0.0)) ) || P::ABS( tyDist ) > P::ABS( tyD1_N ))
    {
        return (TgE_NOINTERSECT);
    };

    const TYPE                          tyT0 = -tyDist / tyD1_N;

    P_(CONTACT,DIM)                     ptgContact;

    ptgContact = (P_(CONTACT,DIM))((PC_TgUINT08)ptgPacket->m_ptgContact + ptgPacket->m_niContact*ptgPacket->m_iStride);

    ptgContact->m_tvPos = MATH::F_ADD( tgSG0.Query_Origin(), MATH::F_MUL( tyT0, tgSG0.Query_DirN() ) );
    ptgContact->m_tvNormal = MATH::F_MUL( P::FSEL( tyDist, TYPE(1.0), TYPE(-1.0) ), tgPN0.Query_Normal() );
    ptgContact->m_tyT0 = tyT0;
    ptgContact->m_tyDepth = TYPE(0.0);

    ++ptgPacket->m_niContact;

    return (TgS_OK);
};


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

template <typename TYPE, int DIM> TgFORCEINLINE
TgRESULT F_Clip( TYPE *ptySG0, TYPE *ptySG1, CR_(PLANE,DIM) tgPN0, CR_(SEGMENT,DIM) tgSG0 )
{
    return (TTgCLP_PNLN<TYPE,DIM,1,1>::DO( ptySG0,ptySG1, tgPN0, tgSG0.Query_Origin(),tgSG0.Query_DirN() ));
};


template <typename TYPE, int DIM> TgFORCEINLINE
TgRESULT F_Clip( PC_(CLIP_LIST,DIM) ptgCL, CR_(PLANE,DIM) tgPN0, CR_(SEGMENT,DIM) tgSG0 )
{
    return (TTgCLP_PNLN<TYPE,DIM,1,1>::DO( ptgCL, tgPN0, tgSG0.Query_Origin(),tgSG0.Query_DirN() ));
};


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


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