// =-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-==-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-= //
//
//  Project:   Talina Gaming System (TgS) (∂)
//  File:      TgS Collision - Ray.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_RAY_INL_)
#define _TGS_COLLISION_RAY_INL_
#pragma once

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

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

// tvS0         Point (Input)
// tgLN0        Line (Input)
// tgRY0        Ray (Input)
// tgRY1        Ray (Input)
// tgSG0        Segment (Input)

// tvLN0        The point of closest proximity on the line. (Output)
// tvRY0        Point #1 of closest proximity on the ray. (Output)
// tvRY1        Point #2 of closest proximity on the ray. (Output)
// tvSG0        The point of closest proximity on the segment. (Output)
// tyLN0        Parametric parameter to generate point of interest #1 based on the line. (Output)
// tyRY0        Parametric parameter to generate point of interest #1 based on the ray. (Output)
// tyRY1        Parametric parameter to generate point of interest #2 based on the ray. (Output)
// tySG0        Parametric parameter to generate point of interest #1 based on the segment. (Output)

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




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

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

template <typename TYPE, int DIM> TgFORCEINLINE
TYPE F_DistSq( CR_(RAY,DIM) tgRY0, M_(VECTOR,DIM) tvS0 )
{
    return (TTgFSQ_LNPT<TYPE,DIM,1,1>::DO( tgRY0.Query_Origin(), tgRY0.Query_DirN(), tvS0 ));
};


template <typename TYPE, int DIM> TgFORCEINLINE
TYPE F_Dist( CR_(RAY,DIM) tgRY0, M_(VECTOR,DIM) tvS0 )
{
    register const TYPE                          tyTA = F_DistSq( tgRY0,tvS0 );
    return (P::FSEL( tyTA, P::SQRT( tyTA ), tyTA));
};


template <typename TYPE, int DIM> TgFORCEINLINE
TYPE F_DistSq( M_(VECTOR,DIM) tvS0, CR_(RAY,DIM) tgRY0 )
{
    return (F_DistSq( tgRY0,tvS0 ));
};


template <typename TYPE, int DIM> TgFORCEINLINE
TYPE F_Dist( M_(VECTOR,DIM) tvS0, CR_(RAY,DIM) tgRY0 )
{
    return (F_Dist( tgRY0,tvS0 ));
};


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

template <typename TYPE, int DIM> TgFORCEINLINE
TYPE F_ClosestSq( PC_(VECTOR,DIM) ptvRY0, CR_(RAY,DIM) tgRY0, M_(VECTOR,DIM) tvS0 )
{
    return (TTgCSQ_LNPT<TYPE,DIM,1,0>::DO( ptvRY0, tgRY0.Query_Origin(), tgRY0.Query_DirN(), tvS0 ));
};


template <typename TYPE, int DIM> TgFORCEINLINE
TYPE F_Closest( PC_(VECTOR,DIM) ptvRY0, CR_(RAY,DIM) tgRY0, M_(VECTOR,DIM) tvS0 )
{
    register const TYPE                          tyTA = F_ClosestSq( ptvRY0, tgRY0,tvS0 );
    return (P::FSEL( tyTA, P::SQRT( tyTA ), tyTA));
};


template <typename TYPE, int DIM> TgFORCEINLINE
TYPE F_ClosestSq( PC_(VECTOR,DIM) ptvRY0, M_(VECTOR,DIM) tvS0, CR_(RAY,DIM) tgRY0 )
{
    return (F_ClosestSq( ptvRY0, tgRY0,tvS0 ));
};


template <typename TYPE, int DIM> TgFORCEINLINE
TYPE F_Closest( PC_(VECTOR,DIM) ptvRY0, M_(VECTOR,DIM) tvS0, CR_(RAY,DIM) tgRY0 )
{
    return (F_Closest( ptvRY0, tgRY0,tvS0 ));
};


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

template <typename TYPE, int DIM> TgFORCEINLINE
TYPE F_ClosestSq( TYPE *ptyRY0, CR_(RAY,DIM) tgRY0, M_(VECTOR,DIM) tvS0 )
{
    return (TTgCSQ_LNPT<TYPE,DIM,1,0>::DO( ptyRY0, tgRY0.Query_Origin(), tgRY0.Query_DirN(), tvS0 ));
};


template <typename TYPE, int DIM> TgFORCEINLINE
TYPE F_Closest( TYPE *ptyRY0, CR_(RAY,DIM) tgRY0, M_(VECTOR,DIM) tvS0 )
{
    register const TYPE                          tyTA = F_ClosestSq( ptyRY0, tgRY0,tvS0 );
    return (P::FSEL( tyTA, P::SQRT( tyTA ), tyTA));
};


template <typename TYPE, int DIM> TgFORCEINLINE
TYPE F_ClosestSq( TYPE *ptyRY0, M_(VECTOR,DIM) tvS0, CR_(RAY,DIM) tgRY0 )
{
    return (F_ClosestSq( ptyRY0, tgRY0,tvS0 ));
};


template <typename TYPE, int DIM> TgFORCEINLINE
TYPE F_Closest( TYPE *ptyRY0, M_(VECTOR,DIM) tvS0, CR_(RAY,DIM) tgRY0 )
{
    return (F_Closest( ptyRY0, tgRY0,tvS0 ));
};


