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// =-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-==-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-= //
//
//  Project:   Talina Gaming System (TgS) (∂)
//  File:      TgS Collision - Triangle-Point.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_POINT_INL_)
#define _TGS_COLLISION_TRIANGLE_POINT_INL_
#pragma once

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

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

// tgET0        Triangle (Input)
// tvS0         Point (Input)

// tvET0        The point of closest proximity on the triangle. (Output)
// tyET0        Parametric parameter #1 to generate point of contact based on the triangle. (Output)
// tyET1        Parametric parameter #2 to generate point of contact based on the triangle. (Output)

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




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

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

template <typename TYPE, int DIM> TgFORCEINLINE
TYPE F_DistSq( CR_(ETRI,DIM) tgET0, M_(VECTOR,DIM) tvS1 )
{
    TYPE                                tyT0,tyT1;

    return (F_ClosestSq( &tyT0,&tyT1, tgET0, tvS1 ));
};


template <typename TYPE, int DIM> TgFORCEINLINE
TYPE F_Dist( CR_(ETRI,DIM) tgET0, M_(VECTOR,DIM) tvS1 )
{
    TYPE                                tyT0,tyT1;

    const TYPE                          tyDistSq = F_ClosestSq( &tyT0,&tyT1, tgET0, tvS1 );

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


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

template <typename TYPE, int DIM> TgFORCEINLINE
TYPE F_ClosestSq( PC_(VECTOR,DIM) ptvET0, CR_(ETRI,DIM) tgET0, M_(VECTOR,DIM) tvS1 )
{
    TYPE                                tyET0,tyET1;
    const TYPE                          tyDistSq = F_ClosestSq( &tyET0,&tyET1, tgET0, tvS1 );
    C_(VECTOR,DIM)                      tvK0 = MATH::F_MUL( tyET0, tgET0.Query_Edge0() );
    C_(VECTOR,DIM)                      tvK1 = MATH::F_MUL( tyET1, tgET0.Query_Edge2() );
    C_(VECTOR,DIM)                      tvK2 = MATH::F_ADD( tgET0.Query_Origin(), tvK0 );

    *ptvET0 = MATH::F_SUB( tvK2, tvK1 );

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


template <typename TYPE, int DIM> TgFORCEINLINE
TYPE F_Closest( PC_(VECTOR,DIM) ptvET0, CR_(ETRI,DIM) tgET0, M_(VECTOR,DIM) tvS1 )
{
    TYPE                                tyET0,tyET1;
    const TYPE                          tyDistSq = F_ClosestSq( &tyET0,&tyET1, tgET0, tvS1 );
    C_(VECTOR,DIM)                      tvK0 = MATH::F_MUL( tyET0, tgET0.Query_Edge0() );
    C_(VECTOR,DIM)                      tvK1 = MATH::F_MUL( tyET1, tgET0.Query_Edge2() );
    C_(VECTOR,DIM)                      tvK2 = MATH::F_ADD( tgET0.Query_Origin(), tvK0 );

    *ptvET0 = MATH::F_SUB( tvK2, tvK1 );

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


template <typename TYPE, int DIM> TgFORCEINLINE
TYPE F_Closest( TYPE *ptyET0, TYPE *ptyET1, CR_(ETRI,DIM) tgET0, M_(VECTOR,DIM) tvS1 )
{
    const TYPE                          tyDistSq = F_ClosestSq( ptyET0,ptyET1, tgET0, tvS1 );
    return (P::FSEL( tyDistSq, P::SQRT( tyDistSq ), -LIMITS<TYPE>::MAX ));
};


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

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