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// =-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-==-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-= //
//
//  Project:   Talina Gaming System (TgS) (∂)
//  File:      TgS Collision - Sphere-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_SPHERE_PLANE_INL_)
#define _TGS_COLLISION_SPHERE_PLANE_INL_
#pragma once

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

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

// tgSP0        Sphere (Input)
// tgPN0        Plane (Input)

// tvSP0        The point of closest proximity on the sphere. (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_(SPHERE,DIM) tgSP0, CR_(PLANE,DIM) tgPN0 )
{
    const TYPE                          tyDist = F_Sign_Dist( tgPN0, tgSP0.Query_Origin() ) - tgSP0.Query_Radius();

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


template <typename TYPE, int DIM> TgFORCEINLINE
TYPE F_Dist( CR_(SPHERE,DIM) tgSP0, CR_(PLANE,DIM) tgPN0 )
{
    const TYPE                          tyDist = F_Sign_Dist( tgPN0, tgSP0.Query_Origin() ) - tgSP0.Query_Radius();

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


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

template <typename TYPE, int DIM> TgFORCEINLINE
TYPE F_ClosestSq( PC_(VECTOR,DIM) ptvSP0, PC_(VECTOR,DIM) ptvPN0, CR_(SPHERE,DIM) tgSP0, CR_(PLANE,DIM) tgPN0 )
{
    const TYPE                          tyDist = F_Sign_Closest( ptvPN0, tgPN0, tgSP0.Query_Origin() ) - tgSP0.Query_Radius();

    *ptvSP0 = MATH::F_SUB( tgSP0.Query_Origin(), MATH::F_MUL( tgPN0.Query_Normal(), tgSP0.Query_Radius() ) );
    return (P::FSEL( tyDist, tyDist*tyDist, -LIMITS<TYPE>::MAX ));
};


template <typename TYPE, int DIM> TgFORCEINLINE
TYPE F_Closest( PC_(VECTOR,DIM) ptvSP0, PC_(VECTOR,DIM) ptvPN0, CR_(SPHERE,DIM) tgSP0, CR_(PLANE,DIM) tgPN0 )
{
    const TYPE                          tyDist = F_Sign_Closest( ptvPN0, tgPN0, tgSP0.Query_Origin() ) - tgSP0.Query_Radius();

    *ptvSP0 = MATH::F_SUB( tgSP0.Query_Origin(), MATH::F_MUL( tgPN0.Query_Normal(), tgSP0.Query_Radius() ) );
    return (P::FSEL( tyDist, tyDist, -LIMITS<TYPE>::MAX ));
};


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

template <typename TYPE, int DIM> TgFORCEINLINE
TgBOOL F_Contact_Test( CR_(SPHERE,DIM) tgSP0, CR_(PLANE,DIM) tgPN0 )
{
    return (F_Sign_Dist( tgPN0, tgSP0.Query_Origin() ) <= tgSP0.Query_Radius());
};


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

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