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

template <typename TYPE, int DIM> TgFORCEINLINE
TYPE F_DistSq( CR_(RAY,DIM) tgRY0, CR_(LINE,DIM) tgLN0 )
{
    return (TTgFSQ_LNLN<TYPE,DIM,1,0,0,0>::DO( tgRY0.Query_Origin(),tgRY0.Query_DirN(), tgLN0.Query_Origin(),tgLN0.Query_DirN() ));
};


template <typename TYPE, int DIM> TgFORCEINLINE
TYPE F_DistSq( CR_(RAY,DIM) tgRY0, CR_(RAY,DIM) tgRY1 )
{
    return (TTgFSQ_LNLN<TYPE,DIM,1,0,1,0>::DO( tgRY0.Query_Origin(),tgRY0.Query_DirN(), tgRY1.Query_Origin(),tgRY1.Query_DirN() ));
};


template <typename TYPE, int DIM> TgFORCEINLINE
TYPE F_DistSq( CR_(RAY,DIM) tgRY0, CR_(SEGMENT,DIM) tgSG0 )
{
    return (TTgFSQ_LNLN<TYPE,DIM,1,0,1,1>::DO( tgRY0.Query_Origin(),tgRY0.Query_DirN(), tgSG0.Query_Origin(),tgSG0.Query_DirN() ));
};


template <typename TYPE, int DIM> TgFORCEINLINE
TYPE F_Dist( CR_(RAY,DIM) tgRY0, CR_(LINE,DIM) tgLN0 )
{
    return (P::SQRT( F_DistSq( tgRY0,tgLN0 ) ));
};


template <typename TYPE, int DIM> TgFORCEINLINE
TYPE F_Dist( CR_(RAY,DIM) tgRY0, CR_(RAY,DIM) tgRY1 )
{
    return (P::SQRT( F_DistSq( tgRY0,tgRY1 ) ));
};


template <typename TYPE, int DIM> TgFORCEINLINE
TYPE F_Dist( CR_(RAY,DIM) tgRY0, CR_(SEGMENT,DIM) tgSG0 )
{
    return (P::SQRT( F_DistSq( tgRY0,tgSG0 ) ));
};


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

template <typename TYPE, int DIM> TgFORCEINLINE
TYPE F_ClosestSq( PC_(VECTOR,DIM) ptvRY0, PC_(VECTOR,DIM) ptvLN0, CR_(RAY,DIM) tgRY0, CR_(LINE,DIM) tgLN0 )
{
    return (TTgCSQ_LNLN<TYPE,DIM,1,0,0,0>::DO(
        ptvRY0, ptvLN0, tgRY0.Query_Origin(),tgRY0.Query_DirN(), tgLN0.Query_Origin(),tgLN0.Query_DirN()
    ));
};


template <typename TYPE, int DIM> TgFORCEINLINE
TYPE F_ClosestSq( PC_(VECTOR,DIM) ptvRY0, PC_(VECTOR,DIM) ptvRY1, CR_(RAY,DIM) tgRY0, CR_(RAY,DIM) tgRY1 )
{
    return (TTgCSQ_LNLN<TYPE,DIM,1,0,1,0>::DO(
        ptvRY0, ptvRY1, tgRY0.Query_Origin(),tgRY0.Query_DirN(), tgRY1.Query_Origin(),tgRY1.Query_DirN()
    ));
};


template <typename TYPE, int DIM> TgFORCEINLINE
TYPE F_ClosestSq( PC_(VECTOR,DIM) ptvRY0, PC_(VECTOR,DIM) ptvSG0, CR_(RAY,DIM) tgRY0, CR_(SEGMENT,DIM) tgSG0 )
{
    return (TTgCSQ_LNLN<TYPE,DIM,1,0,1,1>::DO(
        ptvRY0, ptvSG0, tgRY0.Query_Origin(),tgRY0.Query_DirN(), tgSG0.Query_Origin(),tgSG0.Query_DirN()
    ));
};


template <typename TYPE, int DIM> TgFORCEINLINE
TYPE F_Closest( PC_(VECTOR,DIM) ptvRY0, PC_(VECTOR,DIM) ptvLN0, CR_(RAY,DIM) tgRY0, CR_(LINE,DIM) tgLN0 )
{
    return (P::SQRT( F_ClosestSq( ptvRY0,ptvLN0, tgRY0,tgLN0 ) ));
};


