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// =-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-==-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-= //
//
//  Project:   Talina Gaming System (TgS) (∂)
//  File:      TgS Collision - Triangle-Linear.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_TRIANGLE_LINEAR_INL_)
#define _TGS_COLLISION_TRIANGLE_LINEAR_INL_
#pragma once

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

// Functions used for internal use - primitive based functions should be the primary system calls.

//  A linear is a generic term used to describe the set of 1D primitives.  To avoid code duplication these functions are normally
// created through templates where two boolean template parameters are used to indicate if the free variable is closed on a
// particular side of the number line.

// tgET0        Edge Triangle (Input)
// tgST0        Space Triangle (Input)
// tvS0         Point (Input)
// tvD0         Direction (Input)
// tgPacket     Container of points resulting from a contact generator.  Generation parameters provided as well. (Input/Ouput)

// tgPacket     Container of points resulting from a contact generator.  Generation parameters provided as well. (Input/Ouput)
// tvST0        The point of closest proximity on the parallelogram. (Output)
// tvLN0        The point of closest proximity on the line. (Output)
// tyLN0        Parametric parameter to generate point of interest #1 based on the line. (Output)
// tyLN1        Parametric parameter to generate point of interest #2 based on the line. (Output)

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




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

// ============================================================================================================================== //
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //
//                                                      ETRI
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //
// ============================================================================================================================== //

template <typename TYPE, int DIM, bool bC0, bool bC1>
TgRESULT TTgINT_ETLN<TYPE,DIM,bC0,bC1>::DO( PC_(CONTACT_PACKET,DIM) ptgPacket, CR_(ETRI,DIM) tgET0, M_(VECTOR,DIM) tvS0, M_(VECTOR,DIM) tvD0 )
{
    TYPE                                tyET0,tyET1, tyG1;

    C_TgRESULT tgResult = DO( &tyET0,&tyET1, &tyG1, tgET0, tvS0,tvD0 );

    if (TgFAILED(tgResult))
    {
        return (tgResult);
    };

    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( tvS0, MATH::F_MUL( tyG1, tvD0 ) );
    ptgContact->m_tvNormal = tgET0.Query_Normal();
    ptgContact->m_tyT0 = tyG1;
    ptgContact->m_tyDepth = TYPE(0.0);

    ++ptgPacket->m_niContact;

    return (TgS_OK);
};


// ============================================================================================================================== //
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //
//                                                      STRI
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //
// ============================================================================================================================== //

template <typename TYPE, int DIM, bool bC0, bool bC1> TgFORCEINLINE
TYPE TTgFSQ_STLN<TYPE,DIM,bC0,bC1>::DO( CR_(STRI,DIM) tgST0, M_(VECTOR,DIM) tvS0, M_(VECTOR,DIM) tvD0 )
{
    TYPE                                tyET0,tyET1, tyG1;

    return (TTgCSQ_STLN<TYPE,DIM,bC0,bC1>::DO( &tyET0,&tyET1, &tyG1, tgST0, tvS0,tvD0 ));
};


template <typename TYPE, int DIM, bool bC0, bool bC1> TgFORCEINLINE
TYPE TTgCSQ_STLN<TYPE,DIM,bC0,bC1>::DO(
    PC_(VECTOR,DIM) ptvST0, PC_(VECTOR,DIM) ptvLN0, CR_(STRI,DIM) tgST0, M_(VECTOR,DIM) tvS0, M_(VECTOR,DIM) tvD0
) {
    TYPE                                tyET0,tyET1, tyLN0, tyDistSq;

    tyDistSq = DO( &tyET0,&tyET1, &tyLN0, tgST0, tvS0,tvD0 );

    C_(VECTOR,DIM)                      tvK0 = MATH::F_MUL( tyET0, tgST0.Query_Edge0() );
    C_(VECTOR,DIM)                      tvK1 = MATH::F_MUL( tyET1, tgST0.Query_Edge2() );

    *ptvLN0 = MATH::F_ADD( tvS0, MATH::F_MUL( tyLN0, tvD0 ) );
    *ptvST0 = MATH::F_SUB( MATH::F_ADD( tgST0.Query_Origin(), tvK0 ), tvK1 );

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


template <typename TYPE, int DIM, bool bC0, bool bC1> TgFORCEINLINE
TgRESULT TTgCLP_STLN<TYPE,DIM,bC0,bC1>::DO( TYPE *ptyLN0, TYPE *ptyLN1, CR_(STRI,DIM) tgST1, M_(VECTOR,DIM) tvS0, M_(VECTOR,DIM) tvD0 )
{
    TgINT                               iCode;

    return (TTgCLF_STLN<TYPE,DIM,bC0,bC1>::DO( ptyLN0, ptyLN1, &iCode, tgST1, tvS0, tvD0 ));
};


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

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