[an error occurred while processing this directive] 
// =-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-==-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-= //
//
//  Project:   Talina Gaming System (TgS) (∂)
//  File:      TgS Collision - Box-Sphere.cpp
//  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".
//
// =-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-==-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-= //




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

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

// ---- F_Contact_Penetrate ----------------------------------------------------------------------------------------------------- //
// Input:  tgPacket: The current series of contact points for this query-series, and contact generation parameters.
// Input:  tgSP0: Sphere primitive
// Input:  tgBX1: Box primitive - contact points are generated on this primitive
// Output: tgPacket: Points of penetration between the two primitives are added to it
// Return: Result Code
// ------------------------------------------------------------------------------------------------------------------------------ //

template <typename TYPE, int DIM>
TgRESULT F_Contact_Penetrate( PC_(CONTACT_PACKET,DIM) ptgPacket, CR_(SPHERE,DIM) tgSP0, CR_(BOX,DIM) tgBX1 )
{
    TgBLOCK_FCN_NOOBJ(ETgFAC_COLLISION, 0, ETgTEST_PENETRATE, (((TgUINT)ETgSPHERE<<16)|(TgUINT)ETgBOX))

    TgASSERT((TgSIZE)ptgPacket->m_iStride >= sizeof( P_(CONTACT,DIM) ))
    TgASSERT(tgBX1.Is_Valid() && tgSP0.Is_Valid())

    if (0 == ptgPacket->m_niMaxContact || ptgPacket->m_niContact >= ptgPacket->m_niMaxContact || NULL == ptgPacket->m_ptgContact)
    {
        return (TgE_FAIL);
    };

    T_(VECTOR,DIM)                      tvDS = MATH::F_SUB( tgSP0.Query_Origin(), tgBX1.Query_Origin() );

    // Difference vector in box's reference frame.

    const TYPE                          tyT0 = MATH::F_DOT( tvDS, tgBX1.Query_AxisUnit0() );
    const TYPE                          tyT1 = MATH::F_DOT( tvDS, tgBX1.Query_AxisUnit1() );
    const TYPE                          tyT2 = MATH::F_DOT( tvDS, tgBX1.Query_AxisUnit2() );

    // A measurement of how far the sphere's origin is from a box face.  Negative is contained in box.

    const TYPE                          tyX0 = P::ABS( tyT0 ) - tgBX1.Query_Extent0();
    const TYPE                          tyX1 = P::ABS( tyT1 ) - tgBX1.Query_Extent1();
    const TYPE                          tyX2 = P::ABS( tyT2 ) - tgBX1.Query_Extent2();

    if (tyX0 > tgSP0.Query_Radius() || tyX1 > tgSP0.Query_Radius() || tyX2 > tgSP0.Query_Radius())
    {
        // If the sphere is at worst radius away from every box face, then their is no penetration.

        return (TgE_NOINTERSECT);
    };

    P_(CONTACT,DIM)                     ptgContact;

    ptgContact = (P_(CONTACT,DIM))((PC_TgUINT08)ptgPacket->m_ptgContact + ptgPacket->m_niContact*ptgPacket->m_iStride);

    const TYPE                          tyK0 = tgBX1.Query_Extent0();
    const TYPE                          tyK1 = tgBX1.Query_Extent1();
    const TYPE                          tyK2 = tgBX1.Query_Extent2();

    const TYPE                          tyP0 = P::FSEL( tyX0, P::FSEL( tyT0, tyK0, -tyK0 ), tyT0 );
    const TYPE                          tyP1 = P::FSEL( tyX1, P::FSEL( tyT1, tyK1, -tyK1 ), tyT1 );
    const TYPE                          tyP2 = P::FSEL( tyX2, P::FSEL( tyT2, tyK2, -tyK2 ), tyT2 );

    ptgContact->m_tvPos = tgBX1.Calc_Point( tyP0,tyP1,tyP2 );

    if (tyX0 > TYPE(0.0) || tyX1 > TYPE(0.0) || tyX2 > TYPE(0.0))
    {
        //  If the origin lies outside even one face then calculating the penetration contact is done by simply creating the point
        // of closest proximity on the box to the sphere origin. This point is the contact point, and the vector difference is the
        // normal of contact.

