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// =-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-==-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-= //
//
//  Project:   Talina Gaming System (TgS) (∂)
//  File:      TgS Collision - Triangle-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_TRIANGLE_SEGMENT_INL_)
#define _TGS_COLLISION_TRIANGLE_SEGMENT_INL_
#pragma once

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

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

// tgST0        Space Triangle (Input)
// tgSG0        Segment (Input)
// tgPacket     Container of points resulting from a contact generator.  Generation parameters provided as well. (Input/Ouput)

// tvST0        The point of closest proximity on the triangle. (Output)
// tvSG0        The point of closest proximity on the segment. (Output)
// tyST0        Parametric parameter #1 to generate point of contact based on the triangle. (Output)
// tyST1        Parametric parameter #2 to generate point of contact based on the triangle. (Output)
// 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)
// tgPacket     Container of points resulting from a contact generator.  Generation parameters provided as well. (Input/Ouput)
// 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_(STRI,DIM) tgST0, CR_(SEGMENT,DIM) tgSG0 )
{
    TYPE                                tyST0,tyST1, tyG1;

    return (TTgCSQ_STLN<TYPE,DIM,1,1>::DO( &tyST0,&tyST1, &tyG1, tgST0, tgSG0.Query_Origin(),tgSG0.Query_DirN() ));
};


template <typename TYPE, int DIM> TgFORCEINLINE
TYPE F_Dist( CR_(STRI,DIM) tgST0, CR_(SEGMENT,DIM) tgSG0 )
{
    const TYPE                          tyDistSq = F_DistSq( tgST0, tgSG0 );

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


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

template <typename TYPE, int DIM> TgFORCEINLINE
TYPE F_ClosestSq( PC_(VECTOR,DIM) ptvST0, PC_(VECTOR,DIM) ptvSG0, CR_(STRI,DIM) tgST0, CR_(SEGMENT,DIM) tgSG0 )
{
    return (TTgCSQ_STLN<TYPE,DIM,1,1>::DO( ptvST0, ptvSG0, tgST0, tgSG0.Query_Origin(),tgSG0.Query_DirN() ));
};


template <typename TYPE, int DIM> TgFORCEINLINE
TYPE F_Closest( PC_(VECTOR,DIM) ptvST0, PC_(VECTOR,DIM) ptvSG0, CR_(STRI,DIM) tgST0, CR_(SEGMENT,DIM) tgSG0 )
{
    const TYPE                          tyDistSq = F_ClosestSq( ptvST0, ptvSG0, tgST0, tgSG0 );

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


template <typename TYPE, int DIM> TgFORCEINLINE
TYPE F_ClosestSq( TYPE *ptyST0, TYPE *ptyST1, TYPE *ptySG0, CR_(STRI,DIM) tgST0, CR_(SEGMENT,DIM) tgSG0 )
{
    return (TTgCSQ_STLN<TYPE,DIM,1,1>::DO( ptyST0,ptyST1, ptySG0, tgST0, tgSG0.Query_Origin(),tgSG0.Query_DirN() ));
};


template <typename TYPE, int DIM> TgFORCEINLINE
TYPE F_Closest( TYPE *ptyST0, TYPE *ptyST1, TYPE *ptySG0, CR_(STRI,DIM) tgST0, CR_(SEGMENT,DIM) tgSG0 )
{
    const TYPE                          tyDistSq = F_ClosestSq( ptyST0,ptyST1, ptySG0, tgST0, tgSG0 );

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


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

template <typename TYPE, int DIM> TgFORCEINLINE
TgBOOL F_Contact_Test( CR_(ETRI,DIM) tgET0, CR_(SEGMENT,DIM) tgSG0 )
{
    TYPE                                tyST0,tyST1, tySG0;

    return (TgSUCCEEDED(F_Contact_Intersect( &tyST0,&tyST1, &tySG0, tgET0, tgSG0 )));
};


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

template <typename TYPE, int DIM> TgFORCEINLINE
TgRESULT F_Contact_Intersect( PC_(CONTACT_PACKET,DIM) ptgPacket, CR_(ETRI,DIM) tgET0, CR_(SEGMENT,DIM) tgSG0 )
{
    return (TTgINT_ETLN<TYPE,DIM,1,1>::DO( ptgPacket, tgET0, tgSG0.Query_Origin(),tgSG0.Query_DirN() ));
};


template <typename TYPE, int DIM> TgFORCEINLINE
TgRESULT F_Contact_Intersect( TYPE *ptyST0, TYPE *ptyST1, TYPE *ptySG0, CR_(ETRI,DIM) tgET0, CR_(SEGMENT,DIM) tgSG0 )
{
    return (TTgINT_ETLN<TYPE,DIM,1,1>::DO( ptyST0,ptyST1, ptySG0, tgET0, tgSG0.Query_Origin(),tgSG0.Query_DirN() ));
};


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

template <typename TYPE, int DIM> TgFORCEINLINE
TgRESULT F_ClipF( PC_(CLIP_LIST,DIM) ptgCL, CR_(STRI,DIM) tgST0, CR_(SEGMENT,DIM) tgSG0 )
{
    return (TTgCLF_STLN<TYPE,DIM,1,1>::DO( ptgCL, tgST0, tgSG0.Query_Origin(),tgSG0.Query_DirN() ));
};


template <typename TYPE, int DIM> TgFORCEINLINE
TgRESULT F_ClipF( TYPE *ptySG0,TYPE *ptySG1, PC_TgINT piCode, CR_(STRI,DIM) tgST0, CR_(SEGMENT,DIM) tgSG0 )
{
    return (TTgCLF_STLN<TYPE,DIM,1,1>::DO( ptySG0,ptySG1, piCode, tgST0, tgSG0.Query_Origin(),tgSG0.Query_DirN() ));
};


template <typename TYPE, int DIM> TgFORCEINLINE
TgRESULT F_Clip( PC_(CLIP_LIST,DIM) ptgCL, CR_(STRI,DIM) tgST0, CR_(SEGMENT,DIM) tgSG0 )
{
    return (TTgCLP_STLN<TYPE,DIM,1,1>::DO( ptgCL, tgST0, tgSG0.Query_Origin(),tgSG0.Query_DirN() ));
};


template <typename TYPE, int DIM> TgFORCEINLINE
TgRESULT F_Clip( TYPE *ptySG0,TYPE *ptySG1, CR_(STRI,DIM) tgST0, CR_(SEGMENT,DIM) tgSG0 )
{
    return (TTgCLP_STLN<TYPE,DIM,1,1>::DO( ptySG0,ptySG1, tgST0, tgSG0.Query_Origin(),tgSG0.Query_DirN() ));
};


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

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