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

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

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

// tgET0        Edge Triangle #1 (Input)
// tgET1        Edge Triangle #2 (Input)

// tvET0        The point of closest proximity on triangle #1. (Output)
// tvET1        The point of closest proximity on triangle #2. (Output)
// tyET00       Barycentric value for edge 0-1 on triangle #1 describing point of closest proximity. (Output)
// tyET01       Barycentric value for edge 0-2 on triangle #1 describing point of closest proximity. (Output)
// tyET10       Barycentric value for edge 0-1 on triangle #2 describing point of closest proximity. (Output)
// tyET11       Barycentric value for edge 0-2 on triangle #2 describing point of closest proximity. (Output)
// 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_(STRI,DIM) tgST1 )
{
    TYPE                                tyET00,tyET01, tyET10,tyET11;

    return (F_ClosestSq( &tyET00,&tyET01, &tyET10,&tyET11, tgST0, tgST1 ));
};


template <typename TYPE, int DIM> TgFORCEINLINE
TYPE F_Dist( CR_(STRI,DIM) tgST0, CR_(STRI,DIM) tgST1 )
{
    TYPE                                tyET00,tyET01, tyET10,tyET11, tyDistSq;

    tyDistSq = F_ClosestSq( &tyET00,&tyET01, &tyET10,&tyET11, tgST0, tgST1 );

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


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

template <typename TYPE, int DIM> TgFORCEINLINE
TYPE F_ClosestSq( PC_(VECTOR,DIM) ptvET0, PC_(VECTOR,DIM) ptvET1, CR_(STRI,DIM) tgST0, CR_(STRI,DIM) tgST1 )
{
    TYPE                                tyET00,tyET01, tyET10,tyET11, tyDistSq;

    tyDistSq = F_ClosestSq( &tyET00,&tyET01, &tyET10,&tyET11, tgST0, tgST1 );

    C_(VECTOR,DIM)                      tvK0 = MATH::F_MUL( tyET00, tgST0.Query_Edge0() );
    C_(VECTOR,DIM)                      tvK1 = MATH::F_MUL( tyET01, tgST0.Query_Edge2() );
    C_(VECTOR,DIM)                      tvK2 = MATH::F_MUL( tyET10, tgST1.Query_Edge0() );
    C_(VECTOR,DIM)                      tvK3 = MATH::F_MUL( tyET11, tgST1.Query_Edge2() );

    *ptvET0 = MATH::F_SUB( MATH::F_ADD( tgST0.Query_Origin(), tvK0 ), tvK1 );
    *ptvET1 = MATH::F_SUB( MATH::F_ADD( tgST1.Query_Origin(), tvK2 ), tvK3 );

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


template <typename TYPE, int DIM> TgFORCEINLINE
TYPE F_Closest( PC_(VECTOR,DIM) ptvET0, PC_(VECTOR,DIM) ptvET1, CR_(STRI,DIM) tgST0, CR_(STRI,DIM) tgST1 )
{
    TYPE                                tyET00,tyET01, tyET10,tyET11, tyDistSq;

    tyDistSq = F_ClosestSq( &tyET00,&tyET01, &tyET10,&tyET11, tgST0, tgST1 );

    C_(VECTOR,DIM)                      tvK0 = MATH::F_MUL( tyET00, tgST0.Query_Edge0() );
    C_(VECTOR,DIM)                      tvK1 = MATH::F_MUL( tyET01, tgST0.Query_Edge2() );
    C_(VECTOR,DIM)                      tvK2 = MATH::F_MUL( tyET10, tgST1.Query_Edge0() );
    C_(VECTOR,DIM)                      tvK3 = MATH::F_MUL( tyET11, tgST1.Query_Edge2() );

    *ptvET0 = MATH::F_SUB( MATH::F_ADD( tgST0.Query_Origin(), tvK0 ), tvK1 );
    *ptvET1 = MATH::F_SUB( MATH::F_ADD( tgST1.Query_Origin(), tvK2 ), tvK3 );

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


template <typename TYPE, int DIM> TgFORCEINLINE
TYPE F_Closest( TYPE *ptyET00, TYPE *ptyET01, TYPE *ptyET10, TYPE *ptyET11, CR_(STRI,DIM) tgST0, CR_(STRI,DIM) tgST1 )
{
    const TYPE                          tyDistSq = F_ClosestSq( ptyET00,ptyET01, ptyET10,ptyET11, tgST0, tgST1 );

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


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

template <typename TYPE, int DIM> TgFORCEINLINE
TgRESULT F_Clip( PC_(CLIP_LIST,DIM) ptgCL, CR_(ETRI,DIM) tgET0, CR_(PTRI,DIM) tgPT0 )
{
    ptgCL->m_niPoint = 3;

    ptgCL->m_ptvPoint[0] = tgPT0.Query_Point0();
    ptgCL->m_ptvPoint[1] = tgPT0.Query_Point1();
    ptgCL->m_ptvPoint[2] = tgPT0.Query_Point2();

    return (F_Clip( ptgCL, tgET0 ));
};


template <typename TYPE, int DIM> TgFORCEINLINE
TgRESULT F_Clip( PC_(CLIP_LIST,DIM) ptgCL, CR_(STRI,DIM) tgST0, CR_(PTRI,DIM) tgPT0 )
{
    ptgCL->m_niPoint = 3;

    ptgCL->m_ptvPoint[0] = tgPT0.Query_Point0();
    ptgCL->m_ptvPoint[1] = tgPT0.Query_Point1();
    ptgCL->m_ptvPoint[2] = tgPT0.Query_Point2();

    return (F_Clip( ptgCL, tgST0 ));
};


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

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