template <typename TYPE, int DIM> TgFORCEINLINE
TYPE F_Closest( PC_(VECTOR,DIM) ptvRY0, PC_(VECTOR,DIM) ptvRY1, CR_(RAY,DIM) tgRY0, CR_(RAY,DIM) tgRY1 )
{
    return (P::SQRT( F_ClosestSq( ptvRY0,ptvRY1, tgRY0,tgRY1 ) ));
};


template <typename TYPE, int DIM> TgFORCEINLINE
TYPE F_Closest( PC_(VECTOR,DIM) ptvRY0, PC_(VECTOR,DIM) ptvSG0, CR_(RAY,DIM) tgRY0, CR_(SEGMENT,DIM) tgSG0 )
{
    return (P::SQRT( F_ClosestSq( ptvRY0,ptvSG0, tgRY0,tgSG0 ) ));
};


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

template <typename TYPE, int DIM> TgFORCEINLINE
TYPE F_ClosestSq( TYPE *ptyRY0, TYPE *ptyLN0, CR_(RAY,DIM) tgRY0, CR_(LINE,DIM) tgLN0 )
{
    return (TTgCSQ_LNLN<TYPE,DIM,1,0,0,0>::DO(
        ptyRY0, ptyLN0, tgRY0.Query_Origin(),tgRY0.Query_DirN(), tgLN0.Query_Origin(),tgLN0.Query_DirN()
    ));
};


template <typename TYPE, int DIM> TgFORCEINLINE
TYPE F_ClosestSq( TYPE *ptyRY0, TYPE *ptyRY1, CR_(RAY,DIM) tgRY0, CR_(RAY,DIM) tgRY1 )
{
    return (TTgCSQ_LNLN<TYPE,DIM,1,0,1,0>::DO(
        ptyRY0, ptyRY1, tgRY0.Query_Origin(),tgRY0.Query_DirN(), tgRY1.Query_Origin(),tgRY1.Query_DirN()
    ));
};


template <typename TYPE, int DIM> TgFORCEINLINE
TYPE F_ClosestSq( TYPE *ptyRY0, TYPE *ptySG0, CR_(RAY,DIM) tgRY0, CR_(SEGMENT,DIM) tgSG0 )
{
    return (TTgCSQ_LNLN<TYPE,DIM,1,0,1,1>::DO(
        ptyRY0, ptySG0, tgRY0.Query_Origin(),tgRY0.Query_DirN(), tgSG0.Query_Origin(),tgSG0.Query_DirN()
    ));
};


template <typename TYPE, int DIM> TgFORCEINLINE
TYPE F_Closest( TYPE *ptyRY0, TYPE *ptyLN0, CR_(RAY,DIM) tgRY0, CR_(LINE,DIM) tgLN0 )
{
    return (P::SQRT( F_ClosestSq( ptyRY0,ptyLN0, tgRY0,tgLN0 ) ));
};


template <typename TYPE, int DIM> TgFORCEINLINE
TYPE F_Closest( TYPE *ptyRY0, TYPE *ptyRY1, CR_(RAY,DIM) tgRY0, CR_(RAY,DIM) tgRY1 )
{
    return (P::SQRT( F_ClosestSq( ptyRY0,ptyRY1, tgRY0,tgRY1 ) ));
};


template <typename TYPE, int DIM> TgFORCEINLINE
TYPE F_Closest( TYPE *ptyRY0, TYPE *ptySG0, CR_(RAY,DIM) tgRY0, CR_(SEGMENT,DIM) tgSG0 )
{
    return (P::SQRT( F_ClosestSq( ptyRY0,ptySG0, tgRY0,tgSG0 ) ));
};


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

template <typename TYPE, int DIM> TgFORCEINLINE
TgBOOL F_Contact_Test( CR_(RAY,DIM) tgRY0, CR_(LINE,DIM) tgLN0 )
{
    return (TTgTST_LNLN<TYPE,DIM,0,0,0,0>::DO( tgRY0.Query_Origin(),tgRY0.Query_DirN(), tgLN0.Query_Origin(),tgLN0.Query_DirN() ));
};


template <typename TYPE, int DIM> TgFORCEINLINE
TgBOOL F_Contact_Test( CR_(RAY,DIM) tgRY0, CR_(RAY,DIM) tgRY1 )
{
    return (TTgTST_LNLN<TYPE,DIM,0,0,1,0>::DO( tgRY0.Query_Origin(),tgRY0.Query_DirN(), tgRY1.Query_Origin(),tgRY1.Query_DirN() ));
};


template <typename TYPE, int DIM> TgFORCEINLINE
TgBOOL F_Contact_Test( CR_(RAY,DIM) tgRY0, CR_(SEGMENT,DIM) tgSG0 )
{
    return (TTgTST_LNLN<TYPE,DIM,0,0,1,1>::DO( tgRY0.Query_Origin(),tgRY0.Query_DirN(), tgSG0.Query_Origin(),tgSG0.Query_DirN() ));
};


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

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