        TYPE                                tyK6;

        ptgContact->m_tvNormal = MATH::F_NORM( &tyK6, MATH::F_SUB( tgBX1.Calc_Point( tyP0,tyP1,tyP2 ), tgSP0.Query_Origin() ) );
        ptgContact->m_tyT0 = TYPE(0.0);
        ptgContact->m_tyDepth = tgSP0.Query_Radius() - tyK6;

        ++ptgPacket->m_niContact;

        return (TgS_OK);
    };

    //  The sphere origin must be contained within the box.  Penetration is determined by finding the axis of minimum penetration
    // and creating a contact to eject the sphere out of the nearest face aligned with that axis.  All of the measurements must
    // be negative (ie the point is contained), thus, it is the least negative (or the greatest value) that determines the axis
    // what has the minimal penetration.

    if (tyX0 > tyX1)
    {
        if (tyX0 > tyX2)
        {
            ptgContact->m_tvPos(0) = tyT0 < TYPE(0.0) ? -tgBX1.Query_Extent0() : tgBX1.Query_Extent0();
            ptgContact->m_tvNormal = tyT0 > TYPE(0.0) ? MATH::F_NEG( tgBX1.Query_AxisUnit0() ) : tgBX1.Query_AxisUnit0();
            ptgContact->m_tyT0 = TYPE(0.0);
            ptgContact->m_tyDepth = tgSP0.Query_Radius() - tyX0;

            ++ptgPacket->m_niContact;

            return (TgS_OK);
        }
        else
        {
            ptgContact->m_tvPos(2) = tyT2 < TYPE(0.0) ? -tgBX1.Query_Extent2() : tgBX1.Query_Extent2();
            ptgContact->m_tvNormal = tyT2 > TYPE(0.0) ? MATH::F_NEG( tgBX1.Query_AxisUnit2() ) : tgBX1.Query_AxisUnit2();
            ptgContact->m_tyT0 = TYPE(0.0);
            ptgContact->m_tyDepth = tgSP0.Query_Radius() - tyX2;

            ++ptgPacket->m_niContact;

            return (TgS_OK);
        };
    }
    else
    {
        if (tyX1 > tyX2)
        {
            ptgContact->m_tvPos(1) = tyT1 < TYPE(0.0) ? -tgBX1.Query_Extent1() : tgBX1.Query_Extent1();
            ptgContact->m_tvNormal = tyT1 > TYPE(0.0) ? MATH::F_NEG( tgBX1.Query_AxisUnit1() ) : tgBX1.Query_AxisUnit1();
            ptgContact->m_tyT0 = TYPE(0.0);
            ptgContact->m_tyDepth = tgSP0.Query_Radius() - tyX1;

            ++ptgPacket->m_niContact;

            return (TgS_OK);
        }
        else
        {
            ptgContact->m_tvPos(2) = tyT2 < TYPE(0.0) ? -tgBX1.Query_Extent2() : tgBX1.Query_Extent2();
            ptgContact->m_tvNormal = tyT2 > TYPE(0.0) ? MATH::F_NEG( tgBX1.Query_AxisUnit2() ) : tgBX1.Query_AxisUnit2();
            ptgContact->m_tyT0 = TYPE(0.0);
            ptgContact->m_tyDepth = tgSP0.Query_Radius() - tyX2;

            ++ptgPacket->m_niContact;

            return (TgS_OK);
        };
    };

    return (TgE_FAIL);
};

template TgRESULT F_Contact_Penetrate( PC_TgF4CONTACT_PACKET, CR_TgF4SPHERE, CR_TgF4BOX );


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

}; // END COL //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
}; // END TGS //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
[an error occurred while processing this directive]