// =-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-==-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-= //
//  »Project«   Teikitu Gaming System (TgS) (∂)
//  »File«      TgS Collision - F - Parallelogram-Triangle.i_inc
//  »Author«    Andrew Aye (EMail: mailto:andrew.aye@gmail.com, Web: http://www.andrewaye.com)
//  »Version«   4.0
//  »Keywords«  Collision;Distance;Closest;Intersect;Penetrate;Sweep;Parallelogram;
// ------------------------------------------------------------------------------------------------------------------------------ //
//  Copyright: © 2002-2010, 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".
// =-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-==-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-= //
// == Collision ================================================================================================================= //

TgINLINE TYPE V(tgCO_F_DistSq_PE_ST)( V(CPCU_TgPARALLELOGRAM) psPE0, V(CPCU_TgSTRI) psST0 )
{
    TYPE                                fPE00, fPE01, fET10, fET11;

    return (V(tgCO_F_ParamSq_PE_ST)( &fPE00,&fPE01, &fET10,&fET11, psPE0, psST0 ));
}


TgINLINE TYPE V(tgCO_F_Dist_PE_ST)( V(CPCU_TgPARALLELOGRAM) psPE0, V(CPCU_TgSTRI) psST0 )
{
    const TYPE                          fDistSq = V(tgCO_F_DistSq_PE_ST)( psPE0, psST0 );

    return (F(tgPM_FSEL)( fDistSq, F(tgPM_SQRT)( fDistSq ), -F(KTgMAX) ));
}


TgINLINE TYPE V(tgCO_F_ClosestSq_PE_ST)(
    V(PCU_TgVEC) pvPE0, V(PCU_TgVEC) pvST0, V(CPCU_TgPARALLELOGRAM) psPE0, V(CPCU_TgSTRI) psST0 )
{
    TYPE                                fPE0,fPE1, fST0,fST1;
    const TYPE                          fDistSq = V(tgCO_F_ParamSq_PE_ST)( &fPE0,&fPE1, &fST0,&fST1, psPE0, psST0 );

    V(C_TgVEC)                          vK0 = V(F_MUL_SV)( fPE0, psPE0->m_avEdge + 0 );
    V(C_TgVEC)                          vK1 = V(F_MUL_SV)( fPE1, psPE0->m_avEdge + 1 );
    V(C_TgVEC)                          vK2 = V(F_MUL_SV)( fST0, psST0->m_sCT.m_sET.m_avEdge + 0 );
    V(C_TgVEC)                          vK3 = V(F_MUL_SV)( fST1, psST0->m_sCT.m_sET.m_avEdge + 2 );
    V(C_TgVEC)                          vK4 = V(F_ADD_VV)( &psPE0->m_vOrigin, &vK0 );
    V(C_TgVEC)                          vK5 = V(F_ADD_VV)( psST0->m_sCT.m_sET.m_sPT.m_avPoint, &vK2 );

    *pvPE0 = V(F_ADD_VV)( &vK4, &vK1 );
    *pvST0 = V(F_SUB_VV)( &vK5, &vK3 );

    return (fDistSq);
}


TgINLINE TYPE V(tgCO_F_Closest_PE_ST)(
    V(PCU_TgVEC) pvPE0, V(PCU_TgVEC) pvST0, V(CPCU_TgPARALLELOGRAM) psPE0, V(CPCU_TgSTRI) psST0 )
{
    const TYPE                          fDistSq = V(tgCO_F_ClosestSq_PE_ST)( pvPE0, pvST0, psPE0, psST0 );

    return (F(tgPM_FSEL)( fDistSq, F(tgPM_SQRT)( fDistSq ), -F(KTgMAX) ));
}


TgINLINE TYPE V(tgCO_F_Param_PE_ST)(
    PCU_TYPE pfPE0, PCU_TYPE pfPE1, PCU_TYPE pfST0, PCU_TYPE pfST1, V(CPCU_TgPARALLELOGRAM) psPE0, V(CPCU_TgSTRI) psST0 )
{
    const TYPE                          fDistSq = V(tgCO_F_ParamSq_PE_ST)( pfPE0,pfPE1, pfST0,pfST1, psPE0, psST0 );

    return (F(tgPM_FSEL)( fDistSq, F(tgPM_SQRT)( fDistSq ), -F(KTgMAX) ));
}