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// =-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-==-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-= //
//
//  Project:   Talina Gaming System (TgS) (∂)
//  File:      TgS Collision - Sphere-Point.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_Sweep --------------------------------------------------------------------------------------------------------- //
// Input:  tgPacket: The current series of contact points for this query-series, and contact generation parameters.
// Input:  tyPM: Current normalized time of first contact.
// Input:  bPenetrate: If the swept primitives are in penetration, if true the function will return points of penetration.
// Input:  tgSP0: Sphere primitives
// Input:  tvS0: Point
// Input:  tgDT: A structure holding the swept primitive displacement for the entire duration of the test period
// Output: tgPacket: Contact points are added or replace the current set depending on the time comparison and given parameters
// Output: tyPM: New normalized time of first contact
// Return: Result Code
// ------------------------------------------------------------------------------------------------------------------------------ //

template <typename TYPE, int DIM>
TgRESULT F_Contact_Sweep( PC_(CONTACT_PACKET,DIM) ptgPacket, TYPE *ptyPM, M_(VECTOR,DIM) tvS0, CR_(SPHERE,DIM) tgSP0, CR_(DELTA,DIM) tgDT )
{
    TgBLOCK_FCN_NOOBJ(ETgFAC_COLLISION, 0, ETgTEST_SWEEP, (((TgUINT)ETgPOINT<<16)|(TgUINT)ETgSPHERE))

    TgASSERT( Is_Valid( tgDT ) && tgSP0.Is_Valid() && MATH::F_Is_Point_Valid( tvS0 ) )
    TgASSERT((TgSIZE)ptgPacket->m_iStride >= sizeof( P_(CONTACT,DIM) ))

    T_(VECTOR,DIM)                      tvDS = MATH::F_SUB( tvS0, tgSP0.Query_Origin() );
    TYPE                                tyDS_DS = MATH::F_LSQ( tvDS );

    if (tyDS_DS <= tgSP0.Query_RadiusSq())
    {
        if (*ptyPM > ptgPacket->m_tySweepTol)
        {
            ptgPacket->m_niContact = 0;
        };

        *ptyPM = TYPE(0.0);

        C_TgBOOL                            bPenetrate = TgTRUE == ptgPacket->m_bReport_Penetration;

        if (bPenetrate && TgS_MAXCONTACTS == F_Contact_Penetrate( ptgPacket, tvS0,tgSP0 ))
        {
            return (TgE_PREPENETRATION_MAXCONTACTS);
        };

        return (TgE_PREPENETRATION);
    };

    TYPE                                tyTMPC = tgDT.m_tyDT - LIMITS<TYPE>::EPSILON;
    const TYPE                          tyDS_UDT = MATH::F_DOT(tvDS,tgDT.m_tvUDT);

    tyTMPC = P::FSEL( tyTMPC, tyDS_UDT - LIMITS<TYPE>::EPSILON, TYPE(-1.0) ); // Negligible distance towards each other.
    tyTMPC = P::FSEL( tyTMPC, tgSP0.Query_Radius() + *ptyPM*tgDT.m_tyDT - tyDS_UDT, TYPE(-1.0) ); // Separation along displacement
    tyTMPC = P::FSEL( tyTMPC, tgSP0.Query_RadiusSq() - tyDS_DS + tyDS_UDT*tyDS_UDT, TYPE(-1.0) ); // Orthogonal separation
    tyTMPC = P::FSEL( tyTMPC, tyDS_UDT - P::SQRT( tyTMPC ), TYPE(-1.0) ); // Time occurs after first time of contact.

    if (tyTMPC > (*ptyPM + ptgPacket->m_tySweepTol)*tgDT.m_tyDT)
    {
        return (TgE_NOINTERSECT); // Outside of sweep space.
    };

    const TYPE                          tyT0 = tyTMPC / tgDT.m_tyDT;

    if (tyT0 < *ptyPM - ptgPacket->m_tySweepTol)
    {
        ptgPacket->m_niContact = 0;
        *ptyPM = tyT0;
    };

    C_(VECTOR,DIM)                      tvS1 = MATH::F_ADD( tgSP0.Query_Origin(), MATH::F_MUL( tyTMPC, tgDT.m_tvUDT ) );
    C_(VECTOR,DIM)                      tvNormal = MATH::F_NORM( MATH::F_SUB( tvS1, tvS0 ) );
    P_(CONTACT,DIM)                     ptgContact;

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

    ptgContact->m_tvPos = MATH::F_SUB( tvS1, MATH::F_MUL( tvNormal, tgSP0.Query_Radius() ) );
    ptgContact->m_tvNormal = tvNormal;
    ptgContact->m_tyT0 = tyT0;
    ptgContact->m_tyDepth = TYPE(0.0);

    ++ptgPacket->m_niContact;

    return (TgS_OK);
};

template TgRESULT F_Contact_Sweep( PC_TgF4CONTACT_PACKET, P_TgFLOAT32, M_TgF4VECTOR, CR_TgF4SPHERE, CR_TgF4DELTA );


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

}; // END COL //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
}; // END TGS